+ python -m lidar_slam --no-model /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 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 0.00864 Adjusted end_distance from 9.223372036854776e+18 to 434.03864 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00864 meters Centerline goodness [0,1] 0.24772055199605714 Centerline is valid? [0, False] SLAMing on 0.03864 meters Centerline goodness [0,1] 0.22485024393256348 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:0.00 [[ 9.99967879e-01 -7.85312004e-03 -1.60306012e-03 2.18366828e-02] [ 7.85492659e-03 9.99968518e-01 1.12377274e-03 -4.00258339e-04] [ 1.59418453e-03 -1.13632857e-03 9.99998084e-01 3.93198212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06863999999999999 meters Centerline goodness [0,1] 0.22325667427091678 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.01 [[ 9.99995697e-01 3.12238622e-04 -2.91705688e-03 4.36759802e-02] [-3.13536519e-04 9.99999852e-01 -4.44487147e-04 5.66273891e-03] [ 2.91691766e-03 4.45399838e-04 9.99995647e-01 7.29717535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09863999999999999 meters Centerline goodness [0,1] 0.22345213477679116 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99989646e-01 3.27449421e-04 -4.53884490e-03 5.46903432e-02] [-3.30252309e-04 9.99999755e-01 -6.16797592e-04 6.90205064e-03] [ 4.53864182e-03 6.18290170e-04 9.99989509e-01 -3.79962927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12864 meters Centerline goodness [0,1] 0.22430589381393085 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.00 [[ 9.99947742e-01 -7.70263554e-03 -6.72174014e-03 7.76437878e-02] [ 7.70566148e-03 9.99970221e-01 4.24389008e-04 5.01140235e-03] [ 6.71827105e-03 -4.76162284e-04 9.99977319e-01 -1.04307717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15864 meters Centerline goodness [0,1] 0.22438877150618775 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 9.99940386e-01 -6.94898702e-03 -8.42234187e-03 8.84666475e-02] [ 6.94954524e-03 9.99975851e-01 3.70146786e-05 1.03199887e-02] [ 8.42188126e-03 -9.55439179e-05 9.99964531e-01 -1.14161735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18864 meters Centerline goodness [0,1] 0.22470148353636477 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.01 [[ 0.99993792 0.00148354 -0.01104362 0.11352806] [-0.0014966 0.99999819 -0.00117493 0.01726476] [ 0.01104186 0.00119139 0.99993833 -0.01007298] [ 0. 0. 0. 1. ]] SLAMing on 0.21864 meters Centerline goodness [0,1] 0.25736075514158907 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.01 [[ 0.99987135 -0.00587174 -0.01492658 0.14250521] [ 0.00585003 0.99998177 -0.00149777 0.02207969] [ 0.01493511 0.00141026 0.99988747 -0.00650718] [ 0. 0. 0. 1. ]] SLAMing on 0.24864 meters Centerline goodness [0,1] 0.23631159023083015 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.02 [[ 0.99985559 -0.00535024 -0.01613019 0.15381532] [ 0.00532557 0.99998458 -0.00157174 0.02485793] [ 0.01613835 0.00148561 0.99986866 -0.01763311] [ 0. 0. 0. 1. ]] SLAMing on 0.27864 meters Centerline goodness [0,1] 0.21391642844109238 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.02 [[ 9.99848732e-01 -3.46582974e-03 -1.70440712e-02 1.60524659e-01] [ 3.46078560e-03 9.99993959e-01 -3.25433261e-04 2.62155880e-02] [ 1.70450962e-02 2.66398157e-04 9.99854686e-01 -2.33818650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30863999999999997 meters Centerline goodness [0,1] 0.2600274896913657 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.01 [[ 9.99927953e-01 -3.32621187e-03 -1.15336437e-02 1.93414559e-01] [ 3.32440265e-03 9.99994459e-01 -1.76033355e-04 2.87348666e-02] [ 1.15341653e-02 1.37678196e-04 9.99933470e-01 -1.41306389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33863999999999994 meters Centerline goodness [0,1] 0.2587678889503102 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.03 [[ 9.99911900e-01 -3.09103249e-03 -1.29088367e-02 2.04631222e-01] [ 3.08657326e-03 9.99995170e-01 -3.65348601e-04 3.06013274e-02] [ 1.29099037e-02 3.25472343e-04 9.99916611e-01 -2.51594666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36863999999999997 meters Centerline goodness [0,1] 0.2638602450564115 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.04 [[ 9.99891834e-01 -2.80805637e-03 -1.44372996e-02 2.16244796e-01] [ 2.79749172e-03 9.99995804e-01 -7.51903340e-04 3.39706190e-02] [ 1.44393504e-02 7.11433784e-04 9.99895494e-01 -3.57632120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39864 meters Centerline goodness [0,1] 0.26049664107485604 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:-0.05 [[ 9.99867193e-01 -2.65751593e-03 -1.60790220e-02 2.27832769e-01] [ 2.64209620e-03 9.99996029e-01 -9.80163742e-04 3.60607087e-02] [ 1.60815630e-02 9.37551246e-04 9.99870244e-01 -4.61377940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42863999999999997 meters Centerline goodness [0,1] 0.26133429412117937 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:-0.05 [[ 9.99855614e-01 -9.19832130e-04 -1.69677407e-02 2.34318394e-01] [ 9.30783823e-04 9.99999364e-01 6.37556151e-04 3.49392671e-02] [ 1.69671434e-02 -6.53257396e-04 9.99855834e-01 -5.15062261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45863999999999994 meters Centerline goodness [0,1] 0.2648009267727578 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.05 [[ 9.99927445e-01 -2.22341752e-03 -1.18389923e-02 2.70658811e-01] [ 2.22064343e-03 9.99997504e-01 -2.47458483e-04 3.59535262e-02] [ 1.18395129e-02 2.21150348e-04 9.99929886e-01 -4.60161019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48863999999999996 meters Centerline goodness [0,1] 0.259611972080918 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.06 [[ 9.99925220e-01 -2.40349087e-03 -1.19907071e-02 2.80507255e-01] [ 2.39836213e-03 9.99997026e-01 -4.42087606e-04 3.56126164e-02] [ 1.19917340e-02 4.13296489e-04 9.99928011e-01 -5.65750278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51864 meters Centerline goodness [0,1] 0.26428742228598756 Centerline is valid? [False, False] Translation: X:0.31, Y:0.04, Z:-0.05 [[ 9.99980958e-01 -2.49457678e-03 -5.64460655e-03 3.13956991e-01] [ 2.49535397e-03 9.99996878e-01 1.30649703e-04 3.66591020e-02] [ 5.64426301e-03 -1.44732506e-04 9.99984061e-01 -5.01535784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54864 meters Centerline goodness [0,1] 0.2642796248934356 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.05 [[ 9.99979907e-01 -2.39701212e-03 -5.86860976e-03 3.15261050e-01] [ 2.39761899e-03 9.99997121e-01 9.63755226e-05 3.73032101e-02] [ 5.86836185e-03 -1.10444276e-04 9.99982775e-01 -5.04544283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5786399999999999 meters Centerline goodness [0,1] 0.2640373510259245 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.04 [[ 9.99905785e-01 -5.02341589e-03 -1.27744211e-02 3.55623690e-01] [ 5.02195257e-03 9.99987379e-01 -1.46626283e-04 3.75936087e-02] [ 1.27749964e-02 8.24599314e-05 9.99918393e-01 -4.31479757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60864 meters Centerline goodness [0,1] 0.26572327044025157 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.05 [[ 9.99887657e-01 -5.34699907e-03 -1.40029765e-02 3.67493414e-01] [ 5.34853977e-03 9.99985694e-01 7.25792792e-05 3.42100612e-02] [ 1.40023881e-02 -1.47466602e-04 9.99901951e-01 -5.40970494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63864 meters Centerline goodness [0,1] 0.26496133254015464 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.06 [[ 9.99865588e-01 -5.37474665e-03 -1.54893185e-02 3.79183561e-01] [ 5.37917043e-03 9.99985502e-01 2.43953374e-04 3.26478146e-02] [ 1.54877828e-02 -3.27240268e-04 9.99880004e-01 -6.47332329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6686399999999999 meters Centerline goodness [0,1] 0.26473759884974835 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.06 [[ 9.99837109e-01 2.53419639e-03 -1.78699055e-02 4.03189661e-01] [-2.54179103e-03 9.99996689e-01 -4.02296298e-04 3.35835885e-02] [ 1.78688269e-02 4.47652333e-04 9.99840240e-01 -6.22195717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6986399999999999 meters Centerline goodness [0,1] 0.26508738810060284 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.06 [[ 9.99917644e-01 1.17658396e-03 -1.27796894e-02 4.38935653e-01] [-1.18515232e-03 9.99999078e-01 -6.62914316e-04 3.08029119e-02] [ 1.27788977e-02 6.78005600e-04 9.99918117e-01 -5.62308585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.72864 meters Centerline goodness [0,1] 0.2718571691514817 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:-0.05 [[ 9.99965559e-01 9.06794511e-05 -8.29889555e-03 4.72874244e-01] [-9.91972097e-05 9.99999469e-01 -1.02596669e-03 2.96855872e-02] [ 8.29879811e-03 1.02675458e-03 9.99965037e-01 -4.82952381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.75864 meters Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:-0.06 [[ 9.99965959e-01 -9.35464909e-05 -8.25054908e-03 4.82938247e-01] [ 8.98906379e-05 9.99999898e-01 -4.43473915e-04 2.60616528e-02] [ 8.25058972e-03 4.42717172e-04 9.99965865e-01 -5.87093017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78864 meters Centerline goodness [0,1] 0.6059016393442622 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.06 [[ 9.99964846e-01 -1.28230297e-04 -8.38388862e-03 4.84485416e-01] [ 1.26615258e-04 9.99999973e-01 -1.93166435e-04 2.45862178e-02] [ 8.38391317e-03 1.92098117e-04 9.99964836e-01 -5.90504146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8186399999999999 meters Centerline goodness [0,1] 0.6479323875641413 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.05 [[ 9.99997827e-01 -1.63201285e-04 -2.07831977e-03 5.15097731e-01] [ 1.64293390e-04 9.99999849e-01 5.25315124e-04 2.32730406e-02] [ 2.07823372e-03 -5.25655437e-04 9.99997702e-01 -5.03416592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84864 meters Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.06 [[ 9.99993038e-01 -2.97470303e-04 -3.71949674e-03 5.26467029e-01] [ 2.99569196e-04 9.99999796e-01 5.63750294e-04 2.24935519e-02] [ 3.71932829e-03 -5.64860616e-04 9.99992924e-01 -6.10117970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.87864 meters Centerline goodness [0,1] 0.6348089751364463 Centerline is valid? [False, False] Translation: X:0.58, Y:0.02, Z:-0.06 [[ 9.99954651e-01 -5.56494120e-04 -9.50719698e-03 5.76296834e-01] [ 5.61920118e-04 9.99999681e-01 5.68063667e-04 2.28833988e-02] [ 9.50687782e-03 -5.73380191e-04 9.99954644e-01 -5.78190124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9086399999999999 meters Centerline goodness [0,1] 0.26277282508453736 Centerline is valid? [False, False] Translation: X:0.61, Y:0.02, Z:-0.05 [[ 9.99991373e-01 -9.48551433e-04 -4.04402598e-03 6.06863516e-01] [ 9.51216304e-04 9.99999332e-01 6.57092384e-04 2.34576803e-02] [ 4.04339999e-03 -6.60933459e-04 9.99991607e-01 -4.75705660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9386399999999999 meters Centerline goodness [0,1] 0.07740106177606176 Centerline is valid? [False, False] Translation: X:0.62, Y:0.02, Z:-0.06 [[ 9.99986433e-01 -1.23983354e-03 -5.05921892e-03 6.18312018e-01] [ 1.24257637e-03 9.99999083e-01 5.39036349e-04 2.29063046e-02] [ 5.05854596e-03 -5.45315502e-04 9.99987057e-01 -5.78864321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96864 meters SLAMing on 0.99864 meters Centerline goodness [0,1] 0.07972079353416606 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.05 [[ 9.99941555e-01 -2.40002479e-03 -1.05416541e-02 6.67387920e-01] [ 2.40158597e-03 9.99997107e-01 1.35440353e-04 2.27648486e-02] [ 1.05412985e-02 -1.60749126e-04 9.99944426e-01 -5.45604239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02864 meters SLAMing on 1.05864 meters Centerline goodness [0,1] 0.26031649421789405 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.07 [[ 9.99998738e-01 -1.04825335e-03 -1.19358239e-03 6.73948276e-01] [ 1.04910944e-03 9.99999193e-01 7.16843928e-04 1.78109246e-02] [ 1.19283000e-03 -7.18095222e-04 9.99999031e-01 -6.52077738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08864 meters Centerline goodness [0,1] 0.26031649421789405 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:-0.07 [[ 9.99998667e-01 -1.04320027e-03 -1.25612451e-03 6.74161891e-01] [ 1.04409777e-03 9.99999200e-01 7.14056976e-04 1.78225413e-02] [ 1.25537860e-03 -7.15367541e-04 9.99998956e-01 -6.52993317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1186399999999999 meters Centerline goodness [0,1] 0.2592935655180931 Centerline is valid? [False, False] Translation: X:0.72, Y:0.02, Z:-0.06 [[ 9.99980978e-01 -7.09026901e-04 -6.12709084e-03 7.22642421e-01] [ 7.19065661e-04 9.99998403e-01 1.63637431e-03 1.52065798e-02] [ 6.12592082e-03 -1.64074897e-03 9.99979890e-01 -6.20311014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1486399999999999 meters Centerline goodness [0,1] 0.2612423662944914 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:-0.06 [[ 9.99981373e-01 -6.51315836e-04 -6.06878098e-03 7.23843080e-01] [ 6.62721639e-04 9.99998018e-01 1.87760098e-03 1.43100289e-02] [ 6.06754604e-03 -1.88158792e-03 9.99979822e-01 -6.25379470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.17864 meters Centerline goodness [0,1] 0.2597442143727162 Centerline is valid? [False, False] Translation: X:0.74, Y:0.01, Z:-0.07 [[ 9.99970439e-01 -7.87527176e-04 -7.64859046e-03 7.35396170e-01] [ 8.02901309e-04 9.99997663e-01 2.00719848e-03 1.29943402e-02] [ 7.64699186e-03 -2.01328021e-03 9.99968735e-01 -7.32049694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.20864 meters Centerline goodness [0,1] 0.2600036654652086 Centerline is valid? [False, False] Translation: X:0.76, Y:0.01, Z:-0.07 [[ 9.99934380e-01 6.55998287e-03 -9.39159609e-03 7.57884669e-01] [-6.55303108e-03 9.99978232e-01 7.70795783e-04 1.25717270e-02] [ 9.39644806e-03 -7.09201783e-04 9.99955601e-01 -6.94251527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.23864 meters Centerline goodness [0,1] 0.2557668236275854 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.08 [[ 9.99930316e-01 5.99441241e-03 -1.01700456e-02 7.68735749e-01] [-5.98714288e-03 9.99981799e-01 7.45093259e-04 1.06979178e-02] [ 1.01743269e-02 -6.84151822e-04 9.99948006e-01 -7.95353506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26864 meters Centerline goodness [0,1] 0.2579179889241491 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.07 [[ 9.99877916e-01 4.25818807e-03 -1.50340073e-02 8.10155052e-01] [-4.25439814e-03 9.99990910e-01 2.84064279e-04 8.39768012e-03] [ 1.50350802e-02 -2.20068947e-04 9.99886943e-01 -7.05414857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29864 meters Centerline goodness [0,1] 0.2554250089917276 Centerline is valid? [False, False] Translation: X:0.83, Y:0.00, Z:-0.08 [[ 0.99987791 0.00168945 -0.01553434 0.82556642] [-0.00170568 0.99999801 -0.00103145 0.00316629] [ 0.01553257 0.00105782 0.9998788 -0.08471096] [ 0. 0. 0. 1. ]] SLAMing on 1.3286399999999998 meters Centerline goodness [0,1] 0.253874933190807 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.09 [[ 9.99855686e-01 1.41164560e-03 -1.69296800e-02 8.37263513e-01] [-1.42445783e-03 9.99998708e-01 -7.44756266e-04 6.64756931e-04] [ 1.69286068e-02 7.68764403e-04 9.99856405e-01 -9.47106066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3586399999999998 meters Centerline goodness [0,1] 0.2546214922116492 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.09 [[ 0.99993466 0.00248156 -0.0111585 0.86914721] [-0.00246465 0.99999579 0.00152914 -0.00422437] [ 0.01116224 -0.00150154 0.99993657 -0.08655235] [ 0. 0. 0. 1. ]] SLAMing on 1.3886399999999999 meters Centerline goodness [0,1] 0.2538438528268022 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.10 [[ 0.99991674 0.00237601 -0.01268311 0.88092085] [-0.00235292 0.99999555 0.00183532 -0.00599735] [ 0.01268742 -0.00180532 0.99991788 -0.0969132 ] [ 0. 0. 0. 1. ]] SLAMing on 1.41864 meters Centerline goodness [0,1] 0.25355041891972185 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.11 [[ 0.99989741 0.00219142 -0.01415476 0.89262825] [-0.00216274 0.99999558 0.00204136 -0.00779271] [ 0.01415918 -0.00201054 0.99989773 -0.10703179] [ 0. 0. 0. 1. ]] SLAMing on 1.44864 meters Centerline goodness [0,1] 0.25518808683691163 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.11 [[ 0.99998837 0.00388219 -0.00286097 0.88825133] [-0.0038728 0.99998712 0.00327896 -0.00921529] [ 0.00287367 -0.00326784 0.99999053 -0.11032385] [ 0. 0. 0. 1. ]] SLAMing on 1.47864 meters Centerline goodness [0,1] 0.25380131017489027 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.01, Z:-0.10 [[ 0.99998619 -0.00249238 -0.00462658 0.90714209] [ 0.00252043 0.99997841 0.00606792 -0.01056611] [ 0.00461136 -0.0060795 0.99997089 -0.10417585] [ 0. 0. 0. 1. ]] SLAMing on 1.50864 meters Centerline goodness [0,1] 0.25352624250862643 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.01, Z:-0.10 [[ 0.99996632 0.00488712 -0.00659392 0.92824133] [-0.00486147 0.99998058 0.00389951 -0.00633457] [ 0.00661284 -0.00386732 0.99997066 -0.09997635] [ 0. 0. 0. 1. ]] SLAMing on 1.53864 meters Centerline goodness [0,1] 0.2555368319691863 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.00, Z:-0.11 [[ 0.99999122 0.00280947 0.00311017 0.92723908] [-0.00281393 0.99999502 0.00142878 -0.0036682 ] [-0.00310614 -0.00143752 0.99999414 -0.10528703] [ 0. 0. 0. 1. ]] SLAMing on 1.56864 meters Centerline goodness [0,1] 0.2511572700296736 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.00, Z:-0.12 [[ 0.99999548 0.00252336 0.00163284 0.93827772] [-0.00252507 0.99999626 0.00104799 -0.00328211] [-0.00163019 -0.00105211 0.99999812 -0.11532562] [ 0. 0. 0. 1. ]] SLAMing on 1.5986399999999998 meters Centerline goodness [0,1] 0.17220201538369806 Centerline is valid? [False, False] Translation: X:0.96, Y:0.00, Z:-0.11 [[ 9.99987991e-01 -4.86395532e-03 -6.00643950e-04 9.60844041e-01] [ 4.86497867e-03 9.99986697e-01 1.71419940e-03 1.68449540e-03] [ 5.92298170e-04 -1.71710093e-03 9.99998350e-01 -1.11997242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6286399999999999 meters Centerline goodness [0,1] 0.17736033178824107 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.10 [[ 0.99996883 -0.00526919 -0.00588025 1.00228213] [ 0.00527632 0.99998536 0.00119788 0.00708273] [ 0.00587385 -0.00122887 0.99998199 -0.10454892] [ 0. 0. 0. 1. ]] SLAMing on 1.65864 meters Centerline goodness [0,1] 0.17388670099969705 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.11 [[ 9.99960534e-01 -5.05888067e-03 -7.30336165e-03 1.01385130e+00] [ 5.06406606e-03 9.99986938e-01 6.91682068e-04 1.03637519e-02] [ 7.29976712e-03 -7.28639475e-04 9.99973091e-01 -1.14630318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.68864 meters Centerline goodness [0,1] 0.1713838371672889 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.12 [[ 9.99997937e-01 6.34422993e-04 -1.92985727e-03 1.03287757e+00] [-6.42128291e-04 9.99991815e-01 -3.99468179e-03 1.82622659e-02] [ 1.92730716e-03 3.99591276e-03 9.99990159e-01 -1.15508107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.71864 meters Centerline goodness [0,1] 0.24699722821065595 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:-0.11 [[ 9.99981676e-01 -9.09598093e-05 -6.05301212e-03 1.07311978e+00] [ 6.18929195e-05 9.99988468e-01 -4.80206787e-03 2.13001423e-02] [ 6.05337912e-03 4.80160524e-03 9.99970150e-01 -1.07014419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74864 meters Centerline goodness [0,1] 0.1660424469413233 Centerline is valid? [False, False] Translation: X:1.09, Y:0.03, Z:-0.12 [[ 0.99998347 -0.00164341 -0.00550978 1.0859712 ] [ 0.00160348 0.99997248 -0.00724355 0.02675703] [ 0.00552153 0.00723459 0.99995859 -0.1199852 ] [ 0. 0. 0. 1. ]] SLAMing on 1.77864 meters Centerline goodness [0,1] 0.16167805797784585 Centerline is valid? [False, False] Translation: X:1.10, Y:0.03, Z:-0.13 [[ 0.99997369 -0.0018589 -0.0070113 1.09728041] [ 0.00180545 0.99996931 -0.00762298 0.02767289] [ 0.00702526 0.00761012 0.99994636 -0.13003421] [ 0. 0. 0. 1. ]] SLAMing on 1.8086399999999998 meters Centerline goodness [0,1] 0.1639741996567844 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:-0.13 [[ 0.9999273 -0.00696121 -0.00984546 1.12191181] [ 0.00693767 0.999973 -0.00242241 0.0221507 ] [ 0.00986205 0.00235393 0.9999486 -0.12914036] [ 0. 0. 0. 1. ]] SLAMing on 1.8386399999999998 meters Centerline goodness [0,1] 0.24213760694059527 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:-0.12 [[ 0.99994799 -0.0090968 -0.00461161 1.15634894] [ 0.00907855 0.99995094 -0.0039621 0.02179671] [ 0.00464743 0.00392002 0.99998152 -0.12390542] [ 0. 0. 0. 1. ]] SLAMing on 1.8686399999999999 meters Centerline goodness [0,1] 0.24006483371353105 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:-0.12 [[ 0.99997632 -0.00212358 -0.00654625 1.17768847] [ 0.00208701 0.99998221 -0.00558838 0.02090338] [ 0.006558 0.00557459 0.99996296 -0.12073145] [ 0. 0. 0. 1. ]] SLAMing on 1.8986399999999999 meters Centerline goodness [0,1] 0.239790762646377 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.13 [[ 0.99996598 -0.0024415 -0.00787866 1.18900022] [ 0.00240023 0.99998337 -0.00524369 0.01735013] [ 0.00789133 0.00522461 0.99995521 -0.13056969] [ 0. 0. 0. 1. ]] SLAMing on 1.92864 meters Centerline goodness [0,1] 0.237587590585135 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.13 [[ 0.99998785 -0.00374383 -0.00320787 1.2242263 ] [ 0.00372843 0.99998156 -0.00479358 0.01058474] [ 0.00322575 0.00478156 0.99998337 -0.12640389] [ 0. 0. 0. 1. ]] SLAMing on 1.95864 meters Centerline goodness [0,1] 0.2374623427255006 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.14 [[ 0.99998208 -0.00383472 -0.0045975 1.23536692] [ 0.00381452 0.99998307 -0.00439507 0.00778125] [ 0.00461427 0.00437745 0.99997977 -0.136241 ] [ 0. 0. 0. 1. ]] SLAMing on 1.98864 meters Centerline goodness [0,1] 0.2371632233901172 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.13 [[ 0.99994823 -0.00373276 -0.00946596 1.28301979] [ 0.00370533 0.99998889 -0.00291349 0.00193023] [ 0.00947673 0.00287826 0.99995095 -0.13406296] [ 0. 0. 0. 1. ]] SLAMing on 2.01864 meters Centerline goodness [0,1] 0.236506678050863 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.00, Z:-0.13 [[ 9.99983652e-01 -2.67501190e-03 -5.05368494e-03 1.31379069e+00] [ 2.66987905e-03 9.99995913e-01 -1.02213935e-03 -8.47217040e-04] [ 5.05639852e-03 1.00862992e-03 9.99986708e-01 -1.25395402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0486400000000002 meters Centerline goodness [0,1] 0.23498834916651734 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.00, Z:-0.14 [[ 9.99979812e-01 -2.54208137e-03 -5.82349316e-03 1.32429660e+00] [ 2.53742670e-03 9.99996455e-01 -8.06539799e-04 -1.62397095e-03] [ 5.82552280e-03 7.91746830e-04 9.99982718e-01 -1.35201953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.07864 meters Centerline goodness [0,1] 0.23513082511369676 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.00, Z:-0.14 [[ 9.99974888e-01 -2.15239852e-03 -6.75203749e-03 1.33563700e+00] [ 2.14766226e-03 9.99997443e-01 -7.08628785e-04 -1.70131433e-03] [ 6.75354548e-03 6.94109894e-04 9.99976954e-01 -1.44430703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1086400000000003 meters Centerline goodness [0,1] 0.23404255319148937 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.00, Z:-0.14 [[ 9.99921391e-01 -1.62309938e-03 -1.24328775e-02 1.38209949e+00] [ 1.61940931e-03 9.99998642e-01 -3.06861378e-04 -1.28366223e-03] [ 1.24333587e-02 2.86703338e-04 9.99922662e-01 -1.41299757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.13864 meters Centerline goodness [0,1] 0.2329963510199199 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.00, Z:-0.14 [[ 9.99956237e-01 -4.48260913e-04 -9.34470585e-03 1.41979968e+00] [ 4.57644228e-04 9.99999393e-01 1.00201753e-03 -6.85403926e-04] [ 9.34425101e-03 -1.00625023e-03 9.99955835e-01 -1.38181032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1686400000000003 meters Centerline goodness [0,1] 0.23285467437287732 Centerline is valid? [False, False] Translation: X:1.43, Y:0.00, Z:-0.14 [[ 9.99947541e-01 -2.30189748e-03 -9.98080547e-03 1.42556002e+00] [ 2.28959209e-03 9.99996605e-01 -1.24415743e-03 1.61100301e-03] [ 9.98363551e-03 1.22124019e-03 9.99949417e-01 -1.43130443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.19864 meters Centerline goodness [0,1] 0.9698592227168812 Centerline is valid? [False, True] Translation: X:1.46, Y:0.00, Z:-0.14 [[ 9.99972646e-01 -2.18267385e-03 -7.06710923e-03 1.46065432e+00] [ 2.17627895e-03 9.99997216e-01 -9.12445774e-04 2.43372765e-03] [ 7.06908112e-03 8.97040814e-04 9.99974611e-01 -1.37784684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.22864 meters Centerline goodness [0,1] 0.22846792100035063 Centerline is valid? [True, False] Translation: X:1.47, Y:0.00, Z:-0.15 [[ 9.99969828e-01 -2.13847767e-03 -7.46786620e-03 1.47060529e+00] [ 2.12937838e-03 9.99996981e-01 -1.22619808e-03 4.01870789e-03] [ 7.47046585e-03 1.21025917e-03 9.99971363e-01 -1.47392939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.25864 meters Centerline goodness [0,1] 0.9674195837275308 Centerline is valid? [False, True] Translation: X:1.52, Y:0.01, Z:-0.14 [[ 9.99939068e-01 -2.17009208e-03 -1.08236650e-02 1.51592612e+00] [ 2.15456653e-03 9.99996634e-01 -1.44586204e-03 6.48678561e-03] [ 1.08267662e-02 1.42245363e-03 9.99940377e-01 -1.44485851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28864 meters Centerline goodness [0,1] 0.9656207688232178 Centerline is valid? [True, True] Translation: X:1.55, Y:0.01, Z:-0.14 [[ 9.99991909e-01 -8.57645407e-04 -3.93016005e-03 1.54679621e+00] [ 8.57583599e-04 9.99999632e-01 -1.74118178e-05 6.42315166e-03] [ 3.93017354e-03 1.40412361e-05 9.99992277e-01 -1.42909568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3186400000000003 meters Centerline goodness [0,1] 0.2212240639851628 Centerline is valid? [True, False] Translation: X:1.56, Y:0.01, Z:-0.15 [[ 9.99988088e-01 -5.49343665e-04 -4.84998496e-03 1.55708979e+00] [ 5.46655752e-04 9.99999696e-01 -5.55518880e-04 1.02299814e-02] [ 4.85028865e-03 5.52860990e-04 9.99988084e-01 -1.52111614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34864 meters Centerline goodness [0,1] 0.9671572871572871 Centerline is valid? [False, True] Translation: X:1.56, Y:0.01, Z:-0.15 [[ 9.99988315e-01 -3.71071707e-04 -4.81997500e-03 1.55769027e+00] [ 3.66061280e-04 9.99999392e-01 -1.04035360e-03 1.31976523e-02] [ 4.82035811e-03 1.03857704e-03 9.99987843e-01 -1.51842314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3786400000000003 meters Centerline goodness [0,1] 0.9414344238647511 Centerline is valid? [True, False] Translation: X:1.60, Y:0.02, Z:-0.15 [[ 9.99995560e-01 1.33277838e-03 -2.66531641e-03 1.59549364e+00] [-1.33205057e-03 9.99999075e-01 2.74823436e-04 1.67222858e-02] [ 2.66568022e-03 -2.71271880e-04 9.99996410e-01 -1.47794205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.40864 meters Centerline goodness [0,1] 0.9410141428078648 Centerline is valid? [False, False] Translation: X:1.60, Y:0.02, Z:-0.15 [[ 9.99995539e-01 1.39449717e-03 -2.64161281e-03 1.59590349e+00] [-1.39470669e-03 9.99999024e-01 -7.74741305e-05 1.85815805e-02] [ 2.64150219e-03 8.11580599e-05 9.99996508e-01 -1.47429980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.43864 meters Centerline goodness [0,1] 0.9474743988033598 Centerline is valid? [False, False] Translation: X:1.63, Y:0.02, Z:-0.14 [[ 9.99999466e-01 8.22534231e-04 -6.25747356e-04 1.63263034e+00] [-8.23055208e-04 9.99999315e-01 -8.32766061e-04 2.15218868e-02] [ 6.25061949e-04 8.33280641e-04 9.99999457e-01 -1.42875675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46864 meters Centerline goodness [0,1] 0.9391067476306679 Centerline is valid? [False, False] Translation: X:1.64, Y:0.03, Z:-0.15 [[ 9.99995196e-01 2.95474173e-03 -9.36436805e-04 1.63797133e+00] [-2.95474299e-03 9.99995635e-01 3.79853160e-08 2.77002272e-02] [ 9.36432829e-04 2.72894495e-06 9.99999562e-01 -1.47411338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.49864 meters Centerline goodness [0,1] 0.9410571396371014 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:-0.16 [[ 9.99992428e-01 3.03502189e-03 -2.43587779e-03 1.64864995e+00] [-3.03691219e-03 9.99995090e-01 -7.72700232e-04 3.20773932e-02] [ 2.43352067e-03 7.80091927e-04 9.99996735e-01 -1.56960365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52864 meters Centerline goodness [0,1] 0.9508791515489813 Centerline is valid? [False, True] Translation: X:1.66, Y:0.03, Z:-0.15 [[ 9.99994509e-01 -3.31165133e-03 1.19097643e-04 1.66365997e+00] [ 3.31137719e-03 9.99992025e-01 2.23265203e-03 3.42843986e-02] [-1.26490458e-04 -2.23224539e-03 9.99997501e-01 -1.51762912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55864 meters Centerline goodness [0,1] 0.9985561972456686 Centerline is valid? [True, True] Translation: X:1.69, Y:0.04, Z:-0.19 [[ 9.99958147e-01 -6.49095905e-03 -6.44765302e-03 1.69295016e+00] [ 6.49045272e-03 9.99978932e-01 -9.94513261e-05 3.61881508e-02] [ 6.44816272e-03 5.75989766e-05 9.99979209e-01 -1.90222350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5886400000000003 meters Centerline goodness [0,1] 0.9983433651775361 Centerline is valid? [True, True] Translation: X:1.72, Y:0.04, Z:-0.19 [[ 9.99966938e-01 -7.37950923e-03 -3.41554817e-03 1.72202781e+00] [ 7.37934911e-03 9.99972770e-01 -5.94805312e-05 3.88171894e-02] [ 3.41589411e-03 3.42740423e-05 9.99994165e-01 -1.90467916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61864 meters Centerline goodness [0,1] 0.9984763563149589 Centerline is valid? [True, True] Translation: X:1.75, Y:0.04, Z:-0.19 [[ 9.99936217e-01 -1.09450952e-02 2.78688127e-03 1.75149533e+00] [ 1.09450225e-02 9.99940101e-01 4.13155019e-05 4.48493016e-02] [-2.78716654e-03 -1.08103883e-05 9.99996116e-01 -1.89168268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64864 meters Centerline goodness [0,1] 0.9988644351916941 Centerline is valid? [True, True] Translation: X:1.78, Y:0.05, Z:-0.19 [[ 9.99921728e-01 -1.10066363e-02 5.94914394e-03 1.78403265e+00] [ 1.10062345e-02 9.99939425e-01 1.00272632e-04 4.77634369e-02] [-5.94988724e-03 -3.47871101e-05 9.99982299e-01 -1.89333087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.67864 meters Centerline goodness [0,1] 0.9987663591503969 Centerline is valid? [True, True] Translation: X:1.82, Y:0.05, Z:-0.19 [[ 9.99818697e-01 -1.45300239e-02 1.23065503e-02 1.81540236e+00] [ 1.45287249e-02 9.99894434e-01 1.94953865e-04 5.13409215e-02] [-1.23080839e-02 -1.61200345e-05 9.99924253e-01 -1.87548044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70864 meters Centerline goodness [0,1] 0.9986659551760939 Centerline is valid? [True, True] Translation: X:1.85, Y:0.05, Z:-0.19 [[ 9.99739470e-01 -1.63540038e-02 1.59228903e-02 1.84766144e+00] [ 1.63519227e-02 9.99866264e-01 2.60891290e-04 5.35567405e-02] [-1.59250275e-02 -4.53449330e-07 9.99873189e-01 -1.88121401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73864 meters Centerline goodness [0,1] 0.9982533213359446 Centerline is valid? [True, True] Translation: X:1.88, Y:0.06, Z:-0.19 [[ 9.99710130e-01 -1.87787184e-02 1.50670653e-02 1.88018263e+00] [ 1.87772206e-02 9.99823663e-01 2.40879422e-04 5.55826254e-02] [-1.50689319e-02 4.21080114e-05 9.99886456e-01 -1.87796384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76864 meters Centerline goodness [0,1] 0.9981158737635422 Centerline is valid? [True, True] Translation: X:1.91, Y:0.06, Z:-0.19 [[ 9.99524938e-01 -2.35024058e-02 1.99382690e-02 1.91263139e+00] [ 2.35010281e-02 9.99723767e-01 3.03433265e-04 5.80761052e-02] [-1.99398928e-02 1.65280705e-04 9.99801167e-01 -1.86945893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7986400000000002 meters Centerline goodness [0,1] 0.9982807127227259 Centerline is valid? [True, True] Translation: X:1.95, Y:0.06, Z:-0.19 [[ 9.99419354e-01 -2.53179037e-02 2.28025915e-02 1.94521941e+00] [ 2.53168780e-02 9.99679421e-01 3.33712495e-04 5.90307773e-02] [-2.28037304e-02 2.43771701e-04 9.99739931e-01 -1.88020166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82864 meters Centerline goodness [0,1] 0.9978874690849134 Centerline is valid? [True, True] Translation: X:1.98, Y:0.06, Z:-0.19 [[ 9.99259102e-01 -2.82422173e-02 2.61462187e-02 1.97792728e+00] [ 2.82422206e-02 9.99601041e-01 3.69223426e-04 5.89173449e-02] [-2.61462151e-02 3.69477406e-04 9.99658061e-01 -1.87201146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8586400000000003 meters Centerline goodness [0,1] 0.997996300863132 Centerline is valid? [True, True] Translation: X:2.01, Y:0.06, Z:-0.19 [[ 9.99206143e-01 -2.89624724e-02 2.73543334e-02 2.01069476e+00] [ 2.89631624e-02 9.99580411e-01 3.71066089e-04 5.85395197e-02] [-2.73536028e-02 4.21496484e-04 9.99625731e-01 -1.87912828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88864 meters Centerline goodness [0,1] 0.998617865369849 Centerline is valid? [True, True] Translation: X:2.04, Y:0.06, Z:-0.19 [[ 9.99095065e-01 -2.93472747e-02 3.07861760e-02 2.04314732e+00] [ 2.93489221e-02 9.99569148e-01 3.98462149e-04 5.74892962e-02] [-3.07846055e-02 5.05439513e-04 9.99525914e-01 -1.88064618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91864 meters Centerline goodness [0,1] 0.9990354840347225 Centerline is valid? [True, True] Translation: X:2.08, Y:0.05, Z:-0.19 [[ 9.98972204e-01 -2.84898154e-02 3.52542969e-02 2.07585534e+00] [ 2.84921732e-02 9.99593921e-01 4.35612797e-04 5.45940052e-02] [-3.52523914e-02 5.69306458e-04 9.99378279e-01 -1.88846448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94864 meters Centerline goodness [0,1] 0.9991886821155114 Centerline is valid? [True, True] Translation: X:2.11, Y:0.05, Z:-0.19 [[ 9.98994698e-01 -2.69026891e-02 3.58585927e-02 2.10844492e+00] [ 2.69042448e-02 9.99637919e-01 4.39230250e-04 5.29868971e-02] [-3.58574254e-02 5.25959665e-04 9.99356777e-01 -1.88898630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97864 meters Centerline goodness [0,1] 0.9991459432303441 Centerline is valid? [True, True] Translation: X:2.14, Y:0.05, Z:-0.19 [[ 9.98988544e-01 -2.48118561e-02 3.75001410e-02 2.14098380e+00] [ 2.48127519e-02 9.99692019e-01 4.41588899e-04 4.80561626e-02] [-3.74995483e-02 4.89339445e-04 9.99296525e-01 -1.88938675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00864 meters Centerline goodness [0,1] 0.9991459432303441 Centerline is valid? [True, True] Translation: X:2.17, Y:0.05, Z:-0.19 [[ 9.99001150e-01 -2.42986996e-02 3.75003289e-02 2.17350705e+00] [ 2.42998578e-02 9.99704625e-01 4.24967753e-04 4.87423729e-02] [-3.74995783e-02 4.86709385e-04 9.99296525e-01 -1.90333066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03864 meters Centerline goodness [0,1] 0.9994985457827701 Centerline is valid? [True, True] Translation: X:2.21, Y:0.05, Z:-0.19 [[ 9.98987797e-01 -2.27192364e-02 3.88229146e-02 2.20605812e+00] [ 2.27201010e-02 9.99741777e-01 4.18984401e-04 4.68026845e-02] [-3.88224086e-02 4.63500235e-04 9.99246019e-01 -1.90984155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0686400000000003 meters Centerline goodness [0,1] 0.9994993240875182 Centerline is valid? [True, True] Translation: X:2.24, Y:0.05, Z:-0.19 [[ 9.98903858e-01 -2.11852245e-02 4.17404853e-02 2.23823724e+00] [ 2.11857301e-02 9.99775465e-01 4.30282334e-04 4.51636650e-02] [-4.17402287e-02 4.54491971e-04 9.99128394e-01 -1.93126343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.09864 meters Centerline goodness [0,1] 0.9999502438053538 Centerline is valid? [True, True] Translation: X:2.27, Y:0.04, Z:-0.20 [[ 9.98800819e-01 -1.82713789e-02 4.54211550e-02 2.27087281e+00] [ 1.82699799e-02 9.99832991e-01 4.45971802e-04 4.01901844e-02] [-4.54217178e-02 3.84406586e-04 9.98967827e-01 -1.95006199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1286400000000003 meters Centerline goodness [0,1] 0.9998507091316248 Centerline is valid? [True, True] Translation: X:2.30, Y:0.04, Z:-0.20 [[ 9.98717102e-01 -1.68936454e-02 4.77363027e-02 2.30359003e+00] [ 1.68916251e-02 9.99857227e-01 4.45752583e-04 3.83154276e-02] [-4.77370176e-02 3.61163001e-04 9.98859873e-01 -1.95995352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15864 meters Centerline goodness [0,1] 0.9999007887295996 Centerline is valid? [True, True] Translation: X:2.34, Y:0.04, Z:-0.20 [[ 9.98691951e-01 -1.37661227e-02 4.92430854e-02 2.33629908e+00] [ 1.37614768e-02 9.99905212e-01 4.33395166e-04 3.63727251e-02] [-4.92443839e-02 2.44829314e-04 9.98786729e-01 -1.96750648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18864 meters Centerline goodness [0,1] 0.9999007444168735 Centerline is valid? [True, True] Translation: X:2.37, Y:0.03, Z:-0.20 [[ 9.98629143e-01 -1.00286351e-02 5.13737370e-02 2.36963363e+00] [ 1.00200696e-02 9.99949708e-01 4.24288404e-04 3.10739829e-02] [-5.13754083e-02 9.10616526e-05 9.98679408e-01 -1.97932360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.21864 meters Centerline goodness [0,1] 0.9999506976285559 Centerline is valid? [True, True] Translation: X:2.40, Y:0.03, Z:-0.20 [[ 9.98531073e-01 -7.18154177e-03 5.37040180e-02 2.40252936e+00] [ 7.16963922e-03 9.99974212e-01 4.14289811e-04 2.77798971e-02] [-5.37056083e-02 -2.86428160e-05 9.98556812e-01 -2.00056969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24864 meters Centerline goodness [0,1] 0.9999506075274128 Centerline is valid? [True, True] Translation: X:2.43, Y:0.02, Z:-0.20 [[ 9.98382668e-01 -2.54502717e-03 5.67941075e-02 2.43464206e+00] [ 2.52595412e-03 9.99996727e-01 4.07613071e-04 2.29380878e-02] [-5.67949590e-02 -2.63494516e-04 9.98385829e-01 -2.00470810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.27864 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:2.47, Y:0.02, Z:-0.20 [[ 9.98336634e-01 6.25494874e-04 5.76504535e-02 2.46673976e+00] [-6.48877637e-04 9.99999715e-01 3.86876751e-04 2.13316698e-02] [-5.76501951e-02 -4.23641323e-04 9.98336755e-01 -2.01732907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.50, Y:0.02, Z:-0.20 [[ 9.98189357e-01 4.65862363e-03 5.99692035e-02 2.49901939e+00] [-4.68949086e-03 9.99988934e-01 3.73988413e-04 1.89703123e-02] [-5.99667976e-02 -6.54536285e-04 9.98200158e-01 -2.03183283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3386400000000003 meters Centerline goodness [0,1] 0.9999506538366641 Centerline is valid? [True, True] Translation: X:2.53, Y:0.01, Z:-0.20 [[ 9.98080181e-01 1.32517171e-02 6.05007785e-02 2.53079190e+00] [-1.32972390e-02 9.99911527e-01 3.49847491e-04 1.32076897e-02] [-6.04907897e-02 -1.15366916e-03 9.98168089e-01 -2.02716649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.56, Y:0.01, Z:-0.20 [[ 9.97873960e-01 1.74500072e-02 6.27937623e-02 2.56245464e+00] [-1.75056215e-02 9.99846709e-01 3.35567384e-04 1.24084948e-02] [-6.27782809e-02 -1.43409779e-03 9.98026468e-01 -2.04153707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.39864 meters Centerline goodness [0,1] 0.9999507194953676 Centerline is valid? [True, True] Translation: X:2.59, Y:0.01, Z:-0.21 [[ 9.97762298e-01 2.42879765e-02 6.22935927e-02 2.59483696e+00] [-2.43547083e-02 9.99703331e-01 3.12048734e-04 1.08281009e-02] [-6.22675331e-02 -1.82849274e-03 9.98057819e-01 -2.06196426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.63, Y:0.01, Z:-0.21 [[ 9.97638860e-01 2.75966013e-02 6.28898433e-02 2.62699376e+00] [-2.76702606e-02 9.99617060e-01 3.00426316e-04 1.08290588e-02] [-6.28574695e-02 -2.03989532e-03 9.98020429e-01 -2.07122089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45864 meters Centerline goodness [0,1] 0.9999014292755052 Centerline is valid? [True, True] Translation: X:2.66, Y:0.01, Z:-0.21 [[ 9.97405571e-01 3.18944006e-02 6.45358323e-02 2.65850014e+00] [-3.19790981e-02 9.99488499e-01 2.79596860e-04 1.00807592e-02] [-6.44939045e-02 -2.34266918e-03 9.97915351e-01 -2.09218047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48864 meters Centerline goodness [0,1] 0.9999506538366641 Centerline is valid? [True, True] Translation: X:2.69, Y:0.01, Z:-0.21 [[ 9.97363816e-01 3.85943854e-02 6.14482903e-02 2.69077880e+00] [-3.86826445e-02 9.99251516e-01 2.46903744e-04 1.21218789e-02] [-6.13927681e-02 -2.62323523e-03 9.98110238e-01 -2.08939444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51864 meters Centerline goodness [0,1] 0.9999012248123271 Centerline is valid? [True, True] Translation: X:2.72, Y:0.01, Z:-0.21 [[ 9.97135245e-01 4.18446034e-02 6.30105775e-02 2.72236846e+00] [-4.19430265e-02 9.99119975e-01 2.39497542e-04 1.48703587e-02] [-6.29451049e-02 -2.88166576e-03 9.98012830e-01 -2.11149723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5486400000000002 meters Centerline goodness [0,1] 0.9996550534667127 Centerline is valid? [True, True] Translation: X:2.75, Y:0.02, Z:-0.21 [[ 9.96978154e-01 4.45893642e-02 6.36109163e-02 2.75427578e+00] [-4.46939645e-02 9.99000701e-01 2.21661613e-04 1.66745015e-02] [-6.35374662e-02 -3.06401582e-03 9.97974750e-01 -2.10954378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57864 meters Centerline goodness [0,1] 0.9993595112578213 Centerline is valid? [True, True] Translation: X:2.79, Y:0.02, Z:-0.21 [[ 9.96737663e-01 4.76119120e-02 6.51700545e-02 2.78627229e+00] [-4.77276200e-02 9.98860364e-01 2.18884108e-04 1.96714411e-02] [-6.50853628e-02 -3.32858163e-03 9.97874148e-01 -2.12258017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60864 meters Centerline goodness [0,1] 0.9995566284053402 Centerline is valid? [True, True] Translation: X:2.82, Y:0.02, Z:-0.21 [[ 9.96603889e-01 4.88590391e-02 6.62833589e-02 2.81851944e+00] [-4.89804727e-02 9.98799715e-01 2.07219125e-04 2.04148386e-02] [-6.61936754e-02 -3.45310564e-03 9.97800818e-01 -2.13119586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63864 meters Centerline goodness [0,1] 0.9993587530212598 Centerline is valid? [True, True] Translation: X:2.85, Y:0.02, Z:-0.22 [[ 9.96519824e-01 4.85963070e-02 6.77247281e-02 2.85108296e+00] [-4.87209598e-02 9.98812411e-01 1.89115763e-04 2.27635009e-02] [-6.76351087e-02 -3.48807137e-03 9.97704027e-01 -2.15490285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66864 meters Centerline goodness [0,1] 0.9993107861960321 Centerline is valid? [True, True] Translation: X:2.88, Y:0.02, Z:-0.22 [[ 9.96579705e-01 4.87742136e-02 6.67080771e-02 2.88287613e+00] [-4.88944038e-02 9.98803939e-01 1.69302057e-04 2.21848493e-02] [-6.66200326e-02 -3.43037465e-03 9.97772521e-01 -2.17180183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.69864 meters Centerline goodness [0,1] 0.9995079466614181 Centerline is valid? [True, True] Translation: X:2.92, Y:0.02, Z:-0.22 [[ 9.96555811e-01 4.77084655e-02 6.78263780e-02 2.91530995e+00] [-4.78282543e-02 9.98855564e-01 1.42401597e-04 2.32068027e-02] [-6.77419613e-02 -3.38592840e-03 9.97697129e-01 -2.19245859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72864 meters Centerline goodness [0,1] 0.9994578342944452 Centerline is valid? [True, True] Translation: X:2.95, Y:0.02, Z:-0.22 [[ 9.96504622e-01 4.67167354e-02 6.92537723e-02 2.94737160e+00] [-4.68371702e-02 9.98902531e-01 1.15392966e-04 2.44933329e-02] [-6.91723777e-02 -3.35864035e-03 9.97599069e-01 -2.20902652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.75864 meters Centerline goodness [0,1] 0.999507631708518 Centerline is valid? [True, True] Translation: X:2.98, Y:0.03, Z:-0.22 [[ 9.96528189e-01 4.54890035e-02 6.97303369e-02 2.97977093e+00] [-4.56060078e-02 9.98959501e-01 8.60463247e-05 2.71538461e-02] [-6.96538684e-02 -3.26586987e-03 9.97565874e-01 -2.22377351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78864 meters Centerline goodness [0,1] 0.9993106165058105 Centerline is valid? [True, True] Translation: X:3.01, Y:0.03, Z:-0.22 [[ 9.96618927e-01 4.61988863e-02 6.79439225e-02 3.01252540e+00] [-4.63099641e-02 9.98927116e-01 5.98502509e-05 2.95034072e-02] [-6.78682616e-02 -3.20612851e-03 9.97689140e-01 -2.21976873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8186400000000003 meters Centerline goodness [0,1] 0.9993579612801264 Centerline is valid? [True, True] Translation: X:3.04, Y:0.03, Z:-0.22 [[ 9.96414777e-01 4.89308679e-02 6.90171153e-02 3.04464899e+00] [-4.90510904e-02 9.98796270e-01 4.72774462e-05 3.27327573e-02] [-6.89317240e-02 -3.43247271e-03 9.97615475e-01 -2.23527669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84864 meters Centerline goodness [0,1] 0.9994064107637515 Centerline is valid? [True, True] Translation: X:3.08, Y:0.04, Z:-0.23 [[ 9.96235520e-01 5.07965432e-02 7.02459992e-02 3.07628855e+00] [-5.09245688e-02 9.98702502e-01 3.17381465e-05 3.53571770e-02] [-7.01532430e-02 -3.60886589e-03 9.97529698e-01 -2.25170088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.87864 meters Centerline goodness [0,1] 0.9992109675510406 Centerline is valid? [True, True] Translation: X:3.11, Y:0.04, Z:-0.23 [[ 9.96082507e-01 5.36798310e-02 7.02717265e-02 3.10871083e+00] [-5.38130801e-02 9.98551026e-01 3.09337044e-06 4.26020615e-02] [-7.01697386e-02 -3.78461930e-03 9.97527887e-01 -2.26491472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.90864 meters Centerline goodness [0,1] 0.9994565217391305 Centerline is valid? [True, True] Translation: X:3.14, Y:0.05, Z:-0.23 [[ 9.95967937e-01 5.41259488e-02 7.15419528e-02 3.14059582e+00] [-5.42630302e-02 9.98526676e-01 -2.74734092e-05 4.69805994e-02] [-7.14380354e-02 -3.85472052e-03 9.97437591e-01 -2.28938295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.93864 meters Centerline goodness [0,1] 0.9995564317397733 Centerline is valid? [True, True] Translation: X:3.17, Y:0.05, Z:-0.23 [[ 9.96005920e-01 5.44257037e-02 7.07817124e-02 3.17268064e+00] [-5.45584912e-02 9.98510575e-01 -5.73656501e-05 5.13160808e-02] [-7.06794105e-02 -3.80460691e-03 9.97491827e-01 -2.30496554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96864 meters Centerline goodness [0,1] 0.999359984245766 Centerline is valid? [True, True] Translation: X:3.20, Y:0.06, Z:-0.23 [[ 9.96307966e-01 5.07673649e-02 6.92323056e-02 3.20413120e+00] [-5.08842238e-02 9.98704556e-01 -7.57032354e-05 5.82917484e-02] [-6.91464623e-02 -3.44740839e-03 9.97600562e-01 -2.31591767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.99864 meters Centerline goodness [0,1] 0.9996556134999508 Centerline is valid? [True, True] Translation: X:3.24, Y:0.06, Z:-0.23 [[ 9.96391695e-01 4.87065252e-02 6.95072934e-02 3.23650610e+00] [-4.88183275e-02 9.98807671e-01 -9.02766453e-05 6.34565521e-02] [-6.94288149e-02 -3.30327891e-03 9.97581439e-01 -2.31649042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.028639999999999 meters Centerline goodness [0,1] 0.9996553421959625 Centerline is valid? [True, True] Translation: X:3.27, Y:0.07, Z:-0.23 [[ 9.96597245e-01 4.25730154e-02 7.05795304e-02 3.26792102e+00] [-4.26715093e-02 9.99089150e-01 -1.12343038e-04 7.41807309e-02] [-7.05200258e-02 -2.89977433e-03 9.97506149e-01 -2.32838540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05864 meters Centerline goodness [0,1] 0.9998025763782636 Centerline is valid? [True, True] Translation: X:3.30, Y:0.08, Z:-0.24 [[ 9.96621294e-01 3.96343293e-02 7.19382801e-02 3.30010169e+00] [-3.97279070e-02 9.99210527e-01 -1.30123654e-04 7.97300666e-02] [-7.18866441e-02 -2.72827330e-03 9.97409077e-01 -2.35198151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08864 meters Centerline goodness [0,1] 0.9997538400945254 Centerline is valid? [True, True] Translation: X:3.33, Y:0.08, Z:-0.24 [[ 9.96715089e-01 3.69159161e-02 7.20849899e-02 3.33262045e+00] [-3.70004699e-02 9.99315235e-01 -1.62455885e-04 8.36949651e-02] [-7.20416259e-02 -2.50525627e-03 9.97398480e-01 -2.37026963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.118639999999999 meters Centerline goodness [0,1] 0.9999014923902871 Centerline is valid? [True, True] Translation: X:3.36, Y:0.09, Z:-0.24 [[ 9.96845704e-01 2.92513651e-02 7.37766970e-02 3.36441279e+00] [-2.93173257e-02 9.99570137e-01 -1.88959291e-04 9.14371087e-02] [-7.37505105e-02 -1.97457220e-03 9.97274768e-01 -2.39411048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.148639999999999 meters Centerline goodness [0,1] 0.9998032464338417 Centerline is valid? [True, True] Translation: X:3.40, Y:0.10, Z:-0.24 [[ 9.96948853e-01 2.62998929e-02 7.34935347e-02 3.39680974e+00] [-2.63560050e-02 9.99652599e-01 -2.06375859e-04 9.50949214e-02] [-7.34734306e-02 -1.73124979e-03 9.97295672e-01 -2.40529046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17864 meters Centerline goodness [0,1] 0.9999507243520253 Centerline is valid? [True, True] Translation: X:3.43, Y:0.10, Z:-0.24 [[ 9.97121566e-01 1.79494170e-02 7.36641119e-02 3.42866287e+00] [-1.79813668e-02 9.99838296e-01 -2.29500332e-04 1.01023754e-01] [-7.36563195e-02 -1.09574168e-03 9.97283082e-01 -2.43794166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20864 meters Centerline goodness [0,1] 0.9999015844897156 Centerline is valid? [True, True] Translation: X:3.46, Y:0.10, Z:-0.25 [[ 9.97357361e-01 1.37013112e-02 7.13482214e-02 3.46115422e+00] [-1.37197948e-02 9.99905852e-01 -2.31020866e-04 1.03193134e-01] [-7.13446694e-02 -7.48472595e-04 9.97451441e-01 -2.46081048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.238639999999999 meters Centerline goodness [0,1] 0.9998523185980113 Centerline is valid? [True, True] Translation: X:3.49, Y:0.11, Z:-0.25 [[ 9.97460474e-01 9.00929369e-03 7.06500880e-02 3.49374303e+00] [-9.01485256e-03 9.99959337e-01 -2.40172761e-04 1.05196495e-01] [-7.06493789e-02 -3.97337290e-04 9.97501132e-01 -2.48021832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2686399999999995 meters Centerline goodness [0,1] 0.9997538643300187 Centerline is valid? [True, True] Translation: X:3.53, Y:0.11, Z:-0.25 [[ 9.97584767e-01 2.70201786e-03 6.94069976e-02 3.52597120e+00] [-2.69082225e-03 9.99996347e-01 -2.54797196e-04 1.08673278e-01] [-6.94074325e-02 6.74199081e-05 9.97588394e-01 -2.49225147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.29864 meters Centerline goodness [0,1] 0.9996055615816981 Centerline is valid? [True, True] Translation: X:3.56, Y:0.11, Z:-0.25 [[ 9.97537109e-01 -1.27455666e-04 7.01405706e-02 3.55862268e+00] [ 1.48105919e-04 9.99999947e-01 -2.89211958e-04 1.10188861e-01] [-7.01405300e-02 2.98887894e-04 9.97537075e-01 -2.50518317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32864 meters Centerline goodness [0,1] 0.9998031205394498 Centerline is valid? [True, True] Translation: X:3.59, Y:0.11, Z:-0.25 [[ 9.97421754e-01 -5.11196309e-03 7.15801096e-02 3.59106926e+00] [ 5.14859486e-03 9.99986692e-01 -3.27262001e-04 1.12296470e-01] [-7.15774841e-02 6.94955223e-04 9.97434800e-01 -2.53015995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.358639999999999 meters Centerline goodness [0,1] 0.9994583415402797 Centerline is valid? [True, True] Translation: X:3.62, Y:0.11, Z:-0.25 [[ 9.97432365e-01 -8.29044154e-03 7.11333027e-02 3.62334019e+00] [ 8.33689963e-03 9.99965184e-01 -3.56241278e-04 1.13435926e-01] [-7.11278728e-02 9.48357785e-04 9.97466755e-01 -2.54879548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38864 meters Centerline goodness [0,1] 0.9996555796103129 Centerline is valid? [True, True] Translation: X:3.66, Y:0.11, Z:-0.26 [[ 9.97322661e-01 -1.15431367e-02 7.22098734e-02 3.65563463e+00] [ 1.16018103e-02 9.99932619e-01 -3.93151155e-04 1.13484290e-01] [-7.22004696e-02 1.22986381e-03 9.97389382e-01 -2.57658434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41864 meters Centerline goodness [0,1] 0.9997044917257684 Centerline is valid? [True, True] Translation: X:3.69, Y:0.11, Z:-0.26 [[ 9.97195479e-01 -1.71981588e-02 7.28381834e-02 3.68804040e+00] [ 1.72745549e-02 9.99850696e-01 -4.18970266e-04 1.09638186e-01] [-7.28201029e-02 1.67604246e-03 9.97343684e-01 -2.60544510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.448639999999999 meters Centerline goodness [0,1] 0.9996061441512406 Centerline is valid? [True, True] Translation: X:3.72, Y:0.11, Z:-0.26 [[ 9.97086735e-01 -2.01436849e-02 7.35681666e-02 3.72049119e+00] [ 2.02309862e-02 9.99795235e-01 -4.41601355e-04 1.07492627e-01] [-7.35442069e-02 1.92867142e-03 9.97290093e-01 -2.61953519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4786399999999995 meters Centerline goodness [0,1] 0.9995075589698134 Centerline is valid? [True, True] Translation: X:3.75, Y:0.10, Z:-0.26 [[ 9.97126299e-01 -2.48712904e-02 7.15581088e-02 3.75207236e+00] [ 2.49680954e-02 9.99688143e-01 -4.58514678e-04 1.01545801e-01] [-7.15243890e-02 2.24386673e-03 9.97436327e-01 -2.63389370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50864 meters Centerline goodness [0,1] 0.9994093325457767 Centerline is valid? [True, True] Translation: X:3.78, Y:0.10, Z:-0.26 [[ 9.97160236e-01 -2.59049938e-02 7.07134719e-02 3.78393314e+00] [ 2.60041134e-02 9.99661720e-01 -4.81339809e-04 9.74085636e-02] [-7.06770818e-02 2.31881406e-03 9.97496553e-01 -2.64665255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53864 meters Centerline goodness [0,1] 0.9992612293144209 Centerline is valid? [True, True] Translation: X:3.82, Y:0.09, Z:-0.27 [[ 9.97150679e-01 -2.58144496e-02 7.08811459e-02 3.81641396e+00] [ 2.59159926e-02 9.99663993e-01 -5.13167899e-04 9.27284204e-02] [-7.08440821e-02 2.34866097e-03 9.97484636e-01 -2.67084028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.568639999999999 meters Centerline goodness [0,1] 0.999507340624692 Centerline is valid? [True, True] Translation: X:3.85, Y:0.08, Z:-0.27 [[ 9.97290724e-01 -2.31360165e-02 6.98279087e-02 3.84829661e+00] [ 2.32301271e-02 9.99730001e-01 -5.35895018e-04 8.21128867e-02] [-6.97966567e-02 2.15655432e-03 9.97558909e-01 -2.68049876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59864 meters Centerline goodness [0,1] 0.9994583148667947 Centerline is valid? [True, True] Translation: X:3.88, Y:0.08, Z:-0.27 [[ 9.97327918e-01 -1.98818756e-02 7.02974699e-02 3.88071506e+00] [ 1.99712787e-02 9.99800392e-01 -5.69106942e-04 7.64514563e-02] [-7.02721230e-02 1.97151661e-03 9.97525910e-01 -2.69689782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62864 meters Centerline goodness [0,1] 0.9993597320724981 Centerline is valid? [True, True] Translation: X:3.91, Y:0.06, Z:-0.27 [[ 9.97330145e-01 -1.39267234e-02 7.16842305e-02 3.91317174e+00] [ 1.40059908e-02 9.99901729e-01 -6.03229747e-04 6.35527895e-02] [-7.16687850e-02 1.60562788e-03 9.97427194e-01 -2.71003894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.658639999999999 meters Centerline goodness [0,1] 0.9995058067704472 Centerline is valid? [True, True] Translation: X:3.95, Y:0.06, Z:-0.27 [[ 9.97371199e-01 -9.36816364e-03 7.18535258e-02 3.94545517e+00] [ 9.43737502e-03 9.99955272e-01 -6.23788715e-04 5.83400136e-02] [-7.18444683e-02 1.30025757e-03 9.97415000e-01 -2.71973710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6886399999999995 meters Centerline goodness [0,1] 0.9990639010691235 Centerline is valid? [True, True] Translation: X:3.98, Y:0.05, Z:-0.27 [[ 9.97408247e-01 -6.50193376e-03 7.16555273e-02 3.97801384e+00] [ 6.56503144e-03 9.99978242e-01 -6.45089228e-04 5.46495359e-02] [-7.16497739e-02 1.11383811e-03 9.97429230e-01 -2.73710263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71864 meters Centerline goodness [0,1] 0.9992605008873989 Centerline is valid? [True, True] Translation: X:4.01, Y:0.05, Z:-0.27 [[ 9.97671315e-01 5.81278449e-04 6.82027129e-02 4.00948952e+00] [-5.40061419e-04 9.99999660e-01 -6.22767975e-04 4.89545740e-02] [-6.82030517e-02 5.84484090e-04 9.97671290e-01 -2.74386308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74864 meters Centerline goodness [0,1] 0.9993584998766346 Centerline is valid? [True, True] Translation: X:4.04, Y:0.04, Z:-0.28 [[ 9.97687995e-01 4.73091680e-03 6.77958860e-02 4.04171899e+00] [-4.69872805e-03 9.99988760e-01 -6.34242841e-04 4.48543302e-02] [-6.77981245e-02 3.14222037e-04 9.97699011e-01 -2.76149149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.778639999999999 meters Centerline goodness [0,1] 0.9991124697993196 Centerline is valid? [True, True] Translation: X:4.08, Y:0.04, Z:-0.28 [[ 9.97670263e-01 7.07795138e-03 6.78524034e-02 4.07506972e+00] [-7.04894846e-03 9.99974934e-01 -6.66854616e-04 4.10798006e-02] [-6.78554225e-02 1.87012925e-04 9.97695147e-01 -2.77870833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.80864 meters Centerline goodness [0,1] 0.9990118088838381 Centerline is valid? [True, True] Translation: X:4.11, Y:0.04, Z:-0.28 [[ 9.97684342e-01 1.15505977e-02 6.70263927e-02 4.10748278e+00] [-1.15301730e-02 9.99933286e-01 -6.91579581e-04 3.62732742e-02] [-6.70299093e-02 -8.28477852e-05 9.97750963e-01 -2.78242606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83864 meters Centerline goodness [0,1] 0.9990147297896448 Centerline is valid? [True, True] Translation: X:4.14, Y:0.03, Z:-0.28 [[ 9.97571702e-01 1.34694866e-02 6.83320711e-02 4.13974072e+00] [-1.34505917e-02 9.99909265e-01 -7.36618928e-04 3.43824782e-02] [-6.83357929e-02 -1.84276593e-04 9.97662360e-01 -2.80209164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.868639999999999 meters Centerline goodness [0,1] 0.9990634396411495 Centerline is valid? [True, True] Translation: X:4.17, Y:0.03, Z:-0.28 [[ 9.97464139e-01 1.65494528e-02 6.92199867e-02 4.17218648e+00] [-1.65352514e-02 9.99862981e-01 -7.78170054e-04 3.08549833e-02] [-6.92233805e-02 -3.68373159e-04 9.97601117e-01 -2.80023427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.898639999999999 meters Centerline goodness [0,1] 0.9990634396411495 Centerline is valid? [True, True] Translation: X:4.20, Y:0.03, Z:-0.28 [[ 9.97455360e-01 1.70719908e-02 6.92195983e-02 4.20471053e+00] [-1.70567287e-02 9.99854194e-01 -8.11564642e-04 3.08105415e-02] [-6.92233606e-02 -3.71160406e-04 9.97601117e-01 -2.81418127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92864 meters Centerline goodness [0,1] 0.9989164696611506 Centerline is valid? [True, True] Translation: X:4.24, Y:0.03, Z:-0.28 [[ 9.97355193e-01 1.87740718e-02 7.02150517e-02 4.23640425e+00] [-1.87601636e-02 9.99823645e-01 -8.57569265e-04 3.05809022e-02] [-7.02187690e-02 -4.61944700e-04 9.97531509e-01 -2.83039024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95864 meters Centerline goodness [0,1] 0.9988165680473373 Centerline is valid? [True, True] Translation: X:4.27, Y:0.03, Z:-0.28 [[ 9.97318593e-01 2.06553391e-02 7.02067034e-02 4.26982289e+00] [-2.06437945e-02 9.99786498e-01 -8.90072638e-04 3.13881123e-02] [-7.02100988e-02 -5.61646766e-04 9.97532068e-01 -2.84624335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.988639999999999 meters Centerline goodness [0,1] 0.9988670508841929 Centerline is valid? [True, True] Translation: X:4.30, Y:0.03, Z:-0.29 [[ 9.97319872e-01 2.33462424e-02 6.93399275e-02 4.30294236e+00] [-2.33389600e-02 9.99727190e-01 -9.15269150e-04 3.21469831e-02] [-6.93423790e-02 -7.05505681e-04 9.97592671e-01 -2.86512643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0186399999999995 meters Centerline goodness [0,1] 0.9985707949337145 Centerline is valid? [True, True] Translation: X:4.34, Y:0.03, Z:-0.29 [[ 9.97330741e-01 2.48192347e-02 6.86687543e-02 4.33578470e+00] [-2.48131157e-02 9.99691663e-01 -9.42188670e-04 3.17801210e-02] [-6.86709656e-02 -7.64212019e-04 9.97639070e-01 -2.86436279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04864 meters Centerline goodness [0,1] 0.9986692952193199 Centerline is valid? [True, True] Translation: X:4.37, Y:0.03, Z:-0.29 [[ 9.97177665e-01 2.53415876e-02 7.06718411e-02 4.36800753e+00] [-2.53338746e-02 9.99678540e-01 -1.00559742e-03 3.25217545e-02] [-7.06746064e-02 -7.87632268e-04 9.97499113e-01 -2.88668600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.078639999999999 meters Centerline goodness [0,1] 0.9987178854973124 Centerline is valid? [True, True] Translation: X:4.40, Y:0.04, Z:-0.29 [[ 9.97180902e-01 2.75219714e-02 6.98053651e-02 4.40147927e+00] [-2.75174411e-02 9.99620796e-01 -1.02668618e-03 3.61628409e-02] [-6.98071511e-02 -8.97073172e-04 9.97560102e-01 -2.89312871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.108639999999999 meters Centerline goodness [0,1] 0.9988659895473819 Centerline is valid? [True, True] Translation: X:4.43, Y:0.04, Z:-0.29 [[ 9.97252398e-01 2.73134104e-02 6.88595174e-02 4.43414629e+00] [-2.73066898e-02 9.99626563e-01 -1.03905278e-03 3.69936649e-02] [-6.88621827e-02 -8.44127608e-04 9.97625825e-01 -2.90733025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13864 meters Centerline goodness [0,1] 0.9989662301860786 Centerline is valid? [True, True] Translation: X:4.47, Y:0.04, Z:-0.29 [[ 9.97475409e-01 2.67927280e-02 6.57644191e-02 4.46657983e+00] [-2.67843252e-02 9.99640726e-01 -1.00960958e-03 3.90578730e-02] [-6.57678419e-02 -7.54394858e-04 9.97834667e-01 -2.91827120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16864 meters Centerline goodness [0,1] 0.9988184906217693 Centerline is valid? [True, True] Translation: X:4.50, Y:0.04, Z:-0.29 [[ 9.97409339e-01 2.58188830e-02 6.71416077e-02 4.50005529e+00] [-2.58057117e-02 9.99666411e-01 -1.06360601e-03 4.13352793e-02] [-6.71466711e-02 -6.71786401e-04 9.97742889e-01 -2.93102071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.198639999999999 meters Centerline goodness [0,1] 0.998864814175016 Centerline is valid? [True, True] Translation: X:4.53, Y:0.04, Z:-0.29 [[ 9.97516658e-01 2.60165116e-02 6.54496613e-02 4.53248371e+00] [-2.60023047e-02 9.99661311e-01 -1.06903580e-03 4.42622852e-02] [-6.54553068e-02 -6.35461022e-04 9.97855300e-01 -2.93694040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2286399999999995 meters Centerline goodness [0,1] 0.9987679266669952 Centerline is valid? [True, True] Translation: X:4.56, Y:0.05, Z:-0.30 [[ 9.97641186e-01 2.52413750e-02 6.38352285e-02 4.56425364e+00] [-2.52244303e-02 9.99681239e-01 -1.07148420e-03 4.79853274e-02] [-6.38419260e-02 -5.41250504e-04 9.97959877e-01 -2.95746822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25864 meters Centerline goodness [0,1] 0.9986690328305236 Centerline is valid? [True, True] Translation: X:4.60, Y:0.05, Z:-0.30 [[ 9.97579436e-01 2.54643718e-02 6.47057579e-02 4.59676051e+00] [-2.54454349e-02 9.99675589e-01 -1.11687490e-03 4.86904550e-02] [-6.47132071e-02 -5.32294715e-04 9.97903762e-01 -2.97876429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.288639999999999 meters Centerline goodness [0,1] 0.9987176957979877 Centerline is valid? [True, True] Translation: X:4.63, Y:0.05, Z:-0.30 [[ 9.97654461e-01 2.43907676e-02 6.39583284e-02 4.62933479e+00] [-2.43681032e-02 9.99702410e-01 -1.13452505e-03 5.10731666e-02] [-6.39669670e-02 -4.26679169e-04 9.97951925e-01 -2.98440503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.318639999999999 meters Centerline goodness [0,1] 0.9981744622064338 Centerline is valid? [True, True] Translation: X:4.66, Y:0.05, Z:-0.30 [[ 9.97650826e-01 2.35242183e-02 6.43384886e-02 4.66274014e+00] [-2.34974850e-02 9.99723209e-01 -1.17226297e-03 5.19886399e-02] [-6.43482568e-02 -3.42283546e-04 9.97927445e-01 -3.00812474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34864 meters Centerline goodness [0,1] 0.9986216402481047 Centerline is valid? [True, True] Translation: X:4.70, Y:0.05, Z:-0.30 [[ 9.97688136e-01 2.32712914e-02 6.38500539e-02 4.69590069e+00] [-2.32423026e-02 9.99729145e-01 -1.19684702e-03 5.18378214e-02] [-6.38606119e-02 -2.89942195e-04 9.97958786e-01 -3.02489591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37864 meters Centerline goodness [0,1] 0.9984254293165379 Centerline is valid? [True, True] Translation: X:4.73, Y:0.05, Z:-0.30 [[ 9.97748016e-01 2.19547892e-02 6.33788928e-02 4.72882722e+00] [-2.19214732e-02 9.99758950e-01 -1.22107836e-03 5.14179453e-02] [-6.33904239e-02 -1.71030191e-04 9.97988790e-01 -3.03055524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.408639999999999 meters Centerline goodness [0,1] 0.9986181028526305 Centerline is valid? [True, True] Translation: X:4.76, Y:0.05, Z:-0.31 [[ 9.97723339e-01 2.25391956e-02 6.35619703e-02 4.76221542e+00] [-2.25047660e-02 9.99745945e-01 -1.25765639e-03 5.11406272e-02] [-6.35741686e-02 -1.75654138e-04 9.97977101e-01 -3.05075753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4386399999999995 meters Centerline goodness [0,1] 0.9988142878316288 Centerline is valid? [True, True] Translation: X:4.79, Y:0.05, Z:-0.31 [[ 9.97430696e-01 2.53987626e-02 6.69844002e-02 4.79425746e+00] [-2.53646487e-02 9.99677341e-01 -1.35984284e-03 5.00506809e-02] [-6.69973254e-02 -3.42686786e-04 9.97753096e-01 -3.06869038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46864 meters Centerline goodness [0,1] 0.9985220218740762 Centerline is valid? [True, True] Translation: X:4.83, Y:0.05, Z:-0.31 [[ 9.97414428e-01 2.70229173e-02 6.65899398e-02 4.82771025e+00] [-2.69906960e-02 9.99634727e-01 -1.38364599e-03 4.91369182e-02] [-6.66030064e-02 -4.17240348e-04 9.97779467e-01 -3.07582510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49864 meters Centerline goodness [0,1] 0.9981773399014778 Centerline is valid? [True, True] Translation: X:4.86, Y:0.05, Z:-0.31 [[ 9.97341462e-01 2.84811322e-02 6.70733414e-02 4.86064664e+00] [-2.84493577e-02 9.99594214e-01 -1.42904796e-03 4.82153399e-02] [-6.70868249e-02 -4.82944700e-04 9.97747024e-01 -3.09661209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.528639999999999 meters Centerline goodness [0,1] 0.9981767111811954 Centerline is valid? [True, True] Translation: X:4.89, Y:0.05, Z:-0.31 [[ 9.97382369e-01 2.78496789e-02 6.67293441e-02 4.89347283e+00] [-2.78144776e-02 9.99612041e-01 -1.45670178e-03 4.86185388e-02] [-6.67440245e-02 -4.03153174e-04 9.97770050e-01 -3.11998110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.55864 meters Centerline goodness [0,1] 0.9984243438869467 Centerline is valid? [True, True] Translation: X:4.93, Y:0.05, Z:-0.31 [[ 9.97364555e-01 2.73437674e-02 6.72031472e-02 4.92621041e+00] [-2.73045432e-02 9.99626033e-01 -1.50228258e-03 4.81855251e-02] [-6.72190935e-02 -3.36627845e-04 9.97738182e-01 -3.13590009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58864 meters Centerline goodness [0,1] 0.9979793997338722 Centerline is valid? [True, True] Translation: X:4.96, Y:0.05, Z:-0.31 [[ 9.97413872e-01 2.50629743e-02 6.73603385e-02 4.95881620e+00] [-2.50160035e-02 9.99685863e-01 -1.54084978e-03 4.83718971e-02] [-6.73777964e-02 -1.48221520e-04 9.97727523e-01 -3.14054800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.618639999999999 meters Centerline goodness [0,1] 0.9988669392580916 Centerline is valid? [True, True] Translation: X:4.99, Y:0.05, Z:-0.32 [[ 9.97459335e-01 2.48167637e-02 6.67757704e-02 4.99155124e+00] [-2.47677404e-02 9.99692012e-01 -1.56204340e-03 4.89011397e-02] [-6.67939692e-02 -9.58101767e-05 9.97766785e-01 -3.15389993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.648639999999999 meters Centerline goodness [0,1] 0.9984239558707644 Centerline is valid? [True, True] Translation: X:5.02, Y:0.05, Z:-0.32 [[ 9.97495880e-01 2.51280041e-02 6.61101577e-02 5.02453004e+00] [-2.50783685e-02 9.99684239e-01 -1.58070198e-03 4.89386681e-02] [-6.61290026e-02 -8.11911853e-05 9.97811079e-01 -3.16508457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67864 meters Centerline goodness [0,1] 0.9985715693035169 Centerline is valid? [True, True] Translation: X:5.06, Y:0.05, Z:-0.32 [[ 9.97497368e-01 2.73871771e-02 6.51839224e-02 5.05684930e+00] [-2.73416409e-02 9.99624882e-01 -1.59071300e-03 4.97152071e-02] [-6.52030359e-02 -1.95503364e-04 9.97871999e-01 -3.17785101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70864 meters Centerline goodness [0,1] 0.9985218762317698 Centerline is valid? [True, True] Translation: X:5.09, Y:0.05, Z:-0.32 [[ 9.97330346e-01 2.92160064e-02 6.69223820e-02 5.08874531e+00] [-2.91700383e-02 9.99573079e-01 -1.66415133e-03 5.03079793e-02] [-6.69424312e-02 -2.92419827e-04 9.97756797e-01 -3.19657190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.738639999999999 meters Centerline goodness [0,1] 0.9990148753817358 Centerline is valid? [True, True] Translation: X:5.12, Y:0.05, Z:-0.32 [[ 9.97193820e-01 3.10946231e-02 6.80999924e-02 5.12148822e+00] [-3.10492507e-02 9.99516367e-01 -1.72487245e-03 5.27990469e-02] [-6.81206913e-02 -3.94421593e-04 9.97677010e-01 -3.20362157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7686399999999995 meters Centerline goodness [0,1] 0.9994088087496305 Centerline is valid? [True, True] Translation: X:5.15, Y:0.05, Z:-0.32 [[ 9.97106945e-01 3.22736371e-02 6.88197043e-02 5.15410938e+00] [-3.22278087e-02 9.99478971e-01 -1.77637581e-03 5.26740823e-02] [-6.88411773e-02 -4.46671605e-04 9.97627532e-01 -3.22098905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79864 meters Centerline goodness [0,1] 0.9997044189368934 Centerline is valid? [True, True] Translation: X:5.19, Y:0.05, Z:-0.32 [[ 9.97152821e-01 3.25899140e-02 6.80010895e-02 5.18609691e+00] [-3.25436193e-02 9.99468715e-01 -1.78876045e-03 5.22309604e-02] [-6.80232571e-02 -4.29334032e-04 9.97683643e-01 -3.23659256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.828639999999999 meters Centerline goodness [0,1] 0.9997536581760851 Centerline is valid? [True, True] Translation: X:5.22, Y:0.05, Z:-0.33 [[ 9.97277389e-01 3.16319055e-02 6.66125581e-02 5.21797158e+00] [-3.15833453e-02 9.99499533e-01 -1.78222546e-03 5.16960522e-02] [-6.66355958e-02 -3.26474271e-04 9.97777325e-01 -3.25060808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.858639999999999 meters Centerline goodness [0,1] 0.9991629739044805 Centerline is valid? [True, True] Translation: X:5.25, Y:0.05, Z:-0.33 [[ 9.97205835e-01 3.17718497e-02 6.76097099e-02 5.25082043e+00] [-3.17199126e-02 9.99495100e-01 -1.84183745e-03 5.18568001e-02] [-6.76340924e-02 -3.07883043e-04 9.97710146e-01 -3.26665209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88864 meters Centerline goodness [0,1] 0.9993577392421323 Centerline is valid? [True, True] Translation: X:5.28, Y:0.05, Z:-0.33 [[ 9.97256196e-01 3.16900415e-02 6.69015705e-02 5.28268320e+00] [-3.16367732e-02 9.99497709e-01 -1.85579728e-03 5.32285365e-02] [-6.69267768e-02 -2.65844474e-04 9.97757854e-01 -3.27037177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91864 meters Centerline goodness [0,1] 0.9993073764409044 Centerline is valid? [True, True] Translation: X:5.32, Y:0.06, Z:-0.33 [[ 9.97261310e-01 3.23029764e-02 6.65311686e-02 5.31542535e+00] [-3.22495369e-02 9.99478085e-01 -1.87733886e-03 5.61312183e-02] [-6.65570886e-02 -2.73401962e-04 9.97782581e-01 -3.27950475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.948639999999999 meters Centerline goodness [0,1] 0.9989158823239541 Centerline is valid? [True, True] Translation: X:5.35, Y:0.06, Z:-0.33 [[ 9.97305510e-01 3.35407680e-02 6.52436768e-02 5.34738150e+00] [-3.34899196e-02 9.99437300e-01 -1.87318303e-03 5.57109122e-02] [-6.52697921e-02 -3.16869732e-04 9.97867603e-01 -3.29211994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9786399999999995 meters Centerline goodness [0,1] 0.9991607424960506 Centerline is valid? [True, True] Translation: X:5.38, Y:0.06, Z:-0.33 [[ 9.97222066e-01 3.46660275e-02 6.59273717e-02 5.38065185e+00] [-3.46144703e-02 9.99398887e-01 -1.92447735e-03 5.51353404e-02] [-6.59544559e-02 -3.62909775e-04 9.97822568e-01 -3.30713371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00864 meters Centerline goodness [0,1] 0.9993102428930384 Centerline is valid? [True, True] Translation: X:5.41, Y:0.06, Z:-0.33 [[ 9.97216027e-01 3.50005454e-02 6.58419121e-02 5.41380229e+00] [-3.49475781e-02 9.99387232e-01 -1.95640222e-03 5.51740368e-02] [-6.58700414e-02 -3.50059717e-04 9.97828149e-01 -3.32380209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.038639999999999 meters Centerline goodness [0,1] 0.9997046808091746 Centerline is valid? [True, True] Translation: X:5.45, Y:0.06, Z:-0.33 [[ 9.97152074e-01 3.50100487e-02 6.67984924e-02 5.44687675e+00] [-3.49531852e-02 9.99386909e-01 -2.02015432e-03 5.57514845e-02] [-6.68282645e-02 -3.20419012e-04 9.97764441e-01 -3.34063288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.068639999999999 meters Centerline goodness [0,1] 0.9998030914640149 Centerline is valid? [True, True] Translation: X:5.48, Y:0.06, Z:-0.34 [[ 9.97242072e-01 3.44323029e-02 6.57469829e-02 5.47872327e+00] [-3.43738299e-02 9.99407002e-01 -2.02070395e-03 5.65601619e-02] [-6.57775726e-02 -2.44844616e-04 9.97834280e-01 -3.35871047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09864 meters Centerline goodness [0,1] 0.9998521584861029 Centerline is valid? [True, True] Translation: X:5.51, Y:0.06, Z:-0.34 [[ 9.97212720e-01 3.44220663e-02 6.61960197e-02 5.51161437e+00] [-3.43606591e-02 9.99407362e-01 -2.06629090e-03 5.68803618e-02] [-6.62279154e-02 -2.14007293e-04 9.97804499e-01 -3.36589596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.54, Y:0.06, Z:-0.34 [[ 9.97178578e-01 3.51330815e-02 6.63366425e-02 5.54489695e+00] [-3.50706838e-02 9.99382617e-01 -2.10526744e-03 5.92828983e-02] [-6.63696519e-02 -2.27143817e-04 9.97795078e-01 -3.38176786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.158639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.58, Y:0.06, Z:-0.34 [[ 9.97048177e-01 3.50774254e-02 6.82971938e-02 5.57728023e+00] [-3.50087804e-02 9.99384579e-01 -2.20210147e-03 6.03775169e-02] [-6.83324063e-02 -1.95400202e-04 9.97662590e-01 -3.39819929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1886399999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.61, Y:0.06, Z:-0.34 [[ 9.97037864e-01 3.56553414e-02 6.81483266e-02 5.61043383e+00] [-3.55861157e-02 9.99364126e-01 -2.22990549e-03 6.03131110e-02] [-6.81845009e-02 -2.01834030e-04 9.97672708e-01 -3.41089269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:0.06, Z:-0.34 [[ 9.97007138e-01 3.59484789e-02 6.84432197e-02 5.64393792e+00] [-3.58768930e-02 9.99353627e-01 -2.27523426e-03 6.09611668e-02] [-6.84807711e-02 -1.87105276e-04 9.97652419e-01 -3.42718858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.68, Y:0.06, Z:-0.34 [[ 9.97032715e-01 3.57852985e-02 6.81555382e-02 5.67729854e+00] [-3.57115078e-02 9.99359491e-01 -2.30114968e-03 6.03018247e-02] [-6.81942314e-02 -1.39615525e-04 9.97672054e-01 -3.43478281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.278639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.71, Y:0.06, Z:-0.35 [[ 9.96935012e-01 3.47611884e-02 7.00873851e-02 5.70966714e+00] [-3.46781218e-02 9.99395647e-01 -2.40195260e-03 6.04558333e-02] [-7.01285223e-02 -3.59082280e-05 9.97537964e-01 -3.45073067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.74, Y:0.06, Z:-0.35 [[ 9.96834734e-01 3.47362176e-02 7.15116018e-02 5.74133025e+00] [-3.46477345e-02 9.99396515e-01 -2.47777433e-03 6.00083703e-02] [-7.15545142e-02 -7.78347309e-06 9.97436690e-01 -3.45967011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.77, Y:0.06, Z:-0.35 [[ 9.96802341e-01 3.52589718e-02 7.17070343e-02 5.77389884e+00] [-3.51695898e-02 9.99378209e-01 -2.50907986e-03 5.95931438e-02] [-7.17509151e-02 -2.08503020e-05 9.97422581e-01 -3.46672218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.368639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.81, Y:0.06, Z:-0.35 [[ 9.96807629e-01 3.60468277e-02 7.12402743e-02 5.80685043e+00] [-3.59580951e-02 9.99350101e-01 -2.52802893e-03 5.99604897e-02] [-7.12851027e-02 -4.17060310e-05 9.97455980e-01 -3.48575468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.398639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.84, Y:0.06, Z:-0.35 [[ 9.96816516e-01 3.72321079e-02 7.05025014e-02 5.83950961e+00] [-3.71457288e-02 9.99306641e-01 -2.53631704e-03 5.97033792e-02] [-7.05480503e-02 -9.06240802e-05 9.97508378e-01 -3.49341018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.87, Y:0.06, Z:-0.35 [[ 9.96785622e-01 3.67956718e-02 7.11653215e-02 5.87243077e+00] [-3.67040980e-02 9.99322810e-01 -2.59448094e-03 6.02570139e-02] [-7.12125947e-02 -2.59176346e-05 9.97461160e-01 -3.51378351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.90, Y:0.06, Z:-0.35 [[ 9.96698408e-01 3.74658937e-02 7.20318684e-02 5.90498552e+00] [-3.73712342e-02 9.99297906e-01 -2.66187023e-03 5.99552263e-02] [-7.20810246e-02 -3.88380011e-05 9.97398779e-01 -3.52821813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.488639999999999 meters Centerline goodness [0,1] 0.9999506489660959 Centerline is valid? [True, True] Translation: X:5.94, Y:0.06, Z:-0.35 [[ 9.96806982e-01 3.73693276e-02 7.05646773e-02 5.93717309e+00] [-3.72760189e-02 9.99301523e-01 -2.63913983e-03 6.00227733e-02] [-7.06140123e-02 3.42760255e-07 9.97503715e-01 -3.53672485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5186399999999995 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:5.97, Y:0.06, Z:-0.35 [[ 9.96924497e-01 3.61267856e-02 6.95442532e-02 5.96976870e+00] [-3.60309627e-02 9.99347208e-01 -2.63217857e-03 6.26933316e-02] [-6.95939474e-02 1.18336904e-04 9.97575395e-01 -3.54608198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54864 meters Centerline goodness [0,1] 0.9999507292077257 Centerline is valid? [True, True] Translation: X:6.00, Y:0.06, Z:-0.36 [[ 9.96918468e-01 3.60509027e-02 6.96699382e-02 6.00273114e+00] [-3.59522399e-02 9.99349943e-01 -2.66995551e-03 6.38139871e-02] [-6.97209030e-02 1.56937635e-04 9.97566525e-01 -3.56166332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.578639999999999 meters Centerline goodness [0,1] 0.9998519907247521 Centerline is valid? [True, True] Translation: X:6.04, Y:0.07, Z:-0.36 [[ 9.97006764e-01 3.44724491e-02 6.92037827e-02 6.03557323e+00] [-3.43688571e-02 9.99405603e-01 -2.68736468e-03 6.68396116e-02] [-6.92552882e-02 3.00865851e-04 9.97598925e-01 -3.56825178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.608639999999999 meters Centerline goodness [0,1] 0.9999014438476322 Centerline is valid? [True, True] Translation: X:6.07, Y:0.07, Z:-0.36 [[ 9.96928800e-01 3.33709360e-02 7.08473603e-02 6.06819299e+00] [-3.32570976e-02 9.99442946e-01 -2.78610560e-03 6.75870276e-02] [-7.09008695e-02 4.21371332e-04 9.97483278e-01 -3.59387735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63864 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:6.10, Y:0.07, Z:-0.36 [[ 9.97011037e-01 3.24512801e-02 7.01135239e-02 6.10088110e+00] [-3.23352157e-02 9.99473186e-01 -2.79000882e-03 6.77095905e-02] [-7.01671265e-02 5.14533666e-04 9.97535117e-01 -3.60399922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66864 meters Centerline goodness [0,1] 0.999852267690944 Centerline is valid? [True, True] Translation: X:6.13, Y:0.07, Z:-0.36 [[ 9.97131895e-01 2.97367789e-02 6.95967533e-02 6.13411071e+00] [-2.96133641e-02 9.99557494e-01 -2.80458915e-03 6.91572897e-02] [-6.96493558e-02 7.35551300e-04 9.97571264e-01 -3.63138548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.698639999999999 meters Centerline goodness [0,1] 0.9997046081134305 Centerline is valid? [True, True] Translation: X:6.17, Y:0.07, Z:-0.36 [[ 9.97169774e-01 2.82584624e-02 6.96699395e-02 6.16636833e+00] [-2.81288389e-02 9.99600268e-01 -2.84109063e-03 6.88296389e-02] [-6.97223751e-02 8.73315199e-04 9.97566052e-01 -3.64572872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7286399999999995 meters Centerline goodness [0,1] 0.999458474868311 Centerline is valid? [True, True] Translation: X:6.20, Y:0.07, Z:-0.37 [[ 9.97400678e-01 2.51976318e-02 6.75053128e-02 6.19931897e+00] [-2.50668806e-02 9.99681902e-01 -2.78337771e-03 6.75281509e-02] [-6.75539739e-02 1.08399520e-03 9.97715032e-01 -3.65676297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75864 meters Centerline goodness [0,1] 0.9995560597839491 Centerline is valid? [True, True] Translation: X:6.23, Y:0.07, Z:-0.37 [[ 9.97451340e-01 2.32989268e-02 6.74387408e-02 6.23126182e+00] [-2.31619262e-02 9.99727770e-01 -2.81277232e-03 6.70335375e-02] [-6.74859165e-02 1.24359239e-03 9.97719452e-01 -3.67056726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.788639999999999 meters Centerline goodness [0,1] 0.9995568685376661 Centerline is valid? [True, True] Translation: X:6.26, Y:0.07, Z:-0.37 [[ 9.97448447e-01 2.21620559e-02 6.78633843e-02 6.26371420e+00] [-2.20186808e-02 9.99753468e-01 -2.86005908e-03 6.67445112e-02] [-6.79100386e-02 1.35849929e-03 9.97690524e-01 -3.68511911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.818639999999999 meters Centerline goodness [0,1] 0.9995568685376661 Centerline is valid? [True, True] Translation: X:6.30, Y:0.07, Z:-0.37 [[ 9.97437483e-01 2.26540921e-02 6.78620697e-02 6.29626033e+00] [-2.25097513e-02 9.99742444e-01 -2.89097827e-03 6.56977512e-02] [-6.79100839e-02 1.35601178e-03 9.97690524e-01 -3.69906974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84864 meters Centerline goodness [0,1] 0.9999013125431757 Centerline is valid? [True, True] Translation: X:6.33, Y:0.06, Z:-0.37 [[ 9.97512583e-01 2.13694282e-02 6.71713734e-02 6.32890245e+00] [-2.12228921e-02 9.99770579e-01 -2.89444185e-03 6.41102699e-02] [-6.72178155e-02 1.46167136e-03 9.97737254e-01 -3.71684298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87864 meters Centerline goodness [0,1] 0.9998521584861029 Centerline is valid? [True, True] Translation: X:6.36, Y:0.06, Z:-0.37 [[ 9.97442454e-01 2.13922513e-02 6.81976769e-02 6.36133759e+00] [-2.12390376e-02 9.99770012e-01 -2.97097393e-03 6.11822229e-02] [-6.82455481e-02 1.51492250e-03 9.97667405e-01 -3.74273310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.908639999999999 meters Centerline goodness [0,1] 0.9999015263417036 Centerline is valid? [True, True] Translation: X:6.39, Y:0.06, Z:-0.37 [[ 9.97429014e-01 2.34906752e-02 6.77019157e-02 6.39298911e+00] [-2.33425423e-02 9.99723089e-01 -2.97837025e-03 5.64836398e-02] [-6.77531322e-02 1.39037807e-03 9.97701148e-01 -3.74654433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9386399999999995 meters Centerline goodness [0,1] 0.9998522531396208 Centerline is valid? [True, True] Translation: X:6.43, Y:0.05, Z:-0.38 [[ 9.97402777e-01 2.55344943e-02 6.73475317e-02 6.42528818e+00] [-2.53906137e-02 9.99673130e-01 -2.99163405e-03 5.39777622e-02] [-6.74019077e-02 1.27386894e-03 9.97725092e-01 -3.76014663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96864 meters Centerline goodness [0,1] 0.9999011808883839 Centerline is valid? [True, True] Translation: X:6.46, Y:0.05, Z:-0.38 [[ 9.97232042e-01 2.84070157e-02 6.87116930e-02 6.45855664e+00] [-2.82618648e-02 9.99595797e-01 -3.08384693e-03 5.23887214e-02] [-6.87715224e-02 1.13339039e-03 9.97631792e-01 -3.77096952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.998639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.49, Y:0.05, Z:-0.38 [[ 9.97021957e-01 3.23217862e-02 7.00179898e-02 6.49066087e+00] [-3.21783280e-02 9.99477097e-01 -3.17612012e-03 4.89429942e-02] [-7.00840351e-02 9.13599662e-04 9.97540673e-01 -3.80016429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.028639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.52, Y:0.05, Z:-0.38 [[ 9.96972299e-01 3.37454595e-02 7.00533949e-02 6.52355826e+00] [-3.36030900e-02 9.99430101e-01 -3.21009656e-03 4.64807990e-02] [-7.01217978e-02 8.46366816e-04 9.97538078e-01 -3.80565203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.56, Y:0.04, Z:-0.38 [[ 9.96990293e-01 3.62869035e-02 6.85099794e-02 6.55578595e+00] [-3.61545273e-02 9.99341179e-01 -3.17156849e-03 4.33769888e-02] [-6.85799300e-02 6.85077071e-04 9.97645390e-01 -3.81060392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08864 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:6.59, Y:0.04, Z:-0.38 [[ 9.96934664e-01 3.75759325e-02 6.86245290e-02 6.58922211e+00] [-3.74439698e-02 9.99293577e-01 -3.20871461e-03 4.13823913e-02] [-6.86966215e-02 6.29304022e-04 9.97637398e-01 -3.82893055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.118639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.62, Y:0.04, Z:-0.38 [[ 9.96836309e-01 3.82825305e-02 6.96550192e-02 6.62092924e+00] [-3.81459200e-02 9.99266761e-01 -3.29082114e-03 3.99147214e-02] [-6.97299264e-02 6.23355205e-04 9.97565712e-01 -3.84681010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.148639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.65, Y:0.04, Z:-0.39 [[ 9.96756448e-01 3.95090897e-02 7.01114465e-02 6.65378318e+00] [-3.93713895e-02 9.99219046e-01 -3.34536891e-03 3.88472701e-02] [-7.01888652e-02 5.74132963e-04 9.97533555e-01 -3.86066838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.69, Y:0.04, Z:-0.39 [[ 9.96745701e-01 4.11431182e-02 6.93199241e-02 6.68567087e+00] [-4.10101434e-02 9.99153145e-01 -3.34091177e-03 3.87309962e-02] [-6.93986757e-02 4.87219413e-04 9.97588886e-01 -3.87746340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.208639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.72, Y:0.04, Z:-0.39 [[ 9.96549508e-01 4.57780312e-02 6.92347471e-02 6.71752753e+00] [-4.56544036e-02 9.98951617e-01 -3.36774474e-03 3.87943059e-02] [-6.93163313e-02 1.95253282e-04 9.97594711e-01 -3.87969801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.238639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.75, Y:0.04, Z:-0.39 [[ 9.96393353e-01 4.80264562e-02 6.99553175e-02 6.75049005e+00] [-4.79034281e-02 9.98846061e-01 -3.43618348e-03 3.86811562e-02] [-7.00396211e-02 7.26908522e-05 9.97544208e-01 -3.89501335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2686399999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.78, Y:0.04, Z:-0.39 [[ 9.96152968e-01 5.26017035e-02 7.00879838e-02 6.78363365e+00] [-5.24869691e-02 9.98615549e-01 -3.47889875e-03 4.11086223e-02] [-7.01739464e-02 -2.13190529e-04 9.97534747e-01 -3.90980689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.82, Y:0.04, Z:-0.39 [[ 9.95965960e-01 5.43967828e-02 7.13638331e-02 6.81561663e+00] [-5.42798832e-02 9.98519351e-01 -3.57778167e-03 4.31408211e-02] [-7.14527881e-02 -3.10271775e-04 9.97443935e-01 -3.93530421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.328639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.85, Y:0.05, Z:-0.40 [[ 9.95866806e-01 5.71443526e-02 7.05962233e-02 6.84919855e+00] [-5.70344658e-02 9.98365817e-01 -3.57295281e-03 4.50195657e-02] [-7.06850302e-02 -4.68232773e-04 9.97498575e-01 -3.95272831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.358639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.88, Y:0.05, Z:-0.40 [[ 9.95615340e-01 5.97350024e-02 7.19848827e-02 6.88142074e+00] [-5.96249276e-02 9.98214072e-01 -3.67893017e-03 4.85783152e-02] [-7.20760837e-02 -6.29294110e-04 9.97398938e-01 -3.97161087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.91, Y:0.05, Z:-0.40 [[ 9.95666190e-01 6.09623790e-02 7.02312289e-02 6.91350657e+00] [-6.08584601e-02 9.98139840e-01 -3.62044239e-03 4.90452679e-02] [-7.03212984e-02 -6.69412360e-04 9.97524169e-01 -3.97390066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.95, Y:0.05, Z:-0.40 [[ 9.95501231e-01 6.25296861e-02 7.11852272e-02 6.94586292e+00] [-6.24246108e-02 9.98042816e-01 -3.70199124e-03 4.97206178e-02] [-7.12773890e-02 -7.58373259e-04 9.97456244e-01 -3.99766005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.448639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.98, Y:0.05, Z:-0.40 [[ 9.95482193e-01 6.40452162e-02 7.00957525e-02 6.97869656e+00] [-6.39448783e-02 9.97946659e-01 -3.67671307e-03 5.43306610e-02] [-7.01872979e-02 -8.22161968e-04 9.97533492e-01 -4.02010308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4786399999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:0.06, Z:-0.40 [[ 9.95468259e-01 6.44500294e-02 6.99223798e-02 7.01144322e+00] [-6.43488574e-02 9.97920602e-01 -3.70077672e-03 5.56625206e-02] [-7.00154986e-02 -8.15419489e-04 9.97545570e-01 -4.03100875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.04, Y:0.06, Z:-0.40 [[ 9.95372677e-01 6.50060369e-02 7.07633369e-02 7.04362396e+00] [-6.49013416e-02 9.97884526e-01 -3.78015147e-03 5.61955132e-02] [-7.08593715e-02 -8.29976012e-04 9.97485970e-01 -4.03912192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.538639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.08, Y:0.06, Z:-0.41 [[ 9.95191408e-01 6.57447305e-02 7.26064130e-02 7.07609991e+00] [-6.56340526e-02 9.97836093e-01 -3.91177173e-03 5.55018701e-02] [-7.27064779e-02 -8.72491519e-04 9.97353000e-01 -4.06456129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.568639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.11, Y:0.06, Z:-0.41 [[ 9.95275721e-01 6.59213648e-02 7.12784131e-02 7.10824676e+00] [-6.58128934e-02 9.97824470e-01 -3.87180282e-03 5.52528751e-02] [-7.13785793e-02 -8.37527254e-04 9.97448945e-01 -4.06840082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.14, Y:0.06, Z:-0.41 [[ 9.95495023e-01 6.51894247e-02 6.88476490e-02 7.14097427e+00] [-6.50849133e-02 9.97872636e-01 -3.76244999e-03 5.56551370e-02] [-6.89464570e-02 -7.35443026e-04 9.97620091e-01 -4.07911810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:7.17, Y:0.05, Z:-0.41 [[ 9.95476181e-01 6.51696606e-02 6.91381824e-02 7.17352952e+00] [-6.50627967e-02 9.97873941e-01 -3.79879394e-03 5.44793216e-02] [-6.92387566e-02 -7.16714622e-04 9.97599860e-01 -4.09490982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.658639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.21, Y:0.05, Z:-0.41 [[ 9.95542813e-01 6.45178623e-02 6.87891920e-02 7.20551622e+00] [-6.44082031e-02 9.97916351e-01 -3.81318675e-03 5.28608232e-02] [-6.88918781e-02 -6.34397584e-04 9.97623930e-01 -4.11425612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6886399999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.24, Y:0.05, Z:-0.41 [[ 9.95577861e-01 6.21189550e-02 7.04695479e-02 7.23792694e+00] [-6.19955982e-02 9.98068652e-01 -3.93839024e-03 5.01443570e-02] [-7.05780954e-02 -4.47827642e-04 9.97506156e-01 -4.13899712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.27, Y:0.05, Z:-0.42 [[ 9.95616577e-01 6.15290736e-02 7.04400730e-02 7.27056884e+00] [-6.14019959e-02 9.98105222e-01 -3.96996570e-03 4.72787063e-02] [-7.05508730e-02 -3.72597409e-04 9.97508113e-01 -4.15038199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.748639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.30, Y:0.04, Z:-0.41 [[ 9.95682294e-01 6.19127201e-02 6.91634575e-02 7.30268711e+00] [-6.17888199e-02 9.98081503e-01 -3.93136431e-03 4.31160020e-02] [-6.92741691e-02 -3.59138586e-04 9.97597594e-01 -4.14792661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.778639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.33, Y:0.04, Z:-0.42 [[ 9.95651552e-01 6.29283447e-02 6.86877736e-02 7.33482432e+00] [-6.28069578e-02 9.98017966e-01 -3.92753488e-03 4.04236678e-02] [-6.87987853e-02 -4.03613895e-04 9.97630475e-01 -4.15648012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.37, Y:0.04, Z:-0.42 [[ 9.95508711e-01 6.51907863e-02 6.86481403e-02 7.36806249e+00] [-6.50734929e-02 9.97872673e-01 -3.94584819e-03 3.76801397e-02] [-6.87593362e-02 -5.39048019e-04 9.97633131e-01 -4.16920810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.40, Y:0.03, Z:-0.42 [[ 9.95373963e-01 6.72813584e-02 6.85849257e-02 7.40107124e+00] [-6.71667683e-02 9.97733832e-01 -3.97806333e-03 3.48713500e-02] [-6.86971503e-02 -6.46967152e-04 9.97637350e-01 -4.18815055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.868639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.43, Y:0.03, Z:-0.42 [[ 9.95069686e-01 7.00885856e-02 7.01705792e-02 7.43330381e+00] [-6.99731352e-02 9.97540430e-01 -4.10502668e-03 3.09036140e-02] [-7.02857053e-02 -8.25267814e-04 9.97526560e-01 -4.19900050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.898639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.47, Y:0.03, Z:-0.42 [[ 9.94968679e-01 7.13640560e-02 7.03171364e-02 7.46683638e+00] [-7.12489325e-02 9.97449944e-01 -4.14717497e-03 2.95277456e-02] [-7.04337830e-02 -8.83711702e-04 9.97516066e-01 -4.20641440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.50, Y:0.03, Z:-0.42 [[ 9.94841361e-01 7.26570980e-02 7.07927420e-02 7.49974490e+00] [-7.25410711e-02 9.97356532e-01 -4.21191997e-03 2.85706256e-02] [-7.09116296e-02 -9.45189140e-04 9.97482154e-01 -4.21155893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.958639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.53, Y:0.03, Z:-0.42 [[ 9.94821550e-01 7.33764585e-02 7.03276479e-02 7.53298912e+00] [-7.32611775e-02 9.97303858e-01 -4.22062976e-03 2.64019625e-02] [-7.04477295e-02 -9.53512857e-04 9.97515017e-01 -4.22658125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.988639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.57, Y:0.03, Z:-0.42 [[ 9.94799326e-01 7.42935932e-02 6.96761251e-02 7.56626050e+00] [-7.41801595e-02 9.97235938e-01 -4.21763283e-03 2.50654928e-02] [-6.97968791e-02 -9.72887780e-04 9.97560750e-01 -4.24546604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.60, Y:0.03, Z:-0.43 [[ 9.94850355e-01 7.45967949e-02 6.86155118e-02 7.59881256e+00] [-7.44852058e-02 9.97213329e-01 -4.18687747e-03 2.65261348e-02] [-6.87366306e-02 -9.45523973e-04 9.97634393e-01 -4.26205924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.048639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.63, Y:0.03, Z:-0.43 [[ 9.94830128e-01 7.52149672e-02 6.82328785e-02 7.63145300e+00] [-7.51038577e-02 9.97166889e-01 -4.19584436e-03 2.61994937e-02] [-6.83551575e-02 -9.50400020e-04 9.97660598e-01 -4.27338725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.66, Y:0.03, Z:-0.43 [[ 9.94664610e-01 7.67671352e-02 6.89138614e-02 7.66345798e+00] [-7.66551544e-02 9.97048514e-01 -4.27183624e-03 2.50073076e-02] [-6.90383997e-02 -1.03355835e-03 9.97613468e-01 -4.28400722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.70, Y:0.03, Z:-0.43 [[ 9.94407145e-01 8.02816181e-02 6.86242745e-02 7.69616110e+00] [-8.01767910e-02 9.96771449e-01 -4.28494160e-03 2.52791154e-02] [-6.87467196e-02 -1.24109756e-03 9.97633374e-01 -4.29582402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.138639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.73, Y:0.03, Z:-0.43 [[ 9.94279988e-01 8.13958441e-02 6.91521618e-02 7.72811203e+00] [-8.12899038e-02 9.96681009e-01 -4.34935805e-03 2.55004578e-02] [-6.92766661e-02 -1.29689290e-03 9.97596643e-01 -4.31750423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.76, Y:0.03, Z:-0.43 [[ 9.94071044e-01 8.15651550e-02 7.19019162e-02 7.76065644e+00] [-8.14486509e-02 9.96667127e-01 -4.55569776e-03 2.63591809e-02] [-7.20338624e-02 -1.32762684e-03 9.97401303e-01 -4.33911093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.79, Y:0.03, Z:-0.44 [[ 9.94244017e-01 7.97945881e-02 7.14958593e-02 7.79330621e+00] [-7.96731025e-02 9.96810643e-01 -4.55395932e-03 2.54521160e-02] [-7.16312148e-02 -1.16855011e-03 9.97430501e-01 -4.35075612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.228639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.83, Y:0.03, Z:-0.44 [[ 9.94447151e-01 7.76254180e-02 7.10574309e-02 7.82580587e+00] [-7.74984856e-02 9.96982107e-01 -4.54568278e-03 2.50799616e-02] [-7.11958477e-02 -9.86401997e-04 9.97461868e-01 -4.36581634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.86, Y:0.03, Z:-0.44 [[ 9.94707388e-01 7.19842069e-02 7.33177020e-02 7.85942167e+00] [-7.18311140e-02 9.97405612e-01 -4.72617246e-03 2.68085145e-02] [-7.34676972e-02 -5.65333550e-04 9.97297437e-01 -4.40355653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.89, Y:0.03, Z:-0.44 [[ 9.94908652e-01 6.86523968e-02 7.37809152e-02 7.89219106e+00] [-6.84853640e-02 9.97640601e-01 -4.79442706e-03 2.57797032e-02] [-7.39359855e-02 -2.82895877e-04 9.97262949e-01 -4.41510972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.92, Y:0.02, Z:-0.44 [[ 9.95400490e-01 6.11289235e-02 7.37639470e-02 7.92494181e+00] [-6.09385316e-02 9.98129829e-01 -4.83105667e-03 2.23273411e-02] [-7.39213132e-02 3.13769554e-04 9.97264028e-01 -4.43647585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.96, Y:0.02, Z:-0.44 [[ 9.95757010e-01 5.75466599e-02 7.18077979e-02 7.95680815e+00] [-5.73544768e-02 9.98342638e-01 -4.73711809e-03 1.96790676e-02] [-7.19613917e-02 5.98519868e-04 9.97407239e-01 -4.44243281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.378639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.99, Y:0.02, Z:-0.45 [[ 9.95916504e-01 5.55817378e-02 7.11406225e-02 7.98948650e+00] [-5.53857511e-02 9.98453846e-01 -4.72608014e-03 1.70949361e-02] [-7.12933118e-02 7.66604396e-04 9.97455100e-01 -4.45054292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.02, Y:0.01, Z:-0.45 [[ 9.95948724e-01 5.22454342e-02 7.31884788e-02 8.02174564e+00] [-5.20263924e-02 9.98633702e-01 -4.89738498e-03 1.45152846e-02] [-7.33443475e-02 1.06981181e-03 9.97306103e-01 -4.47002995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43864 meters Centerline goodness [0,1] 0.9999015796466709 Centerline is valid? [True, True] Translation: X:8.05, Y:0.01, Z:-0.45 [[ 9.96035895e-01 5.19960801e-02 7.21727361e-02 8.05357446e+00] [-5.17801867e-02 9.98646679e-01 -4.86039729e-03 1.15568232e-02] [-7.23277848e-02 1.10401242e-03 9.97380305e-01 -4.47489152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.468639999999999 meters Centerline goodness [0,1] 0.9998523839984255 Centerline is valid? [True, True] Translation: X:8.09, Y:0.01, Z:-0.45 [[ 9.96013403e-01 5.21607417e-02 7.23640698e-02 8.08621720e+00] [-5.19417327e-02 9.98638065e-01 -4.90630544e-03 8.41134263e-03] [-7.25214311e-02 1.12803080e-03 9.97366216e-01 -4.48315038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.12, Y:0.01, Z:-0.45 [[ 9.96034413e-01 5.16179706e-02 7.24640109e-02 8.11915793e+00] [-5.13943150e-02 9.98666177e-01 -4.94886971e-03 5.22321352e-03] [-7.26228073e-02 1.20500634e-03 9.97358750e-01 -4.49829927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.15, Y:0.00, Z:-0.45 [[ 9.95997090e-01 5.37785636e-02 7.13979141e-02 8.15151783e+00] [-5.35646119e-02 9.98552318e-01 -4.90927108e-03 7.40432610e-04] [-7.15585662e-02 1.06521815e-03 9.97435831e-01 -4.51648312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.558639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.00, Z:-0.45 [[ 9.95939722e-01 5.59865670e-02 7.04952046e-02 8.18392430e+00] [-5.57813835e-02 9.98431093e-01 -4.87740612e-03 -2.39894713e-03] [-7.06576735e-02 9.25282456e-04 9.97500194e-01 -4.52899775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58864 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.01, Z:-0.45 [[ 9.95761227e-01 6.10526661e-02 6.87906289e-02 8.21559962e+00] [-6.08678510e-02 9.98134381e-01 -4.78145087e-03 -7.07871000e-03] [-6.89542121e-02 5.74045629e-04 9.97619661e-01 -4.53809395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.01, Z:-0.46 [[ 9.95559854e-01 6.43549549e-02 6.86950988e-02 8.24750055e+00] [-6.41772464e-02 9.97927005e-01 -4.79302545e-03 -9.58392184e-03] [-6.88611492e-02 3.63081440e-04 9.97626188e-01 -4.55103323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.01, Z:-0.46 [[ 9.95381717e-01 6.83337433e-02 6.74220881e-02 8.27966290e+00] [-6.81696731e-02 9.97662511e-01 -4.73387472e-03 -1.25662760e-02] [-6.75879731e-02 1.15870645e-04 9.97713312e-01 -4.55913589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.02, Z:-0.46 [[ 9.95177797e-01 7.16681877e-02 6.69688197e-02 8.31285119e+00] [-7.15117409e-02 9.97428526e-01 -4.73351777e-03 -1.62224558e-02] [-6.71358537e-02 -7.83650961e-05 9.97743840e-01 -4.57489434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.708639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.02, Z:-0.46 [[ 9.95140984e-01 7.21798250e-02 6.69663764e-02 8.34535686e+00] [-7.20222230e-02 9.97391632e-01 -4.76787923e-03 -1.81877167e-02] [-6.71358481e-02 -7.83552656e-05 9.97743841e-01 -4.58883891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.02, Z:-0.46 [[ 9.94936925e-01 7.38481864e-02 6.81686180e-02 8.37720718e+00] [-7.36864585e-02 9.97269482e-01 -4.88735464e-03 -2.02063737e-02] [-6.83434046e-02 -1.60494438e-04 9.97661843e-01 -4.59741880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.02, Z:-0.46 [[ 9.94685749e-01 7.54795717e-02 7.00221042e-02 8.40897891e+00] [-7.53106989e-02 9.97147317e-01 -5.05231205e-03 -2.17025567e-02] [-7.02036997e-02 -2.47950805e-04 9.97532646e-01 -4.62062374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.798639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.02, Z:-0.46 [[ 9.94544393e-01 7.81305133e-02 6.91163772e-02 8.44189861e+00] [-7.79701039e-02 9.96943060e-01 -5.01969894e-03 -2.27849664e-02] [-6.92972843e-02 -3.96697681e-04 9.97595975e-01 -4.63278575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.02, Z:-0.47 [[ 9.94482707e-01 7.94530866e-02 6.84934534e-02 8.47430442e+00] [-7.92968878e-02 9.96838501e-01 -5.00065638e-03 -2.43283420e-02] [-6.86742290e-02 -4.58251386e-04 9.97639033e-01 -4.65086970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.03, Z:-0.47 [[ 9.94413456e-01 8.03741286e-02 6.84242518e-02 8.50741817e+00] [-8.02190095e-02 9.96764641e-01 -5.01615882e-03 -2.54186061e-02] [-6.86060442e-02 -5.00789880e-04 9.97643704e-01 -4.67478640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.888639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.03, Z:-0.47 [[ 9.94188651e-01 8.13718570e-02 7.04808270e-02 8.53944680e+00] [-8.12072254e-02 9.96683660e-01 -5.20281035e-03 -2.62453305e-02] [-7.06704509e-02 -5.50977400e-04 9.97499566e-01 -4.69246577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.03, Z:-0.47 [[ 9.94214490e-01 8.17905836e-02 6.96264970e-02 8.57156602e+00] [-8.16287668e-02 9.96649390e-01 -5.17091139e-03 -2.79670125e-02] [-6.98161376e-02 -5.42530060e-04 9.97559729e-01 -4.69971591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.03, Z:-0.47 [[ 9.94212093e-01 8.19697574e-02 6.94497827e-02 8.60475992e+00] [-8.18068951e-02 9.96634681e-01 -5.19078122e-03 -2.84265936e-02] [-6.96415491e-02 -5.20733624e-04 9.97571944e-01 -4.71621827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.978639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.03, Z:-0.47 [[ 9.94186856e-01 8.21906032e-02 6.95499851e-02 8.63829686e+00] [-8.20252882e-02 9.96616503e-01 -5.23433762e-03 -2.93207191e-02] [-6.97448763e-02 -5.00947921e-04 9.97564735e-01 -4.72978521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.03, Z:-0.48 [[ 9.94054577e-01 8.26431552e-02 7.08915167e-02 8.67019821e+00] [-8.24700444e-02 9.96579074e-01 -5.37037552e-03 -2.99436608e-02] [-7.10928268e-02 -5.07980163e-04 9.97469574e-01 -4.75661691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.03, Z:-0.48 [[ 9.94060147e-01 8.29582208e-02 7.04440061e-02 8.70382102e+00] [-8.27857181e-02 9.96552904e-01 -5.36983584e-03 -2.97868158e-02] [-7.06466509e-02 -4.93817825e-04 9.97501282e-01 -4.75987577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.03, Z:-0.48 [[ 9.94020526e-01 8.31101577e-02 7.08229826e-02 8.73674961e+00] [-8.29335812e-02 9.96540255e-01 -5.43518043e-03 -3.07467142e-02] [-7.10296719e-02 -4.70922672e-04 9.97474092e-01 -4.77113240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.03, Z:-0.48 [[ 9.94107316e-01 8.27473101e-02 7.00251856e-02 8.76858029e+00] [-8.25714048e-02 9.96570478e-01 -5.40789399e-03 -3.17259733e-02] [-7.02325213e-02 -4.06050966e-04 9.97530565e-01 -4.77294847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.128639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.03, Z:-0.48 [[ 9.94056147e-01 8.30725730e-02 7.03656405e-02 8.80140687e+00] [-8.28933847e-02 9.96543421e-01 -5.46783179e-03 -3.31787557e-02] [-7.05766429e-02 -3.97514303e-04 9.97506280e-01 -4.78981852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.03, Z:-0.48 [[ 9.94348402e-01 8.10540128e-02 6.85675050e-02 8.83415488e+00] [-8.08767865e-02 9.96709687e-01 -5.36137986e-03 -3.27669694e-02] [-6.87764578e-02 -2.14439964e-04 9.97632073e-01 -4.80215210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.03, Z:-0.48 [[ 9.94290696e-01 8.08509557e-02 6.96357310e-02 8.86661030e+00] [-8.06654431e-02 9.96726188e-01 -5.47657476e-03 -3.40374720e-02] [-6.98505430e-02 -1.71889772e-04 9.97557453e-01 -4.82159101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.218639999999999 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.04, Z:-0.48 [[ 9.94472745e-01 7.96095702e-02 6.84563754e-02 8.89877713e+00] [-7.94252458e-02 9.96826120e-01 -5.41449526e-03 -3.54104577e-02] [-6.86701488e-02 -5.25964836e-05 9.97639418e-01 -4.82552864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.04, Z:-0.48 [[ 9.94632068e-01 7.80503752e-02 6.79351772e-02 8.93150093e+00] [-7.78630218e-02 9.96949413e-01 -5.40540871e-03 -3.69604585e-02] [-6.81498292e-02 8.67546618e-05 9.97675094e-01 -4.83322709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.04, Z:-0.48 [[ 9.94604124e-01 7.73902801e-02 6.90896558e-02 8.96382694e+00] [-7.71925292e-02 9.97000861e-01 -5.53147875e-03 -3.84497555e-02] [-6.93105290e-02 1.68426311e-04 9.97595119e-01 -4.84906973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.308639999999999 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.04, Z:-0.49 [[ 9.94805537e-01 7.65275657e-02 6.71228321e-02 8.99641163e+00] [-7.63374512e-02 9.97067436e-01 -5.39644387e-03 -4.10233148e-02] [-6.73389668e-02 2.44426330e-04 9.97730126e-01 -4.86449274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.05, Z:-0.49 [[ 9.94871498e-01 7.63545523e-02 6.63376608e-02 9.02844634e+00] [-7.61676510e-02 9.97080695e-01 -5.34575742e-03 -4.55598697e-02] [-6.65521738e-02 2.65557899e-04 9.97782911e-01 -4.87413615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.05, Z:-0.49 [[ 9.94931059e-01 7.50536469e-02 6.69263680e-02 9.06012816e+00] [-7.48590321e-02 9.97179426e-01 -5.41455431e-03 -4.89424133e-02] [-6.71439793e-02 3.77065114e-04 9.97743225e-01 -4.89362641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.398639999999999 meters Centerline goodness [0,1] 0.999803139918303 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.05, Z:-0.49 [[ 9.94936322e-01 7.52730642e-02 6.66009025e-02 9.09284547e+00] [-7.50787334e-02 9.97162882e-01 -5.41954700e-03 -5.44557449e-02] [-6.68198937e-02 3.91792765e-04 9.97764976e-01 -4.91206910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42864 meters Centerline goodness [0,1] 0.9999015602697249 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.06, Z:-0.49 [[ 9.94905902e-01 7.54490514e-02 6.68557225e-02 9.12602541e+00] [-7.52513284e-02 9.97149571e-01 -5.47445264e-03 -5.98041674e-02] [-6.70781973e-02 4.15583309e-04 9.97747635e-01 -4.93131800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.458639999999999 meters Centerline goodness [0,1] 0.9998030526834072 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.07, Z:-0.50 [[ 9.94945612e-01 7.46118901e-02 6.72033820e-02 9.15865895e+00] [-7.44078813e-02 9.97212519e-01 -5.53715969e-03 -6.55771173e-02] [-6.74291917e-02 5.08711471e-04 9.97723932e-01 -4.95670477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48864 meters Centerline goodness [0,1] 0.9998028974081009 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.07, Z:-0.50 [[ 9.94921298e-01 7.53722435e-02 6.67130787e-02 9.19168633e+00] [-7.51706496e-02 9.97155348e-01 -5.53048028e-03 -7.10840216e-02] [-6.69401479e-02 4.87527157e-04 9.97756874e-01 -4.96971263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51864 meters Centerline goodness [0,1] 0.9998027224304596 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.08, Z:-0.50 [[ 9.94751237e-01 7.79817636e-02 6.62481803e-02 9.22396662e+00] [-7.77866234e-02 9.96954727e-01 -5.52389457e-03 -7.52980058e-02] [-6.64771995e-02 3.41678704e-04 9.97787886e-01 -4.95609302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.548639999999999 meters Centerline goodness [0,1] 0.9998030914640149 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.08, Z:-0.50 [[ 9.94507959e-01 8.06078337e-02 6.67554983e-02 9.25705126e+00] [-8.04134926e-02 9.96745874e-01 -5.59754970e-03 -7.82006670e-02] [-6.69894739e-02 1.98764958e-04 9.97753662e-01 -4.96943797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57864 meters Centerline goodness [0,1] 0.9998525218759218 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.08, Z:-0.50 [[ 9.94282145e-01 8.23808960e-02 6.79441228e-02 9.28885896e+00] [-8.21813996e-02 9.96600911e-01 -5.73085088e-03 -8.23164699e-02] [-6.81852873e-02 1.14339597e-04 9.97672669e-01 -4.99174654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60864 meters Centerline goodness [0,1] 0.9999015893322836 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.09, Z:-0.50 [[ 9.94015630e-01 8.64910669e-02 6.67249737e-02 9.32011071e+00] [-8.63059362e-02 9.96252617e-01 -5.65758382e-03 -9.07808912e-02] [-6.69642602e-02 -1.35034579e-04 9.97755366e-01 -4.99416063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.638639999999999 meters Centerline goodness [0,1] 0.9998031786645672 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.09, Z:-0.50 [[ 9.93815993e-01 8.83278666e-02 6.72901119e-02 9.35315670e+00] [-8.81416215e-02 9.96091429e-01 -5.73751161e-03 -9.37267223e-02] [-6.75338859e-02 -2.29028770e-04 9.97716955e-01 -5.00652290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.10, Z:-0.50 [[ 9.93546456e-01 9.07601987e-02 6.80295949e-02 9.38560407e+00] [-9.05732117e-02 9.95872709e-01 -5.83439318e-03 -9.55323060e-02] [-6.82783476e-02 -3.64918229e-04 9.97666244e-01 -5.01263530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.10, Z:-0.50 [[ 9.93175773e-01 9.45734620e-02 6.82476714e-02 9.41802032e+00] [-9.43921347e-02 9.95517706e-01 -5.88407705e-03 -9.86271336e-02] [-6.84982428e-02 -5.98120616e-04 9.97651058e-01 -5.04272631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.728639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.10, Z:-0.50 [[ 9.93137624e-01 9.64824153e-02 6.60969211e-02 9.44998026e+00] [-9.63146177e-02 9.95334459e-01 -5.72798266e-03 -1.02583689e-01] [-6.63411927e-02 -6.77424587e-04 9.97796767e-01 -5.04520964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75864 meters Centerline goodness [0,1] 0.9998031883487503 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.11, Z:-0.51 [[ 9.93083294e-01 9.72059303e-02 6.58526945e-02 9.48290435e+00] [-9.70388794e-02 9.95264050e-01 -5.73822867e-03 -1.05907809e-01] [-6.60986093e-02 -6.91732656e-04 9.97812856e-01 -5.05591702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78864 meters Centerline goodness [0,1] 0.9997043169722057 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.11, Z:-0.51 [[ 9.93151516e-01 9.71574353e-02 6.48883536e-02 9.51475107e+00] [-9.69930347e-02 9.95268816e-01 -5.68647555e-03 -1.09074152e-01] [-6.51338382e-02 -6.46186517e-04 9.97876328e-01 -5.06295367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81864 meters Centerline goodness [0,1] 0.9996056199161942 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.11, Z:-0.51 [[ 9.93078744e-01 9.70960472e-02 6.60830280e-02 9.54758406e+00] [-9.69232590e-02 9.95274822e-01 -5.82332249e-03 -1.12998310e-01] [-6.63361956e-02 -6.21964658e-04 9.97797135e-01 -5.08889525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.12, Z:-0.51 [[ 9.93059087e-01 9.67579252e-02 6.68696803e-02 9.58038733e+00] [-9.65778575e-02 9.95307780e-01 -5.92790042e-03 -1.17984493e-01] [-6.71294844e-02 -5.71375075e-04 9.97744108e-01 -5.09957060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.878639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.12, Z:-0.51 [[ 9.92948317e-01 9.79818186e-02 6.67323285e-02 9.61294572e+00] [-9.78029126e-02 9.95188013e-01 -5.95054794e-03 -1.21132114e-01] [-6.69942589e-02 -6.18029530e-04 9.97753170e-01 -5.10998398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.12, Z:-0.51 [[ 9.92859278e-01 1.00113012e-01 6.48678647e-02 9.64488483e+00] [-9.99464390e-02 9.94975820e-01 -5.81608686e-03 -1.23205225e-01] [-6.51242229e-02 -7.08756290e-04 9.97876913e-01 -5.11198953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.13, Z:-0.51 [[ 9.92579988e-01 1.03108596e-01 6.44483072e-02 9.67760627e+00] [-1.02948476e-01 9.94669726e-01 -5.80932470e-03 -1.25944975e-01] [-6.47037714e-02 -8.68635585e-04 9.97904137e-01 -5.12729949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.968639999999999 meters Centerline goodness [0,1] 0.9999506684426027 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.13, Z:-0.51 [[ 9.91760741e-01 1.10230399e-01 6.52678425e-02 9.70936018e+00] [-1.10079409e-01 9.93905189e-01 -5.91607966e-03 -1.29164758e-01] [-6.55221791e-02 -1.31730997e-03 9.97850244e-01 -5.14341907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99864 meters Centerline goodness [0,1] 0.9997541910427216 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.13, Z:-0.52 [[ 9.91432925e-01 1.13091113e-01 6.53540746e-02 9.74109012e+00] [-1.12943981e-01 9.93583521e-01 -5.95347626e-03 -1.31246096e-01] [-6.56080168e-02 -1.47887701e-03 9.97844377e-01 -5.15888614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02864 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.13, Z:-0.52 [[ 9.90749911e-01 1.19399782e-01 6.44849350e-02 9.77286797e+00] [-1.19268032e-01 9.92844548e-01 -5.90261781e-03 -1.32215030e-01] [-6.47282874e-02 -1.84297324e-03 9.97901224e-01 -5.17216208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.058639999999999 meters Centerline goodness [0,1] 0.9998523839984255 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.13, Z:-0.52 [[ 9.90645216e-01 1.20783159e-01 6.35097124e-02 9.80617942e+00] [-1.20656374e-01 9.92677143e-01 -5.84196425e-03 -1.33190221e-01] [-6.37502507e-02 -1.87553767e-03 9.97964122e-01 -5.18279047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08864 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.13, Z:-0.52 [[ 9.90446312e-01 1.22441422e-01 6.34365903e-02 9.83876033e+00] [-1.22316288e-01 9.92473830e-01 -5.86713845e-03 -1.34295114e-01] [-6.36775365e-02 -1.94824258e-03 9.97968625e-01 -5.19503873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.13, Z:-0.52 [[ 9.90324733e-01 1.23149051e-01 6.39627566e-02 9.87251107e+00] [-1.23021316e-01 9.92386211e-01 -5.94671701e-03 -1.31792686e-01] [-6.42080903e-02 -1.97960157e-03 9.97934568e-01 -5.21157405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.148639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.13, Z:-0.52 [[ 9.90181876e-01 1.23178956e-01 6.60817406e-02 9.90486144e+00] [-1.23040438e-01 9.92382431e-01 -6.17748941e-03 -1.30989149e-01] [-6.63392951e-02 -2.01388827e-03 9.97795090e-01 -5.23378262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17864 meters Centerline goodness [0,1] 0.9998028779814705 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.13, Z:-0.52 [[ 9.90105267e-01 1.23578528e-01 6.64823872e-02 9.93784480e+00] [-1.23437088e-01 9.92332737e-01 -6.24687712e-03 -1.30515348e-01] [-6.67446292e-02 -2.02132636e-03 9.97768044e-01 -5.24758379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.208639999999999 meters Centerline goodness [0,1] 0.9996556473829201 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.13, Z:-0.53 [[ 9.90139856e-01 1.23484331e-01 6.61414024e-02 9.97019549e+00] [-1.23341935e-01 9.92344563e-01 -6.24780289e-03 -1.30836344e-01] [-6.64065669e-02 -1.97180989e-03 9.97790699e-01 -5.26766926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23864 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.13, Z:-0.53 [[ 9.90145210e-01 1.22692353e-01 6.75207348e-02 1.00037393e+01] [-1.22539880e-01 9.92442883e-01 -6.41103006e-03 -1.29256462e-01] [-6.77970571e-02 -1.92613205e-03 9.97697273e-01 -5.27778891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.13, Z:-0.53 [[ 9.90063590e-01 1.22656383e-01 6.87713580e-02 1.00365334e+01] [-1.22495594e-01 9.92447335e-01 -6.56630066e-03 -1.30145268e-01] [-6.90573497e-02 -1.92313312e-03 9.97610838e-01 -5.29993774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.298639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.13, Z:-0.53 [[ 9.90143673e-01 1.22010638e-01 6.87670775e-02 1.00689255e+01] [-1.21845947e-01 9.92527080e-01 -6.60008899e-03 -1.29980477e-01] [-6.90584677e-02 -1.84395334e-03 9.97610910e-01 -5.30281297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32864 meters Centerline goodness [0,1] 0.9998025276461295 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.13, Z:-0.53 [[ 9.89970398e-01 1.23027783e-01 6.94462126e-02 1.01010140e+01] [-1.22860096e-01 9.92401404e-01 -6.69708400e-03 -1.32034010e-01] [-6.97424463e-02 -1.90225343e-03 9.97563217e-01 -5.32102572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.13, Z:-0.53 [[ 9.89881288e-01 1.24349283e-01 6.83541577e-02 1.01346191e+01] [-1.24187724e-01 9.92236628e-01 -6.62445835e-03 -1.33122260e-01] [-6.86472455e-02 -1.93131991e-03 9.97639126e-01 -5.32578298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.388639999999999 meters Centerline goodness [0,1] 0.99985267396749 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.13, Z:-0.53 [[ 9.89708876e-01 1.25847471e-01 6.81084103e-02 1.01675975e+01] [-1.25688291e-01 9.92047598e-01 -6.63449010e-03 -1.30495752e-01] [-6.84017187e-02 -1.99421596e-03 9.97655867e-01 -5.34265029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41864 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.13, Z:-0.53 [[ 9.89789227e-01 1.25934952e-01 6.67658081e-02 1.01997125e+01] [-1.25780177e-01 9.92036622e-01 -6.53357967e-03 -1.31013619e-01] [-6.70569328e-02 -1.93094839e-03 9.97747282e-01 -5.34099325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.13, Z:-0.54 [[ 9.89698430e-01 1.25985878e-01 6.80042413e-02 1.02326680e+01] [-1.25823180e-01 9.92030142e-01 -6.68759509e-03 -1.32570613e-01] [-6.83047997e-02 -1.93780749e-03 9.97662618e-01 -5.35642532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.478639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.13, Z:-0.54 [[ 9.89789863e-01 1.25545782e-01 6.74854339e-02 1.02645317e+01] [-1.25382276e-01 9.92086084e-01 -6.66984530e-03 -1.33606386e-01] [-6.77887308e-02 -1.85973207e-03 9.97697965e-01 -5.37929813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.14, Z:-0.54 [[ 9.89947195e-01 1.25541575e-01 6.51449397e-02 1.02969493e+01] [-1.25387321e-01 9.92086788e-01 -6.46728988e-03 -1.35502052e-01] [-6.54413477e-02 -1.76607396e-03 9.97854855e-01 -5.39009704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.14, Z:-0.54 [[ 9.89987216e-01 1.25562325e-01 6.44935259e-02 1.03293759e+01] [-1.25409306e-01 9.92084241e-01 -6.43154971e-03 -1.37038139e-01] [-6.47905710e-02 -1.72093636e-03 9.97897400e-01 -5.41545155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.568639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.14, Z:-0.54 [[ 9.90045074e-01 1.25898207e-01 6.29316454e-02 1.03619535e+01] [-1.25751422e-01 9.92041755e-01 -6.30371131e-03 -1.35500366e-01] [-6.32244458e-02 -1.67278554e-03 9.97997931e-01 -5.42523112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.14, Z:-0.54 [[ 9.89901251e-01 1.26821947e-01 6.33380381e-02 1.03953483e+01] [-1.26673228e-01 9.91924019e-01 -6.37450235e-03 -1.35755201e-01] [-6.36349481e-02 -1.71310587e-03 9.97971772e-01 -5.42953667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.628639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.14, Z:-0.54 [[ 9.89836460e-01 1.27328279e-01 6.33347605e-02 1.04278066e+01] [-1.27178521e-01 9.91859151e-01 -6.40692970e-03 -1.38717013e-01] [-6.36349451e-02 -1.71300857e-03 9.97971773e-01 -5.44348481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65864 meters Centerline goodness [0,1] 0.9998524711089255 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.14, Z:-0.55 [[ 9.89634622e-01 1.28823196e-01 6.34657318e-02 1.04599600e+01] [-1.28673880e-01 9.91665977e-01 -6.45157196e-03 -1.39244274e-01] [-6.37679190e-02 -1.78168297e-03 9.97963165e-01 -5.45996592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68864 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.14, Z:-0.55 [[ 9.89545296e-01 1.29190931e-01 6.41078107e-02 1.04929994e+01] [-1.29037379e-01 9.91618115e-01 -6.54735533e-03 -1.42158597e-01] [-6.44163254e-02 -1.79339920e-03 9.97921500e-01 -5.47183273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.718639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.14, Z:-0.55 [[ 9.89451269e-01 1.28934394e-01 6.60462584e-02 1.05257682e+01] [-1.28768505e-01 9.91651500e-01 -6.78046095e-03 -1.44972880e-01] [-6.63691058e-02 -1.79574226e-03 9.97793524e-01 -5.48535518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.15, Z:-0.55 [[ 9.89293232e-01 1.29778329e-01 6.67569155e-02 1.05577556e+01] [-1.29608498e-01 9.91541327e-01 -6.88717356e-03 -1.47630705e-01] [-6.70860465e-02 -1.83882935e-03 9.97745499e-01 -5.49286477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77864 meters Centerline goodness [0,1] 0.9999017826449934 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.15, Z:-0.55 [[ 9.89395681e-01 1.29323878e-01 6.61174739e-02 1.05899398e+01] [-1.29154269e-01 9.91600844e-01 -6.85130305e-03 -1.47355708e-01] [-6.64481801e-02 -1.76070437e-03 9.97788324e-01 -5.50737079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.808639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.15, Z:-0.55 [[ 9.89515312e-01 1.28917703e-01 6.51127677e-02 1.06221904e+01] [-1.28750423e-01 9.91653876e-01 -6.77632435e-03 -1.49102659e-01] [-6.54429167e-02 -1.67801968e-03 9.97854904e-01 -5.52606147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.15, Z:-0.55 [[ 9.89433281e-01 1.29477954e-01 6.52475387e-02 1.06554279e+01] [-1.29309158e-01 9.91580864e-01 -6.82137223e-03 -1.52020995e-01] [-6.55814281e-02 -1.68781155e-03 9.97845793e-01 -5.54335051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.15, Z:-0.55 [[ 9.89517046e-01 1.28591614e-01 6.57283202e-02 1.06879515e+01] [-1.28416196e-01 9.91696329e-01 -6.90442712e-03 -1.51579443e-01] [-6.60703853e-02 -1.60853255e-03 9.97813668e-01 -5.54195922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.898639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.15, Z:-0.56 [[ 9.89307443e-01 1.29530686e-01 6.70267525e-02 1.07206344e+01] [-1.29348346e-01 9.91574001e-01 -7.07148439e-03 -1.53251561e-01] [-6.73779594e-02 -1.67392744e-03 9.97726119e-01 -5.55361994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.15, Z:-0.56 [[ 9.89339576e-01 1.29676267e-01 6.62666573e-02 1.07528785e+01] [-1.29496379e-01 9.91555037e-01 -7.02108318e-03 -1.54904462e-01] [-6.66175058e-02 -1.63505670e-03 9.97777247e-01 -5.56622526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.958639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.16, Z:-0.56 [[ 9.89402464e-01 1.29743914e-01 6.51865152e-02 1.07854468e+01] [-1.29568080e-01 9.91546271e-01 -6.93573718e-03 -1.56796368e-01] [-6.55353158e-02 -1.58385618e-03 9.97848993e-01 -5.57030020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.16, Z:-0.56 [[ 9.89394637e-01 1.29636949e-01 6.55172708e-02 1.08191395e+01] [-1.29457029e-01 9.91560309e-01 -7.00217026e-03 -1.55845478e-01] [-6.58720653e-02 -1.55376154e-03 9.97826867e-01 -5.57178212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.16, Z:-0.56 [[ 9.89330704e-01 1.29789409e-01 6.61775488e-02 1.08526956e+01] [-1.29603870e-01 9.91540378e-01 -7.10741264e-03 -1.56825335e-01] [-6.65401786e-02 -1.54528490e-03 9.97782550e-01 -5.59022748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.048639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.16, Z:-0.56 [[ 9.89461248e-01 1.29423210e-01 6.49312762e-02 1.08853375e+01] [-1.29241733e-01 9.91588372e-01 -7.00531142e-03 -1.57451361e-01] [-6.52917484e-02 -1.46034647e-03 9.97865149e-01 -5.59835289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.16, Z:-0.56 [[ 9.89498152e-01 1.29487825e-01 6.42363698e-02 1.09174576e+01] [-1.29308494e-01 9.91579995e-01 -6.95899354e-03 -1.58491285e-01] [-6.45966042e-02 -1.42039702e-03 9.97910447e-01 -5.60609028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.16, Z:-0.56 [[ 9.89669001e-01 1.28476390e-01 6.36324243e-02 1.09498422e+01] [-1.28296501e-01 9.91711698e-01 -6.92208643e-03 -1.56467221e-01] [-6.39943443e-02 -1.31324303e-03 9.97949397e-01 -5.61719433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.138639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.16, Z:-0.56 [[ 9.89665323e-01 1.28511544e-01 6.36186443e-02 1.09827281e+01] [-1.28329879e-01 9.91707180e-01 -6.95062486e-03 -1.56927812e-01] [-6.39843019e-02 -1.28538054e-03 9.97950077e-01 -5.63649091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.16, Z:-0.56 [[ 9.89690535e-01 1.28288051e-01 6.36774737e-02 1.10158659e+01] [-1.28103487e-01 9.91736174e-01 -6.98979290e-03 -1.57230000e-01] [-6.40479611e-02 -1.23957453e-03 9.97946052e-01 -5.64753501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19864 meters Centerline goodness [0,1] 0.9998526088238184 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.16, Z:-0.57 [[ 9.90124295e-01 1.24834574e-01 6.37981898e-02 1.10480450e+01] [-1.24640122e-01 9.92177079e-01 -7.03453130e-03 -1.55735896e-01] [-6.41772543e-02 -9.86753797e-04 9.97938027e-01 -5.66443400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.228639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.16, Z:-0.57 [[ 9.90297248e-01 1.22501289e-01 6.56109410e-02 1.10813119e+01] [-1.22288407e-01 9.92468009e-01 -7.26613414e-03 -1.57482866e-01] [-6.60068708e-02 -8.27824799e-04 9.97818825e-01 -5.69111546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.16, Z:-0.57 [[ 9.91146423e-01 1.15594450e-01 6.53199147e-02 1.11133786e+01] [-1.15366341e-01 9.93296437e-01 -7.26606574e-03 -1.58591659e-01] [-6.57219554e-02 -3.33984510e-04 9.97837919e-01 -5.69621400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.16, Z:-0.57 [[ 9.91418052e-01 1.12553972e-01 6.64969923e-02 1.11461693e+01] [-1.12308597e-01 9.93645607e-01 -7.42875720e-03 -1.61172336e-01] [-6.69105805e-02 -1.03179915e-04 9.97758971e-01 -5.71111362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.318639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.16, Z:-0.57 [[ 9.91732796e-01 1.09753192e-01 6.64853193e-02 1.11790573e+01] [-1.09499343e-01 9.93958864e-01 -7.46132264e-03 -1.63933127e-01] [-6.69025764e-02 1.19539604e-04 9.97759506e-01 -5.72406147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34864 meters Centerline goodness [0,1] 0.9998035459947939 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.17, Z:-0.57 [[ 9.91992129e-01 1.07723252e-01 6.59341811e-02 1.12122282e+01] [-1.07466908e-01 9.94180878e-01 -7.43271122e-03 -1.67865457e-01] [-6.63511779e-02 2.87448447e-04 9.97796291e-01 -5.73790420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.378639999999999 meters Centerline goodness [0,1] 0.9998525508699498 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.17, Z:-0.57 [[ 9.92481508e-01 1.04843272e-01 6.31533380e-02 1.12437762e+01] [-1.04600405e-01 9.94488637e-01 -7.14887316e-03 -1.73392208e-01] [-6.35547883e-02 4.89259712e-04 9.97978231e-01 -5.74856673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40864 meters Centerline goodness [0,1] 0.999656121045392 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.18, Z:-0.58 [[ 9.92411684e-01 1.04948283e-01 6.40695571e-02 1.12757428e+01] [-1.04696696e-01 9.94477546e-01 -7.28093300e-03 -1.78415701e-01] [-6.44798573e-02 5.17812016e-04 9.97918874e-01 -5.75701707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43864 meters Centerline goodness [0,1] 0.999655816697807 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.18, Z:-0.58 [[ 9.92297510e-01 1.05845812e-01 6.43608313e-02 1.13084555e+01] [-1.05591897e-01 9.94382433e-01 -7.34359400e-03 -1.83529297e-01] [-6.47765686e-02 4.91047754e-04 9.97899672e-01 -5.76848393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.468639999999999 meters Centerline goodness [0,1] 0.9998526305447758 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.19, Z:-0.58 [[ 9.91944948e-01 1.06322595e-01 6.88529282e-02 1.13400848e+01] [-1.06030706e-01 9.94331549e-01 -7.89054516e-03 -1.92507684e-01] [-6.93015820e-02 5.26461840e-04 9.97595616e-01 -5.79743112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49864 meters Centerline goodness [0,1] 0.9997539491166774 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.20, Z:-0.58 [[ 9.92067793e-01 1.06151313e-01 6.73304725e-02 1.13720492e+01] [-1.05869837e-01 9.94349833e-01 -7.74515505e-03 -1.99601046e-01] [-6.77722025e-02 5.55452725e-04 9.97700667e-01 -5.79473403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52864 meters Centerline goodness [0,1] 0.9996071305799735 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.21, Z:-0.58 [[ 9.92299922e-01 1.05365569e-01 6.51073085e-02 1.14040103e+01] [-1.05098874e-01 9.94433365e-01 -7.51732717e-03 -2.08120706e-01] [-6.55369473e-02 6.16738337e-04 9.97849953e-01 -5.79629073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.558639999999999 meters Centerline goodness [0,1] 0.999262826813446 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.21, Z:-0.58 [[ 9.92308173e-01 1.05671927e-01 6.44820446e-02 1.14368268e+01] [-1.05409060e-01 9.94400854e-01 -7.47468105e-03 -2.14317044e-01] [-6.49108642e-02 6.20195420e-04 9.97890873e-01 -5.81632526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58864 meters Centerline goodness [0,1] 0.9996067636649626 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.22, Z:-0.58 [[ 9.92306474e-01 1.04681654e-01 6.61030427e-02 1.14688898e+01] [-1.04401041e-01 9.94505511e-01 -7.69483966e-03 -2.20985156e-01] [-6.65453488e-02 7.34412733e-04 9.97783131e-01 -5.84365563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61864 meters Centerline goodness [0,1] 0.9997049131952983 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.23, Z:-0.58 [[ 9.92515103e-01 1.03273991e-01 6.51786189e-02 1.15005081e+01] [-1.02996200e-01 9.94652586e-01 -7.61688551e-03 -2.31568277e-01] [-6.56167079e-02 8.46723843e-04 9.97844542e-01 -5.84737399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.648639999999999 meters Centerline goodness [0,1] 0.9994102614507568 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.24, Z:-0.58 [[ 9.92604796e-01 1.02644857e-01 6.48054918e-02 1.15336051e+01] [-1.02366798e-01 9.94717646e-01 -7.60546564e-03 -2.37649916e-01] [-6.52438282e-02 9.15291011e-04 9.97868932e-01 -5.84951570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67864 meters Centerline goodness [0,1] 0.9992616293379276 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.24, Z:-0.59 [[ 9.92484269e-01 1.02528800e-01 6.68043488e-02 1.15657158e+01] [-1.02230849e-01 9.94729550e-01 -7.87251151e-03 -2.43459004e-01] [-6.72594189e-02 9.83878547e-04 9.97735036e-01 -5.86529056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.708639999999999 meters Centerline goodness [0,1] 0.9997542876799843 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.25, Z:-0.59 [[ 9.92301968e-01 1.03632744e-01 6.78016096e-02 1.15975989e+01] [-1.03326235e-01 9.94615174e-01 -8.02153033e-03 -2.54046335e-01] [-6.82678030e-02 9.54095254e-04 9.97666576e-01 -5.90388043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73864 meters Centerline goodness [0,1] 0.9996055810284474 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.26, Z:-0.59 [[ 9.92438170e-01 1.03882412e-01 6.53828998e-02 1.16289973e+01] [-1.03595938e-01 9.94589148e-01 -7.76588855e-03 -2.62039558e-01] [-6.58358618e-02 9.33761369e-04 9.97830029e-01 -5.91450475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76864 meters Centerline goodness [0,1] 0.9995083095682958 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.27, Z:-0.59 [[ 9.92051290e-01 1.06099178e-01 6.76550302e-02 1.16603512e+01] [-1.05795495e-01 9.94355194e-01 -8.06609503e-03 -2.73206326e-01] [-6.81289367e-02 8.44382581e-04 9.97676167e-01 -5.94900088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.798639999999999 meters Centerline goodness [0,1] 0.9990162321692081 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.28, Z:-0.60 [[ 9.92024916e-01 1.06297327e-01 6.77306786e-02 1.16925153e+01] [-1.05991276e-01 9.94334015e-01 -8.10655034e-03 -2.78764107e-01] [-6.82086222e-02 8.63038897e-04 9.97670707e-01 -5.96364386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82864 meters Centerline goodness [0,1] 0.9990656963021243 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.29, Z:-0.60 [[ 9.91884655e-01 1.07086132e-01 6.85375210e-02 1.17254772e+01] [-1.06772219e-01 9.94249382e-01 -8.23775573e-03 -2.85518706e-01] [-6.90255373e-02 8.53000303e-04 9.97614529e-01 -5.98148966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85864 meters Centerline goodness [0,1] 0.9995074862096138 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.30, Z:-0.60 [[ 9.91853114e-01 1.07537640e-01 6.82865817e-02 1.17570820e+01] [-1.07224732e-01 9.94200648e-01 -8.24183333e-03 -2.95534651e-01] [-6.87768711e-02 8.52677621e-04 9.97631703e-01 -5.99375599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.888639999999999 meters Centerline goodness [0,1] 0.998769927179689 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.30, Z:-0.60 [[ 9.91973340e-01 1.07154216e-01 6.71331981e-02 1.17888998e+01] [-1.06848768e-01 9.94242008e-01 -8.13449195e-03 -3.01898886e-01] [-6.76182908e-02 8.96099663e-04 9.97710862e-01 -6.00317762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91864 meters Centerline goodness [0,1] 0.9990168608366514 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.31, Z:-0.60 [[ 9.92024436e-01 1.06592149e-01 6.72728161e-02 1.18214143e+01] [-1.06282023e-01 9.94302357e-01 -8.18251397e-03 -3.07896829e-01] [-6.77617113e-02 9.67362791e-04 9.97701065e-01 -6.03098982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94864 meters Centerline goodness [0,1] 0.9987703506959815 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.32, Z:-0.60 [[ 9.92027802e-01 1.06784812e-01 6.69166923e-02 1.18536766e+01] [-1.06476137e-01 9.94281670e-01 -8.17274121e-03 -3.17354830e-01] [-6.74067652e-02 9.82555567e-04 9.97725094e-01 -6.04850347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.978639999999999 meters Centerline goodness [0,1] 0.9985719913334646 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.32, Z:-0.61 [[ 9.91883947e-01 1.07365745e-01 6.81089800e-02 1.18849638e+01] [-1.07045049e-01 9.94219096e-01 -8.35144015e-03 -3.24024017e-01] [-6.86119071e-02 9.92930304e-04 9.97642932e-01 -6.06525510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00864 meters Centerline goodness [0,1] 0.9985217305607569 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.33, Z:-0.61 [[ 9.91898279e-01 1.07666093e-01 6.74226748e-02 1.19175769e+01] [-1.07350416e-01 9.94186615e-01 -8.29831989e-03 -3.32939126e-01] [-6.79241685e-02 9.93237006e-04 9.97689992e-01 -6.07014932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03864 meters Centerline goodness [0,1] 0.9983243802671135 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.34, Z:-0.61 [[ 9.91989404e-01 1.07359572e-01 6.65653379e-02 1.19499111e+01] [-1.07048959e-01 9.94219720e-01 -8.22606070e-03 -3.39613362e-01] [-6.70637180e-02 1.03441493e-03 9.97748158e-01 -6.07754892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.068639999999998 meters Centerline goodness [0,1] 0.9982757771318784 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.35, Z:-0.61 [[ 9.92020076e-01 1.06672559e-01 6.72096296e-02 1.19813549e+01] [-1.06352104e-01 9.94293569e-01 -8.33833442e-03 -3.46480981e-01] [-6.77155740e-02 1.12390959e-03 9.97704033e-01 -6.10419581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09864 meters Centerline goodness [0,1] 0.9978312302839116 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.35, Z:-0.61 [[ 9.92052027e-01 1.05946204e-01 6.78835605e-02 1.20130785e+01] [-1.05615507e-01 9.94371120e-01 -8.45223208e-03 -3.53754261e-01] [-6.83969340e-02 1.21549734e-03 9.97657447e-01 -6.11895410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.128639999999999 meters Centerline goodness [0,1] 0.9981294609894167 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.36, Z:-0.61 [[ 9.92316449e-01 1.03531207e-01 6.77447692e-02 1.20438974e+01] [-1.03194548e-01 9.94625215e-01 -8.45972239e-03 -3.63331007e-01] [-6.82565009e-02 1.40383086e-03 9.97666818e-01 -6.11873417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15864 meters Centerline goodness [0,1] 0.9977829235847662 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.37, Z:-0.61 [[ 9.92391996e-01 1.02760164e-01 6.78120569e-02 1.20752816e+01] [-1.02419582e-01 9.94705062e-01 -8.48937499e-03 -3.70265545e-01] [-6.83253658e-02 1.47950525e-03 9.97661995e-01 -6.13971908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18864 meters Centerline goodness [0,1] 0.9980274188776014 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.38, Z:-0.62 [[ 9.92443981e-01 1.02175323e-01 6.79348784e-02 1.21064606e+01] [-1.01830093e-01 9.94765195e-01 -8.53453420e-03 -3.77869659e-01] [-6.84512713e-02 1.55223214e-03 9.97653253e-01 -6.16095566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.218639999999999 meters Centerline goodness [0,1] 0.998032077142576 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.39, Z:-0.62 [[ 9.92428423e-01 1.02760025e-01 6.72770507e-02 1.21376770e+01] [-1.02420811e-01 9.94705005e-01 -8.48115960e-03 -3.90207982e-01] [-6.77923432e-02 1.52637374e-03 9.97698285e-01 -6.17364457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24864 meters Centerline goodness [0,1] 0.9977829235847662 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.40, Z:-0.62 [[ 9.92380067e-01 1.03315446e-01 6.71395588e-02 1.21699129e+01] [-1.02976798e-01 9.94647485e-01 -8.49463459e-03 -3.97136890e-01] [-6.76578203e-02 1.51608923e-03 9.97707432e-01 -6.17916055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27864 meters Centerline goodness [0,1] 0.9980311084859225 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.41, Z:-0.62 [[ 9.92156881e-01 1.04775645e-01 6.81673513e-02 1.22016562e+01] [-1.04427618e-01 9.94494794e-01 -8.65889096e-03 -4.08765163e-01] [-6.86993169e-02 1.47242413e-03 9.97636324e-01 -6.20466241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.308639999999999 meters Centerline goodness [0,1] 0.9978816690477363 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.42, Z:-0.62 [[ 9.91937380e-01 1.06808483e-01 6.82069019e-02 1.22330839e+01] [-1.06462618e-01 9.94278676e-01 -8.69628476e-03 -4.17949017e-01] [-6.87455051e-02 1.36468457e-03 9.97633296e-01 -6.21633557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33864 meters Centerline goodness [0,1] 0.9981290926099158 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.43, Z:-0.62 [[ 9.91744097e-01 1.09265018e-01 6.71178198e-02 1.22642025e+01] [-1.08933767e-01 9.94011924e-01 -8.58654588e-03 -4.27150416e-01] [-6.76541223e-02 1.20425925e-03 9.97708108e-01 -6.21566873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36864 meters Centerline goodness [0,1] 0.9984748597854964 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.44, Z:-0.62 [[ 9.90970284e-01 1.16200410e-01 6.68981403e-02 1.22956665e+01] [-1.15885435e-01 9.93225502e-01 -8.58301639e-03 -4.38315030e-01] [-6.74422890e-02 7.52994100e-04 9.97722893e-01 -6.22207149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.398639999999999 meters Centerline goodness [0,1] 0.9986220472440945 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.44, Z:-0.62 [[ 9.90547769e-01 1.20247882e-01 6.59966986e-02 1.23272363e+01] [-1.19948922e-01 9.92743776e-01 -8.48828359e-03 -4.43837122e-01] [-6.65385099e-02 4.91817506e-04 9.97783736e-01 -6.23482546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42864 meters Centerline goodness [0,1] 0.9983238846438255 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.45, Z:-0.63 [[ 9.89984198e-01 1.24538059e-01 6.64948062e-02 1.23586391e+01] [-1.24242655e-01 9.92214805e-01 -8.57570779e-03 -4.49551662e-01] [-6.70451332e-02 2.28323896e-04 9.97749918e-01 -6.25373995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.458639999999999 meters Centerline goodness [0,1] 0.9990635781172992 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.46, Z:-0.63 [[ 9.88892165e-01 1.31570597e-01 6.91481267e-02 1.23899048e+01] [-1.31266902e-01 9.91306774e-01 -8.93752028e-03 -4.57617388e-01] [-6.97229213e-02 -2.38616600e-04 9.97566367e-01 -6.27627539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48864 meters Centerline goodness [0,1] 0.9984241111001675 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.46, Z:-0.63 [[ 9.88424881e-01 1.34657485e-01 6.98828827e-02 1.24213042e+01] [-1.34352697e-01 9.90892112e-01 -9.06503798e-03 -4.63075858e-01] [-7.04670724e-02 -4.28844689e-04 9.97514014e-01 -6.28161947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.51864 meters Centerline goodness [0,1] 0.9984241111001675 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.47, Z:-0.63 [[ 9.88354824e-01 1.35172977e-01 6.98785242e-02 1.24536052e+01] [-1.34867108e-01 9.90821921e-01 -9.09853607e-03 -4.66941038e-01] [-7.04670499e-02 -4.31732464e-04 9.97514014e-01 -6.29556691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.548639999999999 meters Centerline goodness [0,1] 0.9988668834367918 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.47, Z:-0.63 [[ 9.88055710e-01 1.36818264e-01 7.08990554e-02 1.24858478e+01] [-1.36505039e-01 9.90596028e-01 -9.26733460e-03 -4.70778023e-01] [-7.15002633e-02 -5.21435488e-04 9.97440445e-01 -6.30244077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57864 meters Centerline goodness [0,1] 0.9989142772541084 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.47, Z:-0.63 [[ 9.87570497e-01 1.40130644e-01 7.11892949e-02 1.25174123e+01] [-1.39821129e-01 9.90132752e-01 -9.33733455e-03 -4.73566444e-01] [-7.17952991e-02 -7.32491449e-04 9.97419119e-01 -6.31996045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60864 meters Centerline goodness [0,1] 0.9986689672171555 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.48, Z:-0.63 [[ 9.87389029e-01 1.41697182e-01 7.06032181e-02 1.25503827e+01] [-1.41394376e-01 9.89909722e-01 -9.29366109e-03 -4.78220870e-01] [-7.12076976e-02 -8.06439002e-04 9.97461184e-01 -6.32997173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.638639999999999 meters Centerline goodness [0,1] 0.9987187068795584 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.48, Z:-0.63 [[ 9.87404213e-01 1.41260720e-01 7.12624023e-02 1.25833520e+01] [-1.40948335e-01 9.89972149e-01 -9.41869426e-03 -4.82014868e-01] [-7.18782851e-02 -7.44258591e-04 9.97413133e-01 -6.34825536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66864 meters Centerline goodness [0,1] 0.99862089346402 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.48, Z:-0.64 [[ 9.87825947e-01 1.39614778e-01 6.86120409e-02 1.26153059e+01] [-1.39318889e-01 9.90205732e-01 -9.10249289e-03 -4.83681290e-01] [-6.92108787e-02 -5.67274618e-04 9.97601891e-01 -6.35251541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69864 meters Centerline goodness [0,1] 0.9988186069406843 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.49, Z:-0.64 [[ 9.87792814e-01 1.39549428e-01 6.92193175e-02 1.26482532e+01] [-1.39245704e-01 9.90214963e-01 -9.21744476e-03 -4.86498403e-01] [-6.98282931e-02 -5.33566927e-04 9.97558883e-01 -6.36952054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.728639999999999 meters Centerline goodness [0,1] 0.9990644541828746 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.49, Z:-0.64 [[ 9.88049117e-01 1.37782405e-01 6.91010166e-02 1.26806340e+01] [-1.37472825e-01 9.90462453e-01 -9.23856950e-03 -4.89813951e-01] [-6.97148748e-02 -3.71351557e-04 9.97566889e-01 -6.39035561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75864 meters Centerline goodness [0,1] 0.9982733954910956 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.50, Z:-0.64 [[ 9.88768139e-01 1.32955999e-01 6.82661728e-02 1.27124880e+01] [-1.32640517e-01 9.91121941e-01 -9.15373945e-03 -4.95574545e-01] [-6.88771462e-02 -3.93453019e-06 9.97625149e-01 -6.39897242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78864 meters Centerline goodness [0,1] 0.9982282592647276 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.50, Z:-0.64 [[ 9.88996478e-01 1.31329137e-01 6.81074496e-02 1.27452127e+01] [-1.31009819e-01 9.91338812e-01 -9.15349625e-03 -5.00863063e-01] [-6.87196790e-02 1.30030893e-04 9.97636000e-01 -6.41928697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.818639999999998 meters Centerline goodness [0,1] 0.9975847791798107 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.51, Z:-0.64 [[ 9.89218944e-01 1.29489771e-01 6.83979568e-02 1.27773776e+01] [-1.29160776e-01 9.91580714e-01 -9.22941220e-03 -5.08216146e-01] [-6.90172093e-02 2.95576204e-04 9.97615426e-01 -6.44100834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84864 meters Centerline goodness [0,1] 0.9977357747588108 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.52, Z:-0.65 [[ 9.89014330e-01 1.30082205e-01 7.02087991e-02 1.28086007e+01] [-1.29734491e-01 9.91503168e-01 -9.50945461e-03 -5.15210735e-01] [-7.08492575e-02 2.96484065e-04 9.97486990e-01 -6.46072199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.878639999999999 meters Centerline goodness [0,1] 0.9973421272825712 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.52, Z:-0.65 [[ 9.89136475e-01 1.30023218e-01 6.85783928e-02 1.28401061e+01] [-1.29689198e-01 9.91510896e-01 -9.31957416e-03 -5.22012531e-01] [-6.92079847e-02 3.24453973e-04 9.97602200e-01 -6.46685656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90864 meters Centerline goodness [0,1] 0.9971881012283558 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.53, Z:-0.65 [[ 9.89121270e-01 1.31071370e-01 6.67788019e-02 1.28712752e+01] [-1.30755013e-01 9.91372897e-01 -9.10527289e-03 -5.29584723e-01] [-6.73961349e-02 2.74555985e-04 9.97726258e-01 -6.47982451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93864 meters Centerline goodness [0,1] 0.9975844219866896 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.54, Z:-0.65 [[ 9.88935631e-01 1.32058764e-01 6.75781074e-02 1.29039876e+01] [-1.31734816e-01 9.91241859e-01 -9.24739282e-03 -5.35192478e-01] [-6.82074481e-02 2.42686677e-04 9.97671131e-01 -6.50640835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.968639999999999 meters Centerline goodness [0,1] 0.997487684729064 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.54, Z:-0.65 [[ 9.88793364e-01 1.32923926e-01 6.79625853e-02 1.29364712e+01] [-1.32595843e-01 9.91126219e-01 -9.33599495e-03 -5.41917736e-01] [-6.86004773e-02 2.19813566e-04 9.97644188e-01 -6.51237140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99864 meters Centerline goodness [0,1] 0.997930320800276 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.55, Z:-0.65 [[ 9.88536493e-01 1.33134415e-01 7.12097589e-02 1.29680128e+01] [-1.32772079e-01 9.91097959e-01 -9.81890393e-03 -5.51607613e-01] [-7.18830807e-02 2.51677143e-04 9.97413033e-01 -6.52347675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02864 meters Centerline goodness [0,1] 0.9980312053944972 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.56, Z:-0.65 [[ 9.88591296e-01 1.32318417e-01 7.19658694e-02 1.29999591e+01] [-1.31943735e-01 9.91207201e-01 -9.95665521e-03 -5.57227672e-01] [-7.26505369e-02 3.47617044e-04 9.97357398e-01 -6.53144095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.058639999999999 meters Centerline goodness [0,1] 0.9986700817653433 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.56, Z:-0.66 [[ 9.88675192e-01 1.31327500e-01 7.26254237e-02 1.30318290e+01] [-1.30940763e-01 9.91338932e-01 -1.00815858e-02 -5.62696087e-01] [-7.33203994e-02 4.57785380e-04 9.97308332e-01 -6.55449968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08864 meters Centerline goodness [0,1] 0.9988671066889961 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.57, Z:-0.66 [[ 9.88950541e-01 1.28445359e-01 7.40176755e-02 1.30634582e+01] [-1.28032987e-01 9.91716327e-01 -1.03092682e-02 -5.70260562e-01] [-7.47287150e-02 7.18652338e-04 9.97203642e-01 -6.58681732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11864 meters Centerline goodness [0,1] 0.9989178021545575 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.58, Z:-0.66 [[ 9.88913142e-01 1.28194090e-01 7.49471318e-02 1.30951663e+01] [-1.27767940e-01 9.91748791e-01 -1.04732304e-02 -5.76612773e-01] [-7.56713336e-02 7.81274497e-04 9.97132508e-01 -6.60337703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.148639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.59, Z:-0.66 [[ 9.88807079e-01 1.29045199e-01 7.48858888e-02 1.31269335e+01] [-1.28619440e-01 9.91638428e-01 -1.05008589e-02 -5.85814545e-01] [-7.56148105e-02 7.51542580e-04 9.97136819e-01 -6.62226191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.59, Z:-0.66 [[ 9.88604950e-01 1.30224439e-01 7.55105804e-02 1.31596891e+01] [-1.29791940e-01 9.91484290e-01 -1.06280679e-02 -5.93254082e-01] [-7.62515883e-02 7.06295804e-04 9.97088359e-01 -6.63359988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.208639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.60, Z:-0.66 [[ 9.88532445e-01 1.31772870e-01 7.37530781e-02 1.31913232e+01] [-1.31361913e-01 9.91279749e-01 -1.04167182e-02 -6.00550598e-01] [-7.44825735e-02 6.08918502e-04 9.97222129e-01 -6.63939911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.238639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.61, Z:-0.67 [[ 9.87732140e-01 1.36721704e-01 7.54479586e-02 1.32219906e+01] [-1.36303338e-01 9.90609459e-01 -1.06911463e-02 -6.10158513e-01] [-7.62011732e-02 2.76180206e-04 9.97092425e-01 -6.65371561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.62, Z:-0.67 [[ 9.87218859e-01 1.40913718e-01 7.44462797e-02 1.32533076e+01] [-1.40515726e-01 9.90021880e-01 -1.05833339e-02 -6.16567629e-01] [-7.51947827e-02 -1.28062107e-05 9.97168865e-01 -6.67166017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.298639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.62, Z:-0.67 [[ 9.86412783e-01 1.46903803e-01 7.35465396e-02 1.32853087e+01] [-1.46529323e-01 9.89150691e-01 -1.04913356e-02 -6.23032616e-01] [-7.42898276e-02 -4.27937115e-04 9.97236601e-01 -6.67856273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.63, Z:-0.67 [[ 9.85865964e-01 1.50541899e-01 7.35216842e-02 1.33180013e+01] [-1.50174852e-01 9.88603407e-01 -1.05269405e-02 -6.28306043e-01] [-7.42685332e-02 -6.62955703e-04 9.97238059e-01 -6.70050003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.63, Z:-0.67 [[ 9.85505089e-01 1.53379566e-01 7.24874284e-02 1.33500778e+01] [-1.53027616e-01 9.88167003e-01 -1.04174145e-02 -6.33621713e-01] [-7.32275034e-02 -8.26163346e-04 9.97314920e-01 -6.71259045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.388639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.64, Z:-0.67 [[ 9.85095219e-01 1.57416852e-01 6.93350101e-02 1.33822384e+01] [-1.57103006e-01 9.87531686e-01 -9.99074876e-03 -6.39658209e-01] [-7.00432316e-02 -1.05089968e-03 9.97543403e-01 -6.71679472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.64, Z:-0.67 [[ 9.84935036e-01 1.58274335e-01 6.96578065e-02 1.34145922e+01] [-1.57958158e-01 9.87394569e-01 -1.00590887e-02 -6.43233698e-01] [-7.03718354e-02 -1.09546991e-03 9.97520228e-01 -6.72950247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.65, Z:-0.67 [[ 9.84674385e-01 1.59769601e-01 6.99287573e-02 1.34472304e+01] [-1.59452051e-01 9.87153639e-01 -1.01359217e-02 -6.47220835e-01] [-7.06498394e-02 -1.16970138e-03 9.97500492e-01 -6.73483372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.478639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.65, Z:-0.68 [[ 9.84558673e-01 1.60106016e-01 7.07833477e-02 1.34802057e+01] [-1.59778757e-01 9.87099131e-01 -1.02982996e-02 -6.52260540e-01] [-7.15190007e-02 -1.17039509e-03 9.97438551e-01 -6.76925010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.66, Z:-0.68 [[ 9.84491092e-01 1.60792244e-01 7.01651213e-02 1.35133205e+01] [-1.60469746e-01 9.86987579e-01 -1.02460027e-02 -6.56501254e-01] [-7.08995810e-02 -1.17228079e-03 9.97482769e-01 -6.77653615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.66, Z:-0.68 [[ 9.84517435e-01 1.60552422e-01 7.03444386e-02 1.35467641e+01] [-1.60224975e-01 9.87026678e-01 -1.03098722e-02 -6.56973542e-01] [-7.10871125e-02 -1.12068694e-03 9.97469481e-01 -6.79153225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.568639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.66, Z:-0.68 [[ 9.84346202e-01 1.61847071e-01 6.97716352e-02 1.35800759e+01] [-1.61525547e-01 9.86815162e-01 -1.02632659e-02 -6.60783830e-01] [-7.05127870e-02 -1.16729468e-03 9.97510193e-01 -6.79589450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.67, Z:-0.68 [[ 9.84317747e-01 1.61880225e-01 7.00954094e-02 1.36123132e+01] [-1.61553094e-01 9.86809758e-01 -1.03488593e-02 -6.65407846e-01] [-7.08461097e-02 -1.13756445e-03 9.97486609e-01 -6.81755276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.628639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.67, Z:-0.68 [[ 9.84199137e-01 1.62483028e-01 7.03656493e-02 1.36446767e+01] [-1.62152185e-01 9.86710671e-01 -1.04269200e-02 -6.69859047e-01] [-7.11247346e-02 -1.14777812e-03 9.97466769e-01 -6.83429336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.67, Z:-0.68 [[ 9.84412257e-01 1.61282929e-01 7.01450301e-02 1.36766911e+01] [-1.60948566e-01 9.86907682e-01 -1.04300994e-02 -6.70325771e-01] [-7.09088660e-02 -1.02222437e-03 9.97482274e-01 -6.84905284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.67, Z:-0.69 [[ 9.84486935e-01 1.60739814e-01 7.03433488e-02 1.37098111e+01] [-1.60399677e-01 9.86996356e-01 -1.04945806e-02 -6.72310126e-01] [-7.11155259e-02 -9.51272910e-04 9.97467632e-01 -6.85732741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.718639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.67, Z:-0.69 [[ 9.84601467e-01 1.59552013e-01 7.14360350e-02 1.37428702e+01] [-1.59195279e-01 9.87189166e-01 -1.06964702e-02 -6.74165840e-01] [-7.22275231e-02 -8.40519240e-04 9.97387827e-01 -6.87528475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.67, Z:-0.69 [[ 9.85073310e-01 1.57040751e-01 7.04895475e-02 1.37754529e+01] [-1.56684438e-01 9.87591934e-01 -1.05905190e-02 -6.72858422e-01] [-7.12780516e-02 -6.12177536e-04 9.97456297e-01 -6.88599300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.67, Z:-0.69 [[ 9.85212862e-01 1.55928743e-01 7.10059422e-02 1.38091092e+01] [-1.55561742e-01 9.87768180e-01 -1.07036402e-02 -6.73852830e-01] [-7.18064155e-02 -5.00444050e-04 9.97418462e-01 -6.90388625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.808639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.67, Z:-0.69 [[ 9.85743659e-01 1.53986326e-01 6.78059746e-02 1.38418415e+01] [-1.53644776e-01 9.88072930e-01 -1.02550939e-02 -6.72795947e-01] [-6.85763923e-02 -3.09140035e-04 9.97645820e-01 -6.92161883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.68, Z:-0.69 [[ 9.85718413e-01 1.53425478e-01 6.94250236e-02 1.38739711e+01] [-1.53063688e-01 9.88160191e-01 -1.05329978e-02 -6.75678367e-01] [-7.02190748e-02 -2.43880326e-04 9.97531564e-01 -6.94631306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.68, Z:-0.70 [[ 9.85912750e-01 1.53008441e-01 6.75608403e-02 1.39063319e+01] [-1.52662742e-01 9.88224866e-01 -1.02811416e-02 -6.78308285e-01] [-6.83384037e-02 -1.77714573e-04 9.97662183e-01 -6.95055393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.898639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.68, Z:-0.70 [[ 9.86083761e-01 1.50753718e-01 7.00866124e-02 1.39394758e+01] [-1.50373596e-01 9.88571351e-01 -1.06988511e-02 -6.75258416e-01] [-7.08985087e-02 1.07873668e-05 9.97483534e-01 -6.96268730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.68, Z:-0.70 [[ 9.86201092e-01 1.50104496e-01 6.98286887e-02 1.39722138e+01] [-1.49723112e-01 9.88670133e-01 -1.06938194e-02 -6.76397381e-01] [-7.06427293e-02 9.12878034e-05 9.97501677e-01 -6.97930446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.958639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.68, Z:-0.70 [[ 9.86339413e-01 1.49239505e-01 6.97289876e-02 1.40047744e+01] [-1.48854423e-01 9.88801059e-01 -1.07157258e-02 -6.79340995e-01] [-7.05473063e-02 1.89874473e-04 9.97508417e-01 -7.00143040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.988639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.68, Z:-0.70 [[ 9.86701445e-01 1.46405614e-01 7.06091628e-02 1.40366344e+01] [-1.46000918e-01 9.89224549e-01 -1.08868368e-02 -6.82079236e-01] [-7.14422113e-02 4.33054995e-04 9.97444647e-01 -7.02273718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01864 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.69, Z:-0.70 [[ 9.87063024e-01 1.45247489e-01 6.78951715e-02 1.40685024e+01] [-1.44868512e-01 9.89395214e-01 -1.04988309e-02 -6.85207140e-01] [-6.87000865e-02 5.27135307e-04 9.97637219e-01 -7.01909130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.048639999999999 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.69, Z:-0.70 [[ 9.87305911e-01 1.43389859e-01 6.83109520e-02 1.41011583e+01] [-1.42999598e-01 9.89666040e-01 -1.05945862e-02 -6.86541980e-01] [-6.91241856e-02 6.91658913e-04 9.97607823e-01 -7.02877814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.69, Z:-0.70 [[ 9.87487345e-01 1.43352726e-01 6.57171179e-02 1.41336585e+01] [-1.42989990e-01 9.89671420e-01 -1.02148456e-02 -6.90450705e-01] [-6.65026794e-02 6.90140723e-04 9.97786008e-01 -7.03564174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10864 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.69, Z:-0.71 [[ 9.87250287e-01 1.44000772e-01 6.78280763e-02 1.41659561e+01] [-1.43614557e-01 9.89577337e-01 -1.05618202e-02 -6.94174469e-01] [-6.86420374e-02 6.86060884e-04 9.97641118e-01 -7.06671419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.138639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.70, Z:-0.71 [[ 9.86932445e-01 1.45949168e-01 6.82875537e-02 1.41991448e+01] [-1.45560060e-01 9.89291916e-01 -1.06664477e-02 -6.98673585e-01] [-6.91130841e-02 5.87122879e-04 9.97608659e-01 -7.07783395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.70, Z:-0.71 [[ 9.86532232e-01 1.49964975e-01 6.53043807e-02 1.42307601e+01] [-1.49615848e-01 9.88691257e-01 -1.02321371e-02 -7.03193743e-01] [-6.61003324e-02 3.23762799e-04 9.97812929e-01 -7.08707795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.71, Z:-0.71 [[ 9.85997440e-01 1.52955620e-01 6.64351379e-02 1.42636952e+01] [-1.52598871e-01 9.88233046e-01 -1.04417997e-02 -7.08428283e-01] [-6.72505307e-02 1.57660793e-04 9.97736108e-01 -7.09497331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.228639999999999 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.71, Z:-0.71 [[ 9.85376701e-01 1.56791697e-01 6.67017320e-02 1.42964858e+01] [-1.56438447e-01 9.87631692e-01 -1.05191834e-02 -7.14909584e-01] [-6.75260651e-02 -6.93571615e-05 9.97717508e-01 -7.09421691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.72, Z:-0.71 [[ 9.85437289e-01 1.57290151e-01 6.45999894e-02 1.43281985e+01] [-1.56957786e-01 9.87552431e-01 -1.02200650e-02 -7.19748734e-01] [-6.54033922e-02 -6.82381378e-05 9.97858904e-01 -7.09924566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28864 meters Centerline goodness [0,1] 0.9998031786645672 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.72, Z:-0.71 [[ 9.85525194e-01 1.56592702e-01 6.49524221e-02 1.43608077e+01] [-1.56253071e-01 9.87663265e-01 -1.03078718e-02 -7.23935477e-01] [-6.57652588e-02 9.65200002e-06 9.97835122e-01 -7.12180554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.318639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.73, Z:-0.71 [[ 9.85444670e-01 1.56034460e-01 6.74688763e-02 1.43928611e+01] [-1.55664246e-01 9.87751609e-01 -1.07425429e-02 -7.29156202e-01] [-6.83186980e-02 8.36898810e-05 9.97663545e-01 -7.14543728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34864 meters Centerline goodness [0,1] 0.9998522604156407 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.73, Z:-0.72 [[ 9.85465352e-01 1.55629737e-01 6.80986430e-02 1.44255412e+01] [-1.55249283e-01 9.87815450e-01 -1.08764105e-02 -7.34028404e-01] [-6.89615846e-02 1.46060163e-04 9.97619305e-01 -7.15334140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.378639999999999 meters Centerline goodness [0,1] 0.9998522604156407 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.74, Z:-0.72 [[ 9.85558137e-01 1.55313729e-01 6.74744757e-02 1.44585819e+01] [-1.54937038e-01 9.87865175e-01 -1.08124676e-02 -7.38477131e-01] [-6.83350094e-02 2.02019957e-04 9.97662411e-01 -7.16109496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.408639999999998 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.74, Z:-0.72 [[ 9.85418504e-01 1.56461297e-01 6.68598147e-02 1.44914081e+01] [-1.56091672e-01 9.87684078e-01 -1.07495052e-02 -7.43839223e-01] [-6.77182559e-02 1.56501017e-04 9.97704472e-01 -7.16423903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.43864 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.75, Z:-0.72 [[ 9.85337034e-01 1.56975936e-01 6.68542132e-02 1.45235740e+01] [-1.56605137e-01 9.87602415e-01 -1.07842511e-02 -7.48679165e-01] [-6.77182504e-02 1.56408766e-04 9.97704472e-01 -7.17818345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.468639999999999 meters Centerline goodness [0,1] 0.9999015602697249 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.75, Z:-0.72 [[ 9.85086758e-01 1.58660354e-01 6.65655381e-02 1.45565675e+01] [-1.58294194e-01 9.87333220e-01 -1.07732011e-02 -7.54039198e-01] [-6.74316469e-02 7.55995948e-05 9.97723893e-01 -7.20056500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.76, Z:-0.72 [[ 9.84578070e-01 1.61297851e-01 6.77423682e-02 1.45886679e+01] [-1.60922436e-01 9.86905770e-01 -1.09986930e-02 -7.57519154e-01] [-6.86293996e-02 -7.21950619e-05 9.97642221e-01 -7.22848374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.76, Z:-0.72 [[ 9.84481207e-01 1.62248789e-01 6.68736325e-02 1.46208861e+01] [-1.61883027e-01 9.86749877e-01 -1.08888182e-02 -7.62260384e-01] [-6.77542462e-02 -1.05869143e-04 9.97702035e-01 -7.24868392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.558639999999999 meters Centerline goodness [0,1] 0.9999505635752423 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.77, Z:-0.73 [[ 9.84491751e-01 1.62031235e-01 6.72448576e-02 1.46529731e+01] [-1.61658611e-01 9.86785628e-01 -1.09826209e-02 -7.68383344e-01] [-6.81357867e-02 -5.84106330e-05 9.97676055e-01 -7.26351094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58864 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.77, Z:-0.73 [[ 9.84550713e-01 1.61659181e-01 6.72770622e-02 1.46857608e+01] [-1.61282865e-01 9.86846649e-01 -1.10239912e-02 -7.73778655e-01] [-6.81742728e-02 3.04108539e-06 9.97673428e-01 -7.27827499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61864 meters Centerline goodness [0,1] 0.9999015214929342 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.78, Z:-0.73 [[ 9.84646391e-01 1.61443631e-01 6.63885385e-02 1.47177766e+01] [-1.61074445e-01 9.86881934e-01 -1.09120092e-02 -7.78700511e-01] [-6.72793237e-02 5.09735378e-05 9.97734178e-01 -7.28930615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.648639999999999 meters Centerline goodness [0,1] 0.999802965371164 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.78, Z:-0.73 [[ 9.84645716e-01 1.60650099e-01 6.82961186e-02 1.47494714e+01] [-1.60255201e-01 9.87011411e-01 -1.12580912e-02 -7.82649263e-01] [-6.92176619e-02 1.40423027e-04 9.97601572e-01 -7.30901149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.67864 meters Centerline goodness [0,1] 0.9998030332873744 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.79, Z:-0.73 [[ 9.84600812e-01 1.61473517e-01 6.69891284e-02 1.47819241e+01] [-1.61093907e-01 9.86877040e-01 -1.10662030e-02 -7.87061438e-01] [-6.78969315e-02 1.04252039e-04 9.97692335e-01 -7.30671838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.708639999999999 meters Centerline goodness [0,1] 0.9997539491166774 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.79, Z:-0.73 [[ 9.84065752e-01 1.64439718e-01 6.76326481e-02 1.48146777e+01] [-1.64058343e-01 9.86387131e-01 -1.11931941e-02 -7.91862110e-01] [-6.85525794e-02 -8.08611827e-05 9.97647502e-01 -7.33042536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.738639999999998 meters Centerline goodness [0,1] 0.9997535974768381 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.80, Z:-0.73 [[ 9.83737478e-01 1.66974507e-01 6.61822442e-02 1.48461617e+01] [-1.66612821e-01 9.85961189e-01 -1.09864318e-02 -7.98150565e-01] [-6.70875782e-02 -2.19045746e-04 9.97747067e-01 -7.33763315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76864 meters Centerline goodness [0,1] 0.9998521803399852 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.80, Z:-0.73 [[ 9.83482851e-01 1.68621088e-01 6.57906527e-02 1.48785272e+01] [-1.68265190e-01 9.85680902e-01 -1.09537906e-02 -8.03801800e-01] [-6.66956300e-02 -2.97411455e-04 9.97773323e-01 -7.34546936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.798639999999999 meters Centerline goodness [0,1] 0.9999016038571288 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.81, Z:-0.74 [[ 9.83377678e-01 1.69802888e-01 6.43064606e-02 1.49106756e+01] [-1.69463276e-01 9.85477988e-01 -1.07393006e-02 -8.08321655e-01] [-6.51961657e-02 -3.36794974e-04 9.97872410e-01 -7.35018584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.81, Z:-0.74 [[ 9.82603530e-01 1.73930599e-01 6.51033681e-02 1.49431285e+01] [-1.73589518e-01 9.84757737e-01 -1.09031296e-02 -8.11280931e-01] [-6.60074333e-02 -5.87808605e-04 9.97818958e-01 -7.35917856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.85864 meters Centerline goodness [0,1] 0.9999506927666288 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.82, Z:-0.74 [[ 9.82139359e-01 1.76549286e-01 6.50586530e-02 1.49756682e+01] [-1.76212300e-01 9.84291529e-01 -1.09275378e-02 -8.15724375e-01] [-6.59659300e-02 -7.31769938e-04 9.97821608e-01 -7.38172671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.888639999999999 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.82, Z:-0.74 [[ 9.81470597e-01 1.80685456e-01 6.37827040e-02 1.50085562e+01] [-1.80368087e-01 9.83540468e-01 -1.07471820e-02 -8.17638812e-01] [-6.46747300e-02 -9.56321127e-04 9.97905940e-01 -7.38858346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91864 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.82, Z:-0.74 [[ 9.81187146e-01 1.82626909e-01 6.26034888e-02 1.50412813e+01] [-1.82322995e-01 9.83181747e-01 -1.05819093e-02 -8.20110962e-01] [-6.34831489e-02 -1.03122223e-03 9.97982378e-01 -7.39696595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.82, Z:-0.74 [[ 9.80984420e-01 1.83772723e-01 6.24271833e-02 1.50742693e+01] [-1.83470707e-01 9.82968180e-01 -1.05856723e-02 -8.22024480e-01] [-6.33092925e-02 -1.06917987e-03 9.97993382e-01 -7.40110313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.978639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.83, Z:-0.74 [[ 9.80805951e-01 1.84289329e-01 6.36956010e-02 1.51068376e+01] [-1.83973836e-01 9.82871431e-01 -1.08340813e-02 -8.25057588e-01] [-6.46011921e-02 -1.09219259e-03 9.97910564e-01 -7.41877577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.83, Z:-0.74 [[ 9.80792398e-01 1.83579296e-01 6.59159630e-02 1.51394107e+01] [-1.83237673e-01 9.83004343e-01 -1.12435245e-02 -8.27160557e-01] [-6.68597562e-02 -1.05072431e-03 9.97761830e-01 -7.43551273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.83, Z:-0.75 [[ 9.81091657e-01 1.81902822e-01 6.61099409e-02 1.51714191e+01] [-1.81553275e-01 9.83316093e-01 -1.13079629e-02 -8.29885983e-01] [-6.70639191e-02 -9.08328203e-04 9.97748268e-01 -7.45451251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.068639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.83, Z:-0.75 [[ 9.81626435e-01 1.78786378e-01 6.66706321e-02 1.52037372e+01] [-1.78421544e-01 9.83887688e-01 -1.14354888e-02 -8.30962570e-01] [-6.76409237e-02 -6.70099029e-04 9.97709505e-01 -7.47527029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.84, Z:-0.75 [[ 9.81898463e-01 1.77690825e-01 6.55848930e-02 1.52351345e+01] [-1.77333309e-01 9.84086207e-01 -1.12798313e-02 -8.35616994e-01] [-6.65455111e-02 -5.54737036e-04 9.97783237e-01 -7.49003964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.128639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.84, Z:-0.75 [[ 9.81846406e-01 1.77754750e-01 6.61882449e-02 1.52675543e+01] [-1.77388549e-01 9.84074675e-01 -1.14165189e-02 -8.40984730e-01] [-6.71635161e-02 -5.31768676e-04 9.97741840e-01 -7.51145884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.158639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.84, Z:-0.75 [[ 9.81919795e-01 1.78346102e-01 6.34522256e-02 1.53002448e+01] [-1.78009177e-01 9.83967679e-01 -1.09699219e-02 -8.44132499e-01] [-6.43913819e-02 -5.23494986e-04 9.97924584e-01 -7.51114281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.85, Z:-0.75 [[ 9.81370941e-01 1.81667236e-01 6.25147326e-02 1.53329690e+01] [-1.81345793e-01 9.83359806e-01 -1.08257154e-02 -8.48832373e-01] [-6.34411531e-02 -7.12741263e-04 9.97985327e-01 -7.52417312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.218639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.85, Z:-0.75 [[ 9.80358239e-01 1.87358802e-01 6.15987264e-02 1.53646673e+01] [-1.87055961e-01 9.82291001e-01 -1.06984764e-02 -8.53594096e-01] [-6.25123283e-02 -1.03406951e-03 9.98043656e-01 -7.52437018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.86, Z:-0.75 [[ 9.79856322e-01 1.89866918e-01 6.19042887e-02 1.53965810e+01] [-1.89564224e-01 9.81809137e-01 -1.07806983e-02 -8.57843417e-01] [-6.28250942e-02 -1.17130304e-03 9.98023865e-01 -7.53134643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.86, Z:-0.75 [[ 9.79357025e-01 1.92538979e-01 6.15512653e-02 1.54288210e+01] [-1.92243191e-01 9.81288456e-01 -1.07480754e-02 -8.62089920e-01] [-6.24689696e-02 -1.30660856e-03 9.98046051e-01 -7.53572484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.308639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.87, Z:-0.76 [[ 9.78905955e-01 1.94027723e-01 6.40029179e-02 1.54609350e+01] [-1.93709055e-01 9.80995008e-01 -1.12070029e-02 -8.66174938e-01] [-6.49610122e-02 -1.42734287e-03 9.97886782e-01 -7.55455689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.87, Z:-0.76 [[ 9.77882627e-01 1.99133684e-01 6.39636139e-02 1.54927528e+01] [-1.98824395e-01 9.79970796e-01 -1.12294092e-02 -8.68868949e-01] [-6.49186272e-02 -1.73648267e-03 9.97889050e-01 -7.55520776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.87, Z:-0.76 [[ 9.77300000e-01 2.01666063e-01 6.49269466e-02 1.55244765e+01] [-2.01351067e-01 9.79452484e-01 -1.14271288e-02 -8.71887599e-01] [-6.58973232e-02 -1.90537697e-03 9.97824590e-01 -7.56916466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.398639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.88, Z:-0.76 [[ 9.76321776e-01 2.06063728e-01 6.58295475e-02 1.55566837e+01] [-2.05748410e-01 9.78536075e-01 -1.16078349e-02 -8.75180933e-01] [-6.68085408e-02 -2.21134277e-03 9.97763363e-01 -7.57600432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.88, Z:-0.76 [[ 9.74859498e-01 2.13999927e-01 6.20724630e-02 1.55890733e+01] [-2.13735110e-01 9.76830245e-01 -1.09533172e-02 -8.75692073e-01] [-6.29782684e-02 -2.58911934e-03 9.98011540e-01 -7.58693381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.458639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.88, Z:-0.76 [[ 9.74148980e-01 2.17806761e-01 5.99498061e-02 1.56209824e+01] [-2.17566146e-01 9.75988109e-01 -1.05916816e-02 -8.77381815e-01] [-6.08172378e-02 -2.72517247e-03 9.98145198e-01 -7.59730889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.488639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.87, Z:-0.76 [[ 9.73252004e-01 2.21509698e-01 6.09425116e-02 1.56544639e+01] [-2.21266992e-01 9.75153599e-01 -1.07877977e-02 -8.72820779e-01] [-6.18179113e-02 -2.98532048e-03 9.98082979e-01 -7.60281011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.87, Z:-0.76 [[ 9.72999013e-01 2.22016145e-01 6.31011176e-02 1.56868853e+01] [-2.21756025e-01 9.75038030e-01 -1.11850839e-02 -8.73049502e-01] [-6.40092586e-02 -3.10997735e-03 9.97944459e-01 -7.62319346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.548639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.87, Z:-0.76 [[ 9.73232537e-01 2.20713680e-01 6.40616961e-02 1.57199032e+01] [-2.20441270e-01 9.75333882e-01 -1.13783164e-02 -8.73967059e-01] [-6.49928928e-02 -3.04809387e-03 9.97881072e-01 -7.63421728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.87, Z:-0.77 [[ 9.74228906e-01 2.15872296e-01 6.54002326e-02 1.57518998e+01] [-2.15576924e-01 9.76417666e-01 -1.16246122e-02 -8.71030903e-01] [-6.63673742e-02 -2.77374774e-03 9.97791400e-01 -7.65960136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.87, Z:-0.77 [[ 9.74947066e-01 2.12320653e-01 6.63186103e-02 1.57850903e+01] [-2.12007784e-01 9.77196714e-01 -1.18017858e-02 -8.70153410e-01] [-6.73120909e-02 -2.55394519e-03 9.97728700e-01 -7.67298862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.638639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.87, Z:-0.77 [[ 9.75460531e-01 2.10142884e-01 6.57017516e-02 1.58181036e+01] [-2.09828864e-01 9.77667857e-01 -1.17221841e-02 -8.70312081e-01] [-6.66978242e-02 -2.35159601e-03 9.97770450e-01 -7.68346173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.87, Z:-0.77 [[ 9.76765029e-01 2.04577985e-01 6.38586349e-02 1.58500779e+01] [-2.04268125e-01 9.78848433e-01 -1.14139483e-02 -8.68385879e-01] [-6.48429673e-02 -1.89553808e-03 9.97893680e-01 -7.70328771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.87, Z:-0.77 [[ 9.76941408e-01 2.03227553e-01 6.54526355e-02 1.58831404e+01] [-2.02897976e-01 9.79129813e-01 -1.17141378e-02 -8.70751694e-01] [-6.64672623e-02 -1.83618098e-03 9.97786917e-01 -7.71955129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.728639999999999 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.87, Z:-0.77 [[ 9.78052980e-01 1.97831291e-01 6.53846259e-02 1.59158642e+01] [-1.97488140e-01 9.80235034e-01 -1.17351394e-02 -8.69978791e-01] [-6.64138787e-02 -1.43510009e-03 9.97791129e-01 -7.72492055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.75864 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.87, Z:-0.77 [[ 9.78451600e-01 1.95446743e-01 6.65810604e-02 1.59474753e+01] [-1.95083267e-01 9.80713500e-01 -1.19812614e-02 -8.73656250e-01] [-6.76386433e-02 -1.26576643e-03 9.97709082e-01 -7.74823336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.88, Z:-0.78 [[ 9.78863331e-01 1.93505503e-01 6.61981877e-02 1.59794933e+01] [-1.93139706e-01 9.81098579e-01 -1.19428907e-02 -8.77286680e-01] [-6.72579630e-02 -1.09504078e-03 9.97735019e-01 -7.75968215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.818639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.88, Z:-0.78 [[ 9.79431769e-01 1.90855581e-01 6.54794338e-02 1.60119724e+01] [-1.90489785e-01 9.81617738e-01 -1.18430579e-02 -8.79298297e-01] [-6.65360874e-02 -8.73696104e-04 9.97783637e-01 -7.76366229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84864 meters Centerline goodness [0,1] 0.9999508768482586 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.88, Z:-0.78 [[ 9.79535912e-01 1.90165395e-01 6.59281420e-02 1.60449626e+01] [-1.89790843e-01 9.81751741e-01 -1.19563666e-02 -8.82043620e-01] [-6.69987553e-02 -8.00867241e-04 9.97752738e-01 -7.77234846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.878639999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.88, Z:-0.78 [[ 9.79703849e-01 1.90097772e-01 6.35862067e-02 1.60772105e+01] [-1.89747211e-01 9.81764887e-01 -1.15629579e-02 -8.83730880e-01] [-6.46247976e-02 -7.37031024e-04 9.97909361e-01 -7.77585381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.908639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.89, Z:-0.78 [[ 9.79597302e-01 1.90178104e-01 6.49724103e-02 1.61088581e+01] [-1.89810229e-01 9.81749336e-01 -1.18456390e-02 -8.88793965e-01] [-6.60394018e-02 -7.28472059e-04 9.97816750e-01 -7.80283983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.89, Z:-0.78 [[ 9.79624793e-01 1.90205301e-01 6.44764103e-02 1.61417614e+01] [-1.89841025e-01 9.81744092e-01 -1.17865702e-02 -8.93963260e-01] [-6.55412030e-02 -6.93851470e-04 9.97849623e-01 -7.82118706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.968639999999999 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.90, Z:-0.78 [[ 9.79853916e-01 1.88892698e-01 6.48525436e-02 1.61751662e+01] [-1.88519015e-01 9.81997565e-01 -1.18896596e-02 -8.96406018e-01] [-6.59309097e-02 -5.75808089e-04 9.97824024e-01 -7.83555986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.90, Z:-0.78 [[ 9.80189848e-01 1.87200164e-01 6.46835388e-02 1.62067862e+01] [-1.86822908e-01 9.82321694e-01 -1.18865527e-02 -9.00412887e-01] [-6.57652080e-02 -4.33288498e-04 9.97835031e-01 -7.84814301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.90, Z:-0.79 [[ 9.80610564e-01 1.83896251e-01 6.77132920e-02 1.62385252e+01] [-1.83473321e-01 9.82945639e-01 -1.24664035e-02 -9.03698535e-01] [-6.88510100e-02 -1.98895610e-04 9.97626934e-01 -7.87331086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05864 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.91, Z:-0.79 [[ 9.81018362e-01 1.81310958e-01 6.87699755e-02 1.62710260e+01] [-1.80866094e-01 9.83425816e-01 -1.26932838e-02 -9.07817386e-01] [-6.99316007e-02 1.41876108e-05 9.97551789e-01 -7.88714148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.088639999999998 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.91, Z:-0.79 [[ 9.81363390e-01 1.79311360e-01 6.90893167e-02 1.63034180e+01] [-1.78855039e-01 9.83792356e-01 -1.27857385e-02 -9.12238029e-01] [-7.02621698e-02 1.90483209e-04 9.97528542e-01 -7.90661892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.92, Z:-0.79 [[ 9.81998206e-01 1.75965758e-01 6.86700479e-02 1.63358580e+01] [-1.75504300e-01 9.84396179e-01 -1.27437269e-02 -9.18172993e-01] [-6.98409923e-02 4.62428261e-04 9.97558029e-01 -7.92469766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.92, Z:-0.79 [[ 9.81963714e-01 1.76232178e-01 6.84798005e-02 1.63685754e+01] [-1.75771462e-01 9.84348511e-01 -1.27436871e-02 -9.24621691e-01] [-6.96538374e-02 4.77043696e-04 9.97571108e-01 -7.93298241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.178639999999998 meters Centerline goodness [0,1] 0.9999015020930805 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.93, Z:-0.79 [[ 9.81759019e-01 1.76902632e-01 6.96755815e-02 1.64001414e+01] [-1.76424908e-01 9.84228244e-01 -1.30005760e-02 -9.30816571e-01] [-7.08765114e-02 4.70924677e-04 9.97484987e-01 -7.94664884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.94, Z:-0.80 [[ 9.81365595e-01 1.78819164e-01 7.03226504e-02 1.64317985e+01] [-1.78335011e-01 9.83881888e-01 -1.31549779e-02 -9.39055130e-01] [-7.15415442e-02 3.68852114e-04 9.97437553e-01 -7.95582046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.95, Z:-0.80 [[ 9.81185136e-01 1.80193018e-01 6.93268043e-02 1.64628706e+01] [-1.79723533e-01 9.83631225e-01 -1.30024737e-02 -9.46530468e-01] [-7.05349644e-02 2.98175683e-04 9.97509263e-01 -7.96639569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.268639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.95, Z:-0.80 [[ 9.81031838e-01 1.81479149e-01 6.81311278e-02 1.64944339e+01] [-1.81026712e-01 9.83394765e-01 -1.28087870e-02 -9.54227575e-01] [-6.93243222e-02 2.32273754e-04 9.97594148e-01 -7.98046745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.96, Z:-0.80 [[ 9.80976788e-01 1.82100672e-01 6.72598443e-02 1.65256634e+01] [-1.81659117e-01 9.83279868e-01 -1.26754285e-02 -9.60702629e-01] [-6.84434549e-02 2.15937241e-04 9.97654974e-01 -7.98714710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.97, Z:-0.80 [[ 9.80885336e-01 1.82594810e-01 6.72539408e-02 1.65577484e+01] [-1.82152272e-01 9.83188227e-01 -1.27066896e-02 -9.66409545e-01] [-6.84434584e-02 2.13347431e-04 9.97654974e-01 -8.00109643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.358639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.97, Z:-0.80 [[ 9.80832977e-01 1.82247455e-01 6.89386456e-02 1.65893260e+01] [-1.81779145e-01 9.83252657e-01 -1.30596486e-02 -9.74021822e-01] [-7.01641942e-02 2.77725993e-04 9.97535417e-01 -8.03076084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38864 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.98, Z:-0.80 [[ 9.81250117e-01 1.79745609e-01 6.95681241e-02 1.66203013e+01] [-1.79260161e-01 9.83713004e-01 -1.32106337e-02 -9.82566781e-01] [-7.08096217e-02 4.92142720e-04 9.97489727e-01 -8.03955090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.99, Z:-0.81 [[ 9.81310226e-01 1.78913731e-01 7.08527846e-02 1.66518459e+01] [-1.78405656e-01 9.83864586e-01 -1.34869744e-02 -9.88488552e-01] [-7.21225505e-02 5.94368418e-04 9.97395601e-01 -8.05644880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.448639999999997 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.99, Z:-0.81 [[ 9.81515856e-01 1.77874785e-01 7.06200033e-02 1.66845417e+01] [-1.77364940e-01 9.84052879e-01 -1.34762652e-02 -9.94583399e-01] [-7.18909053e-02 7.01655380e-04 9.97412254e-01 -8.07243036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47864 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:16.72, Y:-1.00, Z:-0.81 [[ 9.81799870e-01 1.76720800e-01 6.95612985e-02 1.67167889e+01] [-1.76220733e-01 9.84260689e-01 -1.33097438e-02 -1.00380088e+00] [-7.08185601e-02 8.09361732e-04 9.97488885e-01 -8.09361369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50864 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.01, Z:-0.81 [[ 9.81844754e-01 1.76470924e-01 6.95621502e-02 1.67488711e+01] [-1.75967672e-01 9.84305475e-01 -1.33457770e-02 -1.01159040e+00] [-7.08255469e-02 8.62791476e-04 9.97488345e-01 -8.11359489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53864 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.02, Z:-0.81 [[ 9.81698083e-01 1.77281568e-01 6.95709672e-02 1.67805536e+01] [-1.76777684e-01 9.84159815e-01 -1.33831924e-02 -1.02034161e+00] [-7.08415435e-02 8.39659874e-04 9.97487228e-01 -8.12225561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.03, Z:-0.81 [[ 9.81658213e-01 1.77716231e-01 6.90224177e-02 1.68124224e+01] [-1.77219382e-01 9.84081426e-01 -1.33055417e-02 -1.02765109e+00] [-7.02882900e-02 8.29384150e-04 9.97526375e-01 -8.13779199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59864 meters Centerline goodness [0,1] 0.9998523694700064 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.04, Z:-0.82 [[ 9.81354252e-01 1.79328503e-01 6.91745606e-02 1.68443382e+01] [-1.78831747e-01 9.83788972e-01 -1.33590817e-02 -1.03579058e+00] [-7.04488340e-02 7.39384167e-04 9.97515120e-01 -8.15026291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.04, Z:-0.82 [[ 9.81275618e-01 1.80249500e-01 6.78843051e-02 1.68752252e+01] [-1.79771047e-01 9.83620678e-01 -1.31427908e-02 -1.04394491e+00] [-6.91413876e-02 6.93067485e-04 9.97606630e-01 -8.16478381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.05, Z:-0.82 [[ 9.80386338e-01 1.84095433e-01 7.03668888e-02 1.69066579e+01] [-1.83588837e-01 9.82908262e-01 -1.36560705e-02 -1.05289448e+00] [-7.16782166e-02 4.69649724e-04 9.97427698e-01 -8.18499225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68864 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.06, Z:-0.82 [[ 9.80052562e-01 1.86115624e-01 6.96989937e-02 1.69386074e+01] [-1.85621467e-01 9.82527787e-01 -1.35579867e-02 -1.05972189e+00] [-7.10045512e-02 3.49910162e-04 9.97475930e-01 -8.19034915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.07, Z:-0.82 [[ 9.79692972e-01 1.88236801e-01 6.90549629e-02 1.69704530e+01] [-1.87755361e-01 9.82123648e-01 -1.34560308e-02 -1.06715054e+00] [-7.03534323e-02 2.17339262e-04 9.97522104e-01 -8.19928837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.748639999999998 meters Centerline goodness [0,1] 0.9998524856173477 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.07, Z:-0.82 [[ 9.79609078e-01 1.88882044e-01 6.84808603e-02 1.70024344e+01] [-1.88408721e-01 9.81999764e-01 -1.33647479e-02 -1.07366446e+00] [-6.97725496e-02 1.89837077e-04 9.97562908e-01 -8.20616053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.08, Z:-0.82 [[ 9.79379388e-01 1.90450471e-01 6.74138843e-02 1.70344755e+01] [-1.89993220e-01 9.81696799e-01 -1.31897803e-02 -1.08002278e+00] [-6.86919944e-02 1.09618004e-04 9.97637909e-01 -8.21793078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80864 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.09, Z:-0.82 [[ 9.79463050e-01 1.89481250e-01 6.89129184e-02 1.70661889e+01] [-1.88998758e-01 9.81884316e-01 -1.35151370e-02 -1.08595381e+00] [-7.02253788e-02 2.13121306e-04 9.97531128e-01 -8.23130251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.838639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.09, Z:-0.83 [[ 9.79449146e-01 1.89469548e-01 6.91423195e-02 1.70987867e+01] [-1.88981420e-01 9.81886566e-01 -1.35939035e-02 -1.09231123e+00] [-7.04655454e-02 2.47923502e-04 9.97514183e-01 -8.25113456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86864 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.10, Z:-0.83 [[ 9.79327553e-01 1.89771472e-01 7.00309324e-02 1.71304200e+01] [-1.89268945e-01 9.81828253e-01 -1.38039012e-02 -1.09899347e+00] [-7.13779347e-02 2.63860133e-04 9.97449307e-01 -8.26968631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89864 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.11, Z:-0.83 [[ 9.79259845e-01 1.90695651e-01 6.84494268e-02 1.71625686e+01] [-1.90216064e-01 9.81649185e-01 -1.35176664e-02 -1.10503089e+00] [-6.97710842e-02 2.17127406e-04 9.97563005e-01 -8.27239465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.928639999999998 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.11, Z:-0.83 [[ 9.78959578e-01 1.92223553e-01 6.84707916e-02 1.71955895e+01] [-1.91745690e-01 9.81351154e-01 -1.35463081e-02 -1.11025532e+00] [-6.97978098e-02 1.32308899e-04 9.97561150e-01 -8.29297254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.11, Z:-0.83 [[ 9.78185275e-01 1.95669080e-01 6.97651729e-02 1.72281011e+01] [-1.95179180e-01 9.80669977e-01 -1.38377300e-02 -1.11226399e+00] [-7.11242264e-02 -8.08455272e-05 9.97467462e-01 -8.31413707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98864 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.12, Z:-0.83 [[ 9.78026309e-01 1.96313632e-01 7.01818812e-02 1.72607135e+01] [-1.95817033e-01 9.80541151e-01 -1.39549425e-02 -1.11704559e+00] [-7.15557681e-02 -9.45068578e-05 9.97436596e-01 -8.33520245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.018639999999998 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.12, Z:-0.84 [[ 9.78127132e-01 1.95815348e-01 7.01688137e-02 1.72934849e+01] [-1.95314983e-01 9.80640785e-01 -1.39895750e-02 -1.12295026e+00] [-7.15497741e-02 -2.14377801e-05 9.97437030e-01 -8.35114152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04864 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.13, Z:-0.84 [[ 9.78551236e-01 1.93798102e-01 6.98553748e-02 1.73266945e+01] [-1.93294450e-01 9.81041421e-01 -1.39637349e-02 -1.12739283e+00] [-7.12371615e-02 1.61573736e-04 9.97459393e-01 -8.35676485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.13, Z:-0.84 [[ 9.78967966e-01 1.92156441e-01 6.85392082e-02 1.73587346e+01] [-1.91665228e-01 9.81364258e-01 -1.37343854e-02 -1.13067859e+00] [-6.99010798e-02 3.08940366e-04 9.97553880e-01 -8.37665936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.108639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.13, Z:-0.84 [[ 9.79994073e-01 1.87276672e-01 6.73725787e-02 1.73919948e+01] [-1.86788329e-01 9.82306973e-01 -1.35325875e-02 -1.13336944e+00] [-6.87148918e-02 6.77444145e-04 9.97636108e-01 -8.39657682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13864 meters Centerline goodness [0,1] 0.9998524711089255 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.14, Z:-0.84 [[ 9.80475446e-01 1.84995138e-01 6.66685793e-02 1.74247489e+01] [-1.84509361e-01 9.82739058e-01 -1.34253599e-02 -1.13852487e+00] [-6.80014431e-02 8.62258824e-04 9.97684850e-01 -8.40146425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16864 meters Centerline goodness [0,1] 0.999852536374361 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.14, Z:-0.84 [[ 9.80839916e-01 1.82430983e-01 6.83519983e-02 1.74564853e+01] [-1.81911729e-01 9.83218046e-01 -1.37984147e-02 -1.14359284e+00] [-6.97221766e-02 1.10000572e-03 9.97565841e-01 -8.41575325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.198639999999997 meters Centerline goodness [0,1] 0.9996550874599656 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.15, Z:-0.84 [[ 9.81369688e-01 1.78587011e-01 7.08534774e-02 1.74883091e+01] [-1.78017309e-01 9.83923060e-01 -1.43265707e-02 -1.14802281e+00] [-7.22729097e-02 1.44651683e-03 9.97383845e-01 -8.42640698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22864 meters Centerline goodness [0,1] 0.9997051452159811 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.15, Z:-0.84 [[ 9.81476617e-01 1.77759034e-01 7.14519104e-02 1.75192986e+01] [-1.77176546e-01 9.84072851e-01 -1.44601082e-02 -1.15457553e+00] [-7.28843001e-02 1.53265540e-03 9.97339225e-01 -8.44589089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25864 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.16, Z:-0.85 [[ 9.82150205e-01 1.74809883e-01 6.94440751e-02 1.75510415e+01] [-1.74250684e-01 9.84600695e-01 -1.40773233e-02 -1.16383985e+00] [-7.08355398e-02 1.72536835e-03 9.97486516e-01 -8.46502913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28864 meters Centerline goodness [0,1] 0.9997542393708528 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.17, Z:-0.85 [[ 9.82465041e-01 1.73203823e-01 6.90136082e-02 1.75824973e+01] [-1.72645289e-01 9.84884241e-01 -1.40226665e-02 -1.17103088e+00] [-7.03991946e-02 1.86190530e-03 9.97517161e-01 -8.47981131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31864 meters Centerline goodness [0,1] 0.9996555118110236 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.18, Z:-0.85 [[ 9.82646183e-01 1.72013043e-01 6.94117575e-02 1.76141302e+01] [-1.71442917e-01 9.85092665e-01 -1.41339113e-02 -1.17814940e+00] [-7.08082303e-02 1.98847985e-03 9.97487965e-01 -8.49445812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34864 meters Centerline goodness [0,1] 0.9993121745111526 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.19, Z:-0.85 [[ 9.82857371e-01 1.69718095e-01 7.20219226e-02 1.76446741e+01] [-1.69096202e-01 9.85490061e-01 -1.46906314e-02 -1.18773968e+00] [-7.34701548e-02 2.26016178e-03 9.97294855e-01 -8.50621187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37864 meters Centerline goodness [0,1] 0.9993598581839669 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.20, Z:-0.85 [[ 9.82920005e-01 1.69656586e-01 7.13085322e-02 1.76761169e+01] [-1.69045110e-01 9.85500640e-01 -1.45684381e-02 -1.19669931e+00] [-7.27462355e-02 2.26525059e-03 9.97347910e-01 -8.51501068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40864 meters Centerline goodness [0,1] 0.9993108540487324 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.21, Z:-0.85 [[ 9.82947865e-01 1.69686831e-01 7.08510702e-02 1.77080896e+01] [-1.69080737e-01 9.85495392e-01 -1.45098789e-02 -1.20604266e+00] [-7.22855385e-02 2.28290330e-03 9.97381366e-01 -8.53138617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43864 meters Centerline goodness [0,1] 0.9996556643219047 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.22, Z:-0.85 [[ 9.82385294e-01 1.73285449e-01 6.99377332e-02 1.77385817e+01] [-1.72701678e-01 9.84869563e-01 -1.43552860e-02 -1.21653516e+00] [-7.13671070e-02 2.02405799e-03 9.97448063e-01 -8.54443006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46864 meters Centerline goodness [0,1] 0.9997051307253784 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.23, Z:-0.86 [[ 9.81837186e-01 1.76022307e-01 7.07946826e-02 1.77700628e+01] [-1.75428978e-01 9.84384386e-01 -1.45620709e-02 -1.22522422e+00] [-7.22524295e-02 1.87814391e-03 9.97384609e-01 -8.56381074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.498639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.24, Z:-0.86 [[ 9.80684573e-01 1.80822868e-01 7.45711600e-02 1.78007183e+01] [-1.80175547e-01 9.83514309e-01 -1.53745493e-02 -1.23919823e+00] [-7.61218730e-02 1.64168382e-03 9.97097169e-01 -8.58704887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52864 meters Centerline goodness [0,1] 0.9999015844897156 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.25, Z:-0.86 [[ 9.80340384e-01 1.82761924e-01 7.43694171e-02 1.78317077e+01] [-1.82120984e-01 9.83156022e-01 -1.53682888e-02 -1.24966192e+00] [-7.59254782e-02 1.52192270e-03 9.97112333e-01 -8.59746065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55864 meters Centerline goodness [0,1] 0.9998525001229166 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.26, Z:-0.86 [[ 9.79833808e-01 1.85546179e-01 7.41506874e-02 1.78624457e+01] [-1.84914467e-01 9.82634639e-01 -1.53559841e-02 -1.26090546e+00] [-7.57122781e-02 1.33477751e-03 9.97128813e-01 -8.62313783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.588639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.27, Z:-0.86 [[ 9.79770628e-01 1.86950276e-01 7.14080606e-02 1.78939692e+01] [-1.86365937e-01 9.82368631e-01 -1.48192726e-02 -1.26881486e+00] [-7.29195058e-02 1.21145787e-03 9.97337093e-01 -8.63531523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.28, Z:-0.86 [[ 9.79330134e-01 1.89384119e-01 7.10362230e-02 1.79251722e+01] [-1.88809935e-01 9.81902510e-01 -1.47739138e-02 -1.27698576e+00] [-7.25485904e-02 1.05619434e-03 9.97364320e-01 -8.64117645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64864 meters Centerline goodness [0,1] 0.9999506172839506 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.29, Z:-0.86 [[ 9.78425177e-01 1.95093511e-01 6.79903995e-02 1.79558427e+01] [-1.94579234e-01 9.80784440e-01 -1.41705097e-02 -1.28784952e+00] [-6.94485004e-02 6.35263582e-04 9.97585336e-01 -8.64673302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.678639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.30, Z:-0.87 [[ 9.77646776e-01 1.98754092e-01 6.85827395e-02 1.79877490e+01] [-1.98237439e-01 9.80049306e-01 -1.43274530e-02 -1.29624348e+00] [-7.00621061e-02 4.11521586e-04 9.97542546e-01 -8.66484688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.30, Z:-0.87 [[ 9.76113659e-01 2.06492619e-01 6.75494141e-02 1.80186982e+01] [-2.06007953e-01 9.78448152e-01 -1.41399388e-02 -1.30434194e+00] [-6.90133924e-02 -1.13529129e-04 9.97615727e-01 -8.67220263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.31, Z:-0.87 [[ 9.75187872e-01 2.10701290e-01 6.79233373e-02 1.80502716e+01] [-2.10219829e-01 9.77550415e-01 -1.42411438e-02 -1.31192940e+00] [-6.93991139e-02 -3.91041643e-04 9.97588898e-01 -8.68266516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.768639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.32, Z:-0.87 [[ 9.74545664e-01 2.13822099e-01 6.73858882e-02 1.80827435e+01] [-2.13353386e-01 9.76872447e-01 -1.41617187e-02 -1.31959581e+00] [-6.88555059e-02 -5.75765858e-04 9.97626477e-01 -8.69273897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.33, Z:-0.87 [[ 9.73908606e-01 2.16625492e-01 6.76418777e-02 1.81144594e+01] [-2.16157553e-01 9.76254498e-01 -1.42501886e-02 -1.32682259e+00] [-6.91226415e-02 -7.42921469e-04 9.97607893e-01 -8.70265642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.33, Z:-0.87 [[ 9.73183678e-01 2.19862944e-01 6.76299872e-02 1.81462700e+01] [-2.19400768e-01 9.75530317e-01 -1.42794784e-02 -1.33338560e+00] [-6.91146310e-02 -9.41515800e-04 9.97608281e-01 -8.70168878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.858639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.34, Z:-0.87 [[ 9.72877170e-01 2.21217638e-01 6.76222525e-02 1.81787814e+01] [-2.20756498e-01 9.75223947e-01 -1.43115798e-02 -1.33962056e+00] [-6.91128139e-02 -1.00464247e-03 9.97608345e-01 -8.71662575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.35, Z:-0.87 [[ 9.72859360e-01 2.20966803e-01 6.86901595e-02 1.82116939e+01] [-2.20487682e-01 9.75280852e-01 -1.45753973e-02 -1.34527274e+00] [-7.02128762e-02 -9.65522386e-04 9.97531563e-01 -8.73374196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.35, Z:-0.88 [[ 9.72755424e-01 2.21122728e-01 6.96535966e-02 1.82443296e+01] [-2.20627720e-01 9.75245523e-01 -1.48181830e-02 -1.35121192e+00] [-7.12059953e-02 -9.53046352e-04 9.97461176e-01 -8.75132772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.948639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.36, Z:-0.88 [[ 9.73017381e-01 2.20210578e-01 6.88801690e-02 1.82759089e+01] [-2.19721741e-01 9.75451994e-01 -1.46889098e-02 -1.35631469e+00] [-7.04239515e-02 -8.41906092e-04 9.97516796e-01 -8.76776696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97864 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.36, Z:-0.88 [[ 9.72927294e-01 2.20362992e-01 6.96608343e-02 1.83088476e+01] [-2.19860894e-01 9.75417585e-01 -1.48903334e-02 -1.36216788e+00] [-7.12296812e-02 -8.28481514e-04 9.97459596e-01 -8.78392631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.37, Z:-0.88 [[ 9.73132100e-01 2.19283793e-01 7.02035139e-02 1.83418628e+01] [-2.18768289e-01 9.75660854e-01 -1.50443799e-02 -1.36715091e+00] [-7.17938090e-02 -7.18133610e-04 9.97419236e-01 -8.78942883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.038639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.37, Z:-0.88 [[ 9.73156687e-01 2.18788112e-01 7.13990544e-02 1.83734926e+01] [-2.18250841e-01 9.75772171e-01 -1.53375264e-02 -1.37268221e+00] [-7.30248788e-02 -6.57087378e-04 9.97329903e-01 -8.80590109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.38, Z:-0.88 [[ 9.73203476e-01 2.18557081e-01 7.14688480e-02 1.84063495e+01] [-2.18015522e-01 9.75823978e-01 -1.53881995e-02 -1.37641863e+00] [-7.31042155e-02 -6.05468987e-04 9.97324123e-01 -8.81902201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.38, Z:-0.88 [[ 9.73305240e-01 2.18251900e-01 7.10142112e-02 1.84380309e+01] [-2.17714419e-01 9.75892311e-01 -1.53175983e-02 -1.38232486e+00] [-7.26453177e-02 -5.52118992e-04 9.97357686e-01 -8.82996923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.39, Z:-0.88 [[ 9.73184218e-01 2.19013791e-01 7.03237974e-02 1.84693125e+01] [-2.18487219e-01 9.75721589e-01 -1.51893218e-02 -1.38911795e+00] [-7.19431183e-02 -5.82842702e-04 9.97408566e-01 -8.84452876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.40, Z:-0.89 [[ 9.73281134e-01 2.18296776e-01 7.12063983e-02 1.85010671e+01] [-2.17752320e-01 9.75882302e-01 -1.54162380e-02 -1.39651912e+00] [-7.28543789e-02 -5.01024874e-04 9.97342463e-01 -8.87505625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18864 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.40, Z:-0.89 [[ 9.73369783e-01 2.18323082e-01 6.99020531e-02 1.85325405e+01] [-2.17795930e-01 9.75876437e-01 -1.51694286e-02 -1.40337894e+00] [-7.15276030e-02 -4.58919268e-04 9.97438515e-01 -8.87986041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.41, Z:-0.89 [[ 9.73269098e-01 2.19435777e-01 6.77879168e-02 1.85638905e+01] [-2.18940572e-01 9.75626822e-01 -1.47421158e-02 -1.40982576e+00] [-6.93706575e-02 -4.93479510e-04 9.97590832e-01 -8.89516547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.248639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.42, Z:-0.89 [[ 9.73155586e-01 2.19940816e-01 6.77808478e-02 1.85957782e+01] [-2.19444574e-01 9.75513091e-01 -1.47745606e-02 -1.41642959e+00] [-6.93706332e-02 -4.96193128e-04 9.97590832e-01 -8.90911399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.42, Z:-0.89 [[ 9.72837680e-01 2.21617286e-01 6.68776961e-02 1.86283619e+01] [-2.21135683e-01 9.75133555e-01 -1.46136465e-02 -1.42369305e+00] [-6.84533222e-02 -5.72339016e-04 9.97654156e-01 -8.92480825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.43, Z:-0.89 [[ 9.72366306e-01 2.23725794e-01 6.67123417e-02 1.86607141e+01] [-2.23249064e-01 9.74651887e-01 -1.46134805e-02 -1.43014865e+00] [-6.82907223e-02 -6.83811859e-04 9.97665229e-01 -8.94445742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.338639999999998 meters Centerline goodness [0,1] 0.9999013855332577 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.44, Z:-0.90 [[ 9.72004062e-01 2.24807661e-01 6.83346120e-02 1.86922388e+01] [-2.24307616e-01 9.74402875e-01 -1.50043636e-02 -1.43627706e+00] [-6.99585383e-02 -7.43671504e-04 9.97549623e-01 -8.96940294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.44, Z:-0.90 [[ 9.71913985e-01 2.25000266e-01 6.89788788e-02 1.87242081e+01] [-2.24488776e-01 9.74358428e-01 -1.51803716e-02 -1.44253707e+00] [-7.06257396e-02 -7.30968612e-04 9.97502617e-01 -8.98740567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.45, Z:-0.90 [[ 9.71619742e-01 2.26425302e-01 6.84591788e-02 1.87562815e+01] [-2.25922450e-01 9.74028210e-01 -1.51027130e-02 -1.45007567e+00] [-7.01008077e-02 -7.92371296e-04 9.97539598e-01 -8.99984781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.428639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.46, Z:-0.90 [[ 9.71704218e-01 2.26020176e-01 6.85987835e-02 1.87880829e+01] [-2.25511645e-01 9.74122348e-01 -1.51706466e-02 -1.45738310e+00] [-7.02524803e-02 -7.28443233e-04 9.97528976e-01 -9.02138582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.46, Z:-0.90 [[ 9.71765422e-01 2.25861704e-01 6.82528808e-02 1.88204667e+01] [-2.25355312e-01 9.74159141e-01 -1.51311412e-02 -1.46475992e+00] [-6.99067130e-02 -6.77229453e-04 9.97553303e-01 -9.03674045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.47, Z:-0.90 [[ 9.72188869e-01 2.24112175e-01 6.79892406e-02 1.88524280e+01] [-2.23602982e-01 9.74563219e-01 -1.51075701e-02 -1.47122746e+00] [-6.96456035e-02 -5.15185489e-04 9.97571664e-01 -9.04734996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.518639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.48, Z:-0.91 [[ 9.72130411e-01 2.24434780e-01 6.77605618e-02 1.88844507e+01] [-2.23927448e-01 9.74488982e-01 -1.50904690e-02 -1.47860775e+00] [-6.94187470e-02 -5.03545870e-04 9.97587482e-01 -9.05651867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.49, Z:-0.91 [[ 9.72284151e-01 2.23530670e-01 6.85388157e-02 1.89159654e+01] [-2.23006723e-01 9.74696811e-01 -1.53012376e-02 -1.48846585e+00] [-7.02248610e-02 -4.07465936e-04 9.97531104e-01 -9.07644957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57864 meters Centerline goodness [0,1] 0.9998520564158201 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.50, Z:-0.91 [[ 9.72186442e-01 2.23896824e-01 6.87294214e-02 1.89474340e+01] [-2.23368294e-01 9.74612771e-01 -1.53802664e-02 -1.49680858e+00] [-7.04281646e-02 -3.99487113e-04 9.97516774e-01 -9.09385062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.608639999999998 meters Centerline goodness [0,1] 0.9998525218759218 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.50, Z:-0.91 [[ 9.71698341e-01 2.25863259e-01 6.91962631e-02 1.89797219e+01] [-2.25329911e-01 9.74158882e-01 -1.55210640e-02 -1.50499896e+00] [-7.09137924e-02 -5.10195646e-04 9.97482318e-01 -9.10337321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63864 meters Centerline goodness [0,1] 0.9999017295597484 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.51, Z:-0.91 [[ 9.70993605e-01 2.28890412e-01 6.91418759e-02 1.90119470e+01] [-2.28362907e-01 9.73451949e-01 -1.55462183e-02 -1.51449524e+00] [-7.08646741e-02 -6.94161273e-04 9.97485697e-01 -9.10853493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.52, Z:-0.91 [[ 9.70325204e-01 2.31615529e-01 6.94495825e-02 1.90431185e+01] [-2.31087737e-01 9.72807023e-01 -1.56510195e-02 -1.52378500e+00] [-7.11860608e-02 -8.62368158e-04 9.97462682e-01 -9.11471149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.698639999999997 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.53, Z:-0.91 [[ 9.69854136e-01 2.33701319e-01 6.90409175e-02 1.90754255e+01] [-2.33182562e-01 9.72307946e-01 -1.55933158e-02 -1.53174581e+00] [-7.07732111e-02 -9.75896171e-04 9.97491955e-01 -9.12124798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.54, Z:-0.91 [[ 9.68850962e-01 2.38300955e-01 6.73830004e-02 1.91078982e+01] [-2.37815452e-01 9.71190560e-01 -1.52547198e-02 -1.53797224e+00] [-6.90769482e-02 -1.24516872e-03 9.97610558e-01 -9.11650591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75864 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.54, Z:-0.91 [[ 9.68283044e-01 2.40404179e-01 6.80718494e-02 1.91393188e+01] [-2.39911400e-01 9.70671901e-01 -1.54460360e-02 -1.54410719e+00] [-6.97887231e-02 -1.37507798e-03 9.97560847e-01 -9.13344006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.788639999999997 meters Centerline goodness [0,1] 0.9998524493409404 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.55, Z:-0.91 [[ 9.67365436e-01 2.43996892e-01 6.83346910e-02 1.91706872e+01] [-2.43506940e-01 9.69774679e-01 -1.55383727e-02 -1.54974618e+00] [-7.00605677e-02 -1.60868687e-03 9.97541442e-01 -9.14205321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81864 meters Centerline goodness [0,1] 0.9998525870964572 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.56, Z:-0.92 [[ 9.67010467e-01 2.45378806e-01 6.84105136e-02 1.92023758e+01] [-2.44888915e-01 9.69425821e-01 -1.55883353e-02 -1.55621128e+00] [-7.01439654e-02 -1.67889306e-03 9.97535466e-01 -9.16681642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.56, Z:-0.92 [[ 9.66905590e-01 2.46228320e-01 6.68221075e-02 1.92346727e+01] [-2.45760801e-01 9.69210414e-01 -1.52578283e-02 -1.56109730e+00] [-6.85215919e-02 -1.66937519e-03 9.97648237e-01 -9.17595135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.56, Z:-0.92 [[ 9.66922704e-01 2.46243567e-01 6.65175970e-02 1.92673365e+01] [-2.45778188e-01 9.69206604e-01 -1.52197498e-02 -1.56249511e+00] [-6.82170597e-02 -1.63225278e-03 9.97669168e-01 -9.18749299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:19.30, Y:-1.57, Z:-0.92 [[ 9.67171181e-01 2.45359219e-01 6.61722034e-02 1.93001389e+01] [-2.44894971e-01 9.69431012e-01 -1.51646511e-02 -1.56554644e+00] [-6.78701731e-02 -1.53842634e-03 9.97692975e-01 -9.19531122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93864 meters Centerline goodness [0,1] 0.9998032851381922 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.56, Z:-0.92 [[ 9.67874938e-01 2.42347670e-01 6.69754541e-02 1.93338363e+01] [-2.41863531e-01 9.70188565e-01 -1.53681460e-02 -1.56388732e+00] [-6.87032542e-02 -1.32447645e-03 9.97636261e-01 -9.22989218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96864 meters Centerline goodness [0,1] 0.9997541910427216 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.57, Z:-0.92 [[ 9.68413817e-01 2.40702939e-01 6.50905010e-02 1.93659083e+01] [-2.40240400e-01 9.70598151e-01 -1.49592528e-02 -1.56625696e+00] [-6.67774560e-02 -1.15062087e-03 9.97767231e-01 -9.24004288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.998639999999998 meters Centerline goodness [0,1] 0.99950884086444 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.57, Z:-0.93 [[ 9.68778293e-01 2.38797273e-01 6.66669471e-02 1.93991540e+01] [-2.38306082e-01 9.71068903e-01 -1.53426434e-02 -1.56916460e+00] [-6.84019806e-02 -1.02351908e-03 9.97657317e-01 -9.27207147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02864 meters Centerline goodness [0,1] 0.9988688895446051 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.57, Z:-0.93 [[ 9.69965478e-01 2.33743117e-01 6.73136501e-02 1.94329824e+01] [-2.33227710e-01 9.72298178e-01 -1.55270065e-02 -1.56662797e+00] [-6.90782703e-02 -6.38748191e-04 9.97611039e-01 -9.28043521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05864 meters Centerline goodness [0,1] 0.9987703506959815 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.57, Z:-0.93 [[ 9.70400352e-01 2.31788678e-01 6.78023957e-02 1.94665148e+01] [-2.31258603e-01 9.72766050e-01 -1.56738933e-02 -1.56961030e+00] [-6.95888997e-02 -4.69935671e-04 9.97575643e-01 -9.30243121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.088639999999998 meters Centerline goodness [0,1] 0.9984242662989955 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.57, Z:-0.93 [[ 9.71435920e-01 2.27088998e-01 6.88682799e-02 1.95006256e+01] [-2.26527621e-01 9.73874005e-01 -1.59580489e-02 -1.56869917e+00] [-7.06929249e-02 -9.83457361e-05 9.97498121e-01 -9.32254096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11864 meters Centerline goodness [0,1] 0.9986241462336003 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.57, Z:-0.93 [[ 9.71664440e-01 2.25816092e-01 6.98234162e-02 1.95335265e+01] [-2.25233142e-01 9.74169950e-01 -1.62154292e-02 -1.57129504e+00] [-7.16815788e-02 2.94085250e-05 9.97427566e-01 -9.34128298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14864 meters Centerline goodness [0,1] 0.998672501106249 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.57, Z:-0.93 [[ 9.72062495e-01 2.24784061e-01 6.75768570e-02 1.95666132e+01] [-2.24233968e-01 9.74408595e-01 -1.57167840e-02 -1.57366542e+00] [-6.93803528e-02 1.24669539e-04 9.97590272e-01 -9.34565421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.178639999999998 meters Centerline goodness [0,1] 0.9986229959673454 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.57, Z:-0.94 [[ 9.72391374e-01 2.23421394e-01 6.73639128e-02 1.96010655e+01] [-2.22870069e-01 9.74721921e-01 -1.56878889e-02 -1.57314976e+00] [-6.91660924e-02 2.41367937e-04 9.97605129e-01 -9.36651507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20864 meters Centerline goodness [0,1] 0.9982806052269602 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.58, Z:-0.94 [[ 9.72293412e-01 2.23513938e-01 6.84619677e-02 1.96329337e+01] [-2.22942238e-01 9.74700695e-01 -1.59785312e-02 -1.57922386e+00] [-7.03013520e-02 2.72756330e-04 9.97525762e-01 -9.39032106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23864 meters Centerline goodness [0,1] 0.9981805664830842 Centerline is valid? [True, True] Translation: X:19.67, Y:-1.58, Z:-0.94 [[ 9.73143923e-01 2.20229516e-01 6.70064611e-02 1.96661217e+01] [-2.19671905e-01 9.75447938e-01 -1.56708478e-02 -1.58327973e+00] [-6.88124975e-02 5.30553368e-04 9.97629470e-01 -9.39751202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.268639999999998 meters Centerline goodness [0,1] 0.998473207249803 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.59, Z:-0.94 [[ 9.73297962e-01 2.19247311e-01 6.79830398e-02 1.96982190e+01] [-2.18668518e-01 9.75669106e-01 -1.59334499e-02 -1.58753481e+00] [-6.98223177e-02 6.42243739e-04 9.97559237e-01 -9.41262784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.29864 meters Centerline goodness [0,1] 0.9984768081761006 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.59, Z:-0.94 [[ 9.73545824e-01 2.18170655e-01 6.78976797e-02 1.97307150e+01] [-2.17588412e-01 9.75910345e-01 -1.59461806e-02 -1.59199860e+00] [-6.97410367e-02 7.50589222e-04 9.97564847e-01 -9.42526301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32864 meters Centerline goodness [0,1] 0.9983278414400236 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.60, Z:-0.94 [[ 9.73836368e-01 2.16617885e-01 6.86980403e-02 1.97619589e+01] [-2.16015594e-01 9.76256049e-01 -1.61675486e-02 -1.59762836e+00] [-7.05690575e-02 9.04698775e-04 9.97506486e-01 -9.44525455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.358639999999998 meters Centerline goodness [0,1] 0.9984778552489443 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.60, Z:-0.95 [[ 9.74067295e-01 2.15788229e-01 6.80319372e-02 1.97940328e+01] [-2.15193385e-01 9.76439690e-01 -1.60417731e-02 -1.60402153e+00] [-6.98907095e-02 9.85743675e-04 9.97554167e-01 -9.45338166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38864 meters Centerline goodness [0,1] 0.9987199054699424 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.61, Z:-0.95 [[ 9.74260578e-01 2.14703170e-01 6.86940724e-02 1.98258911e+01] [-2.14091583e-01 9.76678720e-01 -1.62317916e-02 -1.60791577e+00] [-7.05770559e-02 1.10717197e-03 9.97505716e-01 -9.45693447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41864 meters Centerline goodness [0,1] 0.998772222767901 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.61, Z:-0.95 [[ 9.74255007e-01 2.14715355e-01 6.87349792e-02 1.98583387e+01] [-2.14100759e-01 9.76676005e-01 -1.62740956e-02 -1.61494413e+00] [-7.06261031e-02 1.13890792e-03 9.97502209e-01 -9.47376104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.448639999999997 meters Centerline goodness [0,1] 0.998868722640303 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.62, Z:-0.95 [[ 9.74199298e-01 2.14769980e-01 6.93511668e-02 1.98895256e+01] [-2.14141996e-01 9.76663948e-01 -1.64541374e-02 -1.62313725e+00] [-7.12666391e-02 1.17861180e-03 9.97456604e-01 -9.49157166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47864 meters Centerline goodness [0,1] 0.9985760581361092 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.63, Z:-0.95 [[ 9.74389355e-01 2.14319216e-01 6.80636319e-02 1.99208779e+01] [-2.13711148e-01 9.76762913e-01 -1.61788902e-02 -1.63157876e+00] [-6.99494785e-02 1.21858143e-03 9.97549791e-01 -9.49774363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50864 meters Centerline goodness [0,1] 0.9986248219635577 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.64, Z:-0.95 [[ 9.74600264e-01 2.13956023e-01 6.61600047e-02 1.99524672e+01] [-2.13379196e-01 9.76842518e-01 -1.57484765e-02 -1.63990915e+00] [-6.79973869e-02 1.23130073e-03 9.97684739e-01 -9.50181443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.538639999999997 meters Centerline goodness [0,1] 0.99867197875166 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.65, Z:-0.95 [[ 9.74356622e-01 2.15436125e-01 6.49341891e-02 1.99839259e+01] [-2.14883094e-01 9.76517295e-01 -1.54669961e-02 -1.64892104e+00] [-6.67415084e-02 1.11711067e-03 9.97769674e-01 -9.51757045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56864 meters Centerline goodness [0,1] 0.9986247544204322 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.66, Z:-0.95 [[ 9.74333127e-01 2.15301145e-01 6.57295587e-02 2.00150883e+01] [-2.14732956e-01 9.76547017e-01 -1.56742134e-02 -1.65737611e+00] [-6.75626806e-02 1.15760291e-03 9.97714360e-01 -9.54346402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59864 meters Centerline goodness [0,1] 0.9984272865778739 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.67, Z:-0.96 [[ 9.74190781e-01 2.15894532e-01 6.58928961e-02 2.00474503e+01] [-2.15322729e-01 9.76416012e-01 -1.57446492e-02 -1.66573889e+00] [-6.77380625e-02 1.15005396e-03 9.97702477e-01 -9.55055975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62864 meters Centerline goodness [0,1] 0.9981324945940633 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.67, Z:-0.96 [[ 9.73794233e-01 2.17387587e-01 6.68388288e-02 2.00789735e+01] [-2.16800341e-01 9.76084749e-01 -1.60054725e-02 -1.67495885e+00] [-6.87197524e-02 1.09535596e-03 9.97635402e-01 -9.56671817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65864 meters Centerline goodness [0,1] 0.9983786174028398 Centerline is valid? [True, True] Translation: X:20.11, Y:-1.68, Z:-0.96 [[ 9.73657072e-01 2.18527995e-01 6.50954870e-02 2.01100142e+01] [-2.17971454e-01 9.75830148e-01 -1.56194844e-02 -1.68358927e+00] [-6.69354333e-02 1.01906353e-03 9.97756789e-01 -9.58002127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68864 meters Centerline goodness [0,1] 0.9981831573778541 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.69, Z:-0.96 [[ 9.73440448e-01 2.19579434e-01 6.47963421e-02 2.01420073e+01] [-2.19028274e-01 9.75594140e-01 -1.55784674e-02 -1.69239020e+00] [-6.66356427e-02 9.72479336e-04 9.97776902e-01 -9.59530963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71864 meters Centerline goodness [0,1] 0.998231305885821 Centerline is valid? [True, True] Translation: X:20.17, Y:-1.70, Z:-0.96 [[ 9.73065867e-01 2.21426864e-01 6.41323887e-02 2.01729761e+01] [-2.20888873e-01 9.75176594e-01 -1.54504165e-02 -1.70185835e+00] [-6.59615417e-02 8.68141817e-04 9.97821788e-01 -9.60298431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.748639999999998 meters Centerline goodness [0,1] 0.9984282135664817 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.71, Z:-0.96 [[ 9.72506396e-01 2.23387802e-01 6.57966569e-02 2.02054146e+01] [-2.22823801e-01 9.74729333e-01 -1.58833507e-02 -1.71024888e+00] [-6.76820783e-02 7.85598967e-04 9.97706630e-01 -9.62284678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77864 meters Centerline goodness [0,1] 0.9985752186302447 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.72, Z:-0.96 [[ 9.71759632e-01 2.26539024e-01 6.60551828e-02 2.02363057e+01] [-2.25975589e-01 9.74001904e-01 -1.59788492e-02 -1.72043060e+00] [-6.79577068e-02 6.00741758e-04 9.97688022e-01 -9.63908401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80864 meters Centerline goodness [0,1] 0.9986734142386872 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.73, Z:-0.97 [[ 9.71673964e-01 2.26838865e-01 6.62860280e-02 2.02685039e+01] [-2.26269983e-01 9.73932109e-01 -1.60667852e-02 -1.72932213e+00] [-6.82026624e-02 6.13138417e-04 9.97671299e-01 -9.66206604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.838639999999998 meters Centerline goodness [0,1] 0.9983745443798641 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.74, Z:-0.97 [[ 9.71431344e-01 2.28341489e-01 6.46630441e-02 2.02990459e+01] [-2.27801349e-01 9.73580961e-01 -1.57053427e-02 -1.73864317e+00] [-6.65408899e-02 5.26333525e-04 9.97783560e-01 -9.66538488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86864 meters Centerline goodness [0,1] 0.9985236220472441 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.75, Z:-0.97 [[ 9.71264741e-01 2.28582780e-01 6.62926464e-02 2.03298323e+01] [-2.28013481e-01 9.73524323e-01 -1.61321154e-02 -1.74995463e+00] [-6.82250275e-02 5.52937824e-04 9.97669805e-01 -9.67938453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89864 meters Centerline goodness [0,1] 0.9984767333300575 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.76, Z:-0.97 [[ 9.71300325e-01 2.28440519e-01 6.62616654e-02 2.03611003e+01] [-2.27869214e-01 9.73557690e-01 -1.61569016e-02 -1.75922556e+00] [-6.82004449e-02 5.94210174e-04 9.97671462e-01 -9.69595965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.928639999999998 meters Centerline goodness [0,1] 0.9984760593845247 Centerline is valid? [True, True] Translation: X:20.39, Y:-1.77, Z:-0.97 [[ 9.71189003e-01 2.28729942e-01 6.68919532e-02 2.03923103e+01] [-2.28145924e-01 9.73489721e-01 -1.63462797e-02 -1.77072387e+00] [-6.88575124e-02 6.14200635e-04 9.97626316e-01 -9.71577473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95864 meters Centerline goodness [0,1] 0.9985758483524039 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.78, Z:-0.97 [[ 9.71063009e-01 2.29305592e-01 6.67501168e-02 2.04236894e+01] [-2.28722983e-01 9.73354292e-01 -1.63468384e-02 -1.77972927e+00] [-6.87199342e-02 6.06524211e-04 9.97635807e-01 -9.72769246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98864 meters Centerline goodness [0,1] 0.9983759842519685 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.79, Z:-0.97 [[ 9.70711569e-01 2.31037561e-01 6.58839532e-02 2.04544392e+01] [-2.30471743e-01 9.72944698e-01 -1.61675583e-02 -1.78830828e+00] [-6.78367562e-02 5.09646333e-04 9.97696304e-01 -9.73582411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.018639999999998 meters Centerline goodness [0,1] 0.9986222506519706 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.80, Z:-0.97 [[ 9.69977168e-01 2.34160614e-01 6.56741949e-02 2.04848262e+01] [-2.33603484e-01 9.72197873e-01 -1.61464609e-02 -1.80000126e+00] [-6.76291778e-02 3.19977727e-04 9.97710475e-01 -9.74895280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04864 meters Centerline goodness [0,1] 0.9989115915499925 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.81, Z:-0.98 [[ 9.69738591e-01 2.35199287e-01 6.54855695e-02 2.05169579e+01] [-2.34645553e-01 9.71947127e-01 -1.61321509e-02 -1.80860991e+00] [-6.74427815e-02 2.78071611e-04 9.97723105e-01 -9.75683235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07864 meters Centerline goodness [0,1] 0.9991641262661028 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.82, Z:-0.98 [[ 9.69386024e-01 2.36059980e-01 6.75753058e-02 2.05485858e+01] [-2.35469918e-01 9.71738452e-01 -1.66823052e-02 -1.81598257e+00] [-6.96035476e-02 2.59641792e-04 9.97574698e-01 -9.77951308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.108639999999998 meters Centerline goodness [0,1] 0.9994594328959654 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.82, Z:-0.98 [[ 9.69480260e-01 2.35792735e-01 6.71551354e-02 2.05807073e+01] [-2.35207048e-01 9.71803319e-01 -1.66118650e-02 -1.82417886e+00] [-6.91785405e-02 3.09514058e-04 9.97604247e-01 -9.79498071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.13864 meters Centerline goodness [0,1] 0.9994594328959654 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.83, Z:-0.98 [[ 9.69361229e-01 2.36283993e-01 6.71467212e-02 2.06124117e+01] [-2.35697132e-01 9.71683991e-01 -1.66458206e-02 -1.83167975e+00] [-6.91785350e-02 3.09523576e-04 9.97604247e-01 -9.80892558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16864 meters Centerline goodness [0,1] 0.9997047244094488 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.84, Z:-0.98 [[ 9.69379927e-01 2.36079895e-01 6.75931907e-02 2.06437297e+01] [-2.35482154e-01 9.71733581e-01 -1.67929411e-02 -1.84080170e+00] [-6.96470490e-02 3.61749857e-04 9.97571630e-01 -9.83876564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.198639999999997 meters Centerline goodness [0,1] 0.9998526305447758 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.85, Z:-0.99 [[ 9.70204041e-01 2.32419774e-01 6.84482769e-02 2.06737961e+01] [-2.31795208e-01 9.72615342e-01 -1.70404621e-02 -1.85248925e+00] [-7.05343846e-02 6.66742616e-04 9.97509126e-01 -9.85932832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22864 meters Centerline goodness [0,1] 0.999655460944037 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.86, Z:-0.99 [[ 9.70444986e-01 2.31567095e-01 6.79206134e-02 2.07052180e+01] [-2.30947723e-01 9.72818642e-01 -1.69422285e-02 -1.86196598e+00] [-6.99977015e-02 7.55389685e-04 9.97546867e-01 -9.85742688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25864 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.87, Z:-0.99 [[ 9.70229848e-01 2.32909467e-01 6.63869155e-02 2.07352209e+01] [-2.32318657e-01 9.72498187e-01 -1.65927168e-02 -1.87449828e+00] [-6.84257558e-02 6.75830068e-04 9.97655982e-01 -9.85905638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.288639999999997 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.89, Z:-0.99 [[ 9.69736727e-01 2.34811927e-01 6.68882658e-02 2.07669042e+01] [-2.34214402e-01 9.72040650e-01 -1.67507855e-02 -1.88543090e+00] [-6.89513976e-02 5.77656720e-04 9.97619853e-01 -9.87970165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31864 meters Centerline goodness [0,1] 0.9998030332873744 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.90, Z:-0.99 [[ 9.69344200e-01 2.36953670e-01 6.49983105e-02 2.07980431e+01] [-2.36392443e-01 9.71520851e-01 -1.63048507e-02 -1.89600328e+00] [-6.70107082e-02 4.39903040e-04 9.97752159e-01 -9.87793070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34864 meters Centerline goodness [0,1] 0.9999017150719937 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.91, Z:-0.99 [[ 9.67908992e-01 2.42996920e-01 6.40677752e-02 2.08281146e+01] [-2.42463473e-01 9.70027059e-01 -1.60925163e-02 -1.90734302e+00] [-6.60579074e-02 4.19959293e-05 9.97815790e-01 -9.88675151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37864 meters Centerline goodness [0,1] 0.9997042003549595 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.92, Z:-0.99 [[ 9.67029003e-01 2.46178148e-01 6.52014310e-02 2.08588994e+01] [-2.45630741e-01 9.69224586e-01 -1.64085767e-02 -1.91650484e+00] [-6.72342630e-02 -1.47906232e-04 9.97737206e-01 -9.90043503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40864 meters Centerline goodness [0,1] 0.9998031786645672 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.93, Z:-0.99 [[ 9.65516124e-01 2.52271441e-01 6.43252175e-02 2.08900299e+01] [-2.51750022e-01 9.67656362e-01 -1.62200728e-02 -1.92888197e+00] [-6.63365671e-02 -5.33133135e-04 9.97797162e-01 -9.90093396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43864 meters Centerline goodness [0,1] 0.999754009642822 Centerline is valid? [True, True] Translation: X:20.92, Y:-1.94, Z:-0.99 [[ 9.65044965e-01 2.54185188e-01 6.38600492e-02 2.09216782e+01] [-2.53673168e-01 9.67155364e-01 -1.61377081e-02 -1.93761307e+00] [-6.58645555e-02 -6.25967081e-04 9.97828376e-01 -9.91525038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.95, Z:-0.99 [[ 9.64660113e-01 2.55836476e-01 6.30758553e-02 2.09541229e+01] [-2.55338238e-01 9.66719821e-01 -1.59740694e-02 -1.94505751e+00] [-6.50634292e-02 -6.96130203e-04 9.97880887e-01 -9.92737087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.498639999999998 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.95, Z:-0.99 [[ 9.64275371e-01 2.57250982e-01 6.32055425e-02 2.09870067e+01] [-2.56751450e-01 9.66344325e-01 -1.60417533e-02 -1.95016073e+00] [-6.52050741e-02 -7.59447010e-04 9.97871596e-01 -9.94131550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.96, Z:-1.00 [[ 9.64016623e-01 2.58000909e-01 6.40896369e-02 2.10179314e+01] [-2.57486682e-01 9.66144352e-01 -1.63002768e-02 -1.95762234e+00] [-6.61253269e-02 -7.88490163e-04 9.97811014e-01 -9.96355914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.96, Z:-1.00 [[ 9.63895484e-01 2.58449028e-01 6.41061259e-02 2.10502067e+01] [-2.57933366e-01 9.66024575e-01 -1.63370554e-02 -1.96443691e+00] [-6.61503891e-02 -7.87894842e-04 9.97809353e-01 -9.96638345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.588639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.97, Z:-1.00 [[ 9.63567552e-01 2.59448394e-01 6.49931111e-02 2.10821008e+01] [-2.58918299e-01 9.65756612e-01 -1.65976084e-02 -1.97063793e+00] [-6.70737496e-02 -8.34988860e-04 9.97747671e-01 -9.97494276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.98, Z:-1.00 [[ 9.63235055e-01 2.60319943e-01 6.64210505e-02 2.11136054e+01] [-2.59766122e-01 9.65522007e-01 -1.69945909e-02 -1.97659653e+00] [-6.85550169e-02 -8.84153007e-04 9.97646946e-01 -9.99398096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.98, Z:-1.00 [[ 9.62738166e-01 2.62099862e-01 6.66249605e-02 2.11452174e+01] [-2.61544684e-01 9.65040256e-01 -1.70787163e-02 -1.98118196e+00] [-6.87720981e-02 -9.83072181e-04 9.97631912e-01 -1.00111270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.678639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.99, Z:-1.00 [[ 9.62420234e-01 2.63563922e-01 6.54320483e-02 2.11781532e+01] [-2.63029628e-01 9.64641376e-01 -1.68056656e-02 -1.98766610e+00] [-6.75478283e-02 -1.03645469e-03 9.97715499e-01 -1.00176333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.99, Z:-1.00 [[ 9.61910222e-01 2.65637800e-01 6.45390182e-02 2.12109210e+01] [-2.65120312e-01 9.64072237e-01 -1.66114971e-02 -1.99351159e+00] [-6.66329172e-02 -1.13183580e-03 9.97776916e-01 -1.00347702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73864 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.00, Z:-1.00 [[ 9.61593838e-01 2.66935515e-01 6.38961842e-02 2.12435395e+01] [-2.66428853e-01 9.63713675e-01 -1.64808442e-02 -2.00041515e+00] [-6.59769491e-02 -1.17590887e-03 9.97820455e-01 -1.00407467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.768639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.28, Y:-2.01, Z:-1.01 [[ 9.61438671e-01 2.67076940e-01 6.56170010e-02 2.12755463e+01] [-2.66540546e-01 9.63674482e-01 -1.69596852e-02 -2.00693826e+00] [-6.77629703e-02 -1.18389408e-03 9.97700746e-01 -1.00679282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.79864 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:21.31, Y:-2.01, Z:-1.01 [[ 9.61365070e-01 2.67259660e-01 6.59505617e-02 2.13085049e+01] [-2.66715935e-01 9.63623839e-01 -1.70794000e-02 -2.01183533e+00] [-6.81161681e-02 -1.17052718e-03 9.97676710e-01 -1.00767163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82864 meters Centerline goodness [0,1] 0.9998031786645672 Centerline is valid? [True, True] Translation: X:21.34, Y:-2.02, Z:-1.01 [[ 9.61234416e-01 2.67589710e-01 6.65142409e-02 2.13411901e+01] [-2.67034888e-01 9.63532242e-01 -1.72622892e-02 -2.01865037e+00] [-6.87078266e-02 -1.16851644e-03 9.97636141e-01 -1.00902314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.858639999999998 meters Centerline goodness [0,1] 0.9999017247309715 Centerline is valid? [True, True] Translation: X:21.37, Y:-2.02, Z:-1.01 [[ 9.61337458e-01 2.67129373e-01 6.68744350e-02 2.13742617e+01] [-2.66565373e-01 9.63660033e-01 -1.73851578e-02 -2.02468752e+00] [-6.90883065e-02 -1.11340530e-03 9.97609927e-01 -1.00961136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:-2.03, Z:-1.01 [[ 9.61249411e-01 2.67504421e-01 6.66404866e-02 2.14058198e+01] [-2.66943603e-01 9.63555990e-01 -1.73484050e-02 -2.03318817e+00] [-6.88526151e-02 -1.11310754e-03 9.97626222e-01 -1.01145697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91864 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:21.44, Y:-2.04, Z:-1.01 [[ 9.60975365e-01 2.68736030e-01 6.56299749e-02 2.14380527e+01] [-2.68192522e-01 9.63213179e-01 -1.71214194e-02 -2.04137800e+00] [-6.78167991e-02 -1.14820623e-03 9.97697130e-01 -1.01207442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.948639999999997 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:21.47, Y:-2.05, Z:-1.01 [[ 9.60257409e-01 2.71150122e-01 6.62066516e-02 2.14690447e+01] [-2.70600353e-01 9.62536197e-01 -1.73066157e-02 -2.04875464e+00] [-6.84189896e-02 -1.29673739e-03 9.97655833e-01 -1.01384249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.50, Y:-2.06, Z:-1.01 [[ 9.59723480e-01 2.73266312e-01 6.52408203e-02 2.15011413e+01] [-2.72735163e-01 9.61937408e-01 -1.70866615e-02 -2.05624109e+00] [-6.74267946e-02 -1.39499548e-03 9.97723249e-01 -1.01468246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.53, Y:-2.07, Z:-1.02 [[ 9.59046520e-01 2.75922820e-01 6.40028952e-02 2.15335211e+01] [-2.75415255e-01 9.61178596e-01 -1.67971588e-02 -2.06500177e+00] [-6.61529323e-02 -1.51811708e-03 9.97808341e-01 -1.01582084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.038639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.56, Y:-2.07, Z:-1.02 [[ 9.58463296e-01 2.78246895e-01 6.26639908e-02 2.15644438e+01] [-2.77763625e-01 9.60508223e-01 -1.64718455e-02 -2.07333368e+00] [-6.47725183e-02 -1.61811792e-03 9.97898744e-01 -1.01595859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.08, Z:-1.02 [[ 9.58006108e-01 2.79847097e-01 6.25291897e-02 2.15956672e+01] [-2.79368182e-01 9.60043068e-01 -1.64537663e-02 -2.08162727e+00] [-6.46352539e-02 -1.70585741e-03 9.97907498e-01 -1.01667827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:-2.09, Z:-1.02 [[ 9.57818367e-01 2.80249439e-01 6.35942487e-02 2.16285112e+01] [-2.79752789e-01 9.59925651e-01 -1.67666998e-02 -2.08812036e+00] [-6.57446088e-02 -1.73121537e-03 9.97834981e-01 -1.01781275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.128639999999997 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:21.66, Y:-2.10, Z:-1.02 [[ 9.58221563e-01 2.79202936e-01 6.21060141e-02 2.16594721e+01] [-2.78725011e-01 9.60230803e-01 -1.64065238e-02 -2.09559586e+00] [-6.42168574e-02 -1.58941455e-03 9.97934702e-01 -1.01942154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:-2.10, Z:-1.02 [[ 9.58449452e-01 2.78364050e-01 6.23546603e-02 2.16910097e+01] [-2.77878988e-01 9.60474443e-01 -1.64958336e-02 -2.10407608e+00] [-6.44819047e-02 -1.51662721e-03 9.97917724e-01 -1.02138987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.11, Z:-1.02 [[ 9.59036506e-01 2.76026531e-01 6.37050537e-02 2.17226956e+01] [-2.75513867e-01 9.61149038e-01 -1.68711548e-02 -2.11179904e+00] [-6.58869374e-02 -1.37157237e-03 9.97826152e-01 -1.02339084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-2.12, Z:-1.03 [[ 9.58950453e-01 2.76068704e-01 6.48081701e-02 2.17546964e+01] [-2.75535976e-01 9.61136933e-01 -1.71965748e-02 -2.12016451e+00] [-6.70369620e-02 -1.36631920e-03 9.97749557e-01 -1.02525546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.248639999999998 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:21.79, Y:-2.13, Z:-1.02 [[ 9.59330826e-01 2.75307097e-01 6.23728241e-02 2.17865756e+01] [-2.74810420e-01 9.61355537e-01 -1.65760480e-02 -2.12784542e+00] [-6.45259634e-02 -1.23878814e-03 9.97915260e-01 -1.02450201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.27864 meters Centerline goodness [0,1] 0.9999507219238161 Centerline is valid? [True, True] Translation: X:21.82, Y:-2.14, Z:-1.03 [[ 9.59249567e-01 2.75760745e-01 6.16139643e-02 2.18182702e+01] [-2.75275858e-01 9.61225511e-01 -1.63926333e-02 -2.13558337e+00] [-6.37453591e-02 -1.23621054e-03 9.97965431e-01 -1.02570761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30864 meters Centerline goodness [0,1] 0.9999507364894823 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.14, Z:-1.03 [[ 9.59205807e-01 2.76194984e-01 6.03369761e-02 2.18498654e+01] [-2.75728884e-01 9.61100864e-01 -1.60845172e-02 -2.14301652e+00] [-6.24323829e-02 -1.20828479e-03 9.98048465e-01 -1.02762362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.338639999999998 meters Centerline goodness [0,1] 0.9999015893322836 Centerline is valid? [True, True] Translation: X:21.88, Y:-2.15, Z:-1.03 [[ 9.59152436e-01 2.76785173e-01 5.84514576e-02 2.18812410e+01] [-2.76347544e-01 9.60931090e-01 -1.56036813e-02 -2.15126456e+00] [-6.04866905e-02 -1.18660790e-03 9.98168299e-01 -1.02776621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36864 meters Centerline goodness [0,1] 0.999802683504341 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.16, Z:-1.03 [[ 9.58918192e-01 2.77572166e-01 5.85627287e-02 2.19120871e+01] [-2.77133836e-01 9.60704001e-01 -1.56415761e-02 -2.16025940e+00] [-6.06031139e-02 -1.23072176e-03 9.98161183e-01 -1.02883490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39864 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.17, Z:-1.03 [[ 9.58697239e-01 2.78105434e-01 5.96403511e-02 2.19428956e+01] [-2.77651321e-01 9.60549702e-01 -1.59378151e-02 -2.16873243e+00] [-6.17199144e-02 -1.27968288e-03 9.98092688e-01 -1.02906089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.428639999999998 meters Centerline goodness [0,1] 0.9998030914640149 Centerline is valid? [True, True] Translation: X:21.98, Y:-2.18, Z:-1.03 [[ 9.58755528e-01 2.77816491e-01 6.00486069e-02 2.19755639e+01] [-2.77354962e-01 9.60633337e-01 -1.60566681e-02 -2.17633768e+00] [-6.21455009e-02 -1.26035977e-03 9.98066305e-01 -1.02961332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:22.01, Y:-2.18, Z:-1.03 [[ 9.58790212e-01 2.77637422e-01 6.03224031e-02 2.20073822e+01] [-2.77170522e-01 9.60685130e-01 -1.61425806e-02 -2.18439056e+00] [-6.24326201e-02 -1.24224367e-03 9.98048408e-01 -1.03045248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48864 meters Centerline goodness [0,1] 0.9998033528341773 Centerline is valid? [True, True] Translation: X:22.04, Y:-2.20, Z:-1.03 [[ 9.58819977e-01 2.77316465e-01 6.13174543e-02 2.20385623e+01] [-2.76832531e-01 9.60777845e-01 -1.64219896e-02 -2.19527141e+00] [-6.34665398e-02 -1.22893440e-03 9.97983210e-01 -1.03256940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.518639999999998 meters Centerline goodness [0,1] 0.9996069375522036 Centerline is valid? [True, True] Translation: X:22.07, Y:-2.20, Z:-1.03 [[ 9.58772250e-01 2.77608925e-01 6.07376044e-02 2.20705668e+01] [-2.77133461e-01 9.60693396e-01 -1.62862727e-02 -2.20464961e+00] [-6.28714301e-02 -1.21759621e-03 9.98020892e-01 -1.03399045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54864 meters Centerline goodness [0,1] 0.9997053624042428 Centerline is valid? [True, True] Translation: X:22.10, Y:-2.21, Z:-1.03 [[ 9.58416620e-01 2.79026236e-01 5.98493338e-02 2.21022507e+01] [-2.78565686e-01 9.60282645e-01 -1.60748470e-02 -2.21259727e+00] [-6.19575806e-02 -1.26557015e-03 9.98077981e-01 -1.03347058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57864 meters Centerline goodness [0,1] 0.9998526522593321 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.22, Z:-1.03 [[ 9.58055134e-01 2.80649307e-01 5.80200568e-02 2.21348645e+01] [-2.80218756e-01 9.59809477e-01 -1.55954033e-02 -2.21990524e+00] [-6.00650395e-02 -1.31705200e-03 9.98193597e-01 -1.03401485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.608639999999998 meters Centerline goodness [0,1] 0.9997541306058222 Centerline is valid? [True, True] Translation: X:22.17, Y:-2.23, Z:-1.03 [[ 9.57128989e-01 2.84308571e-01 5.54322515e-02 2.21659897e+01] [-2.83921131e-01 9.58731705e-01 -1.49100299e-02 -2.22773482e+00] [-5.73837063e-02 -1.46756566e-03 9.98351119e-01 -1.03368491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63864 meters Centerline goodness [0,1] 0.999754323899371 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.24, Z:-1.03 [[ 9.56541486e-01 2.86189146e-01 5.58941724e-02 2.21970653e+01] [-2.85797966e-01 9.58171831e-01 -1.50421245e-02 -2.23518105e+00] [-5.78611143e-02 -1.58602470e-03 9.98323382e-01 -1.03488853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66864 meters Centerline goodness [0,1] 0.9996553082529053 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.24, Z:-1.04 [[ 9.55914958e-01 2.88296678e-01 5.57818932e-02 2.22290686e+01] [-2.87910199e-01 9.57539621e-01 -1.50196775e-02 -2.23803497e+00] [-5.77434961e-02 -1.70264156e-03 9.98330000e-01 -1.03638495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.698639999999997 meters Centerline goodness [0,1] 0.9997052755673446 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.24, Z:-1.04 [[ 9.55965742e-01 2.87899093e-01 5.69527277e-02 2.22613260e+01] [-2.87494963e-01 9.57659232e-01 -1.53441106e-02 -2.24432332e+00] [-5.89588610e-02 -1.70517825e-03 9.98258957e-01 -1.03840207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72864 meters Centerline goodness [0,1] 0.9997542031265362 Centerline is valid? [True, True] Translation: X:22.29, Y:-2.25, Z:-1.04 [[ 9.55790145e-01 2.88458994e-01 5.70666969e-02 2.22923645e+01] [-2.88053588e-01 9.57490682e-01 -1.53858278e-02 -2.25137520e+00] [-5.90790109e-02 -1.73264426e-03 9.98251806e-01 -1.04011007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.26, Z:-1.04 [[ 9.56307088e-01 2.86797221e-01 5.67812165e-02 2.23247982e+01] [-2.86392474e-01 9.57989952e-01 -1.53167379e-02 -2.25557670e+00] [-5.87886328e-02 -1.61420805e-03 9.98269148e-01 -1.04088530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.788639999999997 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.26, Z:-1.04 [[ 9.56726995e-01 2.85667145e-01 5.53871696e-02 2.23559990e+01] [-2.85279715e-01 9.58327728e-01 -1.49482610e-02 -2.26193327e+00] [-5.73492874e-02 -1.49943110e-03 9.98353049e-01 -1.04177426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81864 meters Centerline goodness [0,1] 0.9997052176476369 Centerline is valid? [True, True] Translation: X:22.39, Y:-2.27, Z:-1.04 [[ 9.57070139e-01 2.84447361e-01 5.57355110e-02 2.23879384e+01] [-2.84052521e-01 9.58690597e-01 -1.50500993e-02 -2.26797127e+00] [-5.77140713e-02 -1.42781179e-03 9.98332133e-01 -1.04334847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:22.42, Y:-2.27, Z:-1.04 [[ 9.57272401e-01 2.83749400e-01 5.58195972e-02 2.24193151e+01] [-2.83351733e-01 9.58897478e-01 -1.50805520e-02 -2.27481459e+00] [-5.78043685e-02 -1.38038339e-03 9.98326975e-01 -1.04412668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.878639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.45, Y:-2.28, Z:-1.05 [[ 9.57341143e-01 2.83371817e-01 5.65539585e-02 2.24514756e+01] [-2.82962425e-01 9.59009148e-01 -1.52879419e-02 -2.28199981e+00] [-5.85679354e-02 -1.36686943e-03 9.98282489e-01 -1.04532287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90864 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:22.48, Y:-2.29, Z:-1.05 [[ 9.57326305e-01 2.83426999e-01 5.65285855e-02 2.24835017e+01] [-2.83017377e-01 9.58992853e-01 -1.52929120e-02 -2.28842539e+00] [-5.85449336e-02 -1.35826499e-03 9.98283850e-01 -1.04646043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.93864 meters Centerline goodness [0,1] 0.9998527462818436 Centerline is valid? [True, True] Translation: X:22.51, Y:-2.30, Z:-1.05 [[ 9.57469823e-01 2.83047701e-01 5.59958735e-02 2.25143916e+01] [-2.82644504e-01 9.59104935e-01 -1.51593974e-02 -2.29691438e+00] [-5.79967512e-02 -1.31226041e-03 9.98315909e-01 -1.04833216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96864 meters Centerline goodness [0,1] 0.9998035266958102 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.31, Z:-1.05 [[ 9.58072019e-01 2.80960223e-01 5.62081900e-02 2.25455053e+01] [-2.80549913e-01 9.59718685e-01 -1.52247100e-02 -2.30536202e+00] [-5.82215880e-02 -1.18283421e-03 9.98302984e-01 -1.04964854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.998639999999998 meters Centerline goodness [0,1] 0.9997536460386283 Centerline is valid? [True, True] Translation: X:22.58, Y:-2.31, Z:-1.05 [[ 9.58242269e-01 2.80275351e-01 5.67228506e-02 2.25770398e+01] [-2.79855825e-01 9.59918965e-01 -1.53720144e-02 -2.31307515e+00] [-5.87577367e-02 -1.14410613e-03 9.98271616e-01 -1.05082201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02864 meters Centerline goodness [0,1] 0.9992610837438424 Centerline is valid? [True, True] Translation: X:22.61, Y:-2.32, Z:-1.05 [[ 9.59167462e-01 2.77250855e-01 5.59441126e-02 2.26091241e+01] [-2.76837189e-01 9.60797108e-01 -1.51686335e-02 -2.31780082e+00] [-5.79564582e-02 -9.38151207e-04 9.98318671e-01 -1.05054162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05864 meters Centerline goodness [0,1] 0.9992610837438424 Centerline is valid? [True, True] Translation: X:22.64, Y:-2.33, Z:-1.05 [[ 9.59113461e-01 2.77438056e-01 5.59418907e-02 2.26405242e+01] [-2.77024230e-01 9.60743067e-01 -1.51768240e-02 -2.32625860e+00] [-5.79564122e-02 -9.40963015e-04 9.98318671e-01 -1.05193592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.088639999999998 meters Centerline goodness [0,1] 0.9998524856173477 Centerline is valid? [True, True] Translation: X:22.67, Y:-2.33, Z:-1.05 [[ 9.59586659e-01 2.75780740e-01 5.60216715e-02 2.26720748e+01] [-2.75362258e-01 9.61220210e-01 -1.52096831e-02 -2.33451950e+00] [-5.80437005e-02 -8.31244943e-04 9.98313697e-01 -1.05416480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.11864 meters Centerline goodness [0,1] 0.9996557151288609 Centerline is valid? [True, True] Translation: X:22.70, Y:-2.34, Z:-1.06 [[ 9.59768447e-01 2.75131842e-01 5.60981032e-02 2.27032027e+01] [-2.74710571e-01 9.61406186e-01 -1.52396586e-02 -2.34344941e+00] [-5.81259788e-02 -7.84198560e-04 9.98308948e-01 -1.05600926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14864 meters Centerline goodness [0,1] 0.9997536945812808 Centerline is valid? [True, True] Translation: X:22.73, Y:-2.35, Z:-1.06 [[ 9.60198731e-01 2.73419704e-01 5.70969595e-02 2.27342075e+01] [-2.72979788e-01 9.61894587e-01 -1.55189976e-02 -2.35105473e+00] [-5.91644560e-02 -6.84994058e-04 9.98248014e-01 -1.05757030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.178639999999998 meters Centerline goodness [0,1] 0.9993607081386772 Centerline is valid? [True, True] Translation: X:22.77, Y:-2.36, Z:-1.06 [[ 9.60319074e-01 2.72576610e-01 5.90700294e-02 2.27660265e+01] [-2.72103632e-01 9.62133865e-01 -1.60636313e-02 -2.35655163e+00] [-6.12118459e-02 -6.46958054e-04 9.98124587e-01 -1.05936675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.20864 meters Centerline goodness [0,1] 0.9994592468783797 Centerline is valid? [True, True] Translation: X:22.80, Y:-2.36, Z:-1.06 [[ 9.60494694e-01 2.71507542e-01 6.11031735e-02 2.27978215e+01] [-2.70998704e-01 9.62436131e-01 -1.66251844e-02 -2.36366216e+00] [-6.33217649e-02 -5.90479450e-04 9.97992989e-01 -1.06234829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23864 meters Centerline goodness [0,1] 0.9991152182461659 Centerline is valid? [True, True] Translation: X:22.83, Y:-2.37, Z:-1.06 [[ 9.60908383e-01 2.69723244e-01 6.24856102e-02 2.28285857e+01] [-2.69186757e-01 9.62937768e-01 -1.70101097e-02 -2.37162889e+00] [-6.47577760e-02 -4.75141773e-04 9.97900899e-01 -1.06400573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.268639999999998 meters Centerline goodness [0,1] 0.9992619926199262 Centerline is valid? [True, True] Translation: X:22.86, Y:-2.38, Z:-1.07 [[ 9.61043592e-01 2.69228437e-01 6.25400962e-02 2.28607455e+01] [-2.68689309e-01 9.63076249e-01 -1.70350673e-02 -2.37965526e+00] [-6.48172058e-02 -4.32412953e-04 9.97897060e-01 -1.06517661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29864 meters Centerline goodness [0,1] 0.9995093228655545 Centerline is valid? [True, True] Translation: X:22.89, Y:-2.39, Z:-1.07 [[ 9.61092615e-01 2.68799353e-01 6.36230611e-02 2.28921353e+01] [-2.68239650e-01 9.63196111e-01 -1.73418993e-02 -2.38693978e+00] [-6.59429763e-02 -3.99056300e-04 9.97823313e-01 -1.06697534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32864 meters Centerline goodness [0,1] 0.9991651114821727 Centerline is valid? [True, True] Translation: X:22.92, Y:-2.39, Z:-1.07 [[ 9.61110051e-01 2.68635983e-01 6.40482556e-02 2.29248161e+01] [-2.68067709e-01 9.63241695e-01 -1.74682529e-02 -2.39320937e+00] [-6.63865516e-02 -3.80355723e-04 9.97793907e-01 -1.06842895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.358639999999998 meters Centerline goodness [0,1] 0.9987226098064262 Centerline is valid? [True, True] Translation: X:22.96, Y:-2.40, Z:-1.07 [[ 9.60952381e-01 2.69132555e-01 6.43287602e-02 2.29562732e+01] [-2.68559507e-01 9.63103060e-01 -1.75580945e-02 -2.40170765e+00] [-6.66806807e-02 -4.03607367e-04 9.97774285e-01 -1.07004197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38864 meters Centerline goodness [0,1] 0.9981350608559089 Centerline is valid? [True, True] Translation: X:22.99, Y:-2.41, Z:-1.07 [[ 9.60709914e-01 2.69717767e-01 6.54888272e-02 2.29872312e+01] [-2.69124388e-01 9.62939319e-01 -1.78866384e-02 -2.41096082e+00] [-6.78861108e-02 -4.40769748e-04 9.97692980e-01 -1.07164618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41864 meters Centerline goodness [0,1] 0.9980329481190067 Centerline is valid? [True, True] Translation: X:23.02, Y:-2.42, Z:-1.07 [[ 9.60447683e-01 2.70449174e-01 6.63135951e-02 2.30181738e+01] [-2.69841852e-01 9.62734130e-01 -1.81209981e-02 -2.42026059e+00] [-6.87431702e-02 -4.89912630e-04 9.97634270e-01 -1.07340795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.448639999999997 meters Centerline goodness [0,1] 0.9982781522113445 Centerline is valid? [True, True] Translation: X:23.05, Y:-2.43, Z:-1.08 [[ 9.60308429e-01 2.70766506e-01 6.70314836e-02 2.30489852e+01] [-2.70146077e-01 9.62644919e-01 -1.83263984e-02 -2.42875844e+00] [-6.94896919e-02 -5.09297486e-04 9.97582540e-01 -1.07559181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47864 meters Centerline goodness [0,1] 0.9976870078740158 Centerline is valid? [True, True] Translation: X:23.08, Y:-2.44, Z:-1.08 [[ 9.59402281e-01 2.73419294e-01 6.92037089e-02 2.30795698e+01] [-2.72764145e-01 9.61894682e-01 -1.89299447e-02 -2.43935053e+00] [-7.17424917e-02 -7.14858319e-04 9.97422931e-01 -1.07843872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50864 meters Centerline goodness [0,1] 0.9978352848568336 Centerline is valid? [True, True] Translation: X:23.11, Y:-2.45, Z:-1.08 [[ 9.58837847e-01 2.75223442e-01 6.98715979e-02 2.31110109e+01] [-2.74559653e-01 9.61379913e-01 -1.91222564e-02 -2.44794779e+00] [-7.24360439e-02 -8.48778473e-04 9.97372698e-01 -1.07972013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.538639999999997 meters Centerline goodness [0,1] 0.9978876007074081 Centerline is valid? [True, True] Translation: X:23.14, Y:-2.46, Z:-1.08 [[ 9.58668942e-01 2.76038973e-01 6.89662543e-02 2.31424151e+01] [-2.75393731e-01 9.61146032e-01 -1.88838155e-02 -2.45601866e+00] [-7.14993107e-02 -8.89546628e-04 9.97440252e-01 -1.08080705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56864 meters Centerline goodness [0,1] 0.9977847789701684 Centerline is valid? [True, True] Translation: X:23.17, Y:-2.47, Z:-1.08 [[ 9.58479641e-01 2.77095340e-01 6.73420401e-02 2.31732554e+01] [-2.76482135e-01 9.60841972e-01 -1.84481418e-02 -2.46521218e+00] [-6.98169527e-02 -9.36702657e-04 9.97559380e-01 -1.08133298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59864 meters Centerline goodness [0,1] 0.9977404460163081 Centerline is valid? [True, True] Translation: X:23.20, Y:-2.47, Z:-1.08 [[ 9.58448112e-01 2.77157634e-01 6.75341639e-02 2.32044685e+01] [-2.76540298e-01 9.60824008e-01 -1.85118451e-02 -2.47438846e+00] [-7.00191453e-02 -9.33274832e-04 9.97545211e-01 -1.08368568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.628639999999997 meters Centerline goodness [0,1] 0.9976412776412776 Centerline is valid? [True, True] Translation: X:23.24, Y:-2.48, Z:-1.09 [[ 9.58094444e-01 2.78103061e-01 6.86565708e-02 2.32351027e+01] [-2.77465949e-01 9.60550722e-01 -1.88403210e-02 -2.48246870e+00] [-7.11876695e-02 -9.99053729e-04 9.97462439e-01 -1.08551106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65864 meters Centerline goodness [0,1] 0.9973971122679501 Centerline is valid? [True, True] Translation: X:23.27, Y:-2.49, Z:-1.09 [[ 9.58033148e-01 2.77844495e-01 7.05331368e-02 2.32661534e+01] [-2.77169665e-01 9.60625560e-01 -1.93780906e-02 -2.49059436e+00] [-7.31400299e-02 -9.84792704e-04 9.97321195e-01 -1.08797033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68864 meters Centerline goodness [0,1] 0.9977904350387902 Centerline is valid? [True, True] Translation: X:23.30, Y:-2.50, Z:-1.09 [[ 9.57707198e-01 2.78801075e-01 7.11820489e-02 2.32970891e+01] [-2.78114924e-01 9.60348302e-01 -1.95762079e-02 -2.49937510e+00] [-7.38174277e-02 -1.04851489e-03 9.97271221e-01 -1.09032113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71864 meters Centerline goodness [0,1] 0.9976907581191962 Centerline is valid? [True, True] Translation: X:23.33, Y:-2.51, Z:-1.09 [[ 9.56891230e-01 2.81133595e-01 7.29594083e-02 2.33283375e+01] [-2.80416822e-01 9.59667859e-01 -2.00999156e-02 -2.50680141e+00] [-7.56675607e-02 -1.22561238e-03 9.97132347e-01 -1.09231909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.748639999999998 meters Centerline goodness [0,1] 0.9978382627493367 Centerline is valid? [True, True] Translation: X:23.36, Y:-2.51, Z:-1.09 [[ 9.56451849e-01 2.82958987e-01 7.16524346e-02 2.33595590e+01] [-2.82270300e-01 9.59131111e-01 -1.97734748e-02 -2.51420450e+00] [-7.43191616e-02 -1.31297766e-03 9.97233643e-01 -1.09367828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77864 meters Centerline goodness [0,1] 0.9977836879432624 Centerline is valid? [True, True] Translation: X:23.39, Y:-2.52, Z:-1.09 [[ 9.55513484e-01 2.86370141e-01 7.06124913e-02 2.33910897e+01] [-2.85708888e-01 9.58117839e-01 -1.95099387e-02 -2.52008112e+00] [-7.32421515e-02 -1.53260684e-03 9.97313009e-01 -1.09477482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80864 meters Centerline goodness [0,1] 0.9970511623335135 Centerline is valid? [True, True] Translation: X:23.42, Y:-2.53, Z:-1.10 [[ 9.55077927e-01 2.87903846e-01 7.02675527e-02 2.34220019e+01] [-2.87252486e-01 9.57657929e-01 -1.94242094e-02 -2.52777121e+00] [-7.28845836e-02 -1.63289560e-03 9.97339045e-01 -1.09558238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.838639999999998 meters Centerline goodness [0,1] 0.997200117889773 Centerline is valid? [True, True] Translation: X:23.45, Y:-2.54, Z:-1.10 [[ 9.55082696e-01 2.87788149e-01 7.06754898e-02 2.34538314e+01] [-2.87128012e-01 9.57692722e-01 -1.95487832e-02 -2.53559282e+00] [-7.33113103e-02 -1.62220829e-03 9.97307786e-01 -1.09813922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86864 meters Centerline goodness [0,1] 0.9973480011786662 Centerline is valid? [True, True] Translation: X:23.49, Y:-2.54, Z:-1.10 [[ 9.55492127e-01 2.86074364e-01 7.20850398e-02 2.34865111e+01] [-2.85381598e-01 9.58206236e-01 -1.99537920e-02 -2.54080459e+00] [-7.47806030e-02 -1.50605260e-03 9.97198873e-01 -1.10023767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89864 meters Centerline goodness [0,1] 0.9972003929273084 Centerline is valid? [True, True] Translation: X:23.52, Y:-2.55, Z:-1.10 [[ 9.55993516e-01 2.84521351e-01 7.15821072e-02 2.35183136e+01] [-2.83832942e-01 9.58668735e-01 -1.98271905e-02 -2.54728394e+00] [-7.42647872e-02 -1.36269456e-03 9.97237627e-01 -1.10121719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.928639999999998 meters Centerline goodness [0,1] 0.9974993871046826 Centerline is valid? [True, True] Translation: X:23.55, Y:-2.55, Z:-1.10 [[ 9.57042914e-01 2.80694510e-01 7.26598423e-02 2.35498400e+01] [-2.79973413e-01 9.59796563e-01 -2.01356691e-02 -2.55364683e+00] [-7.53906387e-02 -1.07212463e-03 9.97153500e-01 -1.10342997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.95864 meters Centerline goodness [0,1] 0.9965539309801605 Centerline is valid? [True, True] Translation: X:23.58, Y:-2.56, Z:-1.11 [[ 9.57995186e-01 2.77645013e-01 7.18224973e-02 2.35811550e+01] [-2.76931171e-01 9.60683395e-01 -1.99133257e-02 -2.56150949e+00] [-7.45275161e-02 -8.13018180e-04 9.97218626e-01 -1.10558172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98864 meters Centerline goodness [0,1] 0.9971487562678203 Centerline is valid? [True, True] Translation: X:23.61, Y:-2.57, Z:-1.11 [[ 9.58620053e-01 2.75725009e-01 7.08753419e-02 2.36125797e+01] [-2.75023944e-01 9.61236341e-01 -1.96603022e-02 -2.56973328e+00] [-7.35487913e-02 -6.45656105e-04 9.97291411e-01 -1.10719016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.018639999999998 meters Centerline goodness [0,1] 0.996956607107795 Centerline is valid? [True, True] Translation: X:23.64, Y:-2.58, Z:-1.11 [[ 9.59752542e-01 2.71914592e-01 7.02674402e-02 2.36442923e+01] [-2.71214541e-01 9.62321328e-01 -1.95021567e-02 -2.57758151e+00] [-7.29227774e-02 -3.40307038e-04 9.97337532e-01 -1.10924724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04864 meters Centerline goodness [0,1] 0.9978880157170923 Centerline is valid? [True, True] Translation: X:23.68, Y:-2.59, Z:-1.11 [[ 9.60043265e-01 2.71023048e-01 6.97383507e-02 2.36753976e+01] [-2.70330122e-01 9.62572824e-01 -1.93696581e-02 -2.58762069e+00] [-7.23778649e-02 -2.56667046e-04 9.97377250e-01 -1.11118322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07864 meters Centerline goodness [0,1] 0.9966494210396649 Centerline is valid? [True, True] Translation: X:23.71, Y:-2.60, Z:-1.11 [[ 9.60094416e-01 2.70909982e-01 6.94729683e-02 2.37060074e+01] [-2.70220913e-01 9.62604658e-01 -1.93114100e-02 -2.59854957e+00] [-7.21066566e-02 -2.32272010e-04 9.97396900e-01 -1.11108058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.108639999999998 meters Centerline goodness [0,1] 0.9966049990159418 Centerline is valid? [True, True] Translation: X:23.74, Y:-2.61, Z:-1.11 [[ 9.60032771e-01 2.71420899e-01 6.83211111e-02 2.37360551e+01] [-2.70755055e-01 9.62460716e-01 -1.90018521e-02 -2.61040594e+00] [-7.09138853e-02 -2.55885466e-04 9.97482409e-01 -1.11231402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.13864 meters Centerline goodness [0,1] 0.9967004826159755 Centerline is valid? [True, True] Translation: X:23.77, Y:-2.62, Z:-1.11 [[ 9.59658924e-01 2.72803817e-01 6.80648793e-02 2.37680966e+01] [-2.72145584e-01 9.62069623e-01 -1.89426176e-02 -2.61925295e+00] [-7.06507711e-02 -3.45104273e-04 9.97501052e-01 -1.11260966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16864 meters Centerline goodness [0,1] 0.9969525681985746 Centerline is valid? [True, True] Translation: X:23.80, Y:-2.63, Z:-1.11 [[ 9.58765501e-01 2.75966984e-01 6.79038881e-02 2.37989898e+01] [-2.75318833e-01 9.61166950e-01 -1.89112270e-02 -2.62891987e+00] [-7.04858473e-02 -5.63787243e-04 9.97512620e-01 -1.11485391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.198639999999997 meters Centerline goodness [0,1] 0.9964646960620642 Centerline is valid? [True, True] Translation: X:23.83, Y:-2.64, Z:-1.12 [[ 9.58227391e-01 2.77743524e-01 6.82554124e-02 2.38294178e+01] [-2.77092471e-01 9.60655016e-01 -1.90184748e-02 -2.63820082e+00] [-7.08521626e-02 -6.89037378e-04 9.97486590e-01 -1.11680931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22864 meters Centerline goodness [0,1] 0.9966596256815837 Centerline is valid? [True, True] Translation: X:23.86, Y:-2.65, Z:-1.12 [[ 9.57784458e-01 2.79626187e-01 6.67692046e-02 2.38604505e+01] [-2.79007152e-01 9.60108615e-01 -1.86133301e-02 -2.64715205e+00] [-6.93104631e-02 -8.01527296e-04 9.97594816e-01 -1.11765818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25864 meters Centerline goodness [0,1] 0.9966497511947578 Centerline is valid? [True, True] Translation: X:23.89, Y:-2.66, Z:-1.12 [[ 9.56671396e-01 2.83280069e-01 6.73219286e-02 2.38918690e+01] [-2.82659110e-01 9.59036634e-01 -1.87766173e-02 -2.65533098e+00] [-6.98832373e-02 -1.06610374e-03 9.97554608e-01 -1.11871164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.288639999999997 meters Centerline goodness [0,1] 0.9969026548672566 Centerline is valid? [True, True] Translation: X:23.92, Y:-2.66, Z:-1.12 [[ 9.56086360e-01 2.85151122e-01 6.77326332e-02 2.39227311e+01] [-2.84526587e-01 9.58481817e-01 -1.89004425e-02 -2.66461935e+00] [-7.03099798e-02 -1.20127972e-03 9.97524468e-01 -1.12048739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31864 meters Centerline goodness [0,1] 0.9967089105020139 Centerline is valid? [True, True] Translation: X:23.95, Y:-2.67, Z:-1.12 [[ 9.55826794e-01 2.85959052e-01 6.79894165e-02 2.39529438e+01] [-2.85331146e-01 9.58241014e-01 -1.89814414e-02 -2.67447868e+00] [-7.05781624e-02 -1.25652783e-03 9.97505461e-01 -1.12254335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34864 meters Centerline goodness [0,1] 0.9960686028797484 Centerline is valid? [True, True] Translation: X:23.98, Y:-2.68, Z:-1.12 [[ 9.55409196e-01 2.87484497e-01 6.74235233e-02 2.39832787e+01] [-2.86870156e-01 9.57784341e-01 -1.88326609e-02 -2.68418370e+00] [-6.99912929e-02 -1.34889919e-03 9.97546690e-01 -1.12378465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.378639999999997 meters Centerline goodness [0,1] 0.9966604459286907 Centerline is valid? [True, True] Translation: X:24.01, Y:-2.69, Z:-1.12 [[ 9.55102531e-01 2.88457469e-01 6.76124596e-02 2.40148894e+01] [-2.87841455e-01 9.57491664e-01 -1.88947394e-02 -2.69146066e+00] [-7.01886952e-02 -1.41525529e-03 9.97532728e-01 -1.12439288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40864 meters Centerline goodness [0,1] 0.9969078236968686 Centerline is valid? [True, True] Translation: X:24.05, Y:-2.70, Z:-1.12 [[ 9.53793662e-01 2.92664794e-01 6.80071308e-02 2.40466668e+01] [-2.92051559e-01 9.56213543e-01 -1.90143803e-02 -2.69620789e+00] [-7.05941792e-02 -1.72579318e-03 9.97503626e-01 -1.12482450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.43864 meters Centerline goodness [0,1] 0.9974936111657166 Centerline is valid? [True, True] Translation: X:24.08, Y:-2.70, Z:-1.13 [[ 9.53095534e-01 2.94931796e-01 6.80010187e-02 2.40776049e+01] [-2.94323768e-01 9.55516449e-01 -1.90219680e-02 -2.70389746e+00] [-7.05862751e-02 -1.88456325e-03 9.97503898e-01 -1.12641633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46864 meters Centerline goodness [0,1] 0.9976910984476322 Centerline is valid? [True, True] Translation: X:24.11, Y:-2.71, Z:-1.13 [[ 9.52987756e-01 2.95468104e-01 6.71783836e-02 2.41086403e+01] [-2.94875403e-01 9.55350731e-01 -1.88010032e-02 -2.71087890e+00] [-6.97340147e-02 -1.89212708e-03 9.97563826e-01 -1.12684829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.498639999999998 meters Centerline goodness [0,1] 0.9979407727005295 Centerline is valid? [True, True] Translation: X:24.14, Y:-2.72, Z:-1.13 [[ 9.52398464e-01 2.97231357e-01 6.77546058e-02 2.41401908e+01] [-2.96632222e-01 9.54803331e-01 -1.89716519e-02 -2.71819495e+00] [-7.03312931e-02 -2.02962716e-03 9.97521624e-01 -1.12795020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52864 meters Centerline goodness [0,1] 0.999016570782318 Centerline is valid? [True, True] Translation: X:24.17, Y:-2.72, Z:-1.13 [[ 9.52373993e-01 2.97260781e-01 6.79691572e-02 2.41737656e+01] [-2.96657057e-01 9.54794177e-01 -1.90438887e-02 -2.72009617e+00] [-7.05575568e-02 -2.02662582e-03 9.97505651e-01 -1.12847823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55864 meters Centerline goodness [0,1] 0.9995589748615671 Centerline is valid? [True, True] Translation: X:24.21, Y:-2.73, Z:-1.13 [[ 9.52581799e-01 2.96691417e-01 6.75434634e-02 2.42052497e+01] [-2.96092857e-01 9.54971395e-01 -1.89381718e-02 -2.72593003e+00] [-7.01208685e-02 -1.95897929e-03 9.97536579e-01 -1.13156960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.588639999999998 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:24.24, Y:-2.73, Z:-1.13 [[ 9.53796247e-01 2.92866794e-01 6.70951570e-02 2.42383535e+01] [-2.92266058e-01 9.56151815e-01 -1.88217366e-02 -2.72789536e+00] [-6.96654178e-02 -1.65753527e-03 9.97569036e-01 -1.13387246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:24.27, Y:-2.73, Z:-1.14 [[ 9.54245146e-01 2.91329410e-01 6.74045766e-02 2.42704945e+01] [-2.90718635e-01 9.56621551e-01 -1.89177839e-02 -2.73249252e+00] [-6.99919774e-02 -1.54356308e-03 9.97546360e-01 -1.13527492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:24.30, Y:-2.74, Z:-1.14 [[ 9.54884059e-01 2.89009577e-01 6.83366569e-02 2.43027093e+01] [-2.88375170e-01 9.57325206e-01 -1.91888231e-02 -2.73793815e+00] [-7.09661578e-02 -1.38349380e-03 9.97477764e-01 -1.13657960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.678639999999998 meters Centerline goodness [0,1] 0.9998527896363903 Centerline is valid? [True, True] Translation: X:24.34, Y:-2.74, Z:-1.14 [[ 9.56003970e-01 2.84951380e-01 6.97073857e-02 2.43351819e+01] [-2.84279749e-01 9.58541347e-01 -1.95834382e-02 -2.74158523e+00] [-7.23977391e-02 -1.09455345e-03 9.97375240e-01 -1.13898198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70864 meters Centerline goodness [0,1] 0.9998520345252775 Centerline is valid? [True, True] Translation: X:24.37, Y:-2.75, Z:-1.14 [[ 9.56627261e-01 2.83130248e-01 6.85678253e-02 2.43667008e+01] [-2.82475085e-01 9.59081015e-01 -1.92725768e-02 -2.74879091e+00] [-7.12187489e-02 -9.32029868e-04 9.97460285e-01 -1.14067651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73864 meters Centerline goodness [0,1] 0.999509611612397 Centerline is valid? [True, True] Translation: X:24.40, Y:-2.76, Z:-1.14 [[ 9.57149306e-01 2.81533343e-01 6.78541264e-02 2.43980873e+01] [-2.80887103e-01 9.59551116e-01 -1.90811922e-02 -2.75572209e+00] [-7.04814945e-02 -7.95799055e-04 9.97512770e-01 -1.14225158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.768639999999998 meters Centerline goodness [0,1] 0.9996562561382832 Centerline is valid? [True, True] Translation: X:24.43, Y:-2.76, Z:-1.15 [[ 9.57984870e-01 2.78631117e-01 6.80418239e-02 2.44300277e+01] [-2.77973314e-01 9.60398027e-01 -1.91433032e-02 -2.76006500e+00] [-7.06811533e-02 -5.74816419e-04 9.97498794e-01 -1.14505734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:24.46, Y:-2.77, Z:-1.15 [[ 9.58479431e-01 2.76973190e-01 6.78456570e-02 2.44613160e+01] [-2.76314376e-01 9.60877545e-01 -1.90973591e-02 -2.76636937e+00] [-7.04808248e-02 -4.42304551e-04 9.97513036e-01 -1.14685677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82864 meters Centerline goodness [0,1] 0.9998524928704887 Centerline is valid? [True, True] Translation: X:24.49, Y:-2.77, Z:-1.15 [[ 9.59130240e-01 2.74520824e-01 6.86112257e-02 2.44927836e+01] [-2.73840101e-01 9.61581121e-01 -1.93221990e-02 -2.77197172e+00] [-7.12796053e-02 -2.55999661e-04 9.97456341e-01 -1.14863384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.858639999999998 meters Centerline goodness [0,1] 0.9998039792217975 Centerline is valid? [True, True] Translation: X:24.52, Y:-2.78, Z:-1.15 [[ 9.59570418e-01 2.72807680e-01 6.92862385e-02 2.45237327e+01] [-2.72108342e-01 9.62068581e-01 -1.95216638e-02 -2.77919479e+00] [-7.19837730e-02 -1.20952344e-04 9.97405796e-01 -1.15001942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:24.55, Y:-2.79, Z:-1.15 [[ 9.60392892e-01 2.69641986e-01 7.02758261e-02 2.45545737e+01] [-2.68913333e-01 9.62960634e-01 -1.98100023e-02 -2.78649171e+00] [-7.30144625e-02 1.27278726e-04 9.97330874e-01 -1.15300169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.59, Y:-2.80, Z:-1.16 [[ 9.60585020e-01 2.68656727e-01 7.14141662e-02 2.45853969e+01] [-2.67900806e-01 9.63235961e-01 -2.01405394e-02 -2.79531207e+00] [-7.41995845e-02 2.14787690e-04 9.97243388e-01 -1.15554486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.948639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.62, Y:-2.80, Z:-1.16 [[ 9.60535052e-01 2.68836127e-01 7.14111390e-02 2.46167311e+01] [-2.68079904e-01 9.63185907e-01 -2.01512683e-02 -2.80408111e+00] [-7.41995917e-02 2.12108300e-04 9.97243388e-01 -1.15693967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97864 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:24.65, Y:-2.81, Z:-1.16 [[ 9.60550319e-01 2.68632847e-01 7.19685904e-02 2.46477397e+01] [-2.67863249e-01 9.63242615e-01 -2.03210449e-02 -2.81325614e+00] [-7.47821133e-02 2.41645687e-04 9.97199868e-01 -1.15780929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.00864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:24.68, Y:-2.82, Z:-1.16 [[ 9.60829734e-01 2.67727928e-01 7.16099117e-02 2.46786485e+01] [-2.66962769e-01 9.63494501e-01 -2.02293282e-02 -2.82147031e+00] [-7.44117123e-02 3.19759705e-04 9.97227554e-01 -1.15882068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.038639999999997 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:24.71, Y:-2.83, Z:-1.16 [[ 9.60782393e-01 2.67936214e-01 7.14659231e-02 2.47108987e+01] [-2.67173845e-01 9.63436602e-01 -2.02002596e-02 -2.82917325e+00] [-7.42652672e-02 3.14228328e-04 9.97238473e-01 -1.15943905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.74, Y:-2.84, Z:-1.16 [[ 9.60581724e-01 2.69084221e-01 6.98314709e-02 2.47419862e+01] [-2.68358532e-01 9.63116622e-01 -1.97501914e-02 -2.83591857e+00] [-7.25703153e-02 2.31801847e-04 9.97363272e-01 -1.16089735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09864 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:24.77, Y:-2.84, Z:-1.16 [[ 9.60138704e-01 2.70698849e-01 6.96835897e-02 2.47727115e+01] [-2.69979803e-01 9.62664074e-01 -1.97176722e-02 -2.84412255e+00] [-7.24194396e-02 1.18538415e-04 9.97374258e-01 -1.16251876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.128639999999997 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:24.80, Y:-2.85, Z:-1.16 [[ 9.59569708e-01 2.73016199e-01 6.84699278e-02 2.48040469e+01] [-2.72327251e-01 9.62009435e-01 -1.93833844e-02 -2.85264927e+00] [-7.11606945e-02 -4.65186879e-05 9.97464863e-01 -1.16418224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:24.84, Y:-2.86, Z:-1.17 [[ 9.59166926e-01 2.74077258e-01 6.98603268e-02 2.48350620e+01] [-2.73362124e-01 9.61707670e-01 -1.97865349e-02 -2.86180174e+00] [-7.26082514e-02 -1.18577432e-04 9.97360530e-01 -1.16585295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18864 meters Centerline goodness [0,1] 0.999901941557168 Centerline is valid? [True, True] Translation: X:24.87, Y:-2.87, Z:-1.17 [[ 9.59269198e-01 2.73297148e-01 7.14931758e-02 2.48659695e+01] [-2.72545258e-01 9.61929658e-01 -2.02587388e-02 -2.87009913e+00] [-7.43080616e-02 -5.15418441e-05 9.97235333e-01 -1.16797823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21864 meters Centerline goodness [0,1] 0.9998525073746313 Centerline is valid? [True, True] Translation: X:24.90, Y:-2.88, Z:-1.17 [[ 9.59621540e-01 2.72383026e-01 7.02423440e-02 2.48979095e+01] [-2.71654122e-01 9.62188904e-01 -1.99136152e-02 -2.87652889e+00] [-7.30105347e-02 2.79118448e-05 9.97331169e-01 -1.16890550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.248639999999998 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:24.93, Y:-2.88, Z:-1.17 [[ 9.59612255e-01 2.72821438e-01 6.86497169e-02 2.49289830e+01] [-2.72125723e-01 9.62064688e-01 -1.94711970e-02 -2.88374724e+00] [-7.13576284e-02 3.44539945e-06 9.97450795e-01 -1.16891732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.96, Y:-2.89, Z:-1.17 [[ 9.59155153e-01 2.74286913e-01 6.91959717e-02 2.49605633e+01] [-2.73583202e-01 9.61647898e-01 -1.96354657e-02 -2.89049482e+00] [-7.19279120e-02 -9.73973973e-05 9.97409828e-01 -1.17182680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.99, Y:-2.90, Z:-1.17 [[ 9.58818015e-01 2.75167996e-01 7.03604182e-02 2.49917051e+01] [-2.74442036e-01 9.61396146e-01 -1.99754739e-02 -2.89882233e+00] [-7.31408460e-02 -1.57012188e-04 9.97321609e-01 -1.17375222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.338639999999998 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:25.02, Y:-2.91, Z:-1.17 [[ 9.58690856e-01 2.76178931e-01 6.80958148e-02 2.50233909e+01] [-2.75500854e-01 9.61106212e-01 -1.93424112e-02 -2.90682160e+00] [-7.07892771e-02 -2.17062312e-04 9.97491269e-01 -1.17386748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:25.05, Y:-2.91, Z:-1.18 [[ 9.58398749e-01 2.77467041e-01 6.69617781e-02 2.50549421e+01] [-2.76813812e-01 9.60735111e-01 -1.90305212e-02 -2.91465436e+00] [-6.96128737e-02 -2.97117312e-04 9.97574037e-01 -1.17518279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.09, Y:-2.92, Z:-1.18 [[ 9.58214188e-01 2.78308735e-01 6.61046014e-02 2.50855787e+01] [-2.77673650e-01 9.60491607e-01 -1.87940499e-02 -2.92185903e+00] [-6.87234631e-02 -3.46780742e-04 9.97635688e-01 -1.17682484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.428639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.12, Y:-2.93, Z:-1.18 [[ 9.58062562e-01 2.78608859e-01 6.70315628e-02 2.51157126e+01] [-2.77956233e-01 9.60404585e-01 -1.90621375e-02 -2.93008558e+00] [-6.96883007e-02 -3.69120405e-04 9.97568747e-01 -1.17874757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:25.15, Y:-2.94, Z:-1.18 [[ 9.58542143e-01 2.76707263e-01 6.80444719e-02 2.51464027e+01] [-2.76029624e-01 9.60954233e-01 -1.93548137e-02 -2.93657007e+00] [-7.07432408e-02 -2.29885447e-04 9.97494532e-01 -1.18085684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.94, Z:-1.18 [[ 9.58847252e-01 2.75732097e-01 6.77034516e-02 2.51770909e+01] [-2.75058493e-01 9.61234512e-01 -1.92623427e-02 -2.94344287e+00] [-7.03901405e-02 -1.52764979e-04 9.97519526e-01 -1.18134672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.518639999999998 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.95, Z:-1.18 [[ 9.59469090e-01 2.74002303e-01 6.58923602e-02 2.52074132e+01] [-2.73359922e-01 9.61729035e-01 -1.87514087e-02 -2.95010488e+00] [-6.85085251e-02 -2.09334288e-05 9.97650531e-01 -1.18095024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54864 meters Centerline goodness [0,1] 0.9998529339673513 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.95, Z:-1.18 [[ 9.59557636e-01 2.73293460e-01 6.75264945e-02 2.52374803e+01] [-2.72616892e-01 9.61930706e-01 -1.92183822e-02 -2.95397223e+00] [-7.02080667e-02 3.22822908e-05 9.97532369e-01 -1.18229840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57864 meters Centerline goodness [0,1] 0.9997548899455856 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.96, Z:-1.18 [[ 9.59778321e-01 2.72621217e-01 6.71062313e-02 2.52672055e+01] [-2.71951510e-01 9.62121440e-01 -1.90973901e-02 -2.96030004e+00] [-6.97706977e-02 7.96200871e-05 9.97563052e-01 -1.18422422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.608639999999998 meters Centerline goodness [0,1] 0.9997550220480157 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.97, Z:-1.19 [[ 9.59784549e-01 2.72494481e-01 6.75305686e-02 2.52964329e+01] [-2.71815954e-01 9.62157341e-01 -1.92181499e-02 -2.96712711e+00] [-7.02118722e-02 8.93973753e-05 9.97532097e-01 -1.18584754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63864 meters Centerline goodness [0,1] 0.9997056948055133 Centerline is valid? [True, True] Translation: X:25.33, Y:-2.97, Z:-1.19 [[ 9.60251673e-01 2.70760478e-01 6.78637411e-02 2.53259702e+01] [-2.70070904e-01 9.62646725e-01 -1.93129656e-02 -2.97299306e+00] [-7.05579959e-02 2.17285671e-04 9.97507655e-01 -1.18716844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66864 meters Centerline goodness [0,1] 0.9998528546203649 Centerline is valid? [True, True] Translation: X:25.36, Y:-2.98, Z:-1.19 [[ 9.60716460e-01 2.69158660e-01 6.76572241e-02 2.53562599e+01] [-2.68469313e-01 9.63095792e-01 -1.92541941e-02 -2.97978283e+00] [-7.03428209e-02 3.33932714e-04 9.97522820e-01 -1.18747988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.698639999999997 meters Centerline goodness [0,1] 0.9995589100176436 Centerline is valid? [True, True] Translation: X:25.39, Y:-2.99, Z:-1.19 [[ 9.61411079e-01 2.66213614e-01 6.94193748e-02 2.53857003e+01] [-2.65480193e-01 9.63913894e-01 -1.97553283e-02 -2.98548621e+00] [-7.21734372e-02 5.63522487e-04 9.97391938e-01 -1.18958385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72864 meters Centerline goodness [0,1] 0.9996080928819869 Centerline is valid? [True, True] Translation: X:25.42, Y:-2.99, Z:-1.19 [[ 9.61804882e-01 2.64863474e-01 6.91282129e-02 2.54158765e+01] [-2.64132621e-01 9.64285694e-01 -1.96737957e-02 -2.99429897e+00] [-7.18702167e-02 6.63336635e-04 9.97413772e-01 -1.19188101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75864 meters Centerline goodness [0,1] 0.999755034050267 Centerline is valid? [True, True] Translation: X:25.45, Y:-3.00, Z:-1.19 [[ 9.62143706e-01 2.63541935e-01 6.94632100e-02 2.54455788e+01] [-2.62800202e-01 9.64647633e-01 -1.97736844e-02 -3.00260284e+00] [-7.22187162e-02 7.70180343e-04 9.97388522e-01 -1.19361845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.788639999999997 meters Centerline goodness [0,1] 0.9996080928819869 Centerline is valid? [True, True] Translation: X:25.48, Y:-3.01, Z:-1.20 [[ 9.62399025e-01 2.62566769e-01 6.96190251e-02 2.54753412e+01] [-2.61818823e-01 9.64913452e-01 -1.98225645e-02 -3.01098825e+00] [-7.23810806e-02 8.49645514e-04 9.97376688e-01 -1.19637586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81864 meters Centerline goodness [0,1] 0.99955854220827 Centerline is valid? [True, True] Translation: X:25.51, Y:-3.02, Z:-1.20 [[ 9.62833988e-01 2.60942541e-01 6.97115600e-02 2.55050909e+01] [-2.60188022e-01 9.65353839e-01 -1.98534276e-02 -3.01949113e+00] [-7.24769259e-02 9.77441984e-04 9.97369610e-01 -1.19759911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84864 meters Centerline goodness [0,1] 0.9994112741009665 Centerline is valid? [True, True] Translation: X:25.54, Y:-3.03, Z:-1.20 [[ 9.63329192e-01 2.59139942e-01 6.95942422e-02 2.55352688e+01] [-2.58382870e-01 9.65839140e-01 -1.98254460e-02 -3.02909538e+00] [-7.23544079e-02 1.11647085e-03 9.97378360e-01 -1.19893213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.878639999999997 meters Centerline goodness [0,1] 0.9993129508759876 Centerline is valid? [True, True] Translation: X:25.57, Y:-3.04, Z:-1.20 [[ 9.64007930e-01 2.56038057e-01 7.16465193e-02 2.55650679e+01] [-2.55226445e-01 9.66665693e-01 -2.04181457e-02 -3.04162221e+00] [-7.44860545e-02 1.39716801e-03 9.97221077e-01 -1.20025031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90864 meters Centerline goodness [0,1] 0.9992158784611614 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.05, Z:-1.20 [[ 9.64418559e-01 2.54620704e-01 7.11697927e-02 2.55958653e+01] [-2.53815340e-01 9.67039829e-01 -2.02914408e-02 -3.05173303e+00] [-7.39906451e-02 1.50545698e-03 9.97257799e-01 -1.20136320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.93864 meters Centerline goodness [0,1] 0.9992142997446474 Centerline is valid? [True, True] Translation: X:25.63, Y:-3.07, Z:-1.20 [[ 9.65016105e-01 2.52460080e-01 7.07659913e-02 2.56252589e+01] [-2.51657369e-01 9.67605869e-01 -2.01854218e-02 -3.06526212e+00] [-7.35696017e-02 1.67047396e-03 9.97288686e-01 -1.20422205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96864 meters Centerline goodness [0,1] 0.999067621945235 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.08, Z:-1.21 [[ 9.64737068e-01 2.53342108e-01 7.14154400e-02 2.56555508e+01] [-2.52526156e-01 9.67375379e-01 -2.03817864e-02 -3.07823579e+00] [-7.42491031e-02 1.62879830e-03 9.97238396e-01 -1.20618891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.998639999999998 meters Centerline goodness [0,1] 0.9989697802197802 Centerline is valid? [True, True] Translation: X:25.69, Y:-3.09, Z:-1.21 [[ 9.64514480e-01 2.54535306e-01 7.01683362e-02 2.56855916e+01] [-2.53749958e-01 9.67062286e-01 -2.00373173e-02 -3.09078559e+00] [-7.29573563e-02 1.52107029e-03 9.97333901e-01 -1.20713923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02864 meters Centerline goodness [0,1] 0.9997052755673446 Centerline is valid? [True, True] Translation: X:25.71, Y:-3.11, Z:-1.21 [[ 9.62884524e-01 2.60879672e-01 6.92473060e-02 2.57138032e+01] [-2.60130681e-01 9.65370772e-01 -1.97813171e-02 -3.10529720e+00] [-7.20098688e-02 1.03377525e-03 9.97403384e-01 -1.20724645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05864 meters Centerline goodness [0,1] 0.9995572826995918 Centerline is valid? [True, True] Translation: X:25.74, Y:-3.12, Z:-1.21 [[ 9.61889193e-01 2.64672650e-01 6.86845663e-02 2.57444259e+01] [-2.63944998e-01 9.64338025e-01 -1.96268212e-02 -3.11652610e+00] [-7.14298218e-02 7.49879532e-04 9.97445346e-01 -1.20871002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.088639999999998 meters Centerline goodness [0,1] 0.9999018453082057 Centerline is valid? [True, True] Translation: X:25.77, Y:-3.13, Z:-1.21 [[ 9.59957373e-01 2.71470157e-01 6.91794478e-02 2.57734958e+01] [-2.70748898e-01 9.62446824e-01 -1.97773947e-02 -3.13059186e+00] [-7.19505123e-02 2.55196553e-04 9.97408171e-01 -1.20985623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11864 meters Centerline goodness [0,1] 0.9998033044846577 Centerline is valid? [True, True] Translation: X:25.80, Y:-3.14, Z:-1.21 [[ 9.59175071e-01 2.74324058e-01 6.87713162e-02 2.58039304e+01] [-2.73617958e-01 9.61637306e-01 -1.96698793e-02 -3.14249374e+00] [-7.15289844e-02 4.97907558e-05 9.97438520e-01 -1.21138907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14864 meters Centerline goodness [0,1] 0.9998038157830202 Centerline is valid? [True, True] Translation: X:25.83, Y:-3.15, Z:-1.21 [[ 9.58736000e-01 2.75823206e-01 6.88973208e-02 2.58340079e+01] [-2.75117709e-01 9.61208383e-01 -1.97152249e-02 -3.15320680e+00] [-7.16625989e-02 -5.31772314e-05 9.97428929e-01 -1.21315784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.178639999999998 meters Centerline goodness [0,1] 0.9996567449615064 Centerline is valid? [True, True] Translation: X:25.86, Y:-3.16, Z:-1.21 [[ 9.58445550e-01 2.76859829e-01 6.87805443e-02 2.58642475e+01] [-2.76158722e-01 9.60910308e-01 -1.96911229e-02 -3.16278382e+00] [-7.15436150e-02 -1.21478055e-04 9.97437465e-01 -1.21424009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.20864 meters Centerline goodness [0,1] 0.9996063573291345 Centerline is valid? [True, True] Translation: X:25.90, Y:-3.17, Z:-1.22 [[ 9.58343973e-01 2.77359956e-01 6.81783258e-02 2.58951413e+01] [-2.76671698e-01 9.60766066e-01 -1.95278917e-02 -3.17312085e+00] [-7.09196770e-02 -1.48575903e-04 9.97482019e-01 -1.21534131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23864 meters Centerline goodness [0,1] 0.999607091989588 Centerline is valid? [True, True] Translation: X:25.93, Y:-3.18, Z:-1.22 [[ 9.58434777e-01 2.77039443e-01 6.82050254e-02 2.59257334e+01] [-2.76349175e-01 9.60858540e-01 -1.95448288e-02 -3.18297767e+00] [-7.09500696e-02 -1.15958895e-04 9.97479862e-01 -1.21696105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.268639999999998 meters Centerline goodness [0,1] 0.9997536581760851 Centerline is valid? [True, True] Translation: X:25.96, Y:-3.19, Z:-1.22 [[ 9.58301922e-01 2.77273574e-01 6.91143331e-02 2.59566642e+01] [-2.76564675e-01 9.60791002e-01 -1.98149272e-02 -3.19258793e+00] [-7.18985851e-02 -1.25900179e-04 9.97411940e-01 -1.21861417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29864 meters Centerline goodness [0,1] 0.9997058390939844 Centerline is valid? [True, True] Translation: X:25.99, Y:-3.20, Z:-1.22 [[ 9.58290250e-01 2.77354411e-01 6.89516347e-02 2.59877197e+01] [-2.76648247e-01 9.60767670e-01 -1.97795556e-02 -3.20302466e+00] [-7.17324484e-02 -1.20793578e-04 9.97423902e-01 -1.21897181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32864 meters Centerline goodness [0,1] 0.9998522313072604 Centerline is valid? [True, True] Translation: X:26.02, Y:-3.21, Z:-1.22 [[ 9.58304216e-01 2.77198491e-01 6.93831818e-02 2.60181140e+01] [-2.76482152e-01 9.60812670e-01 -1.99156500e-02 -3.21260821e+00] [-7.21848283e-02 -9.79599902e-05 9.97391268e-01 -1.22158110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.358639999999998 meters Centerline goodness [0,1] 0.9997545650893384 Centerline is valid? [True, True] Translation: X:26.05, Y:-3.22, Z:-1.22 [[ 9.58459363e-01 2.76728133e-01 6.91172195e-02 2.60482936e+01] [-2.76015386e-01 9.60948249e-01 -1.98486545e-02 -3.22278424e+00] [-7.19107522e-02 -5.32872427e-05 9.97411069e-01 -1.22306251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38864 meters Centerline goodness [0,1] 0.9994599636702832 Centerline is valid? [True, True] Translation: X:26.08, Y:-3.23, Z:-1.22 [[ 9.58741788e-01 2.76245289e-01 6.71023485e-02 2.60786400e+01] [-2.75571732e-01 9.61087166e-01 -1.92790090e-02 -3.23300944e+00] [-6.98169413e-02 -7.91885750e-06 9.97559820e-01 -1.22434857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41864 meters Centerline goodness [0,1] 0.9997054636493053 Centerline is valid? [True, True] Translation: X:26.11, Y:-3.25, Z:-1.23 [[ 9.58813883e-01 2.75995201e-01 6.71013238e-02 2.61093032e+01] [-2.75320289e-01 9.61159013e-01 -1.92896251e-02 -3.24516753e+00] [-6.98188862e-02 2.08044218e-05 9.97559684e-01 -1.22554527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.448639999999997 meters Centerline goodness [0,1] 0.9997534881427796 Centerline is valid? [True, True] Translation: X:26.14, Y:-3.25, Z:-1.23 [[ 9.58676615e-01 2.76543509e-01 6.68044644e-02 2.61403238e+01] [-2.75875069e-01 9.61001398e-01 -1.92161099e-02 -3.25493217e+00] [-6.95132741e-02 -7.65098812e-06 9.97581027e-01 -1.22572279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47864 meters Centerline goodness [0,1] 0.999705478107206 Centerline is valid? [True, True] Translation: X:26.17, Y:-3.26, Z:-1.23 [[ 9.58404076e-01 2.77613852e-01 6.62734948e-02 2.61718975e+01] [-2.76957790e-01 9.60692742e-01 -1.90745676e-02 -3.26346085e+00] [-6.89638296e-02 -7.38173272e-05 9.97619158e-01 -1.22673661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50864 meters Centerline goodness [0,1] 0.9997048260933733 Centerline is valid? [True, True] Translation: X:26.20, Y:-3.27, Z:-1.23 [[ 9.58019872e-01 2.78649219e-01 6.74724908e-02 2.62032920e+01] [-2.77970817e-01 9.60392937e-01 -1.94327344e-02 -3.27115309e+00] [-7.02150199e-02 -1.38437720e-04 9.97531870e-01 -1.22909924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.538639999999997 meters Centerline goodness [0,1] 0.999803362501229 Centerline is valid? [True, True] Translation: X:26.23, Y:-3.28, Z:-1.23 [[ 9.57604270e-01 2.80132060e-01 6.72316173e-02 2.62347199e+01] [-2.79461377e-01 9.59961444e-01 -1.93743465e-02 -3.28081218e+00] [-6.99671360e-02 -2.35683454e-04 9.97549269e-01 -1.23090984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56864 meters Centerline goodness [0,1] 0.9996073041429413 Centerline is valid? [True, True] Translation: X:26.27, Y:-3.29, Z:-1.23 [[ 9.57467983e-01 2.80799895e-01 6.63813246e-02 2.62661797e+01] [-2.80146876e-01 9.59766298e-01 -1.91410932e-02 -3.28926774e+00] [-6.90853751e-02 -2.69536815e-04 9.97610715e-01 -1.23103770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59864 meters Centerline goodness [0,1] 0.9999018645731109 Centerline is valid? [True, True] Translation: X:26.30, Y:-3.29, Z:-1.23 [[ 9.57467899e-01 2.80481957e-01 6.77133194e-02 2.62982678e+01] [-2.79800983e-01 9.59859267e-01 -1.95345091e-02 -3.29482289e+00] [-7.04743344e-02 -2.42587976e-04 9.97513563e-01 -1.23218868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.628639999999997 meters Centerline goodness [0,1] 0.9998528185252417 Centerline is valid? [True, True] Translation: X:26.33, Y:-3.30, Z:-1.23 [[ 9.57756392e-01 2.79132986e-01 6.91915370e-02 2.63298519e+01] [-2.78417711e-01 9.60252444e-01 -1.99704999e-02 -3.30195374e+00] [-7.20157678e-02 -1.37275465e-04 9.97403484e-01 -1.23421845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65864 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:26.36, Y:-3.31, Z:-1.24 [[ 9.58211636e-01 2.77646190e-01 6.88698312e-02 2.63606159e+01] [-2.76933053e-01 9.60683399e-01 -1.98869553e-02 -3.31006865e+00] [-7.16836409e-02 -1.64206088e-05 9.97427419e-01 -1.23599329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68864 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:26.39, Y:-3.32, Z:-1.24 [[ 9.58982103e-01 2.74772368e-01 6.96668594e-02 2.63917112e+01] [-2.74034338e-01 9.61509283e-01 -2.01266003e-02 -3.31796236e+00] [-7.25155656e-02 2.09937799e-04 9.97367259e-01 -1.23854912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.718639999999997 meters Centerline goodness [0,1] 0.9997056948055133 Centerline is valid? [True, True] Translation: X:26.42, Y:-3.32, Z:-1.24 [[ 9.60461891e-01 2.69926230e-01 6.82113418e-02 2.64237574e+01] [-2.69205819e-01 9.62880834e-01 -1.97161350e-02 -3.32473379e+00] [-7.10012957e-02 5.73706218e-04 9.97476058e-01 -1.24015164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.748639999999998 meters Centerline goodness [0,1] 0.9997044626145207 Centerline is valid? [True, True] Translation: X:26.45, Y:-3.33, Z:-1.24 [[ 9.61430335e-01 2.66659682e-01 6.74116072e-02 2.64546997e+01] [-2.65947331e-01 9.63790407e-01 -1.94953353e-02 -3.33310519e+00] [-7.01692803e-02 8.15469724e-04 9.97534765e-01 -1.24093142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77864 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:26.48, Y:-3.34, Z:-1.24 [[ 9.62788468e-01 2.61958742e-01 6.64528608e-02 2.64848804e+01] [-2.61254733e-01 9.65078388e-01 -1.92268124e-02 -3.34477486e+00] [-6.91688514e-02 1.15022884e-03 9.97604304e-01 -1.24230090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:26.51, Y:-3.36, Z:-1.24 [[ 9.63209915e-01 2.60307230e-01 6.68341643e-02 2.65147381e+01] [-2.59590518e-01 9.65524984e-01 -1.93459937e-02 -3.35558217e+00] [-6.95659575e-02 1.28473763e-03 9.97576527e-01 -1.24493076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.838639999999998 meters Centerline goodness [0,1] 0.9997542272906017 Centerline is valid? [True, True] Translation: X:26.55, Y:-3.37, Z:-1.25 [[ 9.63487003e-01 2.59168736e-01 6.72633737e-02 2.65452042e+01] [-2.58439328e-01 9.65831066e-01 -1.94798800e-02 -3.36667564e+00] [-7.00136318e-02 1.38511012e-03 9.97545073e-01 -1.24541392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86864 meters Centerline goodness [0,1] 0.9997542272906017 Centerline is valid? [True, True] Translation: X:26.58, Y:-3.38, Z:-1.25 [[ 9.63439926e-01 2.59344504e-01 6.72602250e-02 2.65764741e+01] [-2.58614766e-01 9.65783886e-01 -1.94907469e-02 -3.37566660e+00] [-7.00136595e-02 1.38367642e-03 9.97545073e-01 -1.24680851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89864 meters Centerline goodness [0,1] 0.9997543842412929 Centerline is valid? [True, True] Translation: X:26.61, Y:-3.39, Z:-1.25 [[ 9.63956436e-01 2.57749696e-01 6.59779088e-02 2.66074660e+01] [-2.57042937e-01 9.66210585e-01 -1.91320207e-02 -3.38794286e+00] [-6.86798264e-02 1.48327903e-03 9.97637650e-01 -1.24853381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.928639999999998 meters Centerline goodness [0,1] 0.9998036231528303 Centerline is valid? [True, True] Translation: X:26.64, Y:-3.40, Z:-1.25 [[ 9.64175617e-01 2.56586717e-01 6.72951483e-02 2.66373173e+01] [-2.55847766e-01 9.66519875e-01 -1.95256946e-02 -3.39909515e+00] [-7.00521322e-02 1.60888525e-03 9.97542034e-01 -1.25115771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95864 meters Centerline goodness [0,1] 0.9997543480396973 Centerline is valid? [True, True] Translation: X:26.67, Y:-3.42, Z:-1.25 [[ 9.64558274e-01 2.55329223e-01 6.65907152e-02 2.66658890e+01] [-2.54602091e-01 9.66852693e-01 -1.93299181e-02 -3.41641958e+00] [-6.93189052e-02 1.69069709e-03 9.97593119e-01 -1.25263730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98864 meters Centerline goodness [0,1] 0.9997542997542997 Centerline is valid? [True, True] Translation: X:26.70, Y:-3.43, Z:-1.25 [[ 9.64587991e-01 2.54991034e-01 6.74505821e-02 2.66954036e+01] [-2.54243532e-01 9.66941842e-01 -1.95882977e-02 -3.42929326e+00] [-7.02156304e-02 1.74576251e-03 9.97530309e-01 -1.25338407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.018639999999998 meters Centerline goodness [0,1] 0.9996553930980161 Centerline is valid? [True, True] Translation: X:26.73, Y:-3.44, Z:-1.25 [[ 9.64610682e-01 2.54637411e-01 6.84545203e-02 2.67259821e+01] [-2.53865932e-01 9.67034914e-01 -1.98887889e-02 -3.44055986e+00] [-7.12623408e-02 1.80666768e-03 9.97455971e-01 -1.25493321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04864 meters Centerline goodness [0,1] 0.9998027613412229 Centerline is valid? [True, True] Translation: X:26.76, Y:-3.45, Z:-1.26 [[ 9.64087218e-01 2.56321605e-01 6.95346794e-02 2.67565444e+01] [-2.55529124e-01 9.66590026e-01 -2.02135828e-02 -3.45433017e+00] [-7.23927056e-02 1.71952108e-03 9.97374724e-01 -1.25588209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07864 meters Centerline goodness [0,1] 0.9996062992125985 Centerline is valid? [True, True] Translation: X:26.79, Y:-3.47, Z:-1.26 [[ 9.64001130e-01 2.56697518e-01 6.93412336e-02 2.67868248e+01] [-2.55909572e-01 9.66490301e-01 -2.01690162e-02 -3.46668377e+00] [-7.21949661e-02 1.69786894e-03 9.97389094e-01 -1.25681362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.108639999999998 meters Centerline goodness [0,1] 0.9997054202670856 Centerline is valid? [True, True] Translation: X:26.82, Y:-3.48, Z:-1.26 [[ 9.63684914e-01 2.57975774e-01 6.89919326e-02 2.68161616e+01] [-2.57197735e-01 9.66150042e-01 -2.00853621e-02 -3.48203976e+00] [-7.18380954e-02 1.61139165e-03 9.97415005e-01 -1.25909562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13864 meters Centerline goodness [0,1] 0.9995086477987422 Centerline is valid? [True, True] Translation: X:26.85, Y:-3.49, Z:-1.26 [[ 9.63527350e-01 2.58546951e-01 6.90544646e-02 2.68471455e+01] [-2.57766565e-01 9.65997364e-01 -2.01368228e-02 -3.49409079e+00] [-7.19127449e-02 1.60244734e-03 9.97409640e-01 -1.26038283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16864 meters Centerline goodness [0,1] 0.9995078255733832 Centerline is valid? [True, True] Translation: X:26.88, Y:-3.51, Z:-1.26 [[ 9.63056364e-01 2.60308731e-01 6.90058230e-02 2.68767182e+01] [-2.59531496e-01 9.65524265e-01 -2.01568056e-02 -3.50909873e+00] [-7.18737890e-02 1.50295548e-03 9.97412602e-01 -1.26151210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.198639999999997 meters Centerline goodness [0,1] 0.9998523767345734 Centerline is valid? [True, True] Translation: X:26.91, Y:-3.52, Z:-1.26 [[ 9.62538846e-01 2.62259271e-01 6.88407262e-02 2.69069503e+01] [-2.61488478e-01 9.64996455e-01 -2.01399552e-02 -3.52186796e+00] [-7.17129467e-02 1.38443250e-03 9.97424351e-01 -1.26206011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22864 meters Centerline goodness [0,1] 0.9998521439132577 Centerline is valid? [True, True] Translation: X:26.94, Y:-3.53, Z:-1.26 [[ 9.61848921e-01 2.64213768e-01 7.09770187e-02 2.69365181e+01] [-2.63397826e-01 9.64463266e-01 -2.07892566e-02 -3.53437719e+00] [-7.39475351e-02 1.30093163e-03 9.97261285e-01 -1.26417250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25864 meters Centerline goodness [0,1] 0.9996560534591195 Centerline is valid? [True, True] Translation: X:26.97, Y:-3.55, Z:-1.26 [[ 9.60471942e-01 2.69724701e-01 6.88638759e-02 2.69658024e+01] [-2.68970135e-01 9.62937094e-01 -2.01796920e-02 -3.54755180e+00] [-7.17545419e-02 8.59701973e-04 9.97421950e-01 -1.26384769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.288639999999997 meters Centerline goodness [0,1] 0.9998525943396226 Centerline is valid? [True, True] Translation: X:27.00, Y:-3.56, Z:-1.26 [[ 9.59539695e-01 2.73070283e-01 6.86745601e-02 2.69966308e+01] [-2.72327183e-01 9.61993883e-01 -2.01413624e-02 -3.55820206e+00] [-7.15645143e-02 6.24487250e-04 9.97435778e-01 -1.26499399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31864 meters Centerline goodness [0,1] 0.9998032464338417 Centerline is valid? [True, True] Translation: X:27.03, Y:-3.57, Z:-1.27 [[ 9.58665897e-01 2.76484617e-01 6.72008451e-02 2.70268447e+01] [-2.75779279e-01 9.61018263e-01 -1.97404763e-02 -3.56946223e+00] [-7.00391775e-02 3.91920798e-04 9.97544164e-01 -1.26700140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:27.06, Y:-3.58, Z:-1.27 [[ 9.57216377e-01 2.81403186e-01 6.74466849e-02 2.70575272e+01] [-2.80702458e-01 9.59589622e-01 -1.98466017e-02 -3.58398641e+00] [-7.03060358e-02 6.50419972e-05 9.97525467e-01 -1.26873775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.378639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.09, Y:-3.59, Z:-1.27 [[ 9.56819409e-01 2.82756150e-01 6.74208961e-02 2.70885190e+01] [-2.82056712e-01 9.59191826e-01 -1.98759063e-02 -3.59423393e+00] [-7.02896072e-02 1.13660891e-06 9.97526627e-01 -1.26998835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40864 meters Centerline goodness [0,1] 0.9999017536965171 Centerline is valid? [True, True] Translation: X:27.12, Y:-3.60, Z:-1.27 [[ 9.56194432e-01 2.84658897e-01 6.82753350e-02 2.71192614e+01] [-2.83943874e-01 9.58628865e-01 -2.01637165e-02 -3.60288447e+00] [-7.11904882e-02 -1.05929678e-04 9.97462733e-01 -1.27039724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43864 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:27.15, Y:-3.61, Z:-1.27 [[ 9.56007122e-01 2.85477070e-01 6.74775871e-02 2.71502098e+01] [-2.84778439e-01 9.58385530e-01 -1.99603548e-02 -3.61239269e+00] [-7.03677667e-02 -1.33920602e-04 9.97521107e-01 -1.27267032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.468639999999997 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:27.18, Y:-3.62, Z:-1.27 [[ 9.55934190e-01 2.86071189e-01 6.59780200e-02 2.71804883e+01] [-2.85402547e-01 9.58208356e-01 -1.95482036e-02 -3.62255554e+00] [-6.88128679e-02 -1.43498806e-04 9.97629575e-01 -1.27267182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.498639999999998 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:27.21, Y:-3.63, Z:-1.28 [[ 9.55236165e-01 2.88318694e-01 6.63038479e-02 2.72116336e+01] [-2.87646467e-01 9.57534467e-01 -1.96787841e-02 -3.63312561e+00] [-6.91619809e-02 -2.74181379e-04 9.97605406e-01 -1.27528769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52864 meters Centerline goodness [0,1] 0.9999506660088802 Centerline is valid? [True, True] Translation: X:27.24, Y:-3.64, Z:-1.28 [[ 9.54755367e-01 2.90156556e-01 6.52024764e-02 2.72423290e+01] [-2.89508439e-01 9.56979121e-01 -1.93862187e-02 -3.64240623e+00] [-6.80224470e-02 -3.67570829e-04 9.97683723e-01 -1.27539278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55864 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:27.27, Y:-3.65, Z:-1.28 [[ 9.54277700e-01 2.91487925e-01 6.62484737e-02 2.72727295e+01] [-2.90819766e-01 9.56574407e-01 -1.97298493e-02 -3.65211189e+00] [-6.91226073e-02 -4.38610374e-04 9.97608076e-01 -1.27769720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.588639999999998 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:27.30, Y:-3.66, Z:-1.28 [[ 9.53412829e-01 2.94228430e-01 6.65853519e-02 2.73028233e+01] [-2.93557842e-01 9.55734932e-01 -1.98628679e-02 -3.66320830e+00] [-6.94821672e-02 -6.09139138e-04 9.97583008e-01 -1.27943255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.61864 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:27.33, Y:-3.67, Z:-1.28 [[ 9.52647274e-01 2.96762962e-01 6.62941557e-02 2.73338668e+01] [-2.96102285e-01 9.54950870e-01 -1.98058785e-02 -3.67438683e+00] [-6.91853128e-02 -7.61834839e-04 9.97603535e-01 -1.27962266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64864 meters Centerline goodness [0,1] 0.9998525436225116 Centerline is valid? [True, True] Translation: X:27.37, Y:-3.68, Z:-1.28 [[ 9.52012082e-01 2.98933802e-01 6.56626036e-02 2.73654274e+01] [-2.98288779e-01 9.54273443e-01 -1.96469008e-02 -3.68345493e+00] [-6.85332015e-02 -8.82330834e-04 9.97648446e-01 -1.28045344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.678639999999998 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:27.40, Y:-3.69, Z:-1.28 [[ 9.51313249e-01 3.01346663e-01 6.47556189e-02 2.73969938e+01] [-3.00722468e-01 9.53514119e-01 -1.94119035e-02 -3.69236481e+00] [-6.75951093e-02 -1.00666861e-03 9.97712327e-01 -1.28173507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.43, Y:-3.70, Z:-1.28 [[ 9.50169837e-01 3.05026046e-01 6.43147901e-02 2.74279564e+01] [-3.04416409e-01 9.52343219e-01 -1.93143336e-02 -3.70172685e+00] [-6.71411291e-02 -1.22658023e-03 9.97742735e-01 -1.28300969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.46, Y:-3.71, Z:-1.28 [[ 9.49685275e-01 3.06608205e-01 6.39475330e-02 2.74593765e+01] [-3.06006888e-01 9.51834923e-01 -1.92370342e-02 -3.71042152e+00] [-6.67657276e-02 -1.29925750e-03 9.97767833e-01 -1.28419142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.768639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.49, Y:-3.72, Z:-1.29 [[ 9.48477825e-01 3.10148223e-01 6.47911677e-02 2.74906554e+01] [-3.09536764e-01 9.50686974e-01 -1.95261066e-02 -3.71745866e+00] [-6.76521065e-02 -1.53516924e-03 9.97707791e-01 -1.28536340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.52, Y:-3.72, Z:-1.29 [[ 9.48050583e-01 3.11891305e-01 6.26410912e-02 2.75219092e+01] [-3.11321597e-01 9.50116483e-01 -1.89084927e-02 -3.72434881e+00] [-6.54137278e-02 -1.57531699e-03 9.97856985e-01 -1.28548183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.73, Z:-1.29 [[ 9.47751594e-01 3.12539971e-01 6.39193427e-02 2.75533522e+01] [-3.11946635e-01 9.49903210e-01 -1.93181035e-02 -3.73172625e+00] [-6.67548682e-02 -1.63066052e-03 9.97768074e-01 -1.28842719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.858639999999998 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:27.58, Y:-3.74, Z:-1.29 [[ 9.47687741e-01 3.13013247e-01 6.25352115e-02 2.75848918e+01] [-3.12445811e-01 9.49747379e-01 -1.89084813e-02 -3.73964987e+00] [-6.53112584e-02 -1.61952901e-03 9.97863626e-01 -1.28885423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.62, Y:-3.75, Z:-1.29 [[ 9.48043201e-01 3.11602130e-01 6.41732223e-02 2.76175105e+01] [-3.11000312e-01 9.50211406e-01 -1.94187892e-02 -3.74759694e+00] [-6.70290639e-02 -1.54804114e-03 9.97749822e-01 -1.29067530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.65, Y:-3.76, Z:-1.29 [[ 9.48168353e-01 3.11335521e-01 6.36157844e-02 2.76488288e+01] [-3.10742246e-01 9.50298874e-01 -1.92692893e-02 -3.75660112e+00] [-6.64532225e-02 -1.49758143e-03 9.97788418e-01 -1.29211367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.948639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.68, Y:-3.76, Z:-1.29 [[ 9.48658718e-01 3.09469142e-01 6.53872016e-02 2.76805620e+01] [-3.08837141e-01 9.50908463e-01 -1.98170298e-02 -3.76381251e+00] [-6.83100026e-02 -1.39439831e-03 9.97663169e-01 -1.29497713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.71, Y:-3.77, Z:-1.30 [[ 9.49083651e-01 3.08145447e-01 6.54721805e-02 2.77115362e+01] [-3.07507817e-01 9.51338384e-01 -1.98549891e-02 -3.77183402e+00] [-6.84044229e-02 -1.28916178e-03 9.97656841e-01 -1.29674824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00864 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:27.74, Y:-3.78, Z:-1.30 [[ 9.49547079e-01 3.06790838e-01 6.51131868e-02 2.77427578e+01] [-3.06156387e-01 9.51776233e-01 -1.97552202e-02 -3.78033316e+00] [-6.80339043e-02 -1.17630639e-03 9.97682316e-01 -1.29734993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.038639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.77, Y:-3.79, Z:-1.30 [[ 9.49871729e-01 3.05389262e-01 6.69409952e-02 2.77744343e+01] [-3.04714507e-01 9.52226966e-01 -2.03193152e-02 -3.78803687e+00] [-6.99483214e-02 -1.09714928e-03 9.97550013e-01 -1.29994594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.81, Y:-3.80, Z:-1.30 [[ 9.49713360e-01 3.05700883e-01 6.77606387e-02 2.78056070e+01] [-3.05009598e-01 9.52126938e-01 -2.05776571e-02 -3.79645975e+00] [-7.08073374e-02 -1.12476936e-03 9.97489376e-01 -1.30216986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.84, Y:-3.80, Z:-1.30 [[ 9.49772692e-01 3.05974361e-01 6.56621910e-02 2.78370172e+01] [-3.05324726e-01 9.52039125e-01 -1.99578550e-02 -3.80460961e+00] [-6.86195668e-02 -1.09286481e-03 9.97642301e-01 -1.30305910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.128639999999997 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:27.87, Y:-3.81, Z:-1.30 [[ 9.49214377e-01 3.07649817e-01 6.59064250e-02 2.78683008e+01] [-3.06997750e-01 9.51498901e-01 -2.00554838e-02 -3.81258485e+00] [-6.88799569e-02 -1.19617060e-03 9.97624238e-01 -1.30463660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.90, Y:-3.82, Z:-1.31 [[ 9.48730434e-01 3.08610601e-01 6.83378418e-02 2.78991762e+01] [-3.07911268e-01 9.51187572e-01 -2.08051366e-02 -3.82085942e+00] [-7.14227916e-02 -1.30352523e-03 9.97445280e-01 -1.30684295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.93, Y:-3.83, Z:-1.31 [[ 9.48442334e-01 3.09437028e-01 6.85993059e-02 2.79304213e+01] [-3.08733792e-01 9.50918962e-01 -2.08943626e-02 -3.82762524e+00] [-7.16978702e-02 -1.36182579e-03 9.97425466e-01 -1.30762121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.218639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.96, Y:-3.84, Z:-1.31 [[ 9.48327049e-01 3.09557233e-01 6.96428642e-02 2.79611636e+01] [-3.08832020e-01 9.50879807e-01 -2.12220484e-02 -3.83558439e+00] [-7.27914319e-02 -1.38250386e-03 9.97346227e-01 -1.31043627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.248639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.99, Y:-3.84, Z:-1.31 [[ 9.48194999e-01 3.10096792e-01 6.90378380e-02 2.79918888e+01] [-3.09384872e-01 9.50703956e-01 -2.10472842e-02 -3.84440581e+00] [-7.21612410e-02 -1.40233303e-03 9.97391994e-01 -1.31233327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.02, Y:-3.85, Z:-1.32 [[ 9.48209031e-01 3.10229254e-01 6.82454612e-02 2.80229713e+01] [-3.09533271e-01 9.50660763e-01 -2.08151044e-02 -3.85259612e+00] [-7.13357365e-02 -1.38717085e-03 9.97451397e-01 -1.31514437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.05, Y:-3.86, Z:-1.32 [[ 9.48450522e-01 3.09028712e-01 7.03055014e-02 2.80541684e+01] [-3.08286003e-01 9.51051784e-01 -2.14533335e-02 -3.86055227e+00] [-7.34938685e-02 -1.32677668e-03 9.97294786e-01 -1.31711812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.338639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.09, Y:-3.87, Z:-1.32 [[ 9.48892953e-01 3.07438376e-01 7.13008392e-02 2.80866561e+01] [-3.06669072e-01 9.51567225e-01 -2.17691840e-02 -3.86862230e+00] [-7.45402242e-02 -1.20913693e-03 9.97217275e-01 -1.31942199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.12, Y:-3.88, Z:-1.32 [[ 9.49167841e-01 3.06206803e-01 7.29232673e-02 2.81178590e+01] [-3.05396560e-01 9.51964364e-01 -2.22887921e-02 -3.87749182e+00] [-7.62453316e-02 -1.11471026e-03 9.97088465e-01 -1.32223099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.15, Y:-3.89, Z:-1.32 [[ 9.49453798e-01 3.05424088e-01 7.24818036e-02 2.81485751e+01] [-3.04618720e-01 9.52215890e-01 -2.21886038e-02 -3.88651314e+00] [-7.57952592e-02 -1.01226005e-03 9.97122888e-01 -1.32317146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.428639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:-3.90, Z:-1.33 [[ 9.49478932e-01 3.05251616e-01 7.28780424e-02 2.81805302e+01] [-3.04434048e-01 9.52271239e-01 -2.23471905e-02 -3.89613024e+00] [-7.62211797e-02 -9.68370892e-04 9.97090464e-01 -1.32553025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.21, Y:-3.91, Z:-1.33 [[ 9.49541991e-01 3.04999373e-01 7.31121663e-02 2.82125655e+01] [-3.04172688e-01 9.52352114e-01 -2.24594289e-02 -3.90522637e+00] [-7.64786379e-02 -9.12553393e-04 9.97070802e-01 -1.32775147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-3.91, Z:-1.33 [[ 9.49699781e-01 3.04272828e-01 7.40835445e-02 2.82442270e+01] [-3.03418598e-01 9.52584570e-01 -2.27989232e-02 -3.91378846e+00] [-7.75079342e-02 -8.26192895e-04 9.96991393e-01 -1.33067612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.518639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.27, Y:-3.92, Z:-1.33 [[ 9.49662442e-01 3.03932020e-01 7.59379611e-02 2.82745931e+01] [-3.03030266e-01 9.52693401e-01 -2.34081551e-02 -3.92288624e+00] [-7.94600823e-02 -7.81654836e-04 9.96837742e-01 -1.33328564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.31, Y:-3.93, Z:-1.33 [[ 9.49913297e-01 3.03321188e-01 7.52395109e-02 2.83055838e+01] [-3.02431340e-01 9.52888125e-01 -2.32272583e-02 -3.93179883e+00] [-7.87401561e-02 -6.90904512e-04 9.96894935e-01 -1.33356132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57864 meters Centerline goodness [0,1] 0.9999018404907976 Centerline is valid? [True, True] Translation: X:28.34, Y:-3.94, Z:-1.34 [[ 9.50618653e-01 3.01257308e-01 7.46204487e-02 2.83359429e+01] [-3.00372914e-01 9.53542764e-01 -2.30718388e-02 -3.94129474e+00] [-7.81043489e-02 -4.81441339e-04 9.96945073e-01 -1.33600047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.608639999999998 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:28.37, Y:-3.95, Z:-1.34 [[ 9.50753893e-01 3.00626183e-01 7.54382733e-02 2.83669519e+01] [-2.99717388e-01 9.53741966e-01 -2.33612746e-02 -3.95135842e+00] [-7.89716579e-02 -3.99339469e-04 9.96876782e-01 -1.33865458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63864 meters Centerline goodness [0,1] 0.999852616064849 Centerline is valid? [True, True] Translation: X:28.40, Y:-3.96, Z:-1.34 [[ 9.51094239e-01 2.99258425e-01 7.65777008e-02 2.83975664e+01] [-2.98314528e-01 9.54172065e-01 -2.37510389e-02 -3.96119475e+00] [-8.01760014e-02 -2.54764477e-04 9.96780690e-01 -1.34082397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66864 meters Centerline goodness [0,1] 0.9999014146990683 Centerline is valid? [True, True] Translation: X:28.43, Y:-3.97, Z:-1.34 [[ 9.51952663e-01 2.96418251e-01 7.69567864e-02 2.84281464e+01] [-2.95453611e-01 9.55058229e-01 -2.38944251e-02 -3.97218888e+00] [-8.05809558e-02 9.20115064e-06 9.96748067e-01 -1.34254298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.698639999999997 meters Centerline goodness [0,1] 0.9994600431965442 Centerline is valid? [True, True] Translation: X:28.46, Y:-3.98, Z:-1.34 [[ 9.52220222e-01 2.95106623e-01 7.86684775e-02 2.84587005e+01] [-2.94091938e-01 9.55464316e-01 -2.44514329e-02 -3.98322450e+00] [-8.23807029e-02 1.47383836e-04 9.96600922e-01 -1.34463005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72864 meters Centerline goodness [0,1] 0.9994097683340711 Centerline is valid? [True, True] Translation: X:28.49, Y:-4.00, Z:-1.35 [[ 9.53180881e-01 2.92451801e-01 7.69295317e-02 2.84881788e+01] [-2.91469926e-01 9.56280179e-01 -2.39478885e-02 -3.99595529e+00] [-8.05697895e-02 4.04024567e-04 9.96748888e-01 -1.34605310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75864 meters Centerline goodness [0,1] 0.9994097683340711 Centerline is valid? [True, True] Translation: X:28.52, Y:-4.01, Z:-1.35 [[ 9.53036051e-01 2.92926371e-01 7.69183119e-02 2.85194020e+01] [-2.91943134e-01 9.56134917e-01 -2.39838851e-02 -4.00532043e+00] [-8.05697962e-02 4.01734042e-04 9.96748888e-01 -1.34744846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.788639999999997 meters Centerline goodness [0,1] 0.9993116672402773 Centerline is valid? [True, True] Translation: X:28.55, Y:-4.02, Z:-1.35 [[ 9.52820852e-01 2.93540726e-01 7.72416098e-02 2.85505833e+01] [-2.92547784e-01 9.55946488e-01 -2.41268587e-02 -4.01771961e+00] [-8.09210613e-02 3.91712326e-04 9.96720436e-01 -1.35016354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81864 meters Centerline goodness [0,1] 0.9996070340897927 Centerline is valid? [True, True] Translation: X:28.58, Y:-4.03, Z:-1.35 [[ 9.52543739e-01 2.94162279e-01 7.82877946e-02 2.85800138e+01] [-2.93141093e-01 9.55755412e-01 -2.44926857e-02 -4.02973865e+00] [-8.20288077e-02 3.80984800e-04 9.96629886e-01 -1.35211672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84864 meters Centerline goodness [0,1] 0.9991632622926613 Centerline is valid? [True, True] Translation: X:28.61, Y:-4.04, Z:-1.35 [[ 9.52003407e-01 2.96563444e-01 7.57603894e-02 2.86100837e+01] [-2.95612959e-01 9.55013135e-01 -2.37253325e-02 -4.04357778e+00] [-7.93882332e-02 1.90844483e-04 9.96843755e-01 -1.35145457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.878639999999997 meters Centerline goodness [0,1] 0.9998521293375394 Centerline is valid? [True, True] Translation: X:28.64, Y:-4.05, Z:-1.35 [[ 9.50900398e-01 2.99854036e-01 7.66550068e-02 2.86399212e+01] [-2.98890529e-01 9.53985090e-01 -2.40187362e-02 -4.05494389e+00] [-8.03298485e-02 -7.20297112e-05 9.96768333e-01 -1.35242796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90864 meters Centerline goodness [0,1] 0.9993618065783014 Centerline is valid? [True, True] Translation: X:28.67, Y:-4.07, Z:-1.35 [[ 9.50049171e-01 3.02574349e-01 7.65201626e-02 2.86710641e+01] [-3.01620854e-01 9.53125746e-01 -2.40036086e-02 -4.06532707e+00] [-8.01962133e-02 -2.75468301e-04 9.96779059e-01 -1.35468125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.93864 meters Centerline goodness [0,1] 0.9997051017398997 Centerline is valid? [True, True] Translation: X:28.70, Y:-4.08, Z:-1.36 [[ 9.49273919e-01 3.04861342e-01 7.70622453e-02 2.87015094e+01] [-3.03898501e-01 9.52396648e-01 -2.42141788e-02 -4.07541942e+00] [-8.07757911e-02 -4.33212471e-04 9.96732203e-01 -1.35623480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.968639999999997 meters Centerline goodness [0,1] 0.999163179916318 Centerline is valid? [True, True] Translation: X:28.73, Y:-4.09, Z:-1.36 [[ 9.48160739e-01 3.08567779e-01 7.60074942e-02 2.87322674e+01] [-3.07640139e-01 9.51202097e-01 -2.39189202e-02 -4.08657540e+00] [-7.96790960e-02 -7.03975029e-04 9.96820318e-01 -1.35614702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.998639999999998 meters Centerline goodness [0,1] 0.99906643081761 Centerline is valid? [True, True] Translation: X:28.76, Y:-4.10, Z:-1.36 [[ 9.47627373e-01 3.10245640e-01 7.58287848e-02 2.87643078e+01] [-3.09324623e-01 9.50656086e-01 -2.39015535e-02 -4.09589175e+00] [-7.95024485e-02 -8.05943946e-04 9.96834345e-01 -1.35684767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02864 meters Centerline goodness [0,1] 0.99965613793781 Centerline is valid? [True, True] Translation: X:28.80, Y:-4.10, Z:-1.36 [[ 9.48148224e-01 3.08591033e-01 7.60691769e-02 2.87962855e+01] [-3.07655467e-01 9.51194606e-01 -2.40194702e-02 -4.10343222e+00] [-7.97687839e-02 -6.29080155e-04 9.96813195e-01 -1.35982559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05864 meters Centerline goodness [0,1] 0.9989190251572327 Centerline is valid? [True, True] Translation: X:28.83, Y:-4.11, Z:-1.36 [[ 9.48865646e-01 3.06500756e-01 7.55729617e-02 2.88273553e+01] [-3.05567632e-01 9.51870325e-01 -2.39020126e-02 -4.11166032e+00] [-7.92616445e-02 -4.12852271e-04 9.96853761e-01 -1.36134965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.088639999999998 meters Centerline goodness [0,1] 0.9990652826290156 Centerline is valid? [True, True] Translation: X:28.86, Y:-4.12, Z:-1.36 [[ 9.49001498e-01 3.06191003e-01 7.51214064e-02 2.88584281e+01] [-3.05265184e-01 9.51970035e-01 -2.37953883e-02 -4.12126542e+00] [-7.87992617e-02 -3.50090813e-04 9.96890442e-01 -1.36321477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11864 meters Centerline goodness [0,1] 0.9988702785009087 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.13, Z:-1.37 [[ 9.49586901e-01 3.03414450e-01 7.88947966e-02 2.88893244e+01] [-3.02381393e-01 9.52858678e-01 -2.50166322e-02 -4.12891009e+00] [-8.27659993e-02 -1.00852218e-04 9.96569004e-01 -1.36665793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14864 meters Centerline goodness [0,1] 0.9987221075395655 Centerline is valid? [True, True] Translation: X:28.92, Y:-4.14, Z:-1.37 [[ 9.50313196e-01 3.01515926e-01 7.74143116e-02 2.89203962e+01] [-3.00513161e-01 9.53461136e-01 -2.45703371e-02 -4.13678915e+00] [-8.12198854e-02 8.54960951e-05 9.96696204e-01 -1.36727583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.178639999999998 meters Centerline goodness [0,1] 0.9985738172518934 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.14, Z:-1.37 [[ 9.50472811e-01 3.00742410e-01 7.84565984e-02 2.89513033e+01] [-2.99706650e-01 9.53705388e-01 -2.49390770e-02 -4.14490449e+00] [-8.23247187e-02 1.89950367e-04 9.96605541e-01 -1.36969742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20864 meters Centerline goodness [0,1] 0.9985745883509461 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.15, Z:-1.37 [[ 9.50514610e-01 3.01167126e-01 7.62911470e-02 2.89823056e+01] [-3.00186321e-01 9.53571355e-01 -2.42867047e-02 -4.15366663e+00] [-8.00634095e-02 1.83308839e-04 9.96789756e-01 -1.37099132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23864 meters Centerline goodness [0,1] 0.9981304732854472 Centerline is valid? [True, True] Translation: X:29.01, Y:-4.16, Z:-1.37 [[ 9.50671870e-01 3.00853510e-01 7.55656045e-02 2.90139518e+01] [-2.99887450e-01 9.53670335e-01 -2.40917057e-02 -4.16167922e+00] [-7.93127495e-02 2.42130493e-04 9.96849753e-01 -1.37201245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.268639999999998 meters Centerline goodness [0,1] 0.9978873931413973 Centerline is valid? [True, True] Translation: X:29.04, Y:-4.17, Z:-1.38 [[ 9.51274832e-01 2.98765974e-01 7.62567159e-02 2.90446243e+01] [-2.97772577e-01 9.54326300e-01 -2.43476058e-02 -4.16954292e+00] [-8.00480257e-02 4.54105827e-04 9.96790905e-01 -1.37579553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29864 meters Centerline goodness [0,1] 0.9976884866965032 Centerline is valid? [True, True] Translation: X:29.07, Y:-4.18, Z:-1.38 [[ 9.51791487e-01 2.97363094e-01 7.52871503e-02 2.90748960e+01] [-2.96387733e-01 9.54764281e-01 -2.40723642e-02 -4.17959341e+00] [-7.90397146e-02 5.97683519e-04 9.96871289e-01 -1.37656121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32864 meters Centerline goodness [0,1] 0.997100024576063 Centerline is valid? [True, True] Translation: X:29.11, Y:-4.19, Z:-1.38 [[ 9.53053683e-01 2.93495911e-01 7.44904574e-02 2.91061599e+01] [-2.92526356e-01 9.55959862e-01 -2.38552747e-02 -4.19034362e+00] [-7.82113129e-02 9.44935352e-04 9.96936356e-01 -1.37854077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.358639999999998 meters Centerline goodness [0,1] 0.9969892897685209 Centerline is valid? [True, True] Translation: X:29.14, Y:-4.20, Z:-1.38 [[ 9.53450332e-01 2.92039574e-01 7.51355485e-02 2.91369041e+01] [-2.91045553e-01 9.56405590e-01 -2.41004724e-02 -4.19962107e+00] [-7.88983504e-02 1.11073619e-03 9.96882047e-01 -1.37948232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38864 meters Centerline goodness [0,1] 0.996953766029578 Centerline is valid? [True, True] Translation: X:29.17, Y:-4.21, Z:-1.38 [[ 9.53742329e-01 2.91322577e-01 7.42073136e-02 2.91681677e+01] [-2.90347942e-01 9.56624136e-01 -2.38397779e-02 -4.20922262e+00] [-7.79335728e-02 1.19106448e-03 9.96957842e-01 -1.38115162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41864 meters Centerline goodness [0,1] 0.9970012781437421 Centerline is valid? [True, True] Translation: X:29.20, Y:-4.22, Z:-1.38 [[ 9.54101995e-01 2.90251545e-01 7.37795698e-02 2.91987106e+01] [-2.89281840e-01 9.56949490e-01 -2.37421759e-02 -4.22242114e+00] [-7.74945249e-02 1.30936767e-03 9.96991918e-01 -1.38392260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.448639999999997 meters Centerline goodness [0,1] 0.9969056974459725 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.23, Z:-1.39 [[ 9.53978475e-01 2.90759120e-01 7.33771246e-02 2.92294546e+01] [-2.89798433e-01 9.56795405e-01 -2.36520932e-02 -4.23451344e+00] [-7.70839575e-02 1.29901208e-03 9.97023759e-01 -1.38592908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47864 meters Centerline goodness [0,1] 0.9972463981904902 Centerline is valid? [True, True] Translation: X:29.26, Y:-4.25, Z:-1.39 [[ 9.53397727e-01 2.92782170e-01 7.28791748e-02 2.92596278e+01] [-2.91837560e-01 9.56178460e-01 -2.35285003e-02 -4.24725309e+00] [-7.65742225e-02 1.16313815e-03 9.97063205e-01 -1.38722107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50864 meters Centerline goodness [0,1] 0.9966969039637152 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.26, Z:-1.39 [[ 9.52627990e-01 2.95226996e-01 7.30816952e-02 2.92899667e+01] [-2.94281641e-01 9.55426615e-01 -2.36283685e-02 -4.25914536e+00] [-7.67999289e-02 1.00244403e-03 9.97046020e-01 -1.38872263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.538639999999997 meters Centerline goodness [0,1] 0.9971965374778674 Centerline is valid? [True, True] Translation: X:29.32, Y:-4.27, Z:-1.39 [[ 9.52150526e-01 2.97060194e-01 7.18652672e-02 2.93196277e+01] [-2.96148754e-01 9.54858356e-01 -2.32687687e-02 -4.27191500e+00] [-7.55333758e-02 8.72561044e-04 9.97142892e-01 -1.38966891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56864 meters Centerline goodness [0,1] 0.9969956658786446 Centerline is valid? [True, True] Translation: X:29.35, Y:-4.28, Z:-1.39 [[ 9.51580257e-01 2.99110893e-01 7.09061967e-02 2.93496470e+01] [-2.98226823e-01 9.54218076e-01 -2.29918427e-02 -4.28494150e+00] [-7.45370852e-02 7.32453746e-04 9.97217973e-01 -1.39142896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59864 meters Centerline goodness [0,1] 0.9970468080917458 Centerline is valid? [True, True] Translation: X:29.38, Y:-4.30, Z:-1.39 [[ 9.50645639e-01 3.02366336e-01 6.96237625e-02 2.93790403e+01] [-3.01520281e-01 9.53191664e-01 -2.26090964e-02 -4.29811918e+00] [-7.32010197e-02 5.00262375e-04 9.97317081e-01 -1.39199989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.628639999999997 meters Centerline goodness [0,1] 0.9970462265544233 Centerline is valid? [True, True] Translation: X:29.41, Y:-4.31, Z:-1.39 [[ 9.50066885e-01 3.04238489e-01 6.93675359e-02 2.94099309e+01] [-3.03401196e-01 9.52595818e-01 -2.25593027e-02 -4.30818646e+00] [-7.29426327e-02 3.86653056e-04 9.97336063e-01 -1.39360331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65864 meters Centerline goodness [0,1] 0.9967473264008674 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.32, Z:-1.40 [[ 9.48860323e-01 3.07355184e-01 7.20893712e-02 2.94403364e+01] [-3.06457036e-01 9.51594848e-01 -2.34804078e-02 -4.31780420e+00] [-7.58166994e-02 1.87332338e-04 9.97121754e-01 -1.39620726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68864 meters Centerline goodness [0,1] 0.9967532467532467 Centerline is valid? [True, True] Translation: X:29.47, Y:-4.33, Z:-1.40 [[ 9.48454823e-01 3.08642848e-01 7.19238507e-02 2.94714101e+01] [-3.07749679e-01 9.51177995e-01 -2.34639554e-02 -4.32751133e+00] [-7.56543661e-02 1.19959770e-04 9.97134095e-01 -1.39821750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.718639999999997 meters Centerline goodness [0,1] 0.9969516692069423 Centerline is valid? [True, True] Translation: X:29.50, Y:-4.34, Z:-1.40 [[ 9.48048750e-01 3.09817934e-01 7.22247574e-02 2.95031815e+01] [-3.08917556e-01 9.50795900e-01 -2.36029644e-02 -4.33687012e+00] [-7.59836249e-02 6.52653809e-05 9.97109063e-01 -1.39975329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.748639999999998 meters Centerline goodness [0,1] 0.9973421272825712 Centerline is valid? [True, True] Translation: X:29.53, Y:-4.35, Z:-1.40 [[ 9.48149017e-01 3.09733747e-01 7.12632191e-02 2.95340912e+01] [-3.08854150e-01 9.50823324e-01 -2.33263716e-02 -4.34646080e+00] [-7.49836954e-02 1.06935269e-04 9.97184754e-01 -1.40119481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77864 meters Centerline goodness [0,1] 0.9978351783517835 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.36, Z:-1.40 [[ 9.48389496e-01 3.09056908e-01 7.10013491e-02 2.95660303e+01] [-3.08179115e-01 9.51043527e-01 -2.32775373e-02 -4.35675459e+00] [-7.47194572e-02 1.95039009e-04 9.97204575e-01 -1.40214094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.808639999999997 meters Centerline goodness [0,1] 0.9982259018332348 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.36, Z:-1.41 [[ 9.49145935e-01 3.06111102e-01 7.36069787e-02 2.95976706e+01] [-3.05155640e-01 9.51995673e-01 -2.41717507e-02 -4.36319973e+00] [-7.74727665e-02 4.80934200e-04 9.96994353e-01 -1.40521522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.838639999999998 meters Centerline goodness [0,1] 0.9986234021632252 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.37, Z:-1.41 [[ 9.49134034e-01 3.06005395e-01 7.41976021e-02 2.96295229e+01] [-3.05031353e-01 9.52029631e-01 -2.44019326e-02 -4.37108095e+00] [-7.81054389e-02 5.28109761e-04 9.96944964e-01 -1.40599553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86864 meters Centerline goodness [0,1] 0.9993117687543015 Centerline is valid? [True, True] Translation: X:29.66, Y:-4.38, Z:-1.41 [[ 9.48789973e-01 3.06578246e-01 7.62060731e-02 2.96607893e+01] [-3.05549519e-01 9.51845312e-01 -2.50996592e-02 -4.37867673e+00] [-8.02314030e-02 5.29575997e-04 9.96776124e-01 -1.40795204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89864 meters Centerline goodness [0,1] 0.9996546279850009 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.39, Z:-1.41 [[ 9.48671238e-01 3.06722511e-01 7.70985305e-02 2.96913647e+01] [-3.05666941e-01 9.51798817e-01 -2.54309388e-02 -4.38825618e+00] [-8.11825316e-02 5.59128178e-04 9.96699094e-01 -1.41027244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.928639999999998 meters Centerline goodness [0,1] 0.9997541306058222 Centerline is valid? [True, True] Translation: X:29.72, Y:-4.40, Z:-1.41 [[ 9.48311069e-01 3.08232543e-01 7.54905019e-02 2.97218835e+01] [-3.07222527e-01 9.51310934e-01 -2.49364471e-02 -4.39896113e+00] [-7.95011644e-02 4.55125977e-04 9.96834669e-01 -1.41151868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95864 meters Centerline goodness [0,1] 0.9999015796466709 Centerline is valid? [True, True] Translation: X:29.75, Y:-4.41, Z:-1.41 [[ 9.48311705e-01 3.08623240e-01 7.38688442e-02 2.97523081e+01] [-3.07654654e-01 9.51184260e-01 -2.44359923e-02 -4.40810461e+00] [-7.78043970e-02 4.46843780e-04 9.96968543e-01 -1.41351909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98864 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:29.78, Y:-4.42, Z:-1.41 [[ 9.48218923e-01 3.09330987e-01 7.20778349e-02 2.97832337e+01] [-3.08408297e-01 9.50954347e-01 -2.38778483e-02 -4.41765388e+00] [-7.59288888e-02 4.12025331e-04 9.97113150e-01 -1.41479860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.018639999999998 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:29.81, Y:-4.43, Z:-1.42 [[ 9.48166390e-01 3.09358065e-01 7.26504225e-02 2.98143881e+01] [-3.08418015e-01 9.50945523e-01 -2.41027007e-02 -4.42723464e+00] [-7.65429589e-02 4.46671685e-04 9.97066184e-01 -1.41629309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.85, Y:-4.44, Z:-1.42 [[ 9.47343427e-01 3.11841764e-01 7.27677562e-02 2.98451417e+01] [-3.10903095e-01 9.50134009e-01 -2.41791391e-02 -4.43784565e+00] [-7.66791853e-02 2.82227899e-04 9.97055777e-01 -1.41867282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.88, Y:-4.45, Z:-1.42 [[ 9.46754069e-01 3.13585974e-01 7.29422300e-02 2.98763476e+01] [-3.12645256e-01 9.49559796e-01 -2.42721594e-02 -4.44769795e+00] [-7.68744178e-02 1.74723486e-04 9.97040768e-01 -1.41991164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.108639999999998 meters Centerline goodness [0,1] 0.9999015214929342 Centerline is valid? [True, True] Translation: X:29.91, Y:-4.46, Z:-1.42 [[ 9.46084424e-01 3.15811876e-01 7.20216709e-02 2.99071637e+01] [-3.14898867e-01 9.48821827e-01 -2.39967740e-02 -4.45694071e+00] [-7.59141995e-02 2.34315720e-05 9.97114353e-01 -1.42105131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.94, Y:-4.47, Z:-1.42 [[ 9.45725275e-01 3.17191846e-01 7.06614333e-02 2.99382130e+01] [-3.16314317e-01 9.48361392e-01 -2.35780113e-02 -4.46564636e+00] [-7.44913282e-02 -5.29017675e-05 9.97221660e-01 -1.42300480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.97, Y:-4.48, Z:-1.42 [[ 9.45736244e-01 3.17234050e-01 7.03243505e-02 2.99695203e+01] [-3.16362278e-01 9.48347277e-01 -2.35021639e-02 -4.47525814e+00] [-7.41475929e-02 -2.11235026e-05 9.97247278e-01 -1.42482698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.198639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.00, Y:-4.48, Z:-1.43 [[ 9.45710767e-01 3.17105514e-01 7.12407035e-02 3.00006033e+01] [-3.16207608e-01 9.48390264e-01 -2.38465156e-02 -4.48487605e+00] [-7.51258512e-02 2.50541631e-05 9.97174060e-01 -1.42725592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22864 meters Centerline goodness [0,1] 0.9999507219238161 Centerline is valid? [True, True] Translation: X:30.03, Y:-4.49, Z:-1.43 [[ 9.46267760e-01 3.15795847e-01 6.96441572e-02 3.00318274e+01] [-3.14931769e-01 9.48827148e-01 -2.33457327e-02 -4.49269154e+00] [-7.34527525e-02 1.58156528e-04 9.97298686e-01 -1.42781428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.06, Y:-4.50, Z:-1.43 [[ 9.46701975e-01 3.14516402e-01 6.95327435e-02 3.00632629e+01] [-3.13648986e-01 9.49251994e-01 -2.33445058e-02 -4.50193867e+00] [-7.33463253e-02 2.91415292e-04 9.97306488e-01 -1.43037904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.288639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.09, Y:-4.51, Z:-1.43 [[ 9.47629625e-01 3.11637754e-01 6.98570194e-02 3.00939891e+01] [-3.10751649e-01 9.50200824e-01 -2.34905838e-02 -4.51173474e+00] [-7.36987501e-02 5.52189209e-04 9.97280397e-01 -1.43248481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.12, Y:-4.52, Z:-1.43 [[ 9.48106012e-01 3.09914039e-01 7.10512395e-02 3.01247960e+01] [-3.08990598e-01 9.50764307e-01 -2.39174351e-02 -4.52229642e+00] [-7.49653314e-02 7.22099005e-04 9.97185879e-01 -1.43449796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.16, Y:-4.53, Z:-1.44 [[ 9.48538123e-01 3.08718890e-01 7.04845835e-02 3.01560749e+01] [-3.07805090e-01 9.51152960e-01 -2.37502047e-02 -4.53170319e+00] [-7.43737571e-02 8.32460980e-04 9.97230089e-01 -1.43590102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.378639999999997 meters Centerline goodness [0,1] 0.9999506635749174 Centerline is valid? [True, True] Translation: X:30.19, Y:-4.54, Z:-1.44 [[ 9.48846220e-01 3.07995030e-01 6.94975734e-02 3.01869260e+01] [-3.07102083e-01 9.51387529e-01 -2.34537652e-02 -4.54238622e+00] [-7.33427677e-02 9.11166836e-04 9.97306376e-01 -1.43838813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.22, Y:-4.55, Z:-1.44 [[ 9.48704860e-01 3.08732708e-01 6.81410503e-02 3.02176663e+01] [-3.07873897e-01 9.51148443e-01 -2.30282987e-02 -4.55331450e+00] [-7.19218429e-02 8.68208182e-04 9.97409893e-01 -1.43919546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43864 meters Centerline goodness [0,1] 0.9999507486209613 Centerline is valid? [True, True] Translation: X:30.25, Y:-4.56, Z:-1.44 [[ 9.48349404e-01 3.09921404e-01 6.76914432e-02 3.02481125e+01] [-3.09074599e-01 9.50761840e-01 -2.29088398e-02 -4.56432445e+00] [-7.14583809e-02 8.03878893e-04 9.97443258e-01 -1.44084866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.468639999999997 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:30.28, Y:-4.58, Z:-1.44 [[ 9.47393847e-01 3.12701552e-01 6.82835120e-02 3.02784099e+01] [-3.11844497e-01 9.49851219e-01 -2.31445772e-02 -4.57758173e+00] [-7.20965223e-02 6.33192558e-04 9.97397459e-01 -1.44330708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.498639999999998 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:30.31, Y:-4.59, Z:-1.44 [[ 9.46938360e-01 3.14275559e-01 6.73692494e-02 3.03086178e+01] [-3.13442783e-01 9.49331650e-01 -2.28700662e-02 -4.58913989e+00] [-7.11432635e-02 5.40137911e-04 9.97465961e-01 -1.44451198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.34, Y:-4.60, Z:-1.45 [[ 9.45886053e-01 3.17700627e-01 6.60748586e-02 3.03385762e+01] [-3.16905704e-01 9.48191024e-01 -2.24623642e-02 -4.60039995e+00] [-6.97878950e-02 3.07337477e-04 9.97561805e-01 -1.44616474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.558639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.37, Y:-4.61, Z:-1.45 [[ 9.45380732e-01 3.19321043e-01 6.54930711e-02 3.03690822e+01] [-3.18541753e-01 9.47646572e-01 -2.22963377e-02 -4.61003303e+00] [-6.91839741e-02 2.16250370e-04 9.97603895e-01 -1.44751179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.588639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.40, Y:-4.62, Z:-1.45 [[ 9.45160104e-01 3.20368314e-01 6.35336275e-02 3.03999306e+01] [-3.19635319e-01 9.47293047e-01 -2.16597999e-02 -4.61962428e+00] [-6.71240772e-02 1.64387459e-04 9.97744622e-01 -1.44866287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:30.43, Y:-4.63, Z:-1.45 [[ 9.44241442e-01 3.22539981e-01 6.61517982e-02 3.04311917e+01] [-3.21748245e-01 9.46555841e-01 -2.25855677e-02 -4.62886453e+00] [-6.99011195e-02 4.20040996e-05 9.97553924e-01 -1.45150627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.46, Y:-4.64, Z:-1.45 [[ 9.44104653e-01 3.23357413e-01 6.40811092e-02 3.04621134e+01] [-3.22614310e-01 9.46276906e-01 -2.19094435e-02 -4.63711060e+00] [-6.77230547e-02 1.13247264e-05 9.97704158e-01 -1.45156701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.678639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.49, Y:-4.65, Z:-1.45 [[ 9.43941486e-01 3.23835430e-01 6.40709334e-02 3.04930458e+01] [-3.23091410e-01 9.46113425e-01 -2.19391688e-02 -4.64733173e+00] [-6.77230505e-02 8.52336062e-06 9.97704159e-01 -1.45296183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.52, Y:-4.66, Z:-1.45 [[ 9.43416174e-01 3.25196435e-01 6.49091806e-02 3.05238962e+01] [-3.24433590e-01 9.45646485e-01 -2.22614090e-02 -4.65603063e+00] [-6.86204694e-02 -5.69452316e-05 9.97642836e-01 -1.45459332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.56, Y:-4.66, Z:-1.46 [[ 9.43613787e-01 3.24840962e-01 6.38072907e-02 3.05551701e+01] [-3.24100906e-01 9.45768655e-01 -2.19146844e-02 -4.66358878e+00] [-6.74657227e-02 -1.00241803e-06 9.97721593e-01 -1.45638022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.768639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.59, Y:-4.67, Z:-1.46 [[ 9.43723715e-01 3.24452291e-01 6.41580869e-02 3.05875212e+01] [-3.23700875e-01 9.45902060e-01 -2.20688877e-02 -4.67226242e+00] [-6.78475678e-02 5.89038306e-05 9.97695697e-01 -1.45903682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:30.62, Y:-4.68, Z:-1.46 [[ 9.44483717e-01 3.21924216e-01 6.56909963e-02 3.06196609e+01] [-3.21128406e-01 9.46765401e-01 -2.26234836e-02 -4.67783064e+00] [-6.94770097e-02 2.72266951e-04 9.97583516e-01 -1.46057011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82864 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:30.65, Y:-4.69, Z:-1.46 [[ 9.44632500e-01 3.21431078e-01 6.59659075e-02 3.06518727e+01] [-3.20625984e-01 9.46932919e-01 -2.27381748e-02 -4.68587816e+00] [-6.97740454e-02 3.28834875e-04 9.97562767e-01 -1.46226373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.858639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-4.69, Z:-1.46 [[ 9.44746426e-01 3.21012497e-01 6.63714354e-02 3.06828817e+01] [-3.20194567e-01 9.47074879e-01 -2.29044236e-02 -4.69406651e+00] [-7.02113254e-02 3.87099319e-04 9.97532065e-01 -1.46364569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-4.70, Z:-1.47 [[ 9.44658126e-01 3.21309380e-01 6.61914507e-02 3.07153612e+01] [-3.20495210e-01 9.46974200e-01 -2.28623010e-02 -4.70254453e+00] [-7.00274678e-02 3.83015532e-04 9.97544990e-01 -1.46519263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-4.71, Z:-1.47 [[ 9.44878533e-01 3.20734198e-01 6.58341232e-02 3.07480511e+01] [-3.19925474e-01 9.47169136e-01 -2.27666221e-02 -4.70941539e+00] [-6.96580839e-02 4.49679463e-04 9.97570824e-01 -1.46608598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.948639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-4.72, Z:-1.47 [[ 9.45354688e-01 3.19297333e-01 6.59827709e-02 3.07787135e+01] [-3.18480608e-01 9.47654415e-01 -2.28300669e-02 -4.71795180e+00] [-6.98184436e-02 5.68277780e-04 9.97559553e-01 -1.46766675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97864 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:30.81, Y:-4.73, Z:-1.47 [[ 9.46340579e-01 3.16467523e-01 6.54814181e-02 3.08095940e+01] [-3.15655779e-01 9.48603025e-01 -2.26656299e-02 -4.72693855e+00] [-6.92888070e-02 7.79817285e-04 9.97596338e-01 -1.46989995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00864 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:30.84, Y:-4.74, Z:-1.47 [[ 9.47122120e-01 3.14336431e-01 6.44383237e-02 3.08406734e+01] [-3.13544730e-01 9.49311193e-01 -2.23150316e-02 -4.73817853e+00] [-6.81864494e-02 9.30763305e-04 9.97672161e-01 -1.47115661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.038639999999997 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:30.87, Y:-4.75, Z:-1.47 [[ 9.47703957e-01 3.12119539e-01 6.66228496e-02 3.08705671e+01] [-3.11266265e-01 9.50042146e-01 -2.30918515e-02 -4.74867873e+00] [-7.05019331e-02 1.14679347e-03 9.97510984e-01 -1.47409739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:30.90, Y:-4.76, Z:-1.47 [[ 9.49349735e-01 3.07169673e-01 6.61957230e-02 3.09009528e+01] [-3.06313782e-01 9.51653543e-01 -2.29652277e-02 -4.75963052e+00] [-7.00496158e-02 1.52537056e-03 9.97542342e-01 -1.47375411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09864 meters Centerline goodness [0,1] 0.9998029362498768 Centerline is valid? [True, True] Translation: X:30.93, Y:-4.77, Z:-1.47 [[ 9.49949314e-01 3.05215245e-01 6.66329926e-02 3.09315221e+01] [-3.04342549e-01 9.52281891e-01 -2.31260070e-02 -4.77025381e+00] [-7.05118021e-02 1.68927964e-03 9.97509515e-01 -1.47403682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.128639999999997 meters Centerline goodness [0,1] 0.9994585281811469 Centerline is valid? [True, True] Translation: X:30.96, Y:-4.78, Z:-1.48 [[ 9.50655083e-01 3.03290122e-01 6.53453475e-02 3.09609720e+01] [-3.02445157e-01 9.52896540e-01 -2.26960630e-02 -4.78225661e+00] [-6.91508473e-02 1.81274375e-03 9.97604568e-01 -1.47564433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15864 meters Centerline goodness [0,1] 0.9996061829280299 Centerline is valid? [True, True] Translation: X:30.99, Y:-4.80, Z:-1.48 [[ 9.50299999e-01 3.04704038e-01 6.39168344e-02 3.09908560e+01] [-3.03896855e-01 9.52445567e-01 -2.22293543e-02 -4.79551042e+00] [-6.76506796e-02 1.70043039e-03 9.97707620e-01 -1.47751257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18864 meters Centerline goodness [0,1] 0.9997045790251108 Centerline is valid? [True, True] Translation: X:31.02, Y:-4.81, Z:-1.48 [[ 9.49954591e-01 3.05741126e-01 6.40986673e-02 3.10205438e+01] [-3.04930188e-01 9.52113246e-01 -2.23147222e-02 -4.80826888e+00] [-6.78517185e-02 1.65235414e-03 9.97694048e-01 -1.47998783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.218639999999997 meters Centerline goodness [0,1] 0.9995074619514357 Centerline is valid? [True, True] Translation: X:31.05, Y:-4.82, Z:-1.48 [[ 9.49521460e-01 3.07378631e-01 6.26687667e-02 3.10498329e+01] [-3.06606027e-01 9.51586086e-01 -2.18326646e-02 -4.82096274e+00] [-6.63456210e-02 1.51596193e-03 9.97795550e-01 -1.48090637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.248639999999998 meters Centerline goodness [0,1] 0.9997049277072882 Centerline is valid? [True, True] Translation: X:31.08, Y:-4.83, Z:-1.48 [[ 9.49557816e-01 3.07237036e-01 6.28120739e-02 3.10797997e+01] [-3.06459111e-01 9.51631756e-01 -2.19046439e-02 -4.83319382e+00] [-6.65038821e-02 1.55039345e-03 9.97784962e-01 -1.48310333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27864 meters Centerline goodness [0,1] 0.9996057365334384 Centerline is valid? [True, True] Translation: X:31.11, Y:-4.85, Z:-1.48 [[ 9.49525979e-01 3.07919228e-01 5.98845919e-02 3.11097291e+01] [-3.07212649e-01 9.51411403e-01 -2.08980811e-02 -4.84620800e+00] [-6.34098046e-02 1.44596675e-03 9.97986526e-01 -1.48249310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.308639999999997 meters Centerline goodness [0,1] 0.9995569994093325 Centerline is valid? [True, True] Translation: X:31.14, Y:-4.86, Z:-1.48 [[ 9.49645258e-01 3.07887747e-01 5.81293384e-02 3.11391640e+01] [-3.07220548e-01 9.51421619e-01 -2.03085480e-02 -4.86096254e+00] [-6.15582624e-02 1.42738910e-03 9.98102471e-01 -1.48387959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.338639999999998 meters Centerline goodness [0,1] 0.9997537309757178 Centerline is valid? [True, True] Translation: X:31.17, Y:-4.87, Z:-1.49 [[ 9.49580674e-01 3.08044694e-01 5.83524611e-02 3.11696921e+01] [-3.07371776e-01 9.51370802e-01 -2.04006852e-02 -4.87220626e+00] [-6.17991506e-02 1.43619681e-03 9.98087572e-01 -1.48510648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36864 meters Centerline goodness [0,1] 0.9996547301963106 Centerline is valid? [True, True] Translation: X:31.20, Y:-4.89, Z:-1.49 [[ 9.49336076e-01 3.09114345e-01 5.66510078e-02 3.11987060e+01] [-3.08481386e-01 9.51023940e-01 -1.98166725e-02 -4.88552258e+00] [-6.00020824e-02 1.33690077e-03 9.98197357e-01 -1.48692875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39864 meters Centerline goodness [0,1] 0.9995075347188023 Centerline is valid? [True, True] Translation: X:31.23, Y:-4.90, Z:-1.49 [[ 9.49141741e-01 3.09593402e-01 5.72876981e-02 3.12291481e+01] [-3.08946356e-01 9.50868105e-01 -2.00498403e-02 -4.89822736e+00] [-6.06803432e-02 1.33131473e-03 9.98156362e-01 -1.48926207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.428639999999998 meters Centerline goodness [0,1] 0.9995570430160449 Centerline is valid? [True, True] Translation: X:31.26, Y:-4.91, Z:-1.49 [[ 9.48882639e-01 3.10479202e-01 5.67838139e-02 3.12591206e+01] [-3.09844445e-01 9.50579320e-01 -1.98840791e-02 -4.91097397e+00] [-6.01511122e-02 1.27350820e-03 9.98188470e-01 -1.49072676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45864 meters Centerline goodness [0,1] 0.9999015748031496 Centerline is valid? [True, True] Translation: X:31.29, Y:-4.93, Z:-1.49 [[ 9.48493818e-01 3.11429375e-01 5.80622254e-02 3.12888683e+01] [-3.10766885e-01 9.50268480e-01 -2.03410936e-02 -4.92549709e+00] [-6.15095167e-02 1.24958462e-03 9.98105715e-01 -1.49168674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48864 meters Centerline goodness [0,1] 0.999753973330709 Centerline is valid? [True, True] Translation: X:31.32, Y:-4.94, Z:-1.49 [[ 9.47969631e-01 3.12912389e-01 5.86465356e-02 3.13187882e+01] [-3.12238165e-01 9.49781258e-01 -2.05642983e-02 -4.93892282e+00] [-6.21362041e-02 1.18264364e-03 9.98066978e-01 -1.49335524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.518639999999998 meters Centerline goodness [0,1] 0.9998522822394013 Centerline is valid? [True, True] Translation: X:31.35, Y:-4.95, Z:-1.50 [[ 9.47320634e-01 3.14912317e-01 5.84281576e-02 3.13473526e+01] [-3.14244998e-01 9.49120157e-01 -2.05184832e-02 -4.95471042e+00] [-6.19168653e-02 1.07682621e-03 9.98080729e-01 -1.49583707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54864 meters Centerline goodness [0,1] 0.9999015117939627 Centerline is valid? [True, True] Translation: X:31.38, Y:-4.97, Z:-1.50 [[ 9.46883090e-01 3.16535766e-01 5.67232119e-02 3.13764927e+01] [-3.15908155e-01 9.48580082e-01 -1.99465684e-02 -4.96819088e+00] [-6.01203113e-02 9.67743135e-04 9.98190669e-01 -1.49730010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57864 meters Centerline goodness [0,1] 0.9997535974768381 Centerline is valid? [True, True] Translation: X:31.41, Y:-4.98, Z:-1.50 [[ 9.46417537e-01 3.17888870e-01 5.69254995e-02 3.14067176e+01] [-3.17257464e-01 9.48127541e-01 -2.00466345e-02 -4.98187172e+00] [-6.03452359e-02 9.12446770e-04 9.98177149e-01 -1.49843581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.608639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.44, Y:-5.00, Z:-1.50 [[ 9.45118335e-01 3.21508375e-01 5.81695606e-02 3.14351842e+01] [-3.20853913e-01 9.46906456e-01 -2.05165703e-02 -4.99718573e+00] [-6.16773816e-02 7.26655630e-04 9.98095873e-01 -1.49942533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63864 meters Centerline goodness [0,1] 0.999852194905651 Centerline is valid? [True, True] Translation: X:31.46, Y:-5.01, Z:-1.50 [[ 9.43941902e-01 3.25227161e-01 5.65771963e-02 3.14646251e+01] [-3.24613092e-01 9.45635790e-01 -1.99823169e-02 -5.01047908e+00] [-6.00002139e-02 4.96447608e-04 9.98198241e-01 -1.50021622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66864 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:31.49, Y:-5.02, Z:-1.50 [[ 9.42465673e-01 3.29495165e-01 5.64924059e-02 3.14939278e+01] [-3.28888909e-01 9.44157229e-01 -1.99802919e-02 -5.02387260e+00] [-5.99211230e-02 2.51013440e-04 9.98203084e-01 -1.50104568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.698639999999997 meters Centerline goodness [0,1] 0.9999014972419228 Centerline is valid? [True, True] Translation: X:31.52, Y:-5.04, Z:-1.50 [[ 9.40224666e-01 3.36089914e-01 5.49649566e-02 3.15230745e+01] [-3.35525957e-01 9.41829894e-01 -1.94623479e-02 -5.03777913e+00] [-5.83087381e-02 -1.43190137e-04 9.98298588e-01 -1.50084530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:-5.05, Z:-1.50 [[ 9.38562797e-01 3.40653910e-01 5.52701560e-02 3.15532725e+01] [-3.40090685e-01 9.40188673e-01 -1.95853222e-02 -5.04974828e+00] [-5.86361912e-02 -4.14810416e-04 9.98279332e-01 -1.50207615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.58, Y:-5.06, Z:-1.50 [[ 9.37072252e-01 3.44822917e-01 5.47060314e-02 3.15834111e+01] [-3.44276621e-01 9.38667536e-01 -1.94130207e-02 -5.06176678e+00] [-5.80448301e-02 -6.42604546e-04 9.98313771e-01 -1.50303895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.788639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.61, Y:-5.07, Z:-1.51 [[ 9.36498424e-01 3.46479781e-01 5.40598102e-02 3.16140904e+01] [-3.45947463e-01 9.38057172e-01 -1.92118601e-02 -5.07278139e+00] [-5.73677137e-02 -7.09977478e-04 9.98352864e-01 -1.50517691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81864 meters Centerline goodness [0,1] 0.9998028974081009 Centerline is valid? [True, True] Translation: X:31.65, Y:-5.08, Z:-1.51 [[ 9.35823207e-01 3.48416710e-01 5.32984187e-02 3.16453661e+01] [-3.47900683e-01 9.37339413e-01 -1.89720848e-02 -5.08396656e+00] [-5.65688999e-02 -7.88039010e-04 9.98398387e-01 -1.50657372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84864 meters Centerline goodness [0,1] 0.9998520782998866 Centerline is valid? [True, True] Translation: X:31.68, Y:-5.09, Z:-1.51 [[ 9.35936444e-01 3.48395819e-01 5.14132772e-02 3.16762810e+01] [-3.47914082e-01 9.37347223e-01 -1.83296049e-02 -5.09187434e+00] [-5.45780503e-02 -7.32057890e-04 9.98509239e-01 -1.50722624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.878639999999997 meters Centerline goodness [0,1] 0.9999014923902871 Centerline is valid? [True, True] Translation: X:31.71, Y:-5.10, Z:-1.51 [[ 9.35842484e-01 3.48628887e-01 5.15436062e-02 3.17086901e+01] [-3.48143556e-01 9.37260571e-01 -1.84034479e-02 -5.10062991e+00] [-5.47257633e-02 -7.21845959e-04 9.98501162e-01 -1.50786862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.74, Y:-5.11, Z:-1.51 [[ 9.36058606e-01 3.48080483e-01 5.13250817e-02 3.17401958e+01] [-3.47596983e-01 9.37464420e-01 -1.83520635e-02 -5.10958220e+00] [-5.45034331e-02 -6.61836521e-04 9.98513364e-01 -1.50898828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.77, Y:-5.12, Z:-1.51 [[ 9.36302257e-01 3.47224338e-01 5.26625311e-02 3.17715250e+01] [-3.46713128e-01 9.37781894e-01 -1.88447769e-02 -5.11914605e+00] [-5.59293334e-02 -6.14383721e-04 9.98434541e-01 -1.51024233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.968639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.80, Y:-5.13, Z:-1.51 [[ 9.37112490e-01 3.44743320e-01 5.45181153e-02 3.18035816e+01] [-3.44190497e-01 9.38696874e-01 -1.95212777e-02 -5.12769214e+00] [-5.79058145e-02 -4.70984039e-04 9.98321939e-01 -1.51332357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.998639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.84, Y:-5.14, Z:-1.51 [[ 9.37437974e-01 3.43799925e-01 5.48785626e-02 3.18350541e+01] [-3.43237112e-01 9.39042839e-01 -1.96680615e-02 -5.13675451e+00] [-5.82951993e-02 -3.98771569e-04 9.98299309e-01 -1.51456587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.87, Y:-5.14, Z:-1.52 [[ 9.38279366e-01 3.41586113e-01 5.43208837e-02 3.18662046e+01] [-3.41029207e-01 9.39850454e-01 -1.94988533e-02 -5.14461670e+00] [-5.77140447e-02 -2.29636133e-04 9.98333129e-01 -1.51594067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.058639999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.90, Y:-5.15, Z:-1.52 [[ 9.38458495e-01 3.41019311e-01 5.47857971e-02 3.18973560e+01] [-3.40450145e-01 9.40056276e-01 -1.96951132e-02 -5.15425992e+00] [-5.82181463e-02 -1.68786319e-04 9.98303871e-01 -1.51762331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.088639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.93, Y:-5.16, Z:-1.52 [[ 9.38427764e-01 3.41124510e-01 5.46571123e-02 3.19289916e+01] [-3.40556638e-01 9.40018110e-01 -1.96756131e-02 -5.16476256e+00] [-5.80905092e-02 -1.49700827e-04 9.98311309e-01 -1.51808549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.96, Y:-5.17, Z:-1.52 [[ 9.38042985e-01 3.41969189e-01 5.59681361e-02 3.19595118e+01] [-3.41374542e-01 9.39711145e-01 -2.01590272e-02 -5.17453735e+00] [-5.94876474e-02 -1.96062803e-04 9.98229023e-01 -1.51998499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.99, Y:-5.19, Z:-1.52 [[ 9.37524135e-01 3.43377196e-01 5.60410244e-02 3.19905546e+01] [-3.42782610e-01 9.39197544e-01 -2.02003771e-02 -5.18550810e+00] [-5.95699413e-02 -2.71547503e-04 9.98224097e-01 -1.52206996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.178639999999998 meters Centerline goodness [0,1] 0.9999015263417036 Centerline is valid? [True, True] Translation: X:32.02, Y:-5.20, Z:-1.52 [[ 9.37502110e-01 3.43774616e-01 5.39333546e-02 3.20209057e+01] [-3.43222911e-01 9.39052153e-01 -1.94701401e-02 -5.19599618e+00] [-5.73395727e-02 -2.57865588e-04 9.98354700e-01 -1.52331963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.05, Y:-5.21, Z:-1.52 [[ 9.37303628e-01 3.44204740e-01 5.46352120e-02 3.20515361e+01] [-3.43637981e-01 9.38894577e-01 -1.97461902e-02 -5.20665040e+00] [-5.80934365e-02 -2.66558192e-04 9.98311115e-01 -1.52404056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.08, Y:-5.22, Z:-1.53 [[ 9.36658606e-01 3.45526283e-01 5.72908710e-02 3.20813631e+01] [-3.44904837e-01 9.38409006e-01 -2.07169476e-02 -5.21707316e+00] [-6.09205191e-02 -3.55191247e-04 9.98142557e-01 -1.52708215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.268639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.11, Y:-5.23, Z:-1.53 [[ 9.35736473e-01 3.48209953e-01 5.60988581e-02 3.21121589e+01] [-3.47617723e-01 9.37416438e-01 -2.03061539e-02 -5.22869510e+00] [-5.96587967e-02 -4.99748550e-04 9.98218703e-01 -1.52705265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.14, Y:-5.24, Z:-1.53 [[ 9.34888509e-01 3.50192881e-01 5.78655514e-02 3.21423531e+01] [-3.49564481e-01 9.36677409e-01 -2.09786838e-02 -5.24033642e+00] [-6.15479405e-02 -6.15011041e-04 9.98103939e-01 -1.52923252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:32.17, Y:-5.25, Z:-1.53 [[ 9.33818652e-01 3.53307800e-01 5.61811682e-02 3.21732991e+01] [-3.52719364e-01 9.35506818e-01 -2.03971298e-02 -5.25212680e+00] [-5.97643310e-02 -7.68965600e-04 9.98212219e-01 -1.52985146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.358639999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.20, Y:-5.26, Z:-1.53 [[ 9.31993756e-01 3.58247750e-01 5.51922807e-02 3.22040402e+01] [-3.57686689e-01 9.33625981e-01 -2.00688629e-02 -5.26165910e+00] [-5.87185722e-02 -1.03748923e-03 9.98274037e-01 -1.53034819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.24, Y:-5.27, Z:-1.53 [[ 9.31227133e-01 3.60169529e-01 5.56231645e-02 3.22350139e+01] [-3.59601727e-01 9.32886165e-01 -2.02484979e-02 -5.27190866e+00] [-5.91829726e-02 -1.14623533e-03 9.98246494e-01 -1.53171372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41864 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:32.27, Y:-5.28, Z:-1.53 [[ 9.29831654e-01 3.63349934e-01 5.82230289e-02 3.22655572e+01] [-3.62733432e-01 9.31651681e-01 -2.12038150e-02 -5.28209215e+00] [-6.19479875e-02 -1.40346068e-03 9.98078392e-01 -1.53408923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.448639999999997 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:32.30, Y:-5.29, Z:-1.53 [[ 9.28045959e-01 3.67825739e-01 5.86082193e-02 3.22969631e+01] [-3.67208980e-01 9.29893187e-01 -2.13594380e-02 -5.29112578e+00] [-6.23559350e-02 -1.69892431e-03 9.98052529e-01 -1.53352634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.47864 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:32.33, Y:-5.30, Z:-1.53 [[ 9.27347004e-01 3.69682026e-01 5.79890841e-02 3.23274799e+01] [-3.69080438e-01 9.29156618e-01 -2.11567843e-02 -5.30050058e+00] [-6.17022241e-02 -1.78295605e-03 9.98093010e-01 -1.53495545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50864 meters Centerline goodness [0,1] 0.9998523767345734 Centerline is valid? [True, True] Translation: X:32.36, Y:-5.31, Z:-1.53 [[ 9.26463935e-01 3.72206589e-01 5.59180835e-02 3.23596963e+01] [-3.71651340e-01 9.28148019e-01 -2.04092265e-02 -5.30647204e+00] [-5.94967070e-02 -1.87361834e-03 9.98226743e-01 -1.53473280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.538639999999997 meters Centerline goodness [0,1] 0.9997046081134305 Centerline is valid? [True, True] Translation: X:32.39, Y:-5.31, Z:-1.54 [[ 9.25681672e-01 3.74069220e-01 5.64416531e-02 3.23914123e+01] [-3.73506466e-01 9.27398621e-01 -2.06086797e-02 -5.31441975e+00] [-6.00529840e-02 -2.00424529e-03 9.98193179e-01 -1.53544222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56864 meters Centerline goodness [0,1] 0.9997046081134305 Centerline is valid? [True, True] Translation: X:32.42, Y:-5.33, Z:-1.54 [[ 9.25607664e-01 3.74252777e-01 5.64385587e-02 3.24219828e+01] [-3.73689849e-01 9.27324555e-01 -2.06171510e-02 -5.32553343e+00] [-6.00528874e-02 -2.00712348e-03 9.98193179e-01 -1.53683704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59864 meters Centerline goodness [0,1] 0.9994588478378511 Centerline is valid? [True, True] Translation: X:32.45, Y:-5.33, Z:-1.54 [[ 9.25073636e-01 3.75569496e-01 5.64475172e-02 3.24530755e+01] [-3.75008145e-01 9.26791896e-01 -2.06318665e-02 -5.33377592e+00] [-6.00638011e-02 -2.08228295e-03 9.98192368e-01 -1.53764156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.628639999999997 meters Centerline goodness [0,1] 0.9992620652334334 Centerline is valid? [True, True] Translation: X:32.49, Y:-5.34, Z:-1.54 [[ 9.24512346e-01 3.76828430e-01 5.72473200e-02 3.24852876e+01] [-3.76252930e-01 9.26280493e-01 -2.09327625e-02 -5.33865213e+00] [-6.09151358e-02 -2.18687455e-03 9.98140553e-01 -1.53929760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65864 meters Centerline goodness [0,1] 0.9990649606299212 Centerline is valid? [True, True] Translation: X:32.52, Y:-5.35, Z:-1.54 [[ 9.24697478e-01 3.76449398e-01 5.67487772e-02 3.25173115e+01] [-3.75882671e-01 9.26434720e-01 -2.07587829e-02 -5.34550267e+00] [-6.03886689e-02 -2.13528768e-03 9.98172655e-01 -1.54066105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68864 meters Centerline goodness [0,1] 0.9990653286107831 Centerline is valid? [True, True] Translation: X:32.55, Y:-5.35, Z:-1.54 [[ 9.24765801e-01 3.76541258e-01 5.49990359e-02 3.25504598e+01] [-3.76008658e-01 9.26397542e-01 -2.01266857e-02 -5.34782088e+00] [-5.85294992e-02 -2.06764308e-03 9.98283538e-01 -1.54267073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.718639999999997 meters Centerline goodness [0,1] 0.9989673993214339 Centerline is valid? [True, True] Translation: X:32.58, Y:-5.36, Z:-1.54 [[ 9.25039976e-01 3.75786132e-01 5.55502163e-02 3.25822139e+01] [-3.75240944e-01 9.26704188e-01 -2.03367116e-02 -5.35581762e+00] [-5.91208723e-02 -2.03244444e-03 9.98248762e-01 -1.54481842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.748639999999998 meters Centerline goodness [0,1] 0.9989166830805594 Centerline is valid? [True, True] Translation: X:32.61, Y:-5.36, Z:-1.55 [[ 9.24869232e-01 3.76260773e-01 5.51791049e-02 3.26133284e+01] [-3.75723216e-01 9.26511556e-01 -2.02089562e-02 -5.36400037e+00] [-5.87279159e-02 -2.04142893e-03 9.98271939e-01 -1.54516955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77864 meters Centerline goodness [0,1] 0.9991646191646192 Centerline is valid? [True, True] Translation: X:32.65, Y:-5.37, Z:-1.55 [[ 9.24397234e-01 3.76952967e-01 5.82770402e-02 3.26460235e+01] [-3.76354126e-01 9.26229801e-01 -2.13524621e-02 -5.36710930e+00] [-6.20268053e-02 -2.19464761e-03 9.98072071e-01 -1.54732936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.808639999999997 meters Centerline goodness [0,1] 0.9989681096752002 Centerline is valid? [True, True] Translation: X:32.68, Y:-5.37, Z:-1.55 [[ 9.24572656e-01 3.76720332e-01 5.69841675e-02 3.26784811e+01] [-3.76146845e-01 9.26324611e-01 -2.08869954e-02 -5.37264701e+00] [-6.06543926e-02 -2.12287000e-03 9.98156570e-01 -1.54727601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.838639999999998 meters Centerline goodness [0,1] 0.9990658341118049 Centerline is valid? [True, True] Translation: X:32.71, Y:-5.38, Z:-1.55 [[ 9.24671923e-01 3.76217846e-01 5.86682865e-02 3.27096961e+01] [-3.75608463e-01 9.26528753e-01 -2.15116554e-02 -5.37868100e+00] [-6.24509230e-02 -2.14508124e-03 9.98045731e-01 -1.54944477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86864 meters Centerline goodness [0,1] 0.9990143899073527 Centerline is valid? [True, True] Translation: X:32.74, Y:-5.38, Z:-1.55 [[ 9.25441321e-01 3.74792199e-01 5.55802969e-02 3.27415161e+01] [-3.74242556e-01 9.27106819e-01 -2.03827306e-02 -5.38175029e+00] [-5.91681607e-02 -1.93749124e-03 9.98246149e-01 -1.55094312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.89864 meters Centerline goodness [0,1] 0.9988698899371069 Centerline is valid? [True, True] Translation: X:32.77, Y:-5.39, Z:-1.55 [[ 9.25587392e-01 3.74322669e-01 5.63073637e-02 3.27699785e+01] [-3.73758073e-01 9.27296490e-01 -2.06427297e-02 -5.38788031e+00] [-5.99406624e-02 -1.93868137e-03 9.98200059e-01 -1.55214621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.928639999999998 meters Centerline goodness [0,1] 0.9989688190522956 Centerline is valid? [True, True] Translation: X:32.80, Y:-5.39, Z:-1.55 [[ 9.26594564e-01 3.71952001e-01 5.54456691e-02 3.28002216e+01] [-3.71401963e-01 9.28250251e-01 -2.02991214e-02 -5.38853971e+00] [-5.90177551e-02 -1.78357481e-03 9.98255340e-01 -1.55282003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95864 meters Centerline goodness [0,1] 0.9990156511467664 Centerline is valid? [True, True] Translation: X:32.83, Y:-5.39, Z:-1.55 [[ 9.27018656e-01 3.70693709e-01 5.67678277e-02 3.28277244e+01] [-3.70116591e-01 9.28753483e-01 -2.07527537e-02 -5.39459271e+00] [-6.04162329e-02 -1.77252497e-03 9.98171697e-01 -1.55479896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98864 meters Centerline goodness [0,1] 0.9988213917399205 Centerline is valid? [True, True] Translation: X:32.86, Y:-5.40, Z:-1.56 [[ 9.28034262e-01 3.68150410e-01 5.67246265e-02 3.28559817e+01] [-3.67571334e-01 9.29764810e-01 -2.07053650e-02 -5.40129145e+00] [-6.03632502e-02 -1.63505849e-03 9.98175137e-01 -1.55577943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01864 meters Centerline goodness [0,1] 0.9987730663525717 Centerline is valid? [True, True] Translation: X:32.89, Y:-5.40, Z:-1.56 [[ 9.29403746e-01 3.64706466e-01 5.65497254e-02 3.28853080e+01] [-3.64126305e-01 9.31121442e-01 -2.06129801e-02 -5.40434421e+00] [-6.01723490e-02 -1.43346163e-03 9.98186973e-01 -1.55623078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04864 meters Centerline goodness [0,1] 0.9987238011093114 Centerline is valid? [True, True] Translation: X:32.91, Y:-5.41, Z:-1.56 [[ 9.30005152e-01 3.63257538e-01 5.59855227e-02 3.29132638e+01] [-3.62687954e-01 9.31687787e-01 -2.03792967e-02 -5.41054383e+00] [-5.95639609e-02 -1.35242380e-03 9.98223575e-01 -1.55708247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07864 meters Centerline goodness [0,1] 0.9988209285187915 Centerline is valid? [True, True] Translation: X:32.94, Y:-5.41, Z:-1.56 [[ 9.29882396e-01 3.64014973e-01 5.30266912e-02 3.29418645e+01] [-3.63506762e-01 9.31392116e-01 -1.92758969e-02 -5.41446924e+00] [-5.64053572e-02 -1.35124363e-03 9.98407036e-01 -1.55897638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10864 meters Centerline goodness [0,1] 0.9989202983902631 Centerline is valid? [True, True] Translation: X:32.97, Y:-5.42, Z:-1.56 [[ 9.30048042e-01 3.63741652e-01 5.19870198e-02 3.29687370e+01] [-3.63254384e-01 9.31498914e-01 -1.88686539e-02 -5.42127658e+00] [-5.52891678e-02 -1.33575831e-03 9.98469491e-01 -1.55935047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.138639999999995 meters Centerline goodness [0,1] 0.9987230489661608 Centerline is valid? [True, True] Translation: X:33.00, Y:-5.43, Z:-1.56 [[ 9.29824088e-01 3.64472591e-01 5.08615417e-02 3.29969000e+01] [-3.64008806e-01 9.31213101e-01 -1.84323141e-02 -5.42794506e+00] [-5.40810072e-02 -1.37523943e-03 9.98535604e-01 -1.55945902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.168639999999996 meters Centerline goodness [0,1] 0.9987712572495823 Centerline is valid? [True, True] Translation: X:33.03, Y:-5.43, Z:-1.56 [[ 9.29273320e-01 3.65675214e-01 5.22755689e-02 3.30262556e+01] [-3.65188648e-01 9.30741294e-01 -1.89181177e-02 -5.42998115e+00] [-5.55729174e-02 -1.51034225e-03 9.98453489e-01 -1.56014793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19864 meters Centerline goodness [0,1] 0.9988202909948879 Centerline is valid? [True, True] Translation: X:33.05, Y:-5.44, Z:-1.56 [[ 9.29310043e-01 3.65613017e-01 5.20573260e-02 3.30532080e+01] [-3.65131892e-01 9.30765704e-01 -1.88123797e-02 -5.43600227e+00] [-5.53312246e-02 -1.52525654e-03 9.98466889e-01 -1.56040133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22864 meters Centerline goodness [0,1] 0.9988222015016931 Centerline is valid? [True, True] Translation: X:33.08, Y:-5.44, Z:-1.56 [[ 9.29690429e-01 3.64855397e-01 5.05593289e-02 3.30816378e+01] [-3.64401943e-01 9.31063048e-01 -1.82435021e-02 -5.44223022e+00] [-5.37301630e-02 -1.46310836e-03 9.98554420e-01 -1.56170540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25864 meters Centerline goodness [0,1] 0.999017633479051 Centerline is valid? [True, True] Translation: X:33.11, Y:-5.44, Z:-1.56 [[ 9.30651972e-01 3.62131914e-01 5.24154962e-02 3.31116011e+01] [-3.61641728e-01 9.32125836e-01 -1.88861374e-02 -5.44460747e+00] [-5.56971113e-02 -1.37920961e-03 9.98446759e-01 -1.56251001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28864 meters Centerline goodness [0,1] 0.9991139988186651 Centerline is valid? [True, True] Translation: X:33.14, Y:-5.45, Z:-1.56 [[ 9.31050414e-01 3.60928389e-01 5.36267154e-02 3.31386838e+01] [-3.60414901e-01 9.32592536e-01 -1.92940747e-02 -5.45093789e+00] [-5.69756538e-02 -1.36411111e-03 9.98374636e-01 -1.56419402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31864 meters Centerline goodness [0,1] 0.9988230101515374 Centerline is valid? [True, True] Translation: X:33.17, Y:-5.46, Z:-1.57 [[ 9.32674255e-01 3.56560981e-01 5.46168562e-02 3.31677800e+01] [-3.56022641e-01 9.34271349e-01 -1.96195360e-02 -5.45583724e+00] [-5.80225249e-02 -1.14620123e-03 9.98314616e-01 -1.56607110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.348639999999996 meters Centerline goodness [0,1] 0.9988724937496936 Centerline is valid? [True, True] Translation: X:33.20, Y:-5.46, Z:-1.57 [[ 9.33728306e-01 3.53961845e-01 5.35019791e-02 3.31955761e+01] [-3.53442506e-01 9.35259340e-01 -1.91927380e-02 -5.46404510e+00] [-5.68317226e-02 -9.89070842e-04 9.98383282e-01 -1.56732565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37864 meters Centerline goodness [0,1] 0.9988716086935191 Centerline is valid? [True, True] Translation: X:33.22, Y:-5.47, Z:-1.57 [[ 9.34932638e-01 3.50687814e-01 5.40279607e-02 3.32230355e+01] [-3.50154294e-01 9.36492061e-01 -1.93543381e-02 -5.47171460e+00] [-5.73840868e-02 -8.23120048e-04 9.98351836e-01 -1.56901317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40864 meters Centerline goodness [0,1] 0.999018597575936 Centerline is valid? [True, True] Translation: X:33.25, Y:-5.48, Z:-1.57 [[ 9.36163914e-01 3.47399985e-01 5.39479113e-02 3.32507780e+01] [-3.46864115e-01 9.37716820e-01 -1.92990128e-02 -5.48025826e+00] [-5.72923406e-02 -6.45555210e-04 9.98357236e-01 -1.57003400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43864 meters Centerline goodness [0,1] 0.9988722173188193 Centerline is valid? [True, True] Translation: X:33.28, Y:-5.49, Z:-1.57 [[ 9.37770427e-01 3.42879972e-01 5.49540746e-02 3.32781101e+01] [-3.42317729e-01 9.39379137e-01 -1.96318445e-02 -5.49045999e+00] [-5.83540775e-02 -4.01590772e-04 9.98295868e-01 -1.57132110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46864 meters Centerline goodness [0,1] 0.9989681603773585 Centerline is valid? [True, True] Translation: X:33.31, Y:-5.50, Z:-1.57 [[ 9.38505874e-01 3.41021490e-01 5.39543033e-02 3.33052346e+01] [-3.40477866e-01 9.40055451e-01 -1.92502475e-02 -5.50124123e+00] [-5.72847851e-02 -3.03775641e-04 9.98357832e-01 -1.57248616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49864 meters Centerline goodness [0,1] 0.9987261146496815 Centerline is valid? [True, True] Translation: X:33.33, Y:-5.51, Z:-1.57 [[ 9.38797581e-01 3.40502588e-01 5.21257112e-02 3.33314904e+01] [-3.39995727e-01 9.40243536e-01 -1.85741579e-02 -5.51342800e+00] [-5.53354119e-02 -2.85144580e-04 9.98467782e-01 -1.57287809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.528639999999996 meters Centerline goodness [0,1] 0.9987728856820302 Centerline is valid? [True, True] Translation: X:33.36, Y:-5.52, Z:-1.57 [[ 9.38561427e-01 3.41221492e-01 5.16753390e-02 3.33568933e+01] [-3.40725883e-01 9.39982857e-01 -1.83875328e-02 -5.52445151e+00] [-5.48481542e-02 -3.49296509e-04 9.98494646e-01 -1.57343160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55864 meters Centerline goodness [0,1] 0.998725240243185 Centerline is valid? [True, True] Translation: X:33.38, Y:-5.54, Z:-1.58 [[ 9.38001974e-01 3.42640394e-01 5.24390799e-02 3.33828909e+01] [-3.42133849e-01 9.39466521e-01 -1.86302368e-02 -5.53595734e+00] [-5.56482316e-02 -4.65985415e-04 9.98450328e-01 -1.57533919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58864 meters Centerline goodness [0,1] 0.9988710548274677 Centerline is valid? [True, True] Translation: X:33.41, Y:-5.55, Z:-1.58 [[ 9.37094786e-01 3.44931395e-01 5.36255056e-02 3.34094111e+01] [-3.44406931e-01 9.38627680e-01 -1.90248221e-02 -5.54782564e+00] [-5.68966424e-02 -6.40934202e-04 9.98379868e-01 -1.57538985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61864 meters Centerline goodness [0,1] 0.9990174404323262 Centerline is valid? [True, True] Translation: X:33.44, Y:-5.56, Z:-1.58 [[ 9.36695295e-01 3.46072963e-01 5.32487469e-02 3.34357371e+01] [-3.45559169e-01 9.38207318e-01 -1.88650161e-02 -5.55853624e+00] [-5.64870360e-02 -7.29820967e-04 9.98403066e-01 -1.57520236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64864 meters Centerline goodness [0,1] 0.9988228946981216 Centerline is valid? [True, True] Translation: X:33.46, Y:-5.57, Z:-1.58 [[ 9.36973574e-01 3.45534704e-01 5.18294325e-02 3.34621674e+01] [-3.45048511e-01 9.38405709e-01 -1.83371145e-02 -5.56936238e+00] [-5.49731448e-02 -7.02276768e-04 9.98487586e-01 -1.57688083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67864 meters Centerline goodness [0,1] 0.9988723279074329 Centerline is valid? [True, True] Translation: X:33.49, Y:-5.58, Z:-1.58 [[ 9.36830783e-01 3.45760807e-01 5.28918502e-02 3.34882821e+01] [-3.45256313e-01 9.38322383e-01 -1.86864690e-02 -5.58127378e+00] [-5.60906555e-02 -7.55185802e-04 9.98425394e-01 -1.57891972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.708639999999995 meters Centerline goodness [0,1] 0.9990182603573532 Centerline is valid? [True, True] Translation: X:33.52, Y:-5.59, Z:-1.58 [[ 9.36558473e-01 3.46523333e-01 5.27238616e-02 3.35153505e+01] [-3.46024705e-01 9.38040992e-01 -1.86011052e-02 -5.59155484e+00] [-5.59028604e-02 -8.22735946e-04 9.98435873e-01 -1.57994662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73864 meters Centerline goodness [0,1] 0.9994101165019909 Centerline is valid? [True, True] Translation: X:33.54, Y:-5.60, Z:-1.58 [[ 9.35442434e-01 3.49358250e-01 5.38169715e-02 3.35430440e+01] [-3.48844703e-01 9.36988657e-01 -1.89638930e-02 -5.59823134e+00] [-5.70510843e-02 -1.03413526e-03 9.98370725e-01 -1.58017850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76864 meters Centerline goodness [0,1] 0.9999505537974683 Centerline is valid? [True, True] Translation: X:33.57, Y:-5.61, Z:-1.58 [[ 9.34911451e-01 3.50416358e-01 5.61155467e-02 3.35704261e+01] [-3.49860479e-01 9.36593317e-01 -1.97637136e-02 -5.60562582e+00] [-5.94829746e-02 -1.15528984e-03 9.98228652e-01 -1.58218743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79864 meters Centerline goodness [0,1] 0.9996569131990394 Centerline is valid? [True, True] Translation: X:33.60, Y:-5.61, Z:-1.58 [[ 9.35151446e-01 3.49913030e-01 5.52507392e-02 3.35969068e+01] [-3.49374195e-01 9.36781520e-01 -1.94436622e-02 -5.61379795e+00] [-5.85614622e-02 -1.12041371e-03 9.98283176e-01 -1.58385826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:-5.62, Z:-1.58 [[ 9.35255011e-01 3.49558293e-01 5.57410477e-02 3.36235869e+01] [-3.49011105e-01 9.36913926e-01 -1.95842805e-02 -5.62066367e+00] [-5.90704116e-02 -1.13794816e-03 9.98253170e-01 -1.58455239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.65, Y:-5.63, Z:-1.58 [[ 9.35942955e-01 3.47751324e-01 5.54959537e-02 3.36514924e+01] [-3.47207506e-01 9.37586220e-01 -1.94686372e-02 -5.62930638e+00] [-5.88024858e-02 -1.04707778e-03 9.98269088e-01 -1.58473291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.888639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.68, Y:-5.64, Z:-1.59 [[ 9.36608220e-01 3.45879824e-01 5.59659686e-02 3.36781227e+01] [-3.45325042e-01 9.38278327e-01 -1.96060299e-02 -5.63835655e+00] [-5.92929856e-02 -9.63281693e-04 9.98240158e-01 -1.58589978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.918639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.71, Y:-5.65, Z:-1.59 [[ 9.38955395e-01 3.39118331e-01 5.79786469e-02 3.37057342e+01] [-3.38511983e-01 9.40743544e-01 -2.02786353e-02 -5.64558614e+00] [-6.14198946e-02 -5.85732716e-04 9.98111844e-01 -1.58779918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.73, Y:-5.66, Z:-1.59 [[ 9.40391868e-01 3.35030320e-01 5.84621158e-02 3.37327895e+01] [-3.34407712e-01 9.42207282e-01 -2.04185900e-02 -5.65545448e+00] [-6.19242780e-02 -3.48706385e-04 9.98080789e-01 -1.58951001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:33.76, Y:-5.67, Z:-1.59 [[ 9.42950138e-01 3.27499781e-01 5.99076793e-02 3.37595967e+01] [-3.26832666e-01 9.44851247e-01 -2.08932982e-02 -5.66573825e+00] [-6.34463961e-02 1.21551874e-04 9.97985240e-01 -1.59026926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.79, Y:-5.68, Z:-1.59 [[ 9.43711657e-01 3.25280740e-01 6.00062345e-02 3.37857760e+01] [-3.24608896e-01 9.45617461e-01 -2.08969617e-02 -5.67577011e+00] [-6.35403222e-02 2.42148897e-04 9.97979243e-01 -1.59096664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.81, Y:-5.69, Z:-1.59 [[ 9.44373914e-01 3.23215793e-01 6.07409389e-02 3.38121998e+01] [-3.22524800e-01 9.46325219e-01 -2.11265827e-02 -5.68587462e+00] [-6.43091275e-02 3.60934418e-04 9.97929960e-01 -1.59223695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06864 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:33.84, Y:-5.70, Z:-1.59 [[ 9.45284808e-01 3.20841103e-01 5.91406724e-02 3.38376732e+01] [-3.20182424e-01 9.47132907e-01 -2.05541292e-02 -5.69951353e+00] [-6.26086864e-02 4.93702149e-04 9.98038030e-01 -1.59268790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.098639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.86, Y:-5.71, Z:-1.59 [[ 9.45765959e-01 3.19718069e-01 5.75074440e-02 3.38639576e+01] [-3.19094887e-01 9.47512575e-01 -1.99593108e-02 -5.71252718e+00] [-6.08703787e-02 5.26505391e-04 9.98145540e-01 -1.59459796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.89, Y:-5.73, Z:-1.60 [[ 9.45792390e-01 3.19802257e-01 5.65974439e-02 3.38900579e+01] [-3.19200421e-01 9.47484184e-01 -1.96166377e-02 -5.72515589e+00] [-5.98986279e-02 4.87338731e-04 9.98204346e-01 -1.59564418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15864 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:33.92, Y:-5.74, Z:-1.60 [[ 9.45152946e-01 3.21305383e-01 5.87261430e-02 3.39151470e+01] [-3.20662071e-01 9.46975558e-01 -2.03255792e-02 -5.74063924e+00] [-6.21429401e-02 3.79534451e-04 9.98067188e-01 -1.59692487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.94, Y:-5.75, Z:-1.60 [[ 9.44862865e-01 3.22023129e-01 5.94581396e-02 3.39399599e+01] [-3.21366980e-01 9.46731752e-01 -2.05488378e-02 -5.75304174e+00] [-6.29081097e-02 3.07950998e-04 9.98019276e-01 -1.59702044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:-5.77, Z:-1.60 [[ 9.45077726e-01 3.21170580e-01 6.06428120e-02 3.39650099e+01] [-3.20488317e-01 9.47021299e-01 -2.09259858e-02 -5.76890881e+00] [-6.41508456e-02 3.41370309e-04 9.97940155e-01 -1.59939392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.99, Y:-5.78, Z:-1.60 [[ 9.45150600e-01 3.21158284e-01 5.95625779e-02 3.39911056e+01] [-3.20501903e-01 9.47025481e-01 -2.05248441e-02 -5.78176560e+00] [-6.29990027e-02 3.09149167e-04 9.98013542e-01 -1.60124366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.278639999999996 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:34.02, Y:-5.79, Z:-1.60 [[ 9.45329593e-01 3.20846862e-01 5.83887940e-02 3.40168625e+01] [-3.20217244e-01 9.47131038e-01 -2.00926297e-02 -5.79477967e+00] [-6.17484963e-02 2.97058743e-04 9.98091697e-01 -1.60245801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.04, Y:-5.81, Z:-1.60 [[ 9.44417269e-01 3.23231751e-01 5.99771326e-02 3.40411188e+01] [-3.22574055e-01 9.46319831e-01 -2.06096497e-02 -5.81368250e+00] [-6.34192431e-02 1.17042205e-04 9.97986967e-01 -1.60451776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33864 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:34.07, Y:-5.83, Z:-1.61 [[ 9.44130026e-01 3.23942149e-01 6.06628244e-02 3.40666378e+01] [-3.23272694e-01 9.46076890e-01 -2.08154461e-02 -5.82851858e+00] [-6.41346966e-02 4.18529751e-05 9.97941250e-01 -1.60564486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36864 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:34.09, Y:-5.85, Z:-1.61 [[ 9.43557384e-01 3.25700785e-01 6.01536470e-02 3.40922816e+01] [-3.25047435e-01 9.45472892e-01 -2.06197832e-02 -5.84519516e+00] [-6.35895222e-02 -9.68399423e-05 9.97976134e-01 -1.60626063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39864 meters Centerline goodness [0,1] 0.999901772997397 Centerline is valid? [True, True] Translation: X:34.12, Y:-5.86, Z:-1.61 [[ 9.43220730e-01 3.26666423e-01 6.01972048e-02 3.41192540e+01] [-3.26014358e-01 9.45139683e-01 -2.06305062e-02 -5.85654935e+00] [-6.36340607e-02 -1.66031967e-04 9.97973286e-01 -1.60712915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.15, Y:-5.87, Z:-1.61 [[ 9.43292421e-01 3.26566724e-01 5.96119407e-02 3.41472533e+01] [-3.25927268e-01 9.45174137e-01 -2.04271177e-02 -5.86866212e+00] [-6.30144815e-02 -1.60411653e-04 9.98012600e-01 -1.60906608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.458639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.18, Y:-5.88, Z:-1.61 [[ 9.42718429e-01 3.28423153e-01 5.84824405e-02 3.41757741e+01] [-3.27811211e-01 9.44530653e-01 -2.00413261e-02 -5.88277037e+00] [-6.18204932e-02 -2.77872124e-04 9.98087245e-01 -1.60986348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.20, Y:-5.89, Z:-1.61 [[ 9.42739152e-01 3.28363748e-01 5.84819604e-02 3.42033247e+01] [-3.27751604e-01 9.44551309e-01 -2.00427265e-02 -5.89223064e+00] [-6.18205171e-02 -2.72493339e-04 9.98087245e-01 -1.61111270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.23, Y:-5.91, Z:-1.61 [[ 9.41461910e-01 3.31747480e-01 5.99423086e-02 3.42301619e+01] [-3.31111382e-01 9.43368088e-01 -2.05402806e-02 -5.90681603e+00] [-6.33618474e-02 -5.09688873e-04 9.97990489e-01 -1.61234486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.26, Y:-5.92, Z:-1.61 [[ 9.40884960e-01 3.33618276e-01 5.86032306e-02 3.42596721e+01] [-3.33013850e-01 9.42708047e-01 -2.00826921e-02 -5.91803483e+00] [-6.19456901e-02 -6.20184483e-04 9.98079329e-01 -1.61208132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.29, Y:-5.93, Z:-1.61 [[ 9.39736565e-01 3.37194228e-01 5.65264619e-02 3.42878682e+01] [-3.36638206e-01 9.41434743e-01 -1.93737562e-02 -5.92929707e+00] [-5.97486939e-02 -8.22739691e-04 9.98213112e-01 -1.61265274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.31, Y:-5.94, Z:-1.61 [[ 9.38837685e-01 3.39489572e-01 5.77116308e-02 3.43149828e+01] [-3.38914408e-01 9.40609297e-01 -1.97781489e-02 -5.93987069e+00] [-6.09985717e-02 -9.90831651e-04 9.98137362e-01 -1.61364349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.638639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.34, Y:-5.95, Z:-1.62 [[ 9.38234378e-01 3.41249051e-01 5.71431316e-02 3.43439745e+01] [-3.40688685e-01 9.39972276e-01 -1.95790897e-02 -5.95027032e+00] [-6.03943052e-02 -1.09824336e-03 9.98173994e-01 -1.61531157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.668639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:-5.96, Z:-1.62 [[ 9.37065626e-01 3.44460829e-01 5.70504209e-02 3.43722141e+01] [-3.43908288e-01 9.38799785e-01 -1.95461665e-02 -5.95906284e+00] [-6.02918116e-02 -1.30407190e-03 9.98179942e-01 -1.61593996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.40, Y:-5.97, Z:-1.62 [[ 9.36696407e-01 3.45718244e-01 5.54863691e-02 3.43999781e+01] [-3.45198405e-01 9.38337389e-01 -1.90001355e-02 -5.96772434e+00] [-5.86336282e-02 -1.35644751e-03 9.98278647e-01 -1.61642968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.43, Y:-5.97, Z:-1.62 [[ 9.36423915e-01 3.46496242e-01 5.52322918e-02 3.44275391e+01] [-3.45983829e-01 9.38050286e-01 -1.88905332e-02 -5.97464428e+00] [-5.83561658e-02 -1.41993276e-03 9.98294817e-01 -1.61631327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.45, Y:-5.98, Z:-1.62 [[ 9.36688665e-01 3.45785857e-01 5.51949847e-02 3.44545576e+01] [-3.45273807e-01 9.38312427e-01 -1.88623205e-02 -5.98172144e+00] [-5.83124637e-02 -1.38926069e-03 9.98297414e-01 -1.61750128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.48, Y:-5.99, Z:-1.62 [[ 9.37074694e-01 3.44633968e-01 5.58430418e-02 3.44813957e+01] [-3.44109655e-01 9.38736156e-01 -1.90519225e-02 -5.98883143e+00] [-5.89878221e-02 -1.36305534e-03 9.98257772e-01 -1.61828187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:-6.00, Z:-1.62 [[ 9.38175464e-01 3.41758960e-01 5.50237494e-02 3.45097983e+01] [-3.41246696e-01 9.39786886e-01 -1.87430241e-02 -5.99605118e+00] [-5.81161945e-02 -1.19242732e-03 9.98309113e-01 -1.61933419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.848639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.54, Y:-6.00, Z:-1.62 [[ 9.39034977e-01 3.39427858e-01 5.47908851e-02 3.45370529e+01] [-3.38917459e-01 9.40631484e-01 -1.86377867e-02 -6.00409055e+00] [-5.78642155e-02 -1.06805395e-03 9.98323891e-01 -1.62077776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:34.57, Y:-6.01, Z:-1.62 [[ 9.41000370e-01 3.33411088e-01 5.79253894e-02 3.45653938e+01] [-3.32831022e-01 9.42781236e-01 -1.96736416e-02 -6.00919542e+00] [-6.11703805e-02 -7.66462503e-04 9.98127045e-01 -1.62274538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:-6.02, Z:-1.62 [[ 9.42261222e-01 3.29918567e-01 5.74241110e-02 3.45927816e+01] [-3.29343745e-01 9.44009229e-01 -1.94749591e-02 -6.01749906e+00] [-6.06340414e-02 -5.61773005e-04 9.98159906e-01 -1.62336883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:-6.03, Z:-1.63 [[ 9.43548166e-01 3.25982087e-01 5.87582971e-02 3.46195188e+01] [-3.25374497e-01 9.45375883e-01 -1.98966448e-02 -6.02668093e+00] [-6.20346268e-02 -3.45008657e-04 9.98073938e-01 -1.62555452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:34.65, Y:-6.04, Z:-1.63 [[ 9.46289209e-01 3.17832071e-01 5.93254464e-02 3.46464495e+01] [-3.17198675e-01 9.48147008e-01 -2.00562159e-02 -6.03715586e+00] [-6.26237531e-02 1.61027724e-04 9.98037194e-01 -1.62715211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99864 meters Centerline goodness [0,1] 0.9999015457320075 Centerline is valid? [True, True] Translation: X:34.67, Y:-6.05, Z:-1.63 [[ 9.47163471e-01 3.15123735e-01 5.98196474e-02 3.46738864e+01] [-3.14475688e-01 9.49050540e-01 -2.02018344e-02 -6.04745330e+00] [-6.31379462e-02 3.22614831e-04 9.98004757e-01 -1.62831259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.028639999999996 meters Centerline goodness [0,1] 0.9999016812506145 Centerline is valid? [True, True] Translation: X:34.70, Y:-6.06, Z:-1.63 [[ 9.48399393e-01 3.11595031e-01 5.87122546e-02 3.47012299e+01] [-3.10964187e-01 9.50214839e-01 -1.98250921e-02 -6.06037227e+00] [-6.19666557e-02 5.44696775e-04 9.98078072e-01 -1.62899560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05864 meters Centerline goodness [0,1] 0.9998036617091248 Centerline is valid? [True, True] Translation: X:34.73, Y:-6.07, Z:-1.63 [[ 9.48546852e-01 3.11046601e-01 5.92358222e-02 3.47300360e+01] [-3.10403295e-01 9.50394480e-01 -2.00031634e-02 -6.07312505e+00] [-6.25193144e-02 5.86943236e-04 9.98043582e-01 -1.63010085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08864 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:34.76, Y:-6.09, Z:-1.63 [[ 9.48760692e-01 3.10184494e-01 6.03218743e-02 3.47583076e+01] [-3.09515349e-01 9.50676151e-01 -2.03741014e-02 -6.08607495e+00] [-6.36662976e-02 6.59600567e-04 9.97971025e-01 -1.63125907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11864 meters Centerline goodness [0,1] 0.9997533422130137 Centerline is valid? [True, True] Translation: X:34.79, Y:-6.10, Z:-1.63 [[ 9.49034632e-01 3.09350883e-01 6.02934362e-02 3.47873032e+01] [-3.08680340e-01 9.50947691e-01 -2.03699701e-02 -6.09998705e+00] [-6.36373722e-02 7.20408683e-04 9.97972828e-01 -1.63187482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14864 meters Centerline goodness [0,1] 0.9998031786645672 Centerline is valid? [True, True] Translation: X:34.81, Y:-6.12, Z:-1.63 [[ 9.49660277e-01 3.07471920e-01 6.00531218e-02 3.48145366e+01] [-3.06802440e-01 9.51556774e-01 -2.02970014e-02 -6.11859234e+00] [-6.33847128e-02 8.50811694e-04 9.97988805e-01 -1.63475179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17864 meters Centerline goodness [0,1] 0.9999017874680809 Centerline is valid? [True, True] Translation: X:34.84, Y:-6.13, Z:-1.64 [[ 9.50063887e-01 3.06426284e-01 5.90046091e-02 3.48434568e+01] [-3.05777486e-01 9.51893954e-01 -1.99506524e-02 -6.13448966e+00] [-6.22795349e-02 9.12113335e-04 9.98058329e-01 -1.63649615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.208639999999995 meters Centerline goodness [0,1] 0.9997049567269867 Centerline is valid? [True, True] Translation: X:34.87, Y:-6.15, Z:-1.64 [[ 9.50960277e-01 3.04070916e-01 5.67047566e-02 3.48718581e+01] [-3.03467052e-01 9.52648839e-01 -1.91817040e-02 -6.15496870e+00] [-5.98523188e-02 1.03301322e-03 9.98206708e-01 -1.63792254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23864 meters Centerline goodness [0,1] 0.9995081886588305 Centerline is valid? [True, True] Translation: X:34.90, Y:-6.17, Z:-1.64 [[ 9.50874333e-01 3.04541505e-01 5.56100191e-02 3.49009800e+01] [-3.03960953e-01 9.52498548e-01 -1.88216598e-02 -6.16931562e+00] [-5.87004391e-02 9.93758812e-04 9.98275148e-01 -1.63818289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26864 meters Centerline goodness [0,1] 0.9994593266158761 Centerline is valid? [True, True] Translation: X:34.93, Y:-6.19, Z:-1.64 [[ 9.50031228e-01 3.07078794e-01 5.60649723e-02 3.49288164e+01] [-3.06492647e-01 9.51683713e-01 -1.89833505e-02 -6.18717600e+00] [-5.91855054e-02 8.51274036e-04 9.98246639e-01 -1.63966457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29864 meters Centerline goodness [0,1] 0.9995568248965925 Centerline is valid? [True, True] Translation: X:34.96, Y:-6.20, Z:-1.64 [[ 9.49049247e-01 3.09863978e-01 5.73571447e-02 3.49583529e+01] [-3.09255063e-01 9.50780639e-01 -1.94288927e-02 -6.20134182e+00] [-6.05543767e-02 7.00988552e-04 9.98164654e-01 -1.64143981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32864 meters Centerline goodness [0,1] 0.9997539127866916 Centerline is valid? [True, True] Translation: X:34.99, Y:-6.22, Z:-1.64 [[ 9.48217971e-01 3.12620197e-01 5.61363700e-02 3.49879993e+01] [-3.12041318e-01 9.49878066e-01 -1.90230151e-02 -6.21554316e+00] [-5.92696853e-02 5.21097932e-04 9.98241871e-01 -1.64195210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35864 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:35.02, Y:-6.23, Z:-1.64 [[ 9.46740057e-01 3.17272687e-01 5.49664117e-02 3.50151573e+01] [-3.16725088e-01 9.48334323e-01 -1.86341219e-02 -6.23412417e+00] [-5.80386328e-02 2.32428024e-04 9.98314311e-01 -1.64410178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.388639999999995 meters Centerline goodness [0,1] 0.9998032754635322 Centerline is valid? [True, True] Translation: X:35.04, Y:-6.25, Z:-1.65 [[ 9.46448701e-01 3.18103835e-01 5.51797594e-02 3.50447608e+01] [-3.17552867e-01 9.48055860e-01 -1.87153147e-02 -6.24921700e+00] [-5.82669077e-02 1.90594513e-04 9.98301022e-01 -1.64574483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.418639999999996 meters Centerline goodness [0,1] 0.9998030138875209 Centerline is valid? [True, True] Translation: X:35.07, Y:-6.27, Z:-1.65 [[ 9.46171292e-01 3.18756091e-01 5.61644041e-02 3.50719861e+01] [-3.18185757e-01 9.47836762e-01 -1.90603209e-02 -6.26837689e+00] [-5.93102803e-02 1.63614977e-04 9.98239582e-01 -1.64597324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44864 meters Centerline goodness [0,1] 0.9996065896238013 Centerline is valid? [True, True] Translation: X:35.10, Y:-6.28, Z:-1.65 [[ 9.46036449e-01 3.19019087e-01 5.69373175e-02 3.51007597e+01] [-3.18432915e-01 9.47748277e-01 -1.93308458e-02 -6.28293651e+00] [-6.01291534e-02 1.56968722e-04 9.98190593e-01 -1.64708266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47864 meters Centerline goodness [0,1] 0.9997536824474113 Centerline is valid? [True, True] Translation: X:35.13, Y:-6.30, Z:-1.65 [[ 9.45529048e-01 3.20383259e-01 5.77008281e-02 3.51296756e+01] [-3.19783271e-01 9.47288003e-01 -1.95984425e-02 -6.29710609e+00] [-6.09383151e-02 7.91371978e-05 9.98141531e-01 -1.64863552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50864 meters Centerline goodness [0,1] 0.9998032173955822 Centerline is valid? [True, True] Translation: X:35.16, Y:-6.31, Z:-1.65 [[ 9.44627015e-01 3.23032225e-01 5.77060087e-02 3.51599062e+01] [-3.22436100e-01 9.46387963e-01 -1.96159620e-02 -6.31075948e+00] [-6.09488598e-02 -7.67326856e-05 9.98140887e-01 -1.64999004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.19, Y:-6.32, Z:-1.65 [[ 9.42781453e-01 3.28509264e-01 5.69631158e-02 3.51901259e+01] [-3.27936406e-01 9.44500666e-01 -1.93960127e-02 -6.32463166e+00] [-6.01734706e-02 -3.94078387e-04 9.98187857e-01 -1.65104318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.22, Y:-6.34, Z:-1.65 [[ 9.41290581e-01 3.32574163e-01 5.80212676e-02 3.52203344e+01] [-3.31985509e-01 9.43076891e-01 -1.97888692e-02 -6.33692263e+00] [-6.12997833e-02 -6.35143841e-04 9.98119198e-01 -1.65272154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.598639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.25, Y:-6.35, Z:-1.65 [[ 9.38000032e-01 3.41308534e-01 6.05344957e-02 3.52493985e+01] [-3.40684278e-01 9.39950510e-01 -2.06703036e-02 -6.35175084e+00] [-6.39543811e-02 -1.23440548e-03 9.97952060e-01 -1.65306714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.28, Y:-6.36, Z:-1.65 [[ 9.37030766e-01 3.43936762e-01 6.06699911e-02 3.52796097e+01] [-3.43314593e-01 9.38991758e-01 -2.07260473e-02 -6.36261516e+00] [-6.40970712e-02 -1.40794935e-03 9.97942675e-01 -1.65429380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.31, Y:-6.37, Z:-1.66 [[ 9.35734075e-01 3.47515668e-01 6.02876527e-02 3.53102578e+01] [-3.46907618e-01 9.37672766e-01 -2.06128332e-02 -6.37378360e+00] [-6.36933726e-02 -1.62611553e-03 9.97968191e-01 -1.65567150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.34, Y:-6.38, Z:-1.66 [[ 9.34351096e-01 3.51381993e-01 5.93188380e-02 3.53409236e+01] [-3.50799614e-01 9.36230379e-01 -2.03053909e-02 -6.38353565e+00] [-6.26710469e-02 -1.83666122e-03 9.98032548e-01 -1.65718848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.37, Y:-6.39, Z:-1.66 [[ 9.33716236e-01 3.53357486e-01 5.75541239e-02 3.53726722e+01] [-3.52811971e-01 9.35486450e-01 -1.97183757e-02 -6.39353744e+00] [-6.08087387e-02 -1.89441635e-03 9.98147639e-01 -1.65746119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.41, Y:-6.40, Z:-1.66 [[ 9.32729653e-01 3.55776914e-01 5.86360084e-02 3.54051432e+01] [-3.55213373e-01 9.34568642e-01 -2.01224611e-02 -6.39924515e+00] [-6.19584818e-02 -2.05947818e-03 9.98076603e-01 -1.65856077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.778639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.44, Y:-6.41, Z:-1.66 [[ 9.32439328e-01 3.56564469e-01 5.84694668e-02 3.54366420e+01] [-3.56004233e-01 9.34268396e-01 -2.00885451e-02 -6.40666199e+00] [-6.17890364e-02 -2.08402824e-03 9.98087056e-01 -1.65905994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.47, Y:-6.41, Z:-1.66 [[ 9.32387727e-01 3.56629096e-01 5.88966383e-02 3.54687495e+01] [-3.56060145e-01 9.34243706e-01 -2.02452782e-02 -6.41471358e+00] [-6.22438688e-02 -2.09429663e-03 9.98058773e-01 -1.66109115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.50, Y:-6.42, Z:-1.66 [[ 9.33039544e-01 3.54727053e-01 6.00493758e-02 3.54998573e+01] [-3.54130905e-01 9.34967774e-01 -2.06534275e-02 -6.42175828e+00] [-6.34705607e-02 -1.99487522e-03 9.97981717e-01 -1.66291697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.53, Y:-6.43, Z:-1.66 [[ 9.33423966e-01 3.53717942e-01 6.00276392e-02 3.55309801e+01] [-3.53119587e-01 9.35350170e-01 -2.06546776e-02 -6.43135373e+00] [-6.34527926e-02 -1.91736415e-03 9.97982999e-01 -1.66445723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:-6.44, Z:-1.67 [[ 9.34830403e-01 3.50002527e-01 5.99195198e-02 3.55625641e+01] [-3.49397703e-01 9.36747307e-01 -2.06331565e-02 -6.43846848e+00] [-6.33511058e-02 -1.64724060e-03 9.97989942e-01 -1.66611816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92864 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:35.59, Y:-6.45, Z:-1.67 [[ 9.35881266e-01 3.47436944e-01 5.84279578e-02 3.55938045e+01] [-3.46855343e-01 9.37702283e-01 -2.01444450e-02 -6.44798568e+00] [-6.17869539e-02 -1.41324066e-03 9.98088360e-01 -1.66819472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.958639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.62, Y:-6.46, Z:-1.67 [[ 9.36662163e-01 3.45417018e-01 5.78884758e-02 3.56245258e+01] [-3.44841421e-01 9.38448458e-01 -1.99721328e-02 -6.45825533e+00] [-6.12240654e-02 -1.25520312e-03 9.98123258e-01 -1.67002651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.66, Y:-6.47, Z:-1.67 [[ 9.37393750e-01 3.43545098e-01 5.71814986e-02 3.56554089e+01] [-3.42979503e-01 9.39135523e-01 -1.97365088e-02 -6.46840618e+00] [-6.04815574e-02 -1.11120196e-03 9.98168696e-01 -1.67089248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:-6.48, Z:-1.67 [[ 9.37660641e-01 3.42997541e-01 5.60821647e-02 3.56864792e+01] [-3.42452043e-01 9.39335717e-01 -1.93651410e-02 -6.47829394e+00] [-5.93221761e-02 -1.04752132e-03 9.98238339e-01 -1.67175652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04864 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:35.72, Y:-6.49, Z:-1.67 [[ 9.37814552e-01 3.42641693e-01 5.56824596e-02 3.57168711e+01] [-3.42102848e-01 9.39465619e-01 -1.92351653e-02 -6.48817314e+00] [-5.89025260e-02 -1.01011004e-03 9.98263228e-01 -1.67382456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.75, Y:-6.50, Z:-1.67 [[ 9.37505350e-01 3.43636011e-01 5.47540896e-02 3.57481835e+01] [-3.43116170e-01 9.39102336e-01 -1.89234310e-02 -6.49805136e+00] [-5.79224658e-02 -1.04619576e-03 9.98320536e-01 -1.67476265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:35.78, Y:-6.51, Z:-1.68 [[ 9.37165750e-01 3.44631434e-01 5.43095881e-02 3.57793851e+01] [-3.44121052e-01 9.38737445e-01 -1.87806164e-02 -6.50769579e+00] [-5.74548347e-02 -1.08852214e-03 9.98347513e-01 -1.67529873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.138639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.81, Y:-6.51, Z:-1.68 [[ 9.36032436e-01 3.47303989e-01 5.67733926e-02 3.58107615e+01] [-3.46750603e-01 9.37751697e-01 -1.96411225e-02 -6.51494669e+00] [-6.00607855e-02 -1.30148042e-03 9.98193873e-01 -1.67676019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.168639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.84, Y:-6.52, Z:-1.68 [[ 9.35859421e-01 3.47663902e-01 5.74191174e-02 3.58423226e+01] [-3.47098009e-01 9.37618279e-01 -1.98729635e-02 -6.52341517e+00] [-6.07463261e-02 -1.33176117e-03 9.98152348e-01 -1.67820026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.87, Y:-6.53, Z:-1.68 [[ 9.35478000e-01 3.48420870e-01 5.90238000e-02 3.58736577e+01] [-3.47823830e-01 9.37337135e-01 -2.04371734e-02 -6.53166529e+00] [-6.24459374e-02 -1.41135809e-03 9.98047350e-01 -1.67966808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.91, Y:-6.54, Z:-1.68 [[ 9.35903863e-01 3.47353025e-01 5.85647957e-02 3.59061063e+01] [-3.46762628e-01 9.37733507e-01 -2.02867025e-02 -6.53651261e+00] [-6.19648187e-02 -1.32167924e-03 9.98077459e-01 -1.68138444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.94, Y:-6.54, Z:-1.68 [[ 9.36583667e-01 3.45621302e-01 5.79391987e-02 3.59379791e+01] [-3.45039637e-01 9.38373331e-01 -2.00783525e-02 -6.54404694e+00] [-6.13081052e-02 -1.18626310e-03 9.98118184e-01 -1.68309426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-6.55, Z:-1.68 [[ 9.38079800e-01 3.41555048e-01 5.78484019e-02 3.59699682e+01] [-3.40966958e-01 9.39861330e-01 -2.00552797e-02 -6.54881229e+00] [-6.12194580e-02 -9.10940873e-04 9.98123914e-01 -1.68492748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.318639999999995 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:36.00, Y:-6.56, Z:-1.69 [[ 9.39008505e-01 3.38994674e-01 5.78414895e-02 3.60015810e+01] [-3.38401351e-01 9.40788005e-01 -2.00613066e-02 -6.55677779e+00] [-6.12172556e-02 -7.35900688e-04 9.98124194e-01 -1.68625041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.348639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-6.56, Z:-1.69 [[ 9.40454921e-01 3.34927332e-01 5.80363968e-02 3.60344585e+01] [-3.34321733e-01 9.42243847e-01 -2.01373367e-02 -6.56055026e+00] [-6.14289823e-02 -4.64571355e-04 9.98111349e-01 -1.68740737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.07, Y:-6.57, Z:-1.69 [[ 9.40390600e-01 3.35108402e-01 5.80334170e-02 3.60651999e+01] [-3.34502618e-01 9.42179463e-01 -2.01459212e-02 -6.57115295e+00] [-6.14289611e-02 -4.67294988e-04 9.98111349e-01 -1.68880158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40864 meters Centerline goodness [0,1] 0.9998033528341773 Centerline is valid? [True, True] Translation: X:36.10, Y:-6.58, Z:-1.69 [[ 9.40638052e-01 3.34377987e-01 5.82358733e-02 3.60966408e+01] [-3.33765869e-01 9.42438960e-01 -2.02274922e-02 -6.57844435e+00] [-6.16473841e-02 -4.10397982e-04 9.98097907e-01 -1.68983641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.13, Y:-6.59, Z:-1.69 [[ 9.40628545e-01 3.34426739e-01 5.81093442e-02 3.61278693e+01] [-3.33816863e-01 9.42421664e-01 -2.01918328e-02 -6.58729001e+00] [-6.15161936e-02 -4.04864624e-04 9.98106003e-01 -1.69129560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:36.16, Y:-6.60, Z:-1.69 [[ 9.40803945e-01 3.34014555e-01 5.76386471e-02 3.61586732e+01] [-3.33413255e-01 9.42567845e-01 -2.00364514e-02 -6.59574277e+00] [-6.10208018e-02 -3.67116448e-04 9.98136427e-01 -1.69217627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:-6.60, Z:-1.70 [[ 9.40798302e-01 3.33852404e-01 5.86611253e-02 3.61898713e+01] [-3.33228760e-01 9.42625295e-01 -2.03996880e-02 -6.60226658e+00] [-6.21059454e-02 -3.55582218e-04 9.98069499e-01 -1.69509053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.528639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:-6.61, Z:-1.69 [[ 9.41376540e-01 3.32021590e-01 5.97651593e-02 3.62222108e+01] [-3.31370086e-01 9.43271758e-01 -2.07907701e-02 -6.60801999e+00] [-6.32777714e-02 -2.32442814e-04 9.97995927e-01 -1.69486526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.25, Y:-6.62, Z:-1.70 [[ 9.41922498e-01 3.30201445e-01 6.12291838e-02 3.62531104e+01] [-3.29513182e-01 9.43910480e-01 -2.13088814e-02 -6.61682642e+00] [-6.48310917e-02 -1.04508407e-04 9.97896246e-01 -1.69715892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:36.28, Y:-6.63, Z:-1.70 [[ 9.42674672e-01 3.28026581e-01 6.13434902e-02 3.62835545e+01] [-3.27330572e-01 9.44668492e-01 -2.13573773e-02 -6.62692802e+00] [-6.49550498e-02 5.34589418e-05 9.97888189e-01 -1.69928615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:36.31, Y:-6.64, Z:-1.70 [[ 9.43475880e-01 3.25718725e-01 6.13235367e-02 3.63140438e+01] [-3.25017731e-01 9.45466691e-01 -2.13590950e-02 -6.63746823e+00] [-6.49364185e-02 2.20554159e-04 9.97889379e-01 -1.70066059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64864 meters Centerline goodness [0,1] 0.9998034398034398 Centerline is valid? [True, True] Translation: X:36.34, Y:-6.65, Z:-1.70 [[ 9.45186113e-01 3.20690012e-01 6.14908681e-02 3.63441916e+01] [-3.19973969e-01 9.47184029e-01 -2.14260377e-02 -6.64801033e+00] [-6.51142845e-02 5.76116138e-04 9.97877647e-01 -1.70253108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67864 meters Centerline goodness [0,1] 0.9998034494619429 Centerline is valid? [True, True] Translation: X:36.37, Y:-6.66, Z:-1.70 [[ 9.46041818e-01 3.18005624e-01 6.22679862e-02 3.63743338e+01] [-3.17264959e-01 9.48088507e-01 -2.17055108e-02 -6.65876946e+00] [-6.59380366e-02 7.78870825e-04 9.97823416e-01 -1.70398073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.708639999999995 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:36.40, Y:-6.67, Z:-1.71 [[ 9.46255548e-01 3.17408046e-01 6.20690817e-02 3.64044829e+01] [-3.16670165e-01 9.48288694e-01 -2.16462194e-02 -6.67256120e+00] [-6.57300926e-02 8.27428849e-04 9.97837096e-01 -1.70515272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73864 meters Centerline goodness [0,1] 0.9998525581166757 Centerline is valid? [True, True] Translation: X:36.43, Y:-6.68, Z:-1.71 [[ 9.46343878e-01 3.17754308e-01 5.88681914e-02 3.64345980e+01] [-3.17090662e-01 9.48172771e-01 -2.05404072e-02 -6.68486589e+00] [-6.23440190e-02 7.71734832e-04 9.98054421e-01 -1.70564803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76864 meters Centerline goodness [0,1] 0.9997538400945254 Centerline is valid? [True, True] Translation: X:36.46, Y:-6.70, Z:-1.71 [[ 9.45887238e-01 3.19046705e-01 5.92159828e-02 3.64645025e+01] [-3.18377115e-01 9.47738735e-01 -2.06712886e-02 -6.69880755e+00] [-6.27163872e-02 6.99694311e-04 9.98031144e-01 -1.70763588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:36.49, Y:-6.72, Z:-1.71 [[ 9.45586293e-01 3.20582069e-01 5.56210265e-02 3.64924933e+01] [-3.19993443e-01 9.47220571e-01 -1.94264122e-02 -6.71523281e+00] [-5.89131399e-02 5.70985355e-04 9.98262949e-01 -1.70815832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82864 meters Centerline goodness [0,1] 0.9998034784317579 Centerline is valid? [True, True] Translation: X:36.52, Y:-6.73, Z:-1.71 [[ 9.45082100e-01 3.21907282e-01 5.65289915e-02 3.65219303e+01] [-3.21301152e-01 9.46771064e-01 -1.97514970e-02 -6.72873677e+00] [-5.98781642e-02 5.03956107e-04 9.98205566e-01 -1.71044248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85864 meters Centerline goodness [0,1] 0.999606725002458 Centerline is valid? [True, True] Translation: X:36.55, Y:-6.74, Z:-1.71 [[ 9.44721106e-01 3.22817081e-01 5.73686751e-02 3.65513708e+01] [-3.22193901e-01 9.46461261e-01 -2.00542136e-02 -6.74423877e+00] [-6.07710713e-02 4.61801600e-04 9.98151624e-01 -1.71192136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.888639999999995 meters Centerline goodness [0,1] 0.9998030914640149 Centerline is valid? [True, True] Translation: X:36.58, Y:-6.76, Z:-1.71 [[ 9.44718065e-01 3.22828569e-01 5.73541027e-02 3.65815967e+01] [-3.22204988e-01 9.46457338e-01 -2.00612593e-02 -6.75690814e+00] [-6.07595589e-02 4.72456160e-04 9.98152319e-01 -1.71314733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.918639999999996 meters Centerline goodness [0,1] 0.9999015651146766 Centerline is valid? [True, True] Translation: X:36.61, Y:-6.77, Z:-1.71 [[ 9.44226882e-01 3.24201708e-01 5.76961638e-02 3.66120469e+01] [-3.23572464e-01 9.45987893e-01 -2.01932316e-02 -6.77112755e+00] [-6.11265526e-02 3.98102227e-04 9.98129944e-01 -1.71438434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94864 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:36.64, Y:-6.78, Z:-1.72 [[ 9.43753114e-01 3.25592786e-01 5.76142213e-02 3.66422034e+01] [-3.24967242e-01 9.45510041e-01 -2.01755939e-02 -6.78232531e+00] [-6.10438526e-02 3.18044942e-04 9.98135034e-01 -1.71561866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97864 meters Centerline goodness [0,1] 0.9999014681249384 Centerline is valid? [True, True] Translation: X:36.67, Y:-6.79, Z:-1.72 [[ 9.43797492e-01 3.25495737e-01 5.74353477e-02 3.66738034e+01] [-3.24873322e-01 9.45543450e-01 -2.01223722e-02 -6.79260303e+00] [-6.08573632e-02 3.32232221e-04 9.98146418e-01 -1.71680181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00864 meters Centerline goodness [0,1] 0.9994099424693907 Centerline is valid? [True, True] Translation: X:36.70, Y:-6.80, Z:-1.72 [[ 9.43733867e-01 3.25834196e-01 5.65549730e-02 3.67035164e+01] [-3.25230686e-01 9.45426875e-01 -1.98248357e-02 -6.80420343e+00] [-5.99282008e-02 3.15956164e-04 9.98202640e-01 -1.71879456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03864 meters Centerline goodness [0,1] 0.9995575221238938 Centerline is valid? [True, True] Translation: X:36.73, Y:-6.82, Z:-1.72 [[ 9.44126785e-01 3.24664043e-01 5.67262946e-02 3.67335119e+01] [-3.24054272e-01 9.45829318e-01 -1.98929483e-02 -6.81569185e+00] [-6.01119175e-02 3.99067272e-04 9.98191564e-01 -1.72096450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.068639999999995 meters Centerline goodness [0,1] 0.9995082128454805 Centerline is valid? [True, True] Translation: X:36.76, Y:-6.83, Z:-1.72 [[ 9.44578776e-01 3.23069557e-01 5.82837699e-02 3.67640598e+01] [-3.22422254e-01 9.46375078e-01 -2.04475211e-02 -6.82704237e+00] [-6.17642789e-02 5.22309945e-04 9.98090628e-01 -1.72164003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.098639999999996 meters Centerline goodness [0,1] 0.9997541668715276 Centerline is valid? [True, True] Translation: X:36.79, Y:-6.84, Z:-1.72 [[ 9.45023316e-01 3.21487164e-01 5.98074830e-02 3.67949189e+01] [-3.20801829e-01 9.46913713e-01 -2.09906099e-02 -6.83699502e+00] [-6.33807375e-02 6.50265821e-04 9.97989208e-01 -1.72335724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12864 meters Centerline goodness [0,1] 0.9997540459442176 Centerline is valid? [True, True] Translation: X:36.82, Y:-6.85, Z:-1.72 [[ 9.45262467e-01 3.21008893e-01 5.85846318e-02 3.68247309e+01] [-3.20349906e-01 9.47075939e-01 -2.05694901e-02 -6.84801981e+00] [-6.20870844e-02 6.75985701e-04 9.98070507e-01 -1.72471832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15864 meters Centerline goodness [0,1] 0.9995556652678351 Centerline is valid? [True, True] Translation: X:36.86, Y:-6.86, Z:-1.73 [[ 9.45584223e-01 3.19934725e-01 5.92642274e-02 3.68551807e+01] [-3.19257714e-01 9.47439280e-01 -2.08164090e-02 -6.85982626e+00] [-6.28091490e-02 7.63106150e-04 9.98025264e-01 -1.72593950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18864 meters Centerline goodness [0,1] 0.999410145497444 Centerline is valid? [True, True] Translation: X:36.89, Y:-6.87, Z:-1.73 [[ 9.45937242e-01 3.18664963e-01 6.04596994e-02 3.68851053e+01] [-3.17957192e-01 9.47867016e-01 -2.12448654e-02 -6.87104931e+00] [-6.40777491e-02 8.72713121e-04 9.97944528e-01 -1.72689326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21864 meters Centerline goodness [0,1] 0.998967246975509 Centerline is valid? [True, True] Translation: X:36.92, Y:-6.88, Z:-1.73 [[ 9.46005208e-01 3.18390426e-01 6.08414644e-02 3.69151798e+01] [-3.17672557e-01 9.47959238e-01 -2.13875838e-02 -6.88195091e+00] [-6.44848301e-02 9.05102087e-04 9.97918277e-01 -1.72728272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24864 meters Centerline goodness [0,1] 0.9993602677033611 Centerline is valid? [True, True] Translation: X:36.94, Y:-6.89, Z:-1.73 [[ 9.45981039e-01 3.18721943e-01 5.94659259e-02 3.69449243e+01] [-3.18036341e-01 9.47847860e-01 -2.09121868e-02 -6.89470094e+00] [-6.30298234e-02 8.70206698e-04 9.98011265e-01 -1.72807828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.278639999999996 meters Centerline goodness [0,1] 0.9993604250713372 Centerline is valid? [True, True] Translation: X:36.98, Y:-6.91, Z:-1.73 [[ 9.45904616e-01 3.18901492e-01 5.97184700e-02 3.69757665e+01] [-3.18209791e-01 9.47787465e-01 -2.10107003e-02 -6.90704533e+00] [-6.33007610e-02 8.71116604e-04 9.97994116e-01 -1.72978768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30864 meters Centerline goodness [0,1] 0.9997048696507624 Centerline is valid? [True, True] Translation: X:37.01, Y:-6.92, Z:-1.73 [[ 9.45917767e-01 3.18799726e-01 6.00525802e-02 3.70060905e+01] [-3.18099332e-01 9.47821679e-01 -2.11395119e-02 -6.91874218e+00] [-6.36584080e-02 8.93554241e-04 9.97971347e-01 -1.73166812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33864 meters Centerline goodness [0,1] 0.9993116333956141 Centerline is valid? [True, True] Translation: X:37.04, Y:-6.93, Z:-1.73 [[ 9.45567432e-01 3.19702792e-01 6.07647605e-02 3.70361319e+01] [-3.18986890e-01 9.47517492e-01 -2.14001288e-02 -6.93419176e+00] [-6.44173544e-02 8.52102828e-04 9.97922682e-01 -1.73280245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36864 meters Centerline goodness [0,1] 0.9995077286600375 Centerline is valid? [True, True] Translation: X:37.07, Y:-6.95, Z:-1.74 [[ 9.45419942e-01 3.19882751e-01 6.20979759e-02 3.70653288e+01] [-3.19134671e-01 9.47456738e-01 -2.18813124e-02 -6.94728362e+00] [-6.58346000e-02 8.69411957e-04 9.97830171e-01 -1.73526874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39864 meters Centerline goodness [0,1] 0.9995572173570796 Centerline is valid? [True, True] Translation: X:37.09, Y:-6.96, Z:-1.74 [[ 9.45064581e-01 3.20697857e-01 6.32915665e-02 3.70943742e+01] [-3.19921398e-01 9.47181171e-01 -2.23187831e-02 -6.96064265e+00] [-6.71061660e-02 8.44365014e-04 9.97745483e-01 -1.73502825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42864 meters Centerline goodness [0,1] 0.9997048406139315 Centerline is valid? [True, True] Translation: X:37.13, Y:-6.97, Z:-1.74 [[ 9.44788040e-01 3.21590509e-01 6.28896096e-02 3.71256542e+01] [-3.20823719e-01 9.46878500e-01 -2.22091716e-02 -6.97269590e+00] [-6.66910780e-02 8.06481233e-04 9.97773346e-01 -1.73641526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.458639999999995 meters Centerline goodness [0,1] 0.9996554270243663 Centerline is valid? [True, True] Translation: X:37.16, Y:-6.98, Z:-1.74 [[ 9.44525967e-01 3.22641152e-01 6.14278902e-02 3.71557415e+01] [-3.21909736e-01 9.46521067e-01 -2.17253491e-02 -6.98464018e+00] [-6.51522839e-02 7.45920381e-04 9.97875054e-01 -1.73826603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48864 meters Centerline goodness [0,1] 0.9992116284799212 Centerline is valid? [True, True] Translation: X:37.18, Y:-7.00, Z:-1.74 [[ 9.43898029e-01 3.24485604e-01 6.13645116e-02 3.71845351e+01] [-3.23757633e-01 9.45890414e-01 -2.17329280e-02 -6.99989092e+00] [-6.50961255e-02 6.46438925e-04 9.97878789e-01 -1.74063853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51864 meters Centerline goodness [0,1] 0.9992610109370381 Centerline is valid? [True, True] Translation: X:37.21, Y:-7.01, Z:-1.74 [[ 9.43802568e-01 3.24926867e-01 6.04916880e-02 3.72145424e+01] [-3.24218905e-01 9.45738936e-01 -2.14468223e-02 -7.01288940e+00] [-6.41779935e-02 6.29017150e-04 9.97938269e-01 -1.74126564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54864 meters Centerline goodness [0,1] 0.999409884435702 Centerline is valid? [True, True] Translation: X:37.24, Y:-7.03, Z:-1.74 [[ 9.43818846e-01 3.24832510e-01 6.07439400e-02 3.72448794e+01] [-3.24117213e-01 9.45771331e-01 -2.15551046e-02 -7.02561183e+00] [-6.44516757e-02 6.55957394e-04 9.97920614e-01 -1.74320027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57864 meters Centerline goodness [0,1] 0.9993605194549658 Centerline is valid? [True, True] Translation: X:37.27, Y:-7.04, Z:-1.74 [[ 9.44100228e-01 3.24171854e-01 5.98946410e-02 3.72738200e+01] [-3.23472957e-01 9.45997931e-01 -2.12875691e-02 -7.04158289e+00] [-6.35610373e-02 7.23302252e-04 9.97977691e-01 -1.74365904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60864 meters Centerline goodness [0,1] 0.9995575221238938 Centerline is valid? [True, True] Translation: X:37.30, Y:-7.05, Z:-1.75 [[ 9.44000931e-01 3.24393748e-01 6.02572736e-02 3.73040611e+01] [-3.23684617e-01 9.45921847e-01 -2.14505880e-02 -7.05388729e+00] [-6.39571082e-02 7.45022500e-04 9.97952370e-01 -1.74505899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.638639999999995 meters Centerline goodness [0,1] 0.999753961224289 Centerline is valid? [True, True] Translation: X:37.33, Y:-7.07, Z:-1.75 [[ 9.44320908e-01 3.23372234e-01 6.07323740e-02 3.73337585e+01] [-3.22647622e-01 9.46271458e-01 -2.16526984e-02 -7.06742508e+00] [-6.44711935e-02 8.51939737e-04 9.97919205e-01 -1.74795259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.668639999999996 meters Centerline goodness [0,1] 0.9997536703123461 Centerline is valid? [True, True] Translation: X:37.36, Y:-7.08, Z:-1.75 [[ 9.44146352e-01 3.23980420e-01 6.02025956e-02 3.73642203e+01] [-3.23267674e-01 9.46063420e-01 -2.14945780e-02 -7.08088254e+00] [-6.39192959e-02 8.32474426e-04 9.97954724e-01 -1.74871309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69864 meters Centerline goodness [0,1] 0.9999012101753519 Centerline is valid? [True, True] Translation: X:37.39, Y:-7.09, Z:-1.75 [[ 9.43848669e-01 3.24733615e-01 6.08092882e-02 3.73942416e+01] [-3.24005742e-01 9.45805161e-01 -2.17457155e-02 -7.09410982e+00] [-6.45753035e-02 8.22106143e-04 9.97912498e-01 -1.75033199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72864 meters Centerline goodness [0,1] 0.9998523767345734 Centerline is valid? [True, True] Translation: X:37.42, Y:-7.11, Z:-1.75 [[ 9.43319601e-01 3.26297632e-01 6.06463945e-02 3.74233507e+01] [-3.25574763e-01 9.45266788e-01 -2.17203269e-02 -7.10821553e+00] [-6.44143139e-02 7.44274601e-04 9.97922964e-01 -1.75124310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75864 meters Centerline goodness [0,1] 0.9999016522423289 Centerline is valid? [True, True] Translation: X:37.45, Y:-7.12, Z:-1.75 [[ 9.42699119e-01 3.27941282e-01 6.14238343e-02 3.74541943e+01] [-3.27201121e-01 9.44697870e-01 -2.20308927e-02 -7.12090827e+00] [-6.52518047e-02 6.70555654e-04 9.97868605e-01 -1.75277896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78864 meters Centerline goodness [0,1] 0.9999014487040505 Centerline is valid? [True, True] Translation: X:37.48, Y:-7.13, Z:-1.75 [[ 9.42268613e-01 3.28958697e-01 6.25782448e-02 3.74845623e+01] [-3.28190268e-01 9.44344089e-01 -2.24808567e-02 -7.13331895e+00] [-6.64906689e-02 6.45434683e-04 9.97786838e-01 -1.75434572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.818639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.52, Y:-7.15, Z:-1.76 [[ 9.41509161e-01 3.31109846e-01 6.26639468e-02 3.75155361e+01] [-3.30341686e-01 9.43592068e-01 -2.25472591e-02 -7.14622048e+00] [-6.65948226e-02 5.27937139e-04 9.97779961e-01 -1.75545352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.848639999999996 meters Centerline goodness [0,1] 0.9999015166436872 Centerline is valid? [True, True] Translation: X:37.54, Y:-7.16, Z:-1.76 [[ 9.40167367e-01 3.34530832e-01 6.46099404e-02 3.75445617e+01] [-3.33719761e-01 9.42384749e-01 -2.32831755e-02 -7.16085944e+00] [-6.86763625e-02 3.28467932e-04 9.97638937e-01 -1.75710984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.57, Y:-7.18, Z:-1.76 [[ 9.38461659e-01 3.39138951e-01 6.53795618e-02 3.75747585e+01] [-3.38317144e-01 9.40736292e-01 -2.35953215e-02 -7.17572239e+00] [-6.95070191e-02 2.42779411e-05 9.97581462e-01 -1.75903874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90864 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:37.60, Y:-7.19, Z:-1.76 [[ 9.37042330e-01 3.42724116e-01 6.70212834e-02 3.76044780e+01] [-3.41866934e-01 9.39436073e-01 -2.42252697e-02 -7.18840212e+00] [-7.12647954e-02 -2.12257501e-04 9.97457410e-01 -1.76122367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:-7.20, Z:-1.76 [[ 9.35828183e-01 3.45934688e-01 6.74892787e-02 3.76337261e+01] [-3.45071339e-01 9.38258498e-01 -2.44287167e-02 -7.20082953e+00] [-7.17731297e-02 -4.27534169e-04 9.97420892e-01 -1.76307952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96864 meters Centerline goodness [0,1] 0.9998524203069658 Centerline is valid? [True, True] Translation: X:37.66, Y:-7.21, Z:-1.76 [[ 9.34816385e-01 3.48690158e-01 6.73312758e-02 3.76642711e+01] [-3.47835387e-01 9.37237862e-01 -2.44076655e-02 -7.21349990e+00] [-7.16161337e-02 -6.03514761e-04 9.97432085e-01 -1.76494353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99864 meters Centerline goodness [0,1] 0.999409681227863 Centerline is valid? [True, True] Translation: X:37.69, Y:-7.23, Z:-1.77 [[ 9.32461441e-01 3.54963684e-01 6.72044920e-02 3.76935489e+01] [-3.54125700e-01 9.34879503e-01 -2.43988470e-02 -7.22700683e+00] [-7.14888067e-02 -1.04785373e-03 9.97440852e-01 -1.76641356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.028639999999996 meters Centerline goodness [0,1] 0.9992610837438424 Centerline is valid? [True, True] Translation: X:37.72, Y:-7.24, Z:-1.77 [[ 9.30970553e-01 3.58678369e-01 6.81443782e-02 3.77240260e+01] [-3.57824140e-01 9.33460277e-01 -2.47749276e-02 -7.23756155e+00] [-7.24963008e-02 -1.31897543e-03 9.97367809e-01 -1.76766123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05864 meters Centerline goodness [0,1] 0.9989659247587158 Centerline is valid? [True, True] Translation: X:37.75, Y:-7.25, Z:-1.77 [[ 9.29716157e-01 3.61957259e-01 6.79323981e-02 3.77547878e+01] [-3.61114565e-01 9.32193424e-01 -2.47323948e-02 -7.24717559e+00] [-7.22782046e-02 -1.53727136e-03 9.97383325e-01 -1.76925157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08864 meters Centerline goodness [0,1] 0.9987697455833866 Centerline is valid? [True, True] Translation: X:37.79, Y:-7.26, Z:-1.77 [[ 9.27493228e-01 3.67509347e-01 6.85068717e-02 3.77856260e+01] [-3.66665585e-01 9.30017756e-01 -2.49664162e-02 -7.25593595e+00] [-7.28879984e-02 -1.96293023e-03 9.97338201e-01 -1.77134176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11864 meters Centerline goodness [0,1] 0.9984241887034028 Centerline is valid? [True, True] Translation: X:37.82, Y:-7.26, Z:-1.77 [[ 9.25845761e-01 3.71941163e-01 6.68535590e-02 3.78164996e+01] [-3.71147809e-01 9.28253610e-01 -2.43831694e-02 -7.26418673e+00] [-7.11261619e-02 -2.23749796e-03 9.97464818e-01 -1.77259272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14864 meters Centerline goodness [0,1] 0.9980322707595435 Centerline is valid? [True, True] Translation: X:37.85, Y:-7.27, Z:-1.77 [[ 9.25258684e-01 3.73411987e-01 6.67821543e-02 3.78479518e+01] [-3.72621720e-01 9.27662720e-01 -2.43912031e-02 -7.27227568e+00] [-7.10592825e-02 -2.31630873e-03 9.97469405e-01 -1.77367641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17864 meters Centerline goodness [0,1] 0.9977354403583911 Centerline is valid? [True, True] Translation: X:37.88, Y:-7.28, Z:-1.78 [[ 9.24767721e-01 3.74665130e-01 6.65635201e-02 3.78794196e+01] [-3.73880856e-01 9.27157165e-01 -2.43453538e-02 -7.27945051e+00] [-7.08361998e-02 -2.37302860e-03 9.97485139e-01 -1.77551416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.208639999999995 meters Centerline goodness [0,1] 0.9970434611215138 Centerline is valid? [True, True] Translation: X:37.91, Y:-7.29, Z:-1.78 [[ 9.24088108e-01 3.76141440e-01 6.76667219e-02 3.79110968e+01] [-3.75332422e-01 9.26558895e-01 -2.47827741e-02 -7.28525103e+00] [-7.20190315e-02 -2.49604778e-03 9.97400135e-01 -1.77612783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23864 meters Centerline goodness [0,1] 0.9973425196850394 Centerline is valid? [True, True] Translation: X:37.94, Y:-7.29, Z:-1.78 [[ 9.23748014e-01 3.77248632e-01 6.61292424e-02 3.79448374e+01] [-3.76476996e-01 9.26108645e-01 -2.42455854e-02 -7.28797867e+00] [-7.03894770e-02 -2.49932718e-03 9.97516453e-01 -1.77879745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26864 meters Centerline goodness [0,1] 0.996992555341912 Centerline is valid? [True, True] Translation: X:37.98, Y:-7.30, Z:-1.78 [[ 9.23232778e-01 3.78590208e-01 6.56558622e-02 3.79770636e+01] [-3.77831142e-01 9.25560861e-01 -2.40981402e-02 -7.29577609e+00] [-6.98918163e-02 -2.55863645e-03 9.97551296e-01 -1.77951580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29864 meters Centerline goodness [0,1] 0.996992555341912 Centerline is valid? [True, True] Translation: X:38.01, Y:-7.31, Z:-1.78 [[ 9.23036924e-01 3.79069627e-01 6.56433952e-02 3.80077555e+01] [-3.78309361e-01 9.25364615e-01 -2.41320633e-02 -7.30673084e+00] [-6.98918074e-02 -2.55872544e-03 9.97551296e-01 -1.78091119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32864 meters Centerline goodness [0,1] 0.9969006739804201 Centerline is valid? [True, True] Translation: X:38.04, Y:-7.31, Z:-1.78 [[ 9.23001629e-01 3.79433794e-01 6.40155315e-02 3.80408718e+01] [-3.78709264e-01 9.25215543e-01 -2.35689053e-02 -7.31038639e+00] [-6.81710039e-02 -2.48913677e-03 9.97670546e-01 -1.78304366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35864 meters Centerline goodness [0,1] 0.9969492693007922 Centerline is valid? [True, True] Translation: X:38.07, Y:-7.32, Z:-1.78 [[ 9.23184648e-01 3.79098078e-01 6.33620759e-02 3.80725392e+01] [-3.78385308e-01 9.25353361e-01 -2.33605479e-02 -7.31684119e+00] [-6.74882487e-02 -2.40917943e-03 9.97717160e-01 -1.78316359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.388639999999995 meters Centerline goodness [0,1] 0.9967037292138148 Centerline is valid? [True, True] Translation: X:38.10, Y:-7.32, Z:-1.78 [[ 9.23698174e-01 3.77971327e-01 6.26047838e-02 3.81042216e+01] [-3.77270802e-01 9.25814520e-01 -2.31131188e-02 -7.32438016e+00] [-6.66965141e-02 -2.26941131e-03 9.97770728e-01 -1.78442321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.418639999999996 meters Centerline goodness [0,1] 0.9973423888970914 Centerline is valid? [True, True] Translation: X:38.14, Y:-7.33, Z:-1.78 [[ 9.24556928e-01 3.76029993e-01 6.16111308e-02 3.81372308e+01] [-3.75345180e-01 9.26605188e-01 -2.27776428e-02 -7.32865824e+00] [-6.56542703e-02 -2.06621351e-03 9.97840292e-01 -1.78495512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44864 meters Centerline goodness [0,1] 0.9976890549709903 Centerline is valid? [True, True] Translation: X:38.17, Y:-7.34, Z:-1.79 [[ 9.24674390e-01 3.75651608e-01 6.21541853e-02 3.81695408e+01] [-3.74952098e-01 9.26758725e-01 -2.30041166e-02 -7.33689119e+00] [-6.62434669e-02 -2.03352476e-03 9.97801417e-01 -1.78681124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47864 meters Centerline goodness [0,1] 0.9972466689611093 Centerline is valid? [True, True] Translation: X:38.20, Y:-7.35, Z:-1.79 [[ 9.25133046e-01 3.74654658e-01 6.13411405e-02 3.82008319e+01] [-3.73970379e-01 9.27162435e-01 -2.27150820e-02 -7.34543309e+00] [-6.53835125e-02 -1.92529657e-03 9.97858351e-01 -1.78852553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50864 meters Centerline goodness [0,1] 0.9968062106918238 Centerline is valid? [True, True] Translation: X:38.23, Y:-7.35, Z:-1.79 [[ 9.25570402e-01 3.73536506e-01 6.15622378e-02 3.82327548e+01] [-3.72844217e-01 9.27613646e-01 -2.28060071e-02 -7.35152857e+00] [-6.56248481e-02 -1.84455918e-03 9.97842661e-01 -1.78955972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53864 meters Centerline goodness [0,1] 0.9965613793781009 Centerline is valid? [True, True] Translation: X:38.27, Y:-7.36, Z:-1.79 [[ 9.25380305e-01 3.74018922e-01 6.14909486e-02 3.82650290e+01] [-3.73328605e-01 9.27419194e-01 -2.27901622e-02 -7.36044325e+00] [-6.55518379e-02 -1.86676283e-03 9.97847419e-01 -1.79067336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.568639999999995 meters Centerline goodness [0,1] 0.9969989176424284 Centerline is valid? [True, True] Translation: X:38.30, Y:-7.37, Z:-1.79 [[ 9.26282057e-01 3.71848130e-01 6.10779796e-02 3.82980202e+01] [-3.71161574e-01 9.28292039e-01 -2.26489610e-02 -7.36510387e+00] [-6.51201760e-02 -1.69047294e-03 9.97875997e-01 -1.79034682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.598639999999996 meters Centerline goodness [0,1] 0.9970985984755348 Centerline is valid? [True, True] Translation: X:38.33, Y:-7.37, Z:-1.79 [[ 9.26889070e-01 3.70415205e-01 6.05741540e-02 3.83291082e+01] [-3.69736308e-01 9.28864961e-01 -2.24710086e-02 -7.37286415e+00] [-6.45888125e-02 -1.56833180e-03 9.97910730e-01 -1.79178371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62864 meters Centerline goodness [0,1] 0.9969993605194549 Centerline is valid? [True, True] Translation: X:38.36, Y:-7.38, Z:-1.79 [[ 9.27251693e-01 3.69703227e-01 5.93617901e-02 3.83607354e+01] [-3.69049256e-01 9.29148714e-01 -2.20298493e-02 -7.38082185e+00] [-6.33004373e-02 -1.48020942e-03 9.97993419e-01 -1.79325346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65864 meters Centerline goodness [0,1] 0.9971504372604894 Centerline is valid? [True, True] Translation: X:38.39, Y:-7.39, Z:-1.80 [[ 9.27792099e-01 3.68177606e-01 6.03909917e-02 3.83916353e+01] [-3.67496938e-01 9.29754437e-01 -2.24206887e-02 -7.38914477e+00] [-6.44035880e-02 -1.39176677e-03 9.97922963e-01 -1.79524083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68864 meters Centerline goodness [0,1] 0.9967569161220579 Centerline is valid? [True, True] Translation: X:38.42, Y:-7.39, Z:-1.80 [[ 9.29356950e-01 3.64223275e-01 6.03080848e-02 3.84238437e+01] [-3.63535582e-01 9.31311000e-01 -2.23987051e-02 -7.39484787e+00] [-6.43237125e-02 -1.10774241e-03 9.97928471e-01 -1.79668382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71864 meters Centerline goodness [0,1] 0.996951519323434 Centerline is valid? [True, True] Translation: X:38.46, Y:-7.40, Z:-1.80 [[ 9.30039022e-01 3.62629485e-01 5.93908603e-02 3.84552550e+01] [-3.61958780e-01 9.31932888e-01 -2.20665797e-02 -7.40211431e+00] [-6.33502884e-02 -9.74263179e-04 9.97990878e-01 -1.79740248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74864 meters Centerline goodness [0,1] 0.9975902429428544 Centerline is valid? [True, True] Translation: X:38.49, Y:-7.40, Z:-1.80 [[ 9.30771047e-01 3.60528891e-01 6.06974147e-02 3.84872959e+01] [-3.59823378e-01 9.32747666e-01 -2.25594261e-02 -7.40486044e+00] [-6.47486968e-02 -8.42688090e-04 9.97901246e-01 -1.79877599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.778639999999996 meters Centerline goodness [0,1] 0.9971013068684288 Centerline is valid? [True, True] Translation: X:38.52, Y:-7.41, Z:-1.80 [[ 9.31199790e-01 3.59677798e-01 5.91509317e-02 3.85184580e+01] [-3.59005832e-01 9.33076259e-01 -2.19888162e-02 -7.41177988e+00] [-6.31012191e-02 -7.59548384e-04 9.98006843e-01 -1.79904303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80864 meters Centerline goodness [0,1] 0.996956607107795 Centerline is valid? [True, True] Translation: X:38.55, Y:-7.42, Z:-1.80 [[ 9.31963173e-01 3.57704509e-01 5.90942365e-02 3.85500823e+01] [-3.57029683e-01 9.33834619e-01 -2.19706424e-02 -7.41547474e+00] [-6.30432417e-02 -6.22566939e-04 9.98010602e-01 -1.80045333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83864 meters Centerline goodness [0,1] 0.9970987411487018 Centerline is valid? [True, True] Translation: X:38.58, Y:-7.42, Z:-1.80 [[ 9.32791717e-01 3.55244130e-01 6.08376630e-02 3.85790585e+01] [-3.54523722e-01 9.34773441e-01 -2.26173433e-02 -7.42330132e+00] [-6.49041101e-02 -4.71124266e-04 9.97891394e-01 -1.80308787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86864 meters Centerline goodness [0,1] 0.9971034415042467 Centerline is valid? [True, True] Translation: X:38.61, Y:-7.43, Z:-1.80 [[ 9.33541372e-01 3.53338940e-01 6.04326165e-02 3.86088000e+01] [-3.52624297e-01 9.35495312e-01 -2.24638893e-02 -7.43204647e+00] [-6.44717962e-02 -3.39038831e-04 9.97919472e-01 -1.80309413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89864 meters Centerline goodness [0,1] 0.9977890237311453 Centerline is valid? [True, True] Translation: X:38.64, Y:-7.44, Z:-1.81 [[ 9.34444380e-01 3.50683346e-01 6.19264943e-02 3.86381620e+01] [-3.49927171e-01 9.36494082e-01 -2.30176133e-02 -7.43849753e+00] [-6.60656890e-02 -1.61083504e-04 9.97815263e-01 -1.80594841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92864 meters Centerline goodness [0,1] 0.9975431182742863 Centerline is valid? [True, True] Translation: X:38.67, Y:-7.45, Z:-1.81 [[ 9.35189932e-01 3.49214387e-01 5.88990885e-02 3.86672603e+01] [-3.48527714e-01 9.37042853e-01 -2.18889145e-02 -7.44680022e+00] [-6.28348938e-02 -5.76721893e-05 9.98023934e-01 -1.80647771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.958639999999995 meters Centerline goodness [0,1] 0.9972903734358065 Centerline is valid? [True, True] Translation: X:38.69, Y:-7.46, Z:-1.81 [[ 9.36145047e-01 3.46922360e-01 5.72479548e-02 3.86949965e+01] [-3.46270005e-01 9.37893848e-01 -2.12653235e-02 -7.45554111e+00] [-6.10699208e-02 8.41776498e-05 9.98133487e-01 -1.80804414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98864 meters Centerline goodness [0,1] 0.9976403500147478 Centerline is valid? [True, True] Translation: X:38.72, Y:-7.47, Z:-1.81 [[ 9.37724281e-01 3.42812626e-01 5.61487008e-02 3.87212990e+01] [-3.42179471e-01 9.39403748e-01 -2.08280490e-02 -7.46522823e+00] [-5.98864181e-02 3.18034509e-04 9.98205147e-01 -1.80908689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01864 meters Centerline goodness [0,1] 0.9982796755959695 Centerline is valid? [True, True] Translation: X:38.75, Y:-7.48, Z:-1.81 [[ 9.38520222e-01 3.40593596e-01 5.63542018e-02 3.87480856e+01] [-3.39953664e-01 9.40210517e-01 -2.08732142e-02 -7.47593603e+00] [-6.00940963e-02 4.32116281e-04 9.98192623e-01 -1.80944546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04864 meters Centerline goodness [0,1] 0.9981326781326781 Centerline is valid? [True, True] Translation: X:38.77, Y:-7.49, Z:-1.81 [[ 9.39368699e-01 3.38065015e-01 5.74325035e-02 3.87741318e+01] [-3.37397373e-01 9.41122580e-01 -2.12438516e-02 -7.48711800e+00] [-6.12328289e-02 5.78233461e-04 9.98123342e-01 -1.81010675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07864 meters Centerline goodness [0,1] 0.9978380503144654 Centerline is valid? [True, True] Translation: X:38.80, Y:-7.50, Z:-1.81 [[ 9.39379939e-01 3.37850489e-01 5.85010808e-02 3.88002068e+01] [-3.37159152e-01 9.41199615e-01 -2.16099812e-02 -7.49800562e+00] [-6.23621374e-02 5.75808056e-04 9.98053422e-01 -1.81232227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10864 meters Centerline goodness [0,1] 0.997985257985258 Centerline is valid? [True, True] Translation: X:38.83, Y:-7.51, Z:-1.81 [[ 9.39437513e-01 3.37892359e-01 5.73228875e-02 3.88269441e+01] [-3.37229949e-01 9.41184604e-01 -2.11542452e-02 -7.50970237e+00] [-6.10992770e-02 5.42097111e-04 9.98131547e-01 -1.81400611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.138639999999995 meters Centerline goodness [0,1] 0.997689395801583 Centerline is valid? [True, True] Translation: X:38.85, Y:-7.52, Z:-1.82 [[ 9.39510044e-01 3.37726785e-01 5.71095173e-02 3.88537651e+01] [-3.37069240e-01 9.41244028e-01 -2.10714904e-02 -7.52140387e+00] [-6.08703988e-02 5.47015251e-04 9.98145528e-01 -1.81663070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.168639999999996 meters Centerline goodness [0,1] 0.9973463069438302 Centerline is valid? [True, True] Translation: X:38.88, Y:-7.53, Z:-1.82 [[ 9.39415212e-01 3.38063685e-01 5.66745524e-02 3.88802524e+01] [-3.37416947e-01 9.41123093e-01 -2.09075916e-02 -7.53469180e+00] [-6.04058276e-02 5.17955166e-04 9.98173766e-01 -1.81762156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19864 meters Centerline goodness [0,1] 0.9976882593084452 Centerline is valid? [True, True] Translation: X:38.91, Y:-7.55, Z:-1.82 [[ 9.39604283e-01 3.37582660e-01 5.64069048e-02 3.89084083e+01] [-3.36941309e-01 9.41295730e-01 -2.08063106e-02 -7.54506035e+00] [-6.01194283e-02 5.43882225e-04 9.98191043e-01 -1.81776831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22864 meters Centerline goodness [0,1] 0.9976300977584674 Centerline is valid? [True, True] Translation: X:38.94, Y:-7.56, Z:-1.82 [[ 9.39350470e-01 3.38332990e-01 5.61380757e-02 3.89356233e+01] [-3.37699318e-01 9.41026327e-01 -2.07032012e-02 -7.55609224e+00] [-5.98319832e-02 4.89771907e-04 9.98208342e-01 -1.81790019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25864 meters Centerline goodness [0,1] 0.9974950884086444 Centerline is valid? [True, True] Translation: X:38.96, Y:-7.57, Z:-1.82 [[ 9.38776277e-01 3.40110609e-01 5.49897781e-02 3.89625355e+01] [-3.39505886e-01 9.40385368e-01 -2.02759213e-02 -7.56909955e+00] [-5.86076387e-02 3.65200542e-04 9.98281028e-01 -1.81811788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28864 meters Centerline goodness [0,1] 0.9981813713443106 Centerline is valid? [True, True] Translation: X:38.99, Y:-7.58, Z:-1.82 [[ 9.38564817e-01 3.40609347e-01 5.55099767e-02 3.89901445e+01] [-3.39994223e-01 9.40204851e-01 -2.04637925e-02 -7.57941431e+00] [-5.91609084e-02 3.33524287e-04 9.98248404e-01 -1.81980757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.318639999999995 meters Centerline goodness [0,1] 0.9985236220472441 Centerline is valid? [True, True] Translation: X:39.02, Y:-7.59, Z:-1.82 [[ 9.38099498e-01 3.41683716e-01 5.67588788e-02 3.90176787e+01] [-3.41043216e-01 9.39814966e-01 -2.09130357e-02 -7.58745200e+00] [-6.04884875e-02 2.61277760e-04 9.98168861e-01 -1.82090553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.348639999999996 meters Centerline goodness [0,1] 0.999409216226861 Centerline is valid? [True, True] Translation: X:39.05, Y:-7.60, Z:-1.82 [[ 9.37916835e-01 3.42000820e-01 5.78571419e-02 3.90457819e+01] [-3.41337214e-01 9.39699627e-01 -2.12959615e-02 -7.59755843e+00] [-6.16515709e-02 2.25045164e-04 9.98097707e-01 -1.82214803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37864 meters Centerline goodness [0,1] 0.9994597780178764 Centerline is valid? [True, True] Translation: X:39.07, Y:-7.61, Z:-1.82 [[ 9.37587858e-01 3.42795756e-01 5.84814414e-02 3.90737606e+01] [-3.42119503e-01 9.39409943e-01 -2.15221960e-02 -7.60824219e+00] [-6.23157650e-02 1.71307967e-04 9.98056469e-01 -1.82370762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40864 meters Centerline goodness [0,1] 0.9996056976686875 Centerline is valid? [True, True] Translation: X:39.10, Y:-7.62, Z:-1.83 [[ 9.37204631e-01 3.43730172e-01 5.91358485e-02 3.91026400e+01] [-3.43040635e-01 9.39068452e-01 -2.17615716e-02 -7.61669646e+00] [-6.30127184e-02 1.09046646e-04 9.98012718e-01 -1.82523788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43864 meters Centerline goodness [0,1] 0.9997543963061204 Centerline is valid? [True, True] Translation: X:39.13, Y:-7.63, Z:-1.83 [[ 9.37369226e-01 3.43392286e-01 5.84865186e-02 3.91309275e+01] [-3.42717246e-01 9.39192058e-01 -2.15213261e-02 -7.62500264e+00] [-6.23203311e-02 1.29090210e-04 9.98056191e-01 -1.82657039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46864 meters Centerline goodness [0,1] 0.9996068023198663 Centerline is valid? [True, True] Translation: X:39.16, Y:-7.63, Z:-1.83 [[ 9.37550638e-01 3.42870368e-01 5.86405314e-02 3.91589322e+01] [-3.42191006e-01 9.39382715e-01 -2.15738282e-02 -7.63388275e+00] [-6.24829280e-02 1.60293950e-04 9.98046020e-01 -1.82802969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49864 meters Centerline goodness [0,1] 0.9996555626629927 Centerline is valid? [True, True] Translation: X:39.19, Y:-7.64, Z:-1.83 [[ 9.38790728e-01 3.39362731e-01 5.92022478e-02 3.91871068e+01] [-3.38663570e-01 9.40655506e-01 -2.17762485e-02 -7.64290803e+00] [-6.30789675e-02 3.93695654e-04 9.98008461e-01 -1.82808070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.528639999999996 meters Centerline goodness [0,1] 0.999852616064849 Centerline is valid? [True, True] Translation: X:39.21, Y:-7.65, Z:-1.83 [[ 9.40120012e-01 3.35894476e-01 5.78728329e-02 3.92144589e+01] [-3.35220539e-01 9.41899432e-01 -2.12755870e-02 -7.65164122e+00] [-6.16567405e-02 6.01442826e-04 9.98097232e-01 -1.82883292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55864 meters Centerline goodness [0,1] 0.9996066863323501 Centerline is valid? [True, True] Translation: X:39.24, Y:-7.66, Z:-1.83 [[ 9.41912397e-01 3.30529266e-01 5.95939692e-02 3.92423623e+01] [-3.29805312e-01 9.43795255e-01 -2.18854659e-02 -7.66042359e+00] [-6.34782923e-02 9.59784062e-04 9.97982758e-01 -1.82996641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58864 meters Centerline goodness [0,1] 0.9998033914966822 Centerline is valid? [True, True] Translation: X:39.27, Y:-7.67, Z:-1.83 [[ 9.42670019e-01 3.28264329e-01 6.01312361e-02 3.92704265e+01] [-3.27522917e-01 9.44585242e-01 -2.20784668e-02 -7.67215365e+00] [-6.40466513e-02 1.11835085e-03 9.97946279e-01 -1.83233544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61864 meters Centerline goodness [0,1] 0.9996068409671712 Centerline is valid? [True, True] Translation: X:39.30, Y:-7.69, Z:-1.83 [[ 9.43307223e-01 3.26329934e-01 6.06651306e-02 3.92985447e+01] [-3.25571197e-01 9.45255088e-01 -2.22758836e-02 -7.68524203e+00] [-6.46133110e-02 1.26218274e-03 9.97909579e-01 -1.83429095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64864 meters Centerline goodness [0,1] 0.9997538522128686 Centerline is valid? [True, True] Translation: X:39.33, Y:-7.70, Z:-1.84 [[ 9.44107351e-01 3.24166054e-01 5.98137086e-02 3.93267106e+01] [-3.23423934e-01 9.45999169e-01 -2.19666042e-02 -7.69786642e+00] [-6.37045460e-02 1.39364760e-03 9.97967829e-01 -1.83595564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67864 meters Centerline goodness [0,1] 0.9996557151288609 Centerline is valid? [True, True] Translation: X:39.36, Y:-7.71, Z:-1.84 [[ 9.44931949e-01 3.21898154e-01 5.90355019e-02 3.93554093e+01] [-3.21170651e-01 9.46773067e-01 -2.16834455e-02 -7.71114610e+00] [-6.28730842e-02 1.52890978e-03 9.98020359e-01 -1.83689356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.708639999999995 meters Centerline goodness [0,1] 0.9999016715830875 Centerline is valid? [True, True] Translation: X:39.39, Y:-7.73, Z:-1.84 [[ 9.44762268e-01 3.22368842e-01 5.91826628e-02 3.93850770e+01] [-3.21638288e-01 9.46612941e-01 -2.17428299e-02 -7.72525966e+00] [-6.30322854e-02 1.50639490e-03 9.98010352e-01 -1.83678555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73864 meters Centerline goodness [0,1] 0.9998517127181059 Centerline is valid? [True, True] Translation: X:39.41, Y:-7.75, Z:-1.84 [[ 9.44587828e-01 3.22623864e-01 6.05613606e-02 3.94120859e+01] [-3.21858819e-01 9.46526014e-01 -2.22577120e-02 -7.74558619e+00] [-6.45037723e-02 1.53215581e-03 9.97916287e-01 -1.83805128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76864 meters Centerline goodness [0,1] 0.9997541547841479 Centerline is valid? [True, True] Translation: X:39.44, Y:-7.76, Z:-1.84 [[ 9.44137515e-01 3.23937289e-01 6.05721470e-02 3.94401175e+01] [-3.23174134e-01 9.46077443e-01 -2.22699497e-02 -7.76158200e+00] [-6.45200091e-02 1.45054384e-03 9.97915359e-01 -1.83970980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79864 meters Centerline goodness [0,1] 0.9999014584154513 Centerline is valid? [True, True] Translation: X:39.47, Y:-7.78, Z:-1.84 [[ 9.42999344e-01 3.27485033e-01 5.92097138e-02 3.94671044e+01] [-3.26762327e-01 9.44855619e-01 -2.17770553e-02 -7.78047158e+00] [-6.30762904e-02 1.18824496e-03 9.98008001e-01 -1.84243654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82864 meters Centerline goodness [0,1] 0.9999016377317661 Centerline is valid? [True, True] Translation: X:39.50, Y:-7.80, Z:-1.84 [[ 9.41854673e-01 3.30883534e-01 5.85308676e-02 3.94954210e+01] [-3.30183329e-01 9.43671113e-01 -2.15360162e-02 -7.79606009e+00] [-6.23598022e-02 9.57880797e-04 9.98053274e-01 -1.84397124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85864 meters Centerline goodness [0,1] 0.9995568903549801 Centerline is valid? [True, True] Translation: X:39.52, Y:-7.81, Z:-1.85 [[ 9.40847068e-01 3.33955440e-01 5.72761605e-02 3.95238318e+01] [-3.33290080e-01 9.42588567e-01 -2.10835491e-02 -7.81153773e+00] [-6.10288200e-02 7.46819179e-04 9.98135725e-01 -1.84504079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.888639999999995 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:39.55, Y:-7.83, Z:-1.85 [[ 9.39968303e-01 3.36121582e-01 5.90073897e-02 3.95527879e+01] [-3.35419074e-01 9.41818391e-01 -2.17293135e-02 -7.82670808e+00] [-6.28779361e-02 6.32661932e-04 9.98021024e-01 -1.84721613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.918639999999996 meters Centerline goodness [0,1] 0.9994102904319623 Centerline is valid? [True, True] Translation: X:39.58, Y:-7.84, Z:-1.85 [[ 9.38282216e-01 3.40386741e-01 6.13461434e-02 3.95808098e+01] [-3.39635883e-01 9.40285451e-01 -2.25994800e-02 -7.84387860e+00] [-6.53754494e-02 3.69338557e-04 9.97860669e-01 -1.84879475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94864 meters Centerline goodness [0,1] 0.9996556981948749 Centerline is valid? [True, True] Translation: X:39.61, Y:-7.86, Z:-1.85 [[ 9.37899862e-01 3.41746728e-01 5.96072345e-02 3.96105229e+01] [-3.41039935e-01 9.39792050e-01 -2.19696520e-02 -7.85788371e+00] [-6.35264618e-02 2.76886200e-04 9.97980116e-01 -1.84884111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97864 meters Centerline goodness [0,1] 0.9994081672913789 Centerline is valid? [True, True] Translation: X:39.64, Y:-7.88, Z:-1.85 [[ 9.37138350e-01 3.43882455e-01 5.93006706e-02 3.96384515e+01] [-3.43186333e-01 9.39012692e-01 -2.18701807e-02 -7.87533042e+00] [-6.32048538e-02 1.44205398e-04 9.98000564e-01 -1.85117468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00864 meters Centerline goodness [0,1] 0.9992614475627769 Centerline is valid? [True, True] Translation: X:39.67, Y:-7.89, Z:-1.85 [[ 9.36828368e-01 3.44734132e-01 5.92535774e-02 3.96687552e+01] [-3.44040186e-01 9.38700362e-01 -2.18627866e-02 -7.88891426e+00] [-6.31582033e-02 9.60668960e-05 9.98003523e-01 -1.85249843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03864 meters Centerline goodness [0,1] 0.9994586347753335 Centerline is valid? [True, True] Translation: X:39.70, Y:-7.90, Z:-1.85 [[ 9.35326474e-01 3.48315860e-01 6.19713621e-02 3.96974288e+01] [-3.47563742e-01 9.37377214e-01 -2.28780147e-02 -7.90344624e+00] [-6.60593181e-02 -1.40585689e-04 9.97815688e-01 -1.85340336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.068639999999995 meters Centerline goodness [0,1] 0.9993108540487324 Centerline is valid? [True, True] Translation: X:39.73, Y:-7.92, Z:-1.85 [[ 9.34705392e-01 3.50187875e-01 6.07806130e-02 3.97274321e+01] [-3.49467792e-01 9.36679446e-01 -2.24472261e-02 -7.91510634e+00] [-6.47926973e-02 -2.59323349e-04 9.97898712e-01 -1.85390716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.098639999999996 meters Centerline goodness [0,1] 0.9993110575266965 Centerline is valid? [True, True] Translation: X:39.76, Y:-7.93, Z:-1.86 [[ 9.33943740e-01 3.52242065e-01 6.06186256e-02 3.97578123e+01] [-3.51529462e-01 9.35908850e-01 -2.23978178e-02 -7.92707655e+00] [-6.46229617e-02 -3.90931068e-04 9.97909675e-01 -1.85504715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12864 meters Centerline goodness [0,1] 0.9992615929900561 Centerline is valid? [True, True] Translation: X:39.79, Y:-7.94, Z:-1.86 [[ 9.33289914e-01 3.54263044e-01 5.88865957e-02 3.97879669e+01] [-3.53593921e-01 9.35145679e-01 -2.17692139e-02 -7.93929060e+00] [-6.27795735e-02 -5.04954490e-04 9.98027289e-01 -1.85607153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15864 meters Centerline goodness [0,1] 0.9993112608845378 Centerline is valid? [True, True] Translation: X:39.82, Y:-7.95, Z:-1.86 [[ 9.32201675e-01 3.56831197e-01 6.05931842e-02 3.98175478e+01] [-3.56127514e-01 9.34168626e-01 -2.24091752e-02 -7.95324456e+00] [-6.46005445e-02 -6.89029443e-04 9.97910965e-01 -1.85789460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18864 meters Centerline goodness [0,1] 0.9993112608845378 Centerline is valid? [True, True] Translation: X:39.85, Y:-7.96, Z:-1.86 [[ 9.32131332e-01 3.57015491e-01 6.05897617e-02 3.98480636e+01] [-3.56311596e-01 9.34098207e-01 -2.24184258e-02 -7.96447080e+00] [-6.46005131e-02 -6.91917590e-04 9.97910965e-01 -1.85928885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21864 meters Centerline goodness [0,1] 0.9988200589970502 Centerline is valid? [True, True] Translation: X:39.88, Y:-7.98, Z:-1.86 [[ 9.32352411e-01 3.56402750e-01 6.07952449e-02 3.98784732e+01] [-3.55691877e-01 9.34332206e-01 -2.25081406e-02 -7.97702587e+00] [-6.48249185e-02 -6.38855635e-04 9.97896448e-01 -1.86228144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24864 meters Centerline goodness [0,1] 0.9991640851649702 Centerline is valid? [True, True] Translation: X:39.91, Y:-7.99, Z:-1.86 [[ 9.33172532e-01 3.54000079e-01 6.22331824e-02 3.99082022e+01] [-3.53248974e-01 9.35245274e-01 -2.30529948e-02 -7.98971981e+00] [-6.63640517e-02 -4.71386332e-04 9.97795365e-01 -1.86352845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.278639999999996 meters Centerline goodness [0,1] 0.9991627265563435 Centerline is valid? [True, True] Translation: X:39.94, Y:-8.00, Z:-1.86 [[ 9.33551083e-01 3.53036626e-01 6.20283512e-02 3.99389306e+01] [-3.52287107e-01 9.35609423e-01 -2.29956786e-02 -8.00163558e+00] [-6.61526267e-02 -3.84147748e-04 9.97809442e-01 -1.86461111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30864 meters Centerline goodness [0,1] 0.9990612184396462 Centerline is valid? [True, True] Translation: X:39.97, Y:-8.01, Z:-1.87 [[ 9.34040687e-01 3.51849349e-01 6.14005739e-02 3.99686173e+01] [-3.51110472e-01 9.36056602e-01 -2.27919554e-02 -8.01357520e+00] [-6.54937472e-02 -2.69770847e-04 9.97852943e-01 -1.86501833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33864 meters Centerline goodness [0,1] 0.9989665354330709 Centerline is valid? [True, True] Translation: X:40.00, Y:-8.03, Z:-1.87 [[ 9.34688034e-01 3.50001406e-01 6.21071240e-02 3.99993756e+01] [-3.49239710e-01 9.36749167e-01 -2.30786226e-02 -8.02590336e+00] [-6.62563470e-02 -1.18961566e-04 9.97802627e-01 -1.86726947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36864 meters Centerline goodness [0,1] 0.9990162805567852 Centerline is valid? [True, True] Translation: X:40.03, Y:-8.04, Z:-1.87 [[ 9.35697858e-01 3.47258042e-01 6.23006496e-02 4.00290907e+01] [-3.46483037e-01 9.37769609e-01 -2.31876053e-02 -8.03954591e+00] [-6.64757383e-02 1.10474375e-04 9.97788036e-01 -1.86920140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39864 meters Centerline goodness [0,1] 0.9992129083038174 Centerline is valid? [True, True] Translation: X:40.06, Y:-8.05, Z:-1.87 [[ 9.35673374e-01 3.47396737e-01 6.18938147e-02 4.00591723e+01] [-3.46629735e-01 9.37718236e-01 -2.30724485e-02 -8.05218593e+00] [-6.60542520e-02 1.34039126e-04 9.97816024e-01 -1.86996743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42864 meters Centerline goodness [0,1] 0.9992612656981039 Centerline is valid? [True, True] Translation: X:40.09, Y:-8.07, Z:-1.87 [[ 9.35618670e-01 3.47486010e-01 6.22187871e-02 4.00880040e+01] [-3.46709290e-01 9.37685155e-01 -2.32210896e-02 -8.06620216e+00] [-6.64106368e-02 1.54253410e-04 9.97792365e-01 -1.87071469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.458639999999995 meters Centerline goodness [0,1] 0.9992118226600986 Centerline is valid? [True, True] Translation: X:40.12, Y:-8.08, Z:-1.87 [[ 9.35306634e-01 3.48233125e-01 6.27311064e-02 4.01180589e+01] [-3.47443843e-01 9.37407956e-01 -2.34328910e-02 -8.07913240e+00] [-6.69647471e-02 1.21401707e-04 9.97755335e-01 -1.87313953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48864 meters Centerline goodness [0,1] 0.9992116284799212 Centerline is valid? [True, True] Translation: X:40.15, Y:-8.09, Z:-1.87 [[ 9.35157685e-01 3.48931978e-01 6.10457146e-02 4.01469549e+01] [-3.48183872e-01 9.37148049e-01 -2.28369493e-02 -8.09360504e+00] [-6.51774142e-02 1.01015324e-04 9.97873687e-01 -1.87485584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51864 meters Centerline goodness [0,1] 0.9993591007690791 Centerline is valid? [True, True] Translation: X:40.18, Y:-8.11, Z:-1.88 [[ 9.34704573e-01 3.50191343e-01 6.07732208e-02 4.01769770e+01] [-3.49450459e-01 9.36678185e-01 -2.27674112e-02 -8.10674343e+00] [-6.48979004e-02 4.35734098e-05 9.97891908e-01 -1.87612922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54864 meters Centerline goodness [0,1] 0.9994090125584831 Centerline is valid? [True, True] Translation: X:40.21, Y:-8.12, Z:-1.88 [[ 9.34496985e-01 3.50794263e-01 6.04877662e-02 4.02075577e+01] [-3.50059319e-01 9.36452553e-01 -2.26955836e-02 -8.12062895e+00] [-6.46054036e-02 3.46482227e-05 9.97910888e-01 -1.87648932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57864 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:40.24, Y:-8.14, Z:-1.88 [[ 9.33897298e-01 3.52312643e-01 6.09232175e-02 4.02363706e+01] [-3.51567956e-01 9.35882365e-01 -2.28948078e-02 -8.13726865e+00] [-6.50830951e-02 -3.72518486e-05 9.97879847e-01 -1.87727829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.27, Y:-8.15, Z:-1.88 [[ 9.33416250e-01 3.53518716e-01 6.13076018e-02 4.02671039e+01] [-3.52764807e-01 9.35427448e-01 -2.30755465e-02 -8.15054506e+00] [-6.55064510e-02 -8.80743095e-05 9.97852142e-01 -1.87872722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.638639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.30, Y:-8.16, Z:-1.88 [[ 9.33194647e-01 3.54428757e-01 5.93970279e-02 4.02974121e+01] [-3.53720908e-01 9.35083014e-01 -2.23892016e-02 -8.16256753e+00] [-6.34765287e-02 -1.16487489e-04 9.97983325e-01 -1.87881600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.668639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.33, Y:-8.18, Z:-1.88 [[ 9.32766471e-01 3.55489122e-01 5.97845775e-02 4.03279847e+01] [-3.54772088e-01 9.34680405e-01 -2.25678273e-02 -8.17507488e+00] [-6.39020902e-02 -1.59386703e-04 9.97956160e-01 -1.88060117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-8.19, Z:-1.88 [[ 9.32544997e-01 3.55929195e-01 6.06154842e-02 4.03581349e+01] [-3.55190635e-01 9.34512912e-01 -2.29178967e-02 -8.18759071e+00] [-6.48031012e-02 -1.58082362e-04 9.97898057e-01 -1.88326670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.39, Y:-8.20, Z:-1.88 [[ 9.32583409e-01 3.55749491e-01 6.10776999e-02 4.03880167e+01] [-3.54996842e-01 9.34581343e-01 -2.31291031e-02 -8.20102014e+00] [-6.53102455e-02 -1.12572769e-04 9.97865000e-01 -1.88423496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.42, Y:-8.21, Z:-1.89 [[ 9.32678498e-01 3.55462545e-01 6.12959884e-02 4.04192102e+01] [-3.54701478e-01 9.34690524e-01 -2.32483622e-02 -8.21177135e+00] [-6.55567016e-02 -5.85300883e-05 9.97848844e-01 -1.88506305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:-8.22, Z:-1.88 [[ 9.32773064e-01 3.55347751e-01 6.05176638e-02 4.04493400e+01] [-3.54603462e-01 9.34734174e-01 -2.29871572e-02 -8.22249828e+00] [-6.47363630e-02 -1.79720360e-05 9.97902402e-01 -1.88484553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.818639999999995 meters Centerline goodness [0,1] 0.9999507874015748 Centerline is valid? [True, True] Translation: X:40.48, Y:-8.23, Z:-1.89 [[ 9.32632235e-01 3.55948702e-01 5.91408040e-02 4.04795219e+01] [-3.55237239e-01 9.34505495e-01 -2.24940839e-02 -8.23400567e+00] [-6.32741463e-02 -3.03081314e-05 9.97996183e-01 -1.88682159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.848639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.51, Y:-8.25, Z:-1.89 [[ 9.32211044e-01 3.56959910e-01 5.96841036e-02 4.05111163e+01] [-3.56235293e-01 9.34119702e-01 -2.27331979e-02 -8.24532034e+00] [-6.38669374e-02 -6.94459777e-05 9.97958421e-01 -1.88748688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.54, Y:-8.26, Z:-1.89 [[ 9.31563245e-01 3.58547529e-01 6.02792592e-02 4.05409384e+01] [-3.57809903e-01 9.33511460e-01 -2.29875555e-02 -8.25630230e+00] [-6.45135105e-02 -1.54154148e-04 9.97916822e-01 -1.88851752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90864 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:40.57, Y:-8.27, Z:-1.89 [[ 9.30872176e-01 3.60327029e-01 6.03442211e-02 4.05721826e+01] [-3.59590275e-01 9.32826010e-01 -2.30319046e-02 -8.26661739e+00] [-6.45896767e-02 -2.59435972e-04 9.97911873e-01 -1.88857733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.60, Y:-8.28, Z:-1.89 [[ 9.29823068e-01 3.63013675e-01 6.04163416e-02 4.06042861e+01] [-3.62278469e-01 9.31783720e-01 -2.30956650e-02 -8.27565976e+00] [-6.46790058e-02 -4.12657595e-04 9.97906036e-01 -1.88985839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96864 meters Centerline goodness [0,1] 0.9999507243520253 Centerline is valid? [True, True] Translation: X:40.63, Y:-8.29, Z:-1.89 [[ 9.29143408e-01 3.64552730e-01 6.15941110e-02 4.06348158e+01] [-3.63789571e-01 9.31182614e-01 -2.35815121e-02 -8.28588451e+00] [-6.59520699e-02 -4.96688750e-04 9.97822669e-01 -1.89213220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.67, Y:-8.30, Z:-1.89 [[ 9.29030288e-01 3.64987639e-01 6.07185958e-02 4.06655572e+01] [-3.64244942e-01 9.31012235e-01 -2.32774579e-02 -8.29531058e+00] [-6.50257400e-02 -4.90978043e-04 9.97883466e-01 -1.89357430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.028639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.70, Y:-8.31, Z:-1.89 [[ 9.28652213e-01 3.65834101e-01 6.14042102e-02 4.06963078e+01] [-3.65074151e-01 9.30679931e-01 -2.35739078e-02 -8.30694241e+00] [-6.57718055e-02 -5.25128228e-04 9.97834552e-01 -1.89482340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.73, Y:-8.32, Z:-1.90 [[ 9.28400170e-01 3.66382734e-01 6.19420465e-02 4.07274108e+01] [-3.65608166e-01 9.30464081e-01 -2.38172777e-02 -8.31844967e+00] [-6.63610887e-02 -5.34553314e-04 9.97795530e-01 -1.89608519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.76, Y:-8.33, Z:-1.90 [[ 9.27982737e-01 3.67549386e-01 6.12820486e-02 4.07592207e+01] [-3.66791422e-01 9.30003825e-01 -2.35995358e-02 -8.32844879e+00] [-6.56665345e-02 -5.77767852e-04 9.97841457e-01 -1.89620250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.79, Y:-8.34, Z:-1.90 [[ 9.27208939e-01 3.69290950e-01 6.25122194e-02 4.07895820e+01] [-3.68504274e-01 9.29313575e-01 -2.41014617e-02 -8.33886345e+00] [-6.69939058e-02 -6.88929233e-04 9.97753147e-01 -1.89789076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.82, Y:-8.35, Z:-1.90 [[ 9.26804327e-01 3.70493915e-01 6.13840206e-02 4.08203498e+01] [-3.69736815e-01 9.28834595e-01 -2.36850807e-02 -8.34987630e+00] [-6.57907802e-02 -7.44496959e-04 9.97833162e-01 -1.89953769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17864 meters Centerline goodness [0,1] 0.9999506951977123 Centerline is valid? [True, True] Translation: X:40.85, Y:-8.36, Z:-1.90 [[ 9.25251724e-01 3.73733496e-01 6.50578370e-02 4.08499194e+01] [-3.72888521e-01 9.27535591e-01 -2.51372021e-02 -8.36132860e+00] [-6.97380737e-02 -1.00108103e-03 9.97564834e-01 -1.90140494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.208639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.88, Y:-8.37, Z:-1.90 [[ 9.24483560e-01 3.75662287e-01 6.48690457e-02 4.08813382e+01] [-3.74824567e-01 9.26755961e-01 -2.50984536e-02 -8.37206340e+00] [-6.95463173e-02 -1.11140421e-03 9.97578104e-01 -1.90257166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23864 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:40.91, Y:-8.38, Z:-1.90 [[ 9.23311234e-01 3.78677068e-01 6.40315817e-02 4.09121506e+01] [-3.77865630e-01 9.25527968e-01 -2.48102048e-02 -8.38098820e+00] [-6.86580753e-02 -1.28779308e-03 9.97639419e-01 -1.90405899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.94, Y:-8.39, Z:-1.91 [[ 9.23228173e-01 3.79048163e-01 6.30256411e-02 4.09434252e+01] [-3.78261247e-01 9.25376071e-01 -2.44449615e-02 -8.39041124e+00] [-6.75882379e-02 -1.27188047e-03 9.97712490e-01 -1.90542098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.97, Y:-8.40, Z:-1.91 [[ 9.23242645e-01 3.79275995e-01 6.14226188e-02 4.09743164e+01] [-3.78527926e-01 9.25282760e-01 -2.38416371e-02 -8.39888436e+00] [-6.58758509e-02 -1.23856035e-03 9.97827058e-01 -1.90519775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32864 meters Centerline goodness [0,1] 0.9999012491976498 Centerline is valid? [True, True] Translation: X:41.01, Y:-8.40, Z:-1.91 [[ 9.22867328e-01 3.80223907e-01 6.12019277e-02 4.10074048e+01] [-3.79481077e-01 9.24893598e-01 -2.37896002e-02 -8.40493593e+00] [-6.56506458e-02 -1.27032867e-03 9.97841861e-01 -1.90686413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.04, Y:-8.41, Z:-1.91 [[ 9.22888127e-01 3.80342554e-01 6.01418843e-02 4.10382144e+01] [-3.79623297e-01 9.24844874e-01 -2.34117719e-02 -8.41353956e+00] [-6.45264065e-02 -1.22481408e-03 9.97915248e-01 -1.90813502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.388639999999995 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:41.07, Y:-8.42, Z:-1.91 [[ 9.23349009e-01 3.79289106e-01 5.97191916e-02 4.10703051e+01] [-3.78576211e-01 9.25277535e-01 -2.32709121e-02 -8.41992969e+00] [-6.40832299e-02 -1.12109165e-03 9.97943928e-01 -1.90908011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.418639999999996 meters Centerline goodness [0,1] 0.9999507364894823 Centerline is valid? [True, True] Translation: X:41.10, Y:-8.43, Z:-1.91 [[ 9.23811917e-01 3.78104145e-01 6.00732660e-02 4.11013710e+01] [-3.77379679e-01 9.25762486e-01 -2.34178762e-02 -8.42780965e+00] [-6.44679722e-02 -1.03671673e-03 9.97919238e-01 -1.90979393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44864 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:41.13, Y:-8.44, Z:-1.91 [[ 9.24482194e-01 3.76667793e-01 5.87711417e-02 4.11331868e+01] [-3.75970973e-01 9.26347963e-01 -2.29189510e-02 -8.43517650e+00] [-6.30753581e-02 -9.08081219e-04 9.98008354e-01 -1.91073308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.17, Y:-8.44, Z:-1.91 [[ 9.24878825e-01 3.75546446e-01 5.96994555e-02 4.11665548e+01] [-3.74824406e-01 9.26803199e-01 -2.32915218e-02 -8.43943442e+00] [-6.40766946e-02 -8.34977627e-04 9.97944628e-01 -1.91296220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.20, Y:-8.45, Z:-1.91 [[ 9.25045873e-01 3.75332130e-01 5.84459156e-02 4.11978154e+01] [-3.74638929e-01 9.26890050e-01 -2.28146320e-02 -8.44765933e+00] [-6.27360021e-02 -7.91534032e-04 9.98029843e-01 -1.91447153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.23, Y:-8.46, Z:-1.92 [[ 9.25371522e-01 3.74551111e-01 5.83010445e-02 4.12290775e+01] [-3.73859170e-01 9.27205984e-01 -2.27680764e-02 -8.45555129e+00] [-6.25848856e-02 -7.27450575e-04 9.98039379e-01 -1.91604594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.568639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.26, Y:-8.46, Z:-1.92 [[ 9.26323317e-01 3.72138628e-01 5.86340663e-02 4.12627382e+01] [-3.71433368e-01 9.28176992e-01 -2.29068653e-02 -8.45906802e+00] [-6.29473207e-02 -5.59485269e-04 9.98016694e-01 -1.91741355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.598639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.29, Y:-8.47, Z:-1.92 [[ 9.27329858e-01 3.69862859e-01 5.71034187e-02 4.12945148e+01] [-3.69189150e-01 9.29086280e-01 -2.23171591e-02 -8.46724168e+00] [-6.13082911e-02 -3.86594692e-04 9.98118803e-01 -1.91809603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62864 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:41.33, Y:-8.47, Z:-1.92 [[ 9.29068406e-01 3.65622398e-01 5.61441000e-02 4.13264944e+01] [-3.64962909e-01 9.30763264e-01 -2.19504383e-02 -8.47353494e+00] [-6.02824376e-02 -9.70553716e-05 9.98181355e-01 -1.91947049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.36, Y:-8.48, Z:-1.92 [[ 9.29521875e-01 3.64298379e-01 5.72343856e-02 4.13566440e+01] [-3.63610044e-01 9.31282283e-01 -2.23840291e-02 -8.48198052e+00] [-6.14558348e-02 -4.55279451e-06 9.98109804e-01 -1.92127220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-8.49, Z:-1.92 [[ 9.29901075e-01 3.63506019e-01 5.61013718e-02 4.13871644e+01] [-3.62843007e-01 9.31591848e-01 -2.19449510e-02 -8.49087774e+00] [-6.02407024e-02 5.06430753e-05 9.98183878e-01 -1.92157965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.42, Y:-8.50, Z:-1.92 [[ 9.30089415e-01 3.63013993e-01 5.61651181e-02 4.14168486e+01] [-3.62348328e-01 9.31783684e-01 -2.19739865e-02 -8.50104474e+00] [-6.03106052e-02 8.64356201e-05 9.98179655e-01 -1.92289372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74864 meters Centerline goodness [0,1] 0.9999013709438801 Centerline is valid? [True, True] Translation: X:41.45, Y:-8.51, Z:-1.92 [[ 9.29879349e-01 3.63574275e-01 5.60191261e-02 4.14466421e+01] [-3.62912838e-01 9.31565212e-01 -2.19209509e-02 -8.51189157e+00] [-6.01553629e-02 5.37795326e-05 9.98189025e-01 -1.92399957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.778639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.48, Y:-8.52, Z:-1.93 [[ 9.29757250e-01 3.63796039e-01 5.66029907e-02 4.14760900e+01] [-3.63120887e-01 9.31478631e-01 -2.21535851e-02 -8.52294263e+00] [-6.07838627e-02 4.37281452e-05 9.98150951e-01 -1.92538311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.51, Y:-8.53, Z:-1.93 [[ 9.29000435e-01 3.65313534e-01 5.91963939e-02 4.15061765e+01] [-3.64577825e-01 9.30884536e-01 -2.31730621e-02 -8.53275502e+00] [-6.35704408e-02 -5.39077047e-05 9.97977353e-01 -1.92792312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:-8.54, Z:-1.93 [[ 9.28799339e-01 3.65564551e-01 6.07811424e-02 4.15359764e+01] [-3.64789023e-01 9.30785988e-01 -2.37994488e-02 -8.54403288e+00] [-6.52744705e-02 -6.73812705e-05 9.97867345e-01 -1.93009362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:-8.56, Z:-1.93 [[ 9.28908724e-01 3.65565180e-01 5.90819964e-02 4.15662397e+01] [-3.64831914e-01 9.30785741e-01 -2.31425740e-02 -8.55556338e+00] [-6.34527990e-02 -5.76589098e-05 9.97984839e-01 -1.93160723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.60, Y:-8.57, Z:-1.93 [[ 9.28197855e-01 3.67346953e-01 5.92026831e-02 4.15957912e+01] [-3.66613840e-01 9.30083967e-01 -2.31971125e-02 -8.56549737e+00] [-6.35848550e-02 -1.73012886e-04 9.97976421e-01 -1.93244761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:-8.58, Z:-1.93 [[ 9.27377516e-01 3.69110162e-01 6.10625145e-02 4.16255369e+01] [-3.68333731e-01 9.29385603e-01 -2.39303908e-02 -8.57534395e+00] [-6.55835723e-02 -2.98877401e-04 9.97847035e-01 -1.93347740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.958639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.66, Y:-8.58, Z:-1.93 [[ 9.27076470e-01 3.70071390e-01 5.98028868e-02 4.16551485e+01] [-3.69328416e-01 9.29003251e-01 -2.34410158e-02 -8.58498603e+00] [-6.42319256e-02 -3.55291223e-04 9.97934935e-01 -1.93482495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.68, Y:-8.60, Z:-1.94 [[ 9.26204566e-01 3.72083568e-01 6.08187549e-02 4.16846439e+01] [-3.71319148e-01 9.28199100e-01 -2.38436708e-02 -8.59613617e+00] [-6.53237517e-02 -4.99051519e-04 9.97863998e-01 -1.93667615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.71, Y:-8.61, Z:-1.94 [[ 9.25682549e-01 3.73933284e-01 5.73211883e-02 4.17144336e+01] [-3.73257629e-01 9.27455418e-01 -2.24764455e-02 -8.60686545e+00] [-6.15675377e-02 -5.89517440e-04 9.98102746e-01 -1.93689131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.74, Y:-8.62, Z:-1.94 [[ 9.25591832e-01 3.73978667e-01 5.84783499e-02 4.17418149e+01] [-3.73275422e-01 9.27437110e-01 -2.29317701e-02 -8.61679268e+00] [-6.28109847e-02 -6.03071690e-04 9.98025258e-01 -1.93913112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.77, Y:-8.63, Z:-1.94 [[ 9.25903947e-01 3.73309478e-01 5.78092910e-02 4.17695379e+01] [-3.72621205e-01 9.27706702e-01 -2.26652225e-02 -8.62643628e+00] [-6.20912091e-02 -5.55148628e-04 9.98070325e-01 -1.93976497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10864 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:41.80, Y:-8.64, Z:-1.94 [[ 9.26016577e-01 3.73063360e-01 5.75936477e-02 4.17966978e+01] [-3.72380002e-01 9.27805711e-01 -2.25764741e-02 -8.63802297e+00] [-6.18581706e-02 -5.40533379e-04 9.98084803e-01 -1.94174237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.138639999999995 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:41.82, Y:-8.65, Z:-1.94 [[ 9.26040021e-01 3.73004942e-01 5.75950804e-02 4.18238128e+01] [-3.72321698e-01 9.27829198e-01 -2.25728187e-02 -8.64867352e+00] [-6.18581702e-02 -5.40564615e-04 9.98084803e-01 -1.94299280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.168639999999996 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:41.85, Y:-8.66, Z:-1.94 [[ 9.25555272e-01 3.74286413e-01 5.70711871e-02 4.18520254e+01] [-3.73618162e-01 9.27312942e-01 -2.23646212e-02 -8.66142495e+00] [-6.12936243e-02 -6.23138928e-04 9.98119584e-01 -1.94371826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.88, Y:-8.67, Z:-1.95 [[ 9.25207341e-01 3.75109095e-01 5.73109237e-02 4.18798518e+01] [-3.74436868e-01 9.26980422e-01 -2.24572979e-02 -8.67235036e+00] [-6.15500410e-02 -6.81665833e-04 9.98103766e-01 -1.94540518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22864 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:41.91, Y:-8.68, Z:-1.95 [[ 9.24491027e-01 3.76767076e-01 5.79906138e-02 4.19072587e+01] [-3.76082317e-01 9.26307682e-01 -2.27193671e-02 -8.68250692e+00] [-6.22770606e-02 -8.05393373e-04 9.98058575e-01 -1.94611033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.94, Y:-8.69, Z:-1.95 [[ 9.22430495e-01 3.81407899e-01 6.04152091e-02 4.19351205e+01] [-3.80674839e-01 9.24406105e-01 -2.36647334e-02 -8.69232947e+00] [-6.48741044e-02 -1.16947832e-03 9.97892771e-01 -1.94754970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.96, Y:-8.70, Z:-1.95 [[ 9.21528772e-01 3.83846510e-01 5.87075638e-02 4.19631050e+01] [-3.83159456e-01 9.23395989e-01 -2.29930249e-02 -8.70314281e+00] [-6.30361213e-02 -1.30562420e-03 9.98010392e-01 -1.94878220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.318639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.99, Y:-8.71, Z:-1.95 [[ 9.21047091e-01 3.84885863e-01 5.94569458e-02 4.19907938e+01] [-3.84183394e-01 9.22963122e-01 -2.32850891e-02 -8.71362185e+00] [-6.38386700e-02 -1.39570764e-03 9.97959256e-01 -1.95101965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.348639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.02, Y:-8.72, Z:-1.95 [[ 9.20820243e-01 3.85481703e-01 5.91095346e-02 4.20187376e+01] [-3.84788926e-01 9.22714368e-01 -2.31447185e-02 -8.72320281e+00] [-6.34630824e-02 -1.43256901e-03 9.97983159e-01 -1.95201737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.05, Y:-8.73, Z:-1.95 [[ 9.21256729e-01 3.84487837e-01 5.87804646e-02 4.20465251e+01] [-3.83801532e-01 9.23129044e-01 -2.30033137e-02 -8.72992520e+00] [-6.31064484e-02 -1.36807479e-03 9.98005864e-01 -1.95277479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40864 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:42.07, Y:-8.74, Z:-1.95 [[ 9.21983878e-01 3.82849198e-01 5.80708251e-02 4.20738163e+01] [-3.82177974e-01 9.23809983e-01 -2.26960848e-02 -8.73857982e+00] [-6.23355858e-02 -1.26796592e-03 9.98054441e-01 -1.95389397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.10, Y:-8.75, Z:-1.96 [[ 9.22211828e-01 3.82375865e-01 5.75677269e-02 4.21004797e+01] [-3.81717220e-01 9.24006021e-01 -2.24685985e-02 -8.74794859e+00] [-6.17843760e-02 -1.25378542e-03 9.98088733e-01 -1.95571597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46864 meters Centerline goodness [0,1] 0.9999013855332577 Centerline is valid? [True, True] Translation: X:42.13, Y:-8.75, Z:-1.96 [[ 9.22625971e-01 3.81363565e-01 5.76467585e-02 4.21278677e+01] [-3.80703248e-01 9.24424332e-01 -2.24653543e-02 -8.75374695e+00] [-6.18575338e-02 -1.21918883e-03 9.98084244e-01 -1.95612862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49864 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:42.15, Y:-8.76, Z:-1.96 [[ 9.22808354e-01 3.80810111e-01 5.83815125e-02 4.21544210e+01] [-3.80133903e-01 9.24652447e-01 -2.27171186e-02 -8.76311194e+00] [-6.26335169e-02 -1.22924543e-03 9.98035837e-01 -1.95824745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.528639999999996 meters Centerline goodness [0,1] 0.9999017536965171 Centerline is valid? [True, True] Translation: X:42.18, Y:-8.77, Z:-1.96 [[ 9.23531325e-01 3.79000285e-01 5.87254292e-02 4.21817603e+01] [-3.78314526e-01 9.25395848e-01 -2.28176223e-02 -8.77148639e+00] [-6.29921537e-02 -1.14389398e-03 9.98013367e-01 -1.95887079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55864 meters Centerline goodness [0,1] 0.9999506879037428 Centerline is valid? [True, True] Translation: X:42.21, Y:-8.78, Z:-1.96 [[ 9.23678117e-01 3.78405127e-01 6.02353364e-02 4.22089679e+01] [-3.77684370e-01 9.25639354e-01 -2.33731411e-02 -8.78075396e+00] [-6.46007143e-02 -1.16068614e-03 9.97910517e-01 -1.96116342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58864 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:42.24, Y:-8.79, Z:-1.96 [[ 9.24478433e-01 3.76434537e-01 6.03047806e-02 4.22360492e+01] [-3.75709924e-01 9.26442621e-01 -2.33692658e-02 -8.78967679e+00] [-6.46659177e-02 -1.05272232e-03 9.97906414e-01 -1.96321085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61864 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:42.26, Y:-8.80, Z:-1.97 [[ 9.26189697e-01 3.71906073e-01 6.21169711e-02 4.22644878e+01] [-3.71129173e-01 9.28270031e-01 -2.40392587e-02 -8.79660321e+00] [-6.66016690e-02 -7.88506365e-04 9.97779332e-01 -1.96522577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64864 meters Centerline goodness [0,1] 0.9997537552327013 Centerline is valid? [True, True] Translation: X:42.29, Y:-8.81, Z:-1.97 [[ 9.27540623e-01 3.68816487e-01 6.03555379e-02 4.22916086e+01] [-3.68078472e-01 9.29502052e-01 -2.33275406e-02 -8.80552137e+00] [-6.47041779e-02 -5.78332646e-04 9.97904322e-01 -1.96634929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67864 meters Centerline goodness [0,1] 0.9997540943294152 Centerline is valid? [True, True] Translation: X:42.32, Y:-8.81, Z:-1.97 [[ 9.28433526e-01 3.66893531e-01 5.83123042e-02 4.23185343e+01] [-3.66202706e-01 9.30262828e-01 -2.25088864e-02 -8.81482563e+00] [-6.25041338e-02 -4.56118826e-04 9.98044601e-01 -1.96662500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.708639999999995 meters Centerline goodness [0,1] 0.9994591405251254 Centerline is valid? [True, True] Translation: X:42.35, Y:-8.82, Z:-1.97 [[ 9.29780088e-01 3.63643410e-01 5.72054041e-02 4.23467726e+01] [-3.62974193e-01 9.31538192e-01 -2.20529566e-02 -8.82218511e+00] [-6.13084310e-02 -2.59685404e-04 9.98118835e-01 -1.96732448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73864 meters Centerline goodness [0,1] 0.9997052900437153 Centerline is valid? [True, True] Translation: X:42.37, Y:-8.83, Z:-1.97 [[ 9.30479313e-01 3.61748929e-01 5.78442801e-02 4.23732417e+01] [-3.61062939e-01 9.32275541e-01 -2.22681289e-02 -8.83076975e+00] [-6.19822794e-02 -1.65392511e-04 9.98077236e-01 -1.96876342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76864 meters Centerline goodness [0,1] 0.9992613384547201 Centerline is valid? [True, True] Translation: X:42.40, Y:-8.84, Z:-1.97 [[ 9.31696104e-01 3.58704646e-01 5.72131684e-02 4.23994588e+01] [-3.58029845e-01 9.33451111e-01 -2.19921205e-02 -8.83908869e+00] [-6.12943714e-02 5.95113602e-06 9.98119732e-01 -1.97021542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79864 meters Centerline goodness [0,1] 0.9990658800393314 Centerline is valid? [True, True] Translation: X:42.43, Y:-8.85, Z:-1.97 [[ 9.32670611e-01 3.56195490e-01 5.70114415e-02 4.24259228e+01] [-3.55522771e-01 9.34411448e-01 -2.18816255e-02 -8.84918216e+00] [-6.10662799e-02 1.39483336e-04 9.98133703e-01 -1.97092432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82864 meters Centerline goodness [0,1] 0.9992141453831042 Centerline is valid? [True, True] Translation: X:42.45, Y:-8.86, Z:-1.97 [[ 9.33185611e-01 3.54862041e-01 5.68994398e-02 4.24519439e+01] [-3.54191502e-01 9.34918656e-01 -2.18056623e-02 -8.85897122e+00] [-6.09343496e-02 1.95432304e-04 9.98141757e-01 -1.97134836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85864 meters Centerline goodness [0,1] 0.998869167609027 Centerline is valid? [True, True] Translation: X:42.48, Y:-8.87, Z:-1.97 [[ 9.33879456e-01 3.53023310e-01 5.69535277e-02 4.24785908e+01] [-3.52350069e-01 9.35614483e-01 -2.17937576e-02 -8.86853762e+00] [-6.09802499e-02 2.85163075e-04 9.98138932e-01 -1.97235255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.888639999999995 meters Centerline goodness [0,1] 0.9990660177948189 Centerline is valid? [True, True] Translation: X:42.50, Y:-8.88, Z:-1.97 [[ 9.34982273e-01 3.50115503e-01 5.68091855e-02 4.25045234e+01] [-3.49442285e-01 9.36706431e-01 -2.17060256e-02 -8.87846491e+00] [-6.08131455e-02 4.43217533e-04 9.98149069e-01 -1.97387948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.918639999999996 meters Centerline goodness [0,1] 0.9989204043576406 Centerline is valid? [True, True] Translation: X:42.53, Y:-8.89, Z:-1.97 [[ 9.35555334e-01 3.48755899e-01 5.57273680e-02 4.25303349e+01] [-3.48107553e-01 9.37213466e-01 -2.12614743e-02 -8.89014816e+00] [-5.96435043e-02 4.92167930e-04 9.98219620e-01 -1.97461179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94864 meters Centerline goodness [0,1] 0.9988688895446051 Centerline is valid? [True, True] Translation: X:42.56, Y:-8.90, Z:-1.98 [[ 9.36243436e-01 3.46540539e-01 5.79472514e-02 4.25569381e+01] [-3.45837219e-01 9.38034786e-01 -2.20761850e-02 -8.90140947e+00] [-6.20068307e-02 6.28367049e-04 9.98075527e-01 -1.97693622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97864 meters Centerline goodness [0,1] 0.9992140681795855 Centerline is valid? [True, True] Translation: X:42.58, Y:-8.91, Z:-1.98 [[ 9.37332559e-01 3.43815569e-01 5.65555304e-02 4.25823905e+01] [-3.43142431e-01 9.39036886e-01 -2.15174055e-02 -8.91206862e+00] [-6.05057481e-02 7.62362583e-04 9.98167558e-01 -1.97789813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00864 meters Centerline goodness [0,1] 0.9986241462336003 Centerline is valid? [True, True] Translation: X:42.61, Y:-8.92, Z:-1.98 [[ 9.38030183e-01 3.41876431e-01 5.67440026e-02 4.26087709e+01] [-3.41197117e-01 9.39744520e-01 -2.15583853e-02 -8.92307951e+00] [-6.06951694e-02 8.61526018e-04 9.98155977e-01 -1.97951256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03864 meters Centerline goodness [0,1] 0.9988198849387815 Centerline is valid? [True, True] Translation: X:42.63, Y:-8.94, Z:-1.98 [[ 9.38299278e-01 3.41257997e-01 5.60128980e-02 4.26332531e+01] [-3.40596681e-01 9.39969273e-01 -2.12524523e-02 -8.93690346e+00] [-5.99029723e-02 8.63353510e-04 9.98203831e-01 -1.98173143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.068639999999995 meters Centerline goodness [0,1] 0.9984758346034711 Centerline is valid? [True, True] Translation: X:42.66, Y:-8.95, Z:-1.98 [[ 9.38227294e-01 3.41327999e-01 5.67868150e-02 4.26585530e+01] [-3.40650336e-01 9.39943876e-01 -2.15141432e-02 -8.94935597e+00] [-6.07197984e-02 8.40708748e-04 9.98154497e-01 -1.98248499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.098639999999996 meters Centerline goodness [0,1] 0.9983794136423906 Centerline is valid? [True, True] Translation: X:42.68, Y:-8.96, Z:-1.98 [[ 9.38093514e-01 3.41724431e-01 5.66124750e-02 4.26839900e+01] [-3.41053561e-01 9.39799872e-01 -2.14165382e-02 -8.96129345e+00] [-6.05229511e-02 7.82829403e-04 9.98166499e-01 -1.98320053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12864 meters Centerline goodness [0,1] 0.9986243490223052 Centerline is valid? [True, True] Translation: X:42.71, Y:-8.98, Z:-1.99 [[ 9.36828838e-01 3.45242211e-01 5.62098258e-02 4.27092675e+01] [-3.44589006e-01 9.38513474e-01 -2.12338230e-02 -8.97639456e+00] [-6.00844909e-02 5.23169723e-04 9.98193158e-01 -1.98527669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15864 meters Centerline goodness [0,1] 0.9987220447284345 Centerline is valid? [True, True] Translation: X:42.73, Y:-8.99, Z:-1.99 [[ 9.36107244e-01 3.47044479e-01 5.71257937e-02 4.27344943e+01] [-3.46374957e-01 9.37848591e-01 -2.15501466e-02 -8.98905612e+00] [-6.10542045e-02 3.86304009e-04 9.98134377e-01 -1.98723231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18864 meters Centerline goodness [0,1] 0.9986252270830265 Centerline is valid? [True, True] Translation: X:42.76, Y:-9.00, Z:-1.99 [[ 9.35365266e-01 3.49183716e-01 5.62365608e-02 4.27602163e+01] [-3.48540588e-01 9.37054260e-01 -2.11842362e-02 -9.00141060e+00] [-6.00938992e-02 2.14274786e-04 9.98192706e-01 -1.98753341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21864 meters Centerline goodness [0,1] 0.9985744482131446 Centerline is valid? [True, True] Translation: X:42.79, Y:-9.01, Z:-1.99 [[ 9.33910725e-01 3.52832866e-01 5.76170735e-02 4.27862885e+01] [-3.52166475e-01 9.35686361e-01 -2.16750542e-02 -9.01408253e+00] [-6.15591814e-02 -4.82361200e-05 9.98103434e-01 -1.98726164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.248639999999995 meters Centerline goodness [0,1] 0.9987730663525717 Centerline is valid? [True, True] Translation: X:42.81, Y:-9.03, Z:-1.99 [[ 9.33412690e-01 3.54104721e-01 5.78843303e-02 4.28126195e+01] [-3.53436368e-01 9.35205764e-01 -2.17465561e-02 -9.02583538e+00] [-6.18343175e-02 -1.59916020e-04 9.98086415e-01 -1.98850558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.278639999999996 meters Centerline goodness [0,1] 0.9986239433850993 Centerline is valid? [True, True] Translation: X:42.84, Y:-9.04, Z:-1.99 [[ 9.33121344e-01 3.54842687e-01 5.80622520e-02 4.28388382e+01] [-3.54173449e-01 9.34925993e-01 -2.17843182e-02 -9.03749627e+00] [-6.20139146e-02 -2.36695760e-04 9.98075257e-01 -1.98935304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30864 meters Centerline goodness [0,1] 0.9983779798476284 Centerline is valid? [True, True] Translation: X:42.86, Y:-9.05, Z:-1.99 [[ 9.33054614e-01 3.54945429e-01 5.85049574e-02 4.28648206e+01] [-3.54267981e-01 9.34886981e-01 -2.19209873e-02 -9.04896764e+00] [-6.24762773e-02 -2.72954748e-04 9.98046412e-01 -1.99027972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33864 meters Centerline goodness [0,1] 0.9984771822960161 Centerline is valid? [True, True] Translation: X:42.89, Y:-9.06, Z:-1.99 [[ 9.32945775e-01 3.55196848e-01 5.87143918e-02 4.28918638e+01] [-3.54516891e-01 9.34791473e-01 -2.19699058e-02 -9.05891218e+00] [-6.26893541e-02 -3.18512800e-04 9.98033037e-01 -1.99054972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36864 meters Centerline goodness [0,1] 0.9986246868706714 Centerline is valid? [True, True] Translation: X:42.92, Y:-9.07, Z:-1.99 [[ 9.32765654e-01 3.55471815e-01 5.99001054e-02 4.29188976e+01] [-3.54766613e-01 9.34686926e-01 -2.23830383e-02 -9.06883361e+00] [-6.39443846e-02 -3.72428108e-04 9.97953394e-01 -1.99226313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39864 meters Centerline goodness [0,1] 0.9988680545302426 Centerline is valid? [True, True] Translation: X:42.95, Y:-9.08, Z:-1.99 [[ 9.31687162e-01 3.58210877e-01 6.03655450e-02 4.29475400e+01] [-3.57501805e-01 9.33640523e-01 -2.25351725e-02 -9.07823100e+00] [-6.44320629e-02 -5.85060400e-04 9.97921924e-01 -1.99227599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42864 meters Centerline goodness [0,1] 0.9988692787965193 Centerline is valid? [True, True] Translation: X:42.98, Y:-9.09, Z:-1.99 [[ 9.31206598e-01 3.59491195e-01 6.01693687e-02 4.29753013e+01] [-3.58789673e-01 9.33148233e-01 -2.24576513e-02 -9.08743532e+00] [-6.42202680e-02 -6.75435055e-04 9.97935519e-01 -1.99290408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.458639999999995 meters Centerline goodness [0,1] 0.9992620652334334 Centerline is valid? [True, True] Translation: X:43.00, Y:-9.10, Z:-1.99 [[ 9.30495681e-01 3.61265753e-01 6.05379471e-02 4.30026687e+01] [-3.60560201e-01 9.32462541e-01 -2.25820755e-02 -9.09609000e+00] [-6.46074986e-02 -8.15050649e-04 9.97910420e-01 -1.99469782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48864 meters Centerline goodness [0,1] 0.9990156511467664 Centerline is valid? [True, True] Translation: X:43.03, Y:-9.10, Z:-2.00 [[ 9.29701091e-01 3.63324529e-01 6.04248945e-02 4.30302721e+01] [-3.62627911e-01 9.31662126e-01 -2.25095804e-02 -9.10336266e+00] [-6.44738684e-02 -9.84571862e-04 9.97918910e-01 -1.99599386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51864 meters Centerline goodness [0,1] 0.998821333857185 Centerline is valid? [True, True] Translation: X:43.06, Y:-9.11, Z:-2.00 [[ 9.29708721e-01 3.63473827e-01 5.94009398e-02 4.30567562e+01] [-3.62802903e-01 9.31603866e-01 -2.20972809e-02 -9.11147366e+00] [-6.33699285e-02 -1.00679863e-03 9.97989598e-01 -1.99618023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54864 meters Centerline goodness [0,1] 0.9985757084622563 Centerline is valid? [True, True] Translation: X:43.08, Y:-9.12, Z:-2.00 [[ 9.29537331e-01 3.63852033e-01 5.97666188e-02 4.30843738e+01] [-3.63175704e-01 9.31456147e-01 -2.22003245e-02 -9.11903691e+00] [-6.37476177e-02 -1.06975345e-03 9.97965479e-01 -1.99670623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57864 meters Centerline goodness [0,1] 0.9984295249312917 Centerline is valid? [True, True] Translation: X:43.11, Y:-9.12, Z:-2.00 [[ 9.29482543e-01 3.64506287e-01 5.65452729e-02 4.31143207e+01] [-3.63903818e-01 9.31200301e-01 -2.09764337e-02 -9.12102752e+00] [-6.03010171e-02 -1.07981179e-03 9.98179654e-01 -1.99639579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60864 meters Centerline goodness [0,1] 0.998577943411955 Centerline is valid? [True, True] Translation: X:43.14, Y:-9.13, Z:-2.00 [[ 9.29360158e-01 3.64739649e-01 5.70498523e-02 4.31422831e+01] [-3.64128571e-01 9.31108859e-01 -2.11347163e-02 -9.12700621e+00] [-6.08282919e-02 -1.13171789e-03 9.98147603e-01 -1.99834839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.638639999999995 meters Centerline goodness [0,1] 0.9983294025157232 Centerline is valid? [True, True] Translation: X:43.17, Y:-9.13, Z:-2.00 [[ 9.29894041e-01 3.63600688e-01 5.56022655e-02 4.31719872e+01] [-3.63019846e-01 9.31554306e-01 -2.05710155e-02 -9.12810475e+00] [-5.92761652e-02 -1.05586112e-03 9.98241064e-01 -1.99925348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.668639999999996 meters Centerline goodness [0,1] 0.998378458061029 Centerline is valid? [True, True] Translation: X:43.20, Y:-9.13, Z:-2.00 [[ 9.30400342e-01 3.62358573e-01 5.52400884e-02 4.32000197e+01] [-3.61784715e-01 9.32038236e-01 -2.04094865e-02 -9.13397926e+00] [-5.88814270e-02 -9.96026401e-04 9.98264487e-01 -2.00021155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69864 meters Centerline goodness [0,1] 0.9986252945797329 Centerline is valid? [True, True] Translation: X:43.23, Y:-9.14, Z:-2.00 [[ 9.31405599e-01 3.59610124e-01 5.62509401e-02 4.32287276e+01] [-3.59011763e-01 9.33102252e-01 -2.07543188e-02 -9.13942122e+00] [-5.99513420e-02 -8.64060401e-04 9.98200927e-01 -2.00186347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72864 meters Centerline goodness [0,1] 0.9978884305637399 Centerline is valid? [True, True] Translation: X:43.26, Y:-9.14, Z:-2.00 [[ 9.33293441e-01 3.54456959e-01 5.76508117e-02 4.32584376e+01] [-3.53820398e-01 9.35072155e-01 -2.12412565e-02 -9.14099744e+00] [-6.14367800e-02 -5.73707800e-04 9.98110812e-01 -2.00486891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75864 meters Centerline goodness [0,1] 0.9980362315283028 Centerline is valid? [True, True] Translation: X:43.29, Y:-9.15, Z:-2.00 [[ 9.34785163e-01 3.50795200e-01 5.58518316e-02 4.32871118e+01] [-3.50192873e-01 9.36452138e-01 -2.05510428e-02 -9.14666145e+00] [-5.95117743e-02 -3.48103457e-04 9.98227543e-01 -2.00430772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78864 meters Centerline goodness [0,1] 0.9984764338723153 Centerline is valid? [True, True] Translation: X:43.32, Y:-9.15, Z:-2.00 [[ 9.35967184e-01 3.47635054e-01 5.58148728e-02 4.33152847e+01] [-3.47029637e-01 9.37629905e-01 -2.05083284e-02 -9.15148802e+00] [-5.94631077e-02 -1.74292645e-04 9.98230489e-01 -2.00487131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.818639999999995 meters Centerline goodness [0,1] 0.9981332285321282 Centerline is valid? [True, True] Translation: X:43.35, Y:-9.15, Z:-2.01 [[ 9.38609331e-01 3.40839422e-01 5.33011448e-02 4.33450671e+01] [-3.40277993e-01 9.40121503e-01 -1.95562356e-02 -9.15365605e+00] [-5.67750884e-02 2.18458620e-04 9.98386970e-01 -2.00594775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.848639999999996 meters Centerline goodness [0,1] 0.9983342315418157 Centerline is valid? [True, True] Translation: X:43.37, Y:-9.16, Z:-2.01 [[ 9.39976119e-01 3.37196565e-01 5.23772034e-02 4.33719807e+01] [-3.36650262e-01 9.41434178e-01 -1.91908747e-02 -9.16137301e+00] [-5.57807865e-02 4.06164669e-04 9.98442957e-01 -2.00693051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87864 meters Centerline goodness [0,1] 0.9977834696089055 Centerline is valid? [True, True] Translation: X:43.40, Y:-9.17, Z:-2.01 [[ 9.41419397e-01 3.33150025e-01 5.23505554e-02 4.33991578e+01] [-3.32599403e-01 9.42873626e-01 -1.91562867e-02 -9.16941041e+00] [-5.57418754e-02 6.22336400e-04 9.98445019e-01 -2.00842449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90864 meters Centerline goodness [0,1] 0.9974481032536684 Centerline is valid? [True, True] Translation: X:43.43, Y:-9.18, Z:-2.01 [[ 9.44499029e-01 3.24062787e-01 5.38970681e-02 4.34271603e+01] [-3.23464790e-01 9.46034832e-01 -1.97135940e-02 -9.17715315e+00] [-5.73769461e-02 1.18566662e-03 9.98351882e-01 -2.01047217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93864 meters Centerline goodness [0,1] 0.9969588463236376 Centerline is valid? [True, True] Translation: X:43.46, Y:-9.19, Z:-2.01 [[ 9.46137596e-01 3.18932794e-01 5.57272143e-02 4.34550450e+01] [-3.18284871e-01 9.47776077e-01 -2.03776536e-02 -9.18664143e+00] [-5.93160225e-02 1.54293503e-03 9.98238062e-01 -2.01152087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96864 meters Centerline goodness [0,1] 0.9970556482481107 Centerline is valid? [True, True] Translation: X:43.48, Y:-9.20, Z:-2.01 [[ 9.47791379e-01 3.14087512e-01 5.51410641e-02 4.34820603e+01] [-3.13445526e-01 9.49392295e-01 -2.01537047e-02 -9.19590828e+00] [-5.86805283e-02 1.81778770e-03 9.98275158e-01 -2.01208859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.998639999999995 meters Centerline goodness [0,1] 0.9970556482481107 Centerline is valid? [True, True] Translation: X:43.51, Y:-9.21, Z:-2.01 [[ 9.47937643e-01 3.13644289e-01 5.51496594e-02 4.35076234e+01] [-3.13002923e-01 9.49538808e-01 -2.01301605e-02 -9.20560363e+00] [-5.86804517e-02 1.82013233e-03 9.98275158e-01 -2.01326672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.028639999999996 meters Centerline goodness [0,1] 0.9968082494475816 Centerline is valid? [True, True] Translation: X:43.53, Y:-9.22, Z:-2.01 [[ 9.49797953e-01 3.08125526e-01 5.42448918e-02 4.35346479e+01] [-3.07497316e-01 9.51343382e-01 -1.97780442e-02 -9.21729659e+00] [-5.76996391e-02 2.10498724e-03 9.98331769e-01 -2.01401400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05864 meters Centerline goodness [0,1] 0.9966093366093366 Centerline is valid? [True, True] Translation: X:43.56, Y:-9.23, Z:-2.02 [[ 9.50328509e-01 3.06489138e-01 5.42229889e-02 4.35603425e+01] [-3.05859060e-01 9.51871616e-01 -1.97651631e-02 -9.22955114e+00] [-5.76711319e-02 2.19880558e-03 9.98333214e-01 -2.01518251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08864 meters Centerline goodness [0,1] 0.9968542639469157 Centerline is valid? [True, True] Translation: X:43.59, Y:-9.24, Z:-2.02 [[ 9.50821020e-01 3.05218017e-01 5.27384962e-02 4.35859867e+01] [-3.04620724e-01 9.52279955e-01 -1.92120028e-02 -9.24222968e+00] [-5.60856622e-02 2.20193723e-03 9.98423532e-01 -2.01613889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11864 meters Centerline goodness [0,1] 0.996613330715618 Centerline is valid? [True, True] Translation: X:43.61, Y:-9.26, Z:-2.02 [[ 9.50816946e-01 3.05106197e-01 5.34541316e-02 4.36108010e+01] [-3.04493848e-01 9.52315759e-01 -1.94471280e-02 -9.25505640e+00] [-5.68386512e-02 2.21420465e-03 9.98380922e-01 -2.01783619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14864 meters Centerline goodness [0,1] 0.9973944250528489 Centerline is valid? [True, True] Translation: X:43.64, Y:-9.27, Z:-2.02 [[ 9.50058208e-01 3.07422644e-01 5.36723347e-02 4.36350615e+01] [-3.06810500e-01 9.51570849e-01 -1.94996589e-02 -9.27264054e+00] [-5.70676658e-02 2.05857518e-03 9.98368190e-01 -2.01868081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17864 meters Centerline goodness [0,1] 0.9974459724950884 Centerline is valid? [True, True] Translation: X:43.66, Y:-9.29, Z:-2.02 [[ 9.49884882e-01 3.07999225e-01 5.34339537e-02 4.36604300e+01] [-3.07394743e-01 9.51384521e-01 -1.93898309e-02 -9.28575679e+00] [-5.68082893e-02 1.99279072e-03 9.98383116e-01 -2.01953359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.208639999999995 meters Centerline goodness [0,1] 0.9977897838899804 Centerline is valid? [True, True] Translation: X:43.68, Y:-9.30, Z:-2.02 [[ 9.49023908e-01 3.10653791e-01 5.33651937e-02 4.36842733e+01] [-3.10056457e-01 9.50521411e-01 -1.93401232e-02 -9.30353826e+00] [-5.67328418e-02 1.80801642e-03 9.98387758e-01 -2.01963798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23864 meters Centerline goodness [0,1] 0.9980325611135704 Centerline is valid? [True, True] Translation: X:43.71, Y:-9.32, Z:-2.02 [[ 9.48928874e-01 3.10859396e-01 5.38556298e-02 4.37086514e+01] [-3.10252838e-01 9.50454229e-01 -1.94919452e-02 -9.31663370e+00] [-5.72465654e-02 1.78760768e-03 9.98358470e-01 -2.02191925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26864 meters Centerline goodness [0,1] 0.9982259892573794 Centerline is valid? [True, True] Translation: X:43.73, Y:-9.33, Z:-2.02 [[ 9.48352347e-01 3.12478845e-01 5.46332994e-02 4.37342466e+01] [-3.11858956e-01 9.49923220e-01 -1.97450680e-02 -9.33132041e+00] [-5.80673557e-02 1.68739786e-03 9.98311241e-01 -2.02338084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29864 meters Centerline goodness [0,1] 0.9983731019522777 Centerline is valid? [True, True] Translation: X:43.76, Y:-9.35, Z:-2.02 [[ 9.47366061e-01 3.15448256e-01 5.46803764e-02 4.37584378e+01] [-3.14833686e-01 9.48941620e-01 -1.97370722e-02 -9.34826434e+00] [-5.81145100e-02 1.48300793e-03 9.98308822e-01 -2.02382568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32864 meters Centerline goodness [0,1] 0.9984774066797643 Centerline is valid? [True, True] Translation: X:43.78, Y:-9.36, Z:-2.03 [[ 9.46759477e-01 3.17107252e-01 5.55831228e-02 4.37846002e+01] [-3.16476544e-01 9.48388679e-01 -2.00377508e-02 -9.36009763e+00] [-5.90685205e-02 1.38017584e-03 9.98252976e-01 -2.02523129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35864 meters Centerline goodness [0,1] 0.9987236131566029 Centerline is valid? [True, True] Translation: X:43.81, Y:-9.37, Z:-2.03 [[ 9.45082724e-01 3.21984574e-01 5.60765470e-02 4.38109045e+01] [-3.21352771e-01 9.46744322e-01 -2.01887388e-02 -9.37094133e+00] [-5.95906149e-02 1.05967452e-03 9.98222338e-01 -2.02646760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.388639999999995 meters Centerline goodness [0,1] 0.9992627181125584 Centerline is valid? [True, True] Translation: X:43.84, Y:-9.38, Z:-2.03 [[ 9.44331123e-01 3.23869317e-01 5.78566756e-02 4.38373616e+01] [-3.23202059e-01 9.46101356e-01 -2.08003063e-02 -9.38067969e+00] [-6.14748602e-02 9.42979896e-04 9.98108187e-01 -2.02836403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.418639999999996 meters Centerline goodness [0,1] 0.9994109562144119 Centerline is valid? [True, True] Translation: X:43.86, Y:-9.39, Z:-2.03 [[ 9.43317796e-01 3.26451009e-01 5.98437559e-02 4.38634351e+01] [-3.25744405e-01 9.45213810e-01 -2.14810723e-02 -9.39067062e+00] [-6.35776622e-02 7.69709119e-04 9.97976597e-01 -2.03065536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44864 meters Centerline goodness [0,1] 0.9997048841670355 Centerline is valid? [True, True] Translation: X:43.89, Y:-9.40, Z:-2.03 [[ 9.42606916e-01 3.28468759e-01 6.00039748e-02 4.38907826e+01] [-3.27764431e-01 9.44514641e-01 -2.15074380e-02 -9.40093887e+00] [-6.37391542e-02 6.05891140e-04 9.97966409e-01 -2.03206484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47864 meters Centerline goodness [0,1] 0.9996077085274359 Centerline is valid? [True, True] Translation: X:43.92, Y:-9.41, Z:-2.03 [[ 9.41805287e-01 3.30925376e-01 5.90863562e-02 4.39181235e+01] [-3.30248957e-01 9.43656839e-01 -2.11517728e-02 -9.40997785e+00] [-6.27569025e-02 4.07643988e-04 9.98028760e-01 -2.03426433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50864 meters Centerline goodness [0,1] 0.9998526812021213 Centerline is valid? [True, True] Translation: X:43.95, Y:-9.42, Z:-2.04 [[ 9.41778467e-01 3.30857622e-01 5.98878363e-02 4.39452530e+01] [-3.30164437e-01 9.43680604e-01 -2.14094034e-02 -9.41832775e+00] [-6.35984538e-02 3.90081342e-04 9.97975493e-01 -2.03602088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.97, Y:-9.43, Z:-2.04 [[ 9.42295288e-01 3.29860677e-01 5.71972322e-02 4.39729732e+01] [-3.29228236e-01 9.44029536e-01 -2.04206749e-02 -9.42590545e+00] [-6.07318542e-02 4.11361865e-04 9.98154033e-01 -2.03621888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.568639999999995 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:44.00, Y:-9.44, Z:-2.04 [[ 9.42481706e-01 3.28965717e-01 5.92434835e-02 4.40005313e+01] [-3.28287262e-01 9.44341753e-01 -2.11217009e-02 -9.43500941e+00] [-6.28944105e-02 4.57935716e-04 9.98020082e-01 -2.03871420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.598639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.03, Y:-9.44, Z:-2.04 [[ 9.42776871e-01 3.28233260e-01 5.86063030e-02 4.40268001e+01] [-3.27569768e-01 9.44596582e-01 -2.08649041e-02 -9.44361511e+00] [-6.22078690e-02 4.73295894e-04 9.98063103e-01 -2.03947490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.05, Y:-9.45, Z:-2.04 [[ 9.42824240e-01 3.28135796e-01 5.83896602e-02 4.40537583e+01] [-3.27479026e-01 9.44630457e-01 -2.07554383e-02 -9.45045162e+00] [-6.19672536e-02 4.47341342e-04 9.98078083e-01 -2.04082873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.08, Y:-9.46, Z:-2.04 [[ 9.42792675e-01 3.28106708e-01 5.90589553e-02 4.40793641e+01] [-3.27436802e-01 9.44640571e-01 -2.09602437e-02 -9.46041646e+00] [-6.26666818e-02 4.23088761e-04 9.98034422e-01 -2.04280317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.10, Y:-9.47, Z:-2.04 [[ 9.42804544e-01 3.28082771e-01 5.90024426e-02 4.41046097e+01] [-3.27416153e-01 9.44648898e-01 -2.09074608e-02 -9.47107976e+00] [-6.25959700e-02 3.93296257e-04 9.98038872e-01 -2.04428031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.13, Y:-9.48, Z:-2.05 [[ 9.42696803e-01 3.28231974e-01 5.98874616e-02 4.41309076e+01] [-3.27547542e-01 9.44597079e-01 -2.11887972e-02 -9.48132222e+00] [-6.35243621e-02 3.58620530e-04 9.97980224e-01 -2.04604003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.748639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.16, Y:-9.49, Z:-2.05 [[ 9.42352616e-01 3.29463166e-01 5.85283601e-02 4.41582921e+01] [-3.28813598e-01 9.44168398e-01 -2.06797957e-02 -9.48934259e+00] [-6.20738589e-02 2.42738919e-04 9.98071529e-01 -2.04682935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.778639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.19, Y:-9.50, Z:-2.05 [[ 9.42054598e-01 3.30167096e-01 5.93533841e-02 4.41854778e+01] [-3.29502305e-01 9.43922486e-01 -2.09421021e-02 -9.49936905e+00] [-6.29393869e-02 1.71526725e-04 9.98017337e-01 -2.04826528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.21, Y:-9.51, Z:-2.05 [[ 9.41660733e-01 3.30966303e-01 6.11258542e-02 4.42116419e+01] [-3.30264831e-01 9.43642569e-01 -2.15370413e-02 -9.50994974e+00] [-6.48089930e-02 9.28661817e-05 9.97897683e-01 -2.05076990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.24, Y:-9.52, Z:-2.05 [[ 9.41299103e-01 3.31852559e-01 6.18860082e-02 4.42388076e+01] [-3.31137430e-01 9.43331267e-01 -2.17743662e-02 -9.51925005e+00] [-6.56048857e-02 3.41761453e-06 9.97845679e-01 -2.05287743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.27, Y:-9.53, Z:-2.05 [[ 9.41289279e-01 3.31873792e-01 6.19215562e-02 4.42663950e+01] [-3.31159983e-01 9.43323797e-01 -2.17550009e-02 -9.52612370e+00] [-6.56319921e-02 -2.81923712e-05 9.97843896e-01 -2.05452752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.29, Y:-9.54, Z:-2.06 [[ 9.41823918e-01 3.30345256e-01 6.19654749e-02 4.42927492e+01] [-3.29629404e-01 9.43860164e-01 -2.17358285e-02 -9.53529939e+00] [-6.56670711e-02 4.56805978e-05 9.97841587e-01 -2.05648994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:-9.54, Z:-2.06 [[ 9.42271487e-01 3.29128125e-01 6.16370268e-02 4.43186109e+01] [-3.28419494e-01 9.44285268e-01 -2.15862943e-02 -9.54447110e+00] [-6.53075929e-02 9.73484972e-05 9.97865176e-01 -2.05833539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.958639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.35, Y:-9.55, Z:-2.06 [[ 9.42709969e-01 3.27616724e-01 6.29698066e-02 4.43455297e+01] [-3.26875988e-01 9.44810696e-01 -2.20189974e-02 -9.55318125e+00] [-6.67083387e-02 1.74210604e-04 9.97772503e-01 -2.05968706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.37, Y:-9.56, Z:-2.06 [[ 9.43240856e-01 3.26162202e-01 6.25692048e-02 4.43727783e+01] [-3.25429785e-01 9.45313788e-01 -2.18471332e-02 -9.56021325e+00] [-6.62732411e-02 2.45225749e-04 9.97801482e-01 -2.05959389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.40, Y:-9.57, Z:-2.06 [[ 9.43544127e-01 3.25269587e-01 6.26432468e-02 4.43989405e+01] [-3.24535781e-01 9.45621288e-01 -2.18381958e-02 -9.56856053e+00] [-6.63400887e-02 2.75326407e-04 9.97797032e-01 -2.06097388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.43, Y:-9.58, Z:-2.06 [[ 9.43659068e-01 3.24753309e-01 6.35834200e-02 4.44257371e+01] [-3.23998411e-01 9.45798714e-01 -2.21319207e-02 -9.57755217e+00] [-6.73245314e-02 2.84060578e-04 9.97731089e-01 -2.06298370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.45, Y:-9.58, Z:-2.06 [[ 9.43976506e-01 3.23778461e-01 6.38424957e-02 4.44526039e+01] [-3.23017374e-01 9.46132868e-01 -2.21894734e-02 -9.58443052e+00] [-6.75879571e-02 3.24106245e-04 9.97713267e-01 -2.06498926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.48, Y:-9.59, Z:-2.07 [[ 9.44353093e-01 3.22989579e-01 6.22492379e-02 4.44802135e+01] [-3.22266466e-01 9.46402460e-01 -2.16034533e-02 -9.59168931e+00] [-6.58905222e-02 3.40446001e-04 9.97826800e-01 -2.06571131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.138639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.51, Y:-9.60, Z:-2.07 [[ 9.44643879e-01 3.22187206e-01 6.19947283e-02 4.45065727e+01] [-3.21470328e-01 9.46675906e-01 -2.14838835e-02 -9.59937334e+00] [-6.56107480e-02 3.65153415e-04 9.97845227e-01 -2.06711059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.168639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-9.61, Z:-2.07 [[ 9.45460701e-01 3.19838176e-01 6.17057875e-02 4.45338704e+01] [-3.19125193e-01 9.47472056e-01 -2.13498011e-02 -9.60704960e+00] [-6.52929908e-02 4.93526562e-04 9.97866014e-01 -2.06830778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-9.62, Z:-2.07 [[ 9.45717672e-01 3.19114017e-01 6.15168922e-02 4.45598804e+01] [-3.18406068e-01 9.47716194e-01 -2.12506805e-02 -9.61583026e+00] [-6.50819450e-02 5.09792280e-04 9.97879793e-01 -2.06939383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-9.62, Z:-2.07 [[ 9.45695517e-01 3.19382999e-01 6.04523786e-02 4.45878966e+01] [-3.18701927e-01 9.47625609e-01 -2.08515463e-02 -9.62349412e+00] [-6.39458515e-02 4.52924319e-04 9.97953267e-01 -2.06950342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.61, Y:-9.63, Z:-2.07 [[ 9.45467749e-01 3.20003578e-01 6.07325744e-02 4.46140901e+01] [-3.19319419e-01 9.47416256e-01 -2.09176050e-02 -9.63154647e+00] [-6.42327367e-02 3.83830550e-04 9.97934872e-01 -2.07095058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-9.64, Z:-2.07 [[ 9.45430624e-01 3.19918938e-01 6.17479486e-02 4.46415622e+01] [-3.19213656e-01 9.47444848e-01 -2.12344504e-02 -9.64042959e+00] [-6.52960786e-02 3.64911233e-04 9.97865867e-01 -2.07220085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.318639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.67, Y:-9.65, Z:-2.07 [[ 9.45393922e-01 3.20085589e-01 6.14454875e-02 4.46677320e+01] [-3.19389576e-01 9.47388575e-01 -2.10994572e-02 -9.64954942e+00] [-6.49663851e-02 3.22250369e-04 9.97887401e-01 -2.07306865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.348639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:-9.66, Z:-2.07 [[ 9.45825110e-01 3.18898427e-01 6.09807771e-02 4.46939533e+01] [-3.18212604e-01 9.47788825e-01 -2.09065022e-02 -9.65826770e+00] [-6.44639497e-02 3.69042840e-04 9.97919968e-01 -2.07462858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:-9.67, Z:-2.07 [[ 9.46566001e-01 3.16985178e-01 5.94407562e-02 4.47217392e+01] [-3.16331762e-01 9.48430381e-01 -2.03476901e-02 -9.66713644e+00] [-6.28253353e-02 4.57432515e-04 9.98024433e-01 -2.07494203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40864 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:44.75, Y:-9.68, Z:-2.08 [[ 9.47266326e-01 3.15005861e-01 5.88031910e-02 4.47474781e+01] [-3.14364402e-01 9.49089564e-01 -2.01003211e-02 -9.67783716e+00] [-6.21412139e-02 5.54727296e-04 9.98067213e-01 -2.07615229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:-9.69, Z:-2.08 [[ 9.47712569e-01 3.13372501e-01 6.03204884e-02 4.47741222e+01] [-3.12696219e-01 9.49630062e-01 -2.05868784e-02 -9.68737502e+00] [-6.37335107e-02 6.48454733e-04 9.97966742e-01 -2.07674151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:44.80, Y:-9.70, Z:-2.08 [[ 9.48204851e-01 3.11937054e-01 6.00236288e-02 4.48003509e+01] [-3.11266439e-01 9.50102503e-01 -2.04557509e-02 -9.69646246e+00] [-6.34095066e-02 7.12901007e-04 9.97987338e-01 -2.07767949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.498639999999995 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:44.83, Y:-9.70, Z:-2.08 [[ 9.48704296e-01 3.10485551e-01 5.96563677e-02 4.48271687e+01] [-3.09822294e-01 9.50577784e-01 -2.02983510e-02 -9.70431314e+00] [-6.30103625e-02 7.74260095e-04 9.98012572e-01 -2.07888704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.528639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:-9.71, Z:-2.08 [[ 9.48800228e-01 3.10431143e-01 5.84006275e-02 4.48548448e+01] [-3.09797256e-01 9.50595586e-01 -1.98416861e-02 -9.71349993e+00] [-6.16748560e-02 7.33442096e-04 9.98096025e-01 -2.08100459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:44.88, Y:-9.72, Z:-2.08 [[ 9.48771105e-01 3.10473857e-01 5.86461845e-02 4.48809234e+01] [-3.09836436e-01 9.50581656e-01 -1.98972063e-02 -9.72343693e+00] [-6.19255495e-02 7.07169574e-04 9.98080521e-01 -2.08274487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58864 meters Centerline goodness [0,1] 0.9998520053278082 Centerline is valid? [True, True] Translation: X:44.91, Y:-9.74, Z:-2.08 [[ 9.49208218e-01 3.09320699e-01 5.76581629e-02 4.49067222e+01] [-3.08704354e-01 9.50957495e-01 -1.95310995e-02 -9.73556417e+00] [-6.08718356e-02 7.39754201e-04 9.98145316e-01 -2.08245746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:44.93, Y:-9.75, Z:-2.08 [[ 9.49439250e-01 3.08495935e-01 5.82697852e-02 4.49332844e+01] [-3.07866767e-01 9.51225348e-01 -1.97076418e-02 -9.74653575e+00] [-6.15074240e-02 7.71878304e-04 9.98106327e-01 -2.08439419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.96, Y:-9.76, Z:-2.09 [[ 9.50096125e-01 3.06224601e-01 5.95302104e-02 4.49600105e+01] [-3.05565245e-01 9.51958856e-01 -2.01051872e-02 -9.75736052e+00] [-6.28270139e-02 9.11497112e-04 9.98024015e-01 -2.08731647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67864 meters Centerline goodness [0,1] 0.9999015311899956 Centerline is valid? [True, True] Translation: X:44.99, Y:-9.77, Z:-2.09 [[ 9.50372389e-01 3.05399168e-01 5.93605171e-02 4.49862856e+01] [-3.04743792e-01 9.52223962e-01 -2.00186969e-02 -9.76787470e+00] [-6.26382001e-02 9.35467728e-04 9.98035861e-01 -2.08795980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.708639999999995 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:45.01, Y:-9.78, Z:-2.09 [[ 9.50620237e-01 3.04539185e-01 5.98084420e-02 4.50125638e+01] [-3.03874137e-01 9.52499314e-01 -2.01386428e-02 -9.77897974e+00] [-6.31005059e-02 9.69962646e-04 9.98006706e-01 -2.08998048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73864 meters Centerline goodness [0,1] 0.9999507292077257 Centerline is valid? [True, True] Translation: X:45.04, Y:-9.79, Z:-2.09 [[ 9.50484916e-01 3.04712480e-01 6.10633161e-02 4.50381841e+01] [-3.04021445e-01 9.52443910e-01 -2.05319236e-02 -9.79234640e+00] [-6.44157169e-02 9.50726105e-04 9.97922698e-01 -2.09028538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76864 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:45.06, Y:-9.80, Z:-2.09 [[ 9.50323514e-01 3.05347835e-01 6.03980088e-02 4.50647375e+01] [-3.04674882e-01 9.52240485e-01 -2.02799119e-02 -9.80298260e+00] [-6.37058564e-02 8.70720991e-04 9.97968339e-01 -2.09090204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79864 meters Centerline goodness [0,1] 0.9999018260357353 Centerline is valid? [True, True] Translation: X:45.09, Y:-9.81, Z:-2.09 [[ 9.50211297e-01 3.05573900e-01 6.10170705e-02 4.50905406e+01] [-3.04889488e-01 9.52167997e-01 -2.04574292e-02 -9.81333660e+00] [-6.43497582e-02 8.35416954e-04 9.97927057e-01 -2.09262382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:45.12, Y:-9.83, Z:-2.09 [[ 9.49840797e-01 3.06870052e-01 6.02763003e-02 4.51162071e+01] [-3.06206700e-01 9.51751158e-01 -2.01789345e-02 -9.82594923e+00] [-6.35603493e-02 7.09768246e-04 9.97977744e-01 -2.09487870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85864 meters Centerline goodness [0,1] 0.9998527968596663 Centerline is valid? [True, True] Translation: X:45.14, Y:-9.84, Z:-2.10 [[ 9.49681814e-01 3.07173998e-01 6.12257073e-02 4.51428353e+01] [-3.06492003e-01 9.51653131e-01 -2.04687812e-02 -9.83648137e+00] [-6.45531134e-02 6.73639558e-04 9.97914045e-01 -2.09746061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.888639999999995 meters Centerline goodness [0,1] 0.9999018356729165 Centerline is valid? [True, True] Translation: X:45.17, Y:-9.85, Z:-2.10 [[ 9.49683327e-01 3.07163731e-01 6.12537376e-02 4.51686068e+01] [-3.06483077e-01 9.51656464e-01 -2.04474304e-02 -9.84578633e+00] [-6.45732243e-02 6.45349760e-04 9.97912763e-01 -2.09864522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.918639999999996 meters Centerline goodness [0,1] 0.9999018356729165 Centerline is valid? [True, True] Translation: X:45.19, Y:-9.85, Z:-2.10 [[ 9.49832292e-01 3.06700790e-01 6.12637119e-02 4.51944331e+01] [-3.06021104e-01 9.51805762e-01 -2.04175101e-02 -9.85476667e+00] [-6.45732205e-02 6.45221598e-04 9.97912763e-01 -2.09982370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94864 meters Centerline goodness [0,1] 0.999803536345776 Centerline is valid? [True, True] Translation: X:45.22, Y:-9.86, Z:-2.10 [[ 9.49910194e-01 3.06295564e-01 6.20777852e-02 4.52214643e+01] [-3.05598505e-01 9.51936235e-01 -2.06629523e-02 -9.86326015e+00] [-6.54230638e-02 6.57070601e-04 9.97857400e-01 -2.09999636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:45.25, Y:-9.87, Z:-2.10 [[ 9.49907782e-01 3.06268967e-01 6.22456827e-02 4.52483037e+01] [-3.05569289e-01 9.51944802e-01 -2.07003128e-02 -9.87210100e+00] [-6.55943175e-02 6.43019233e-04 9.97846167e-01 -2.10030811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00864 meters Centerline goodness [0,1] 0.9999019078915101 Centerline is valid? [True, True] Translation: X:45.28, Y:-9.88, Z:-2.10 [[ 9.50113674e-01 3.05680741e-01 6.19942769e-02 4.52752127e+01] [-3.04987651e-01 9.52133848e-01 -2.05832187e-02 -9.87904388e+00] [-6.53187429e-02 6.48908645e-04 9.97864240e-01 -2.10070286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.30, Y:-9.89, Z:-2.10 [[ 9.50064088e-01 3.05601064e-01 6.31365005e-02 4.53023555e+01] [-3.04884205e-01 9.52159433e-01 -2.09292883e-02 -9.88770616e+00] [-6.65120273e-02 6.34843493e-04 9.97785421e-01 -2.10240681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.068639999999995 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:45.33, Y:-9.90, Z:-2.10 [[ 9.50235592e-01 3.05344640e-01 6.17816425e-02 4.53294812e+01] [-3.04659594e-01 9.52241712e-01 -2.04512678e-02 -9.89689347e+00] [-6.50757420e-02 6.11152462e-04 9.97880140e-01 -2.10376851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.098639999999996 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:45.36, Y:-9.91, Z:-2.11 [[ 9.50416860e-01 3.04695979e-01 6.21944727e-02 4.53558050e+01] [-3.04002404e-01 9.52449455e-01 -2.05566286e-02 -9.90557756e+00] [-6.55006137e-02 6.30097212e-04 9.97852330e-01 -2.10641534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12864 meters Centerline goodness [0,1] 0.999705072748722 Centerline is valid? [True, True] Translation: X:45.38, Y:-9.91, Z:-2.11 [[ 9.51461314e-01 3.01550162e-01 6.15537822e-02 4.53840758e+01] [-3.00866309e-01 9.53449971e-01 -2.03129589e-02 -9.91166548e+00] [-6.48138279e-02 8.07535362e-04 9.97897047e-01 -2.10714696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:45.41, Y:-9.92, Z:-2.11 [[ 9.52128680e-01 2.99432494e-01 6.15723881e-02 4.54116161e+01] [-2.98745687e-01 9.54117041e-01 -2.02900759e-02 -9.91930751e+00] [-6.48227728e-02 9.24277781e-04 9.97896364e-01 -2.10850608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18864 meters Centerline goodness [0,1] 0.9996560872555763 Centerline is valid? [True, True] Translation: X:45.44, Y:-9.93, Z:-2.11 [[ 9.53653880e-01 2.94724925e-01 6.06753348e-02 4.54392195e+01] [-2.94050286e-01 9.55581383e-01 -1.99662010e-02 -9.92831969e+00] [-6.38647575e-02 1.19924550e-03 9.97957842e-01 -2.11024684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21864 meters Centerline goodness [0,1] 0.9998527968596663 Centerline is valid? [True, True] Translation: X:45.47, Y:-9.94, Z:-2.11 [[ 9.54323514e-01 2.92672381e-01 6.00791759e-02 4.54663237e+01] [-2.92008648e-01 9.56211899e-01 -1.97421874e-02 -9.93849074e+00] [-6.32264159e-02 1.29679469e-03 9.97998366e-01 -2.11108079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.248639999999995 meters Centerline goodness [0,1] 0.999754480726737 Centerline is valid? [True, True] Translation: X:45.49, Y:-9.95, Z:-2.11 [[ 9.54796471e-01 2.90915505e-01 6.10890181e-02 4.54928491e+01] [-2.90227497e-01 9.56747711e-01 -2.00454000e-02 -9.94832071e+00] [-6.42782959e-02 1.40956436e-03 9.97931017e-01 -2.11293833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.278639999999996 meters Centerline goodness [0,1] 0.9995580436063641 Centerline is valid? [True, True] Translation: X:45.52, Y:-9.96, Z:-2.12 [[ 9.55472434e-01 2.88701791e-01 6.10221510e-02 4.55193727e+01] [-2.88012586e-01 9.57417848e-01 -1.99953723e-02 -9.95953747e+00] [-6.41963963e-02 1.52987948e-03 9.97936111e-01 -2.11502250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30864 meters Centerline goodness [0,1] 0.9992630079103818 Centerline is valid? [True, True] Translation: X:45.55, Y:-9.97, Z:-2.12 [[ 9.55693530e-01 2.88257328e-01 5.96455288e-02 4.55463575e+01] [-2.87599696e-01 9.57551808e-01 -1.95179312e-02 -9.97104870e+00] [-6.27398707e-02 1.49912461e-03 9.98028788e-01 -2.11564889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33864 meters Centerline goodness [0,1] 0.999410551134689 Centerline is valid? [True, True] Translation: X:45.57, Y:-9.98, Z:-2.12 [[ 9.55471764e-01 2.88628275e-01 6.13793674e-02 4.55724547e+01] [-2.87933945e-01 9.57440064e-01 -2.00640625e-02 -9.98194547e+00] [-6.45581212e-02 1.49744175e-03 9.97912825e-01 -2.11825799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36864 meters Centerline goodness [0,1] 0.9993614617613832 Centerline is valid? [True, True] Translation: X:45.60, Y:-10.00, Z:-2.12 [[ 9.54388052e-01 2.92330438e-01 6.07154198e-02 4.55980368e+01] [-2.91659549e-01 9.56316595e-01 -1.98312065e-02 -9.99728849e+00] [-6.38604288e-02 1.21843456e-03 9.97958096e-01 -2.11873068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39864 meters Centerline goodness [0,1] 0.9995578264714552 Centerline is valid? [True, True] Translation: X:45.62, Y:-10.01, Z:-2.12 [[ 9.53713934e-01 2.94489427e-01 6.08745331e-02 4.56238745e+01] [-2.93821207e-01 9.55654161e-01 -1.98550610e-02 -1.00094923e+01] [-6.40221064e-02 1.04981954e-03 9.97947928e-01 -2.12067253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42864 meters Centerline goodness [0,1] 0.9995577830188679 Centerline is valid? [True, True] Translation: X:45.65, Y:-10.02, Z:-2.12 [[ 9.52784284e-01 2.97481926e-01 6.08819538e-02 4.56501870e+01] [-2.96821457e-01 9.54727096e-01 -1.98291301e-02 -1.00214984e+01] [-6.40244587e-02 8.21813330e-04 9.97947991e-01 -2.12247459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.458639999999995 meters Centerline goodness [0,1] 0.9998524057856932 Centerline is valid? [True, True] Translation: X:45.68, Y:-10.03, Z:-2.12 [[ 9.50922999e-01 3.03637544e-01 5.95792892e-02 4.56769326e+01] [-3.03018577e-01 9.52787542e-01 -1.93814735e-02 -1.00337020e+01] [-6.26513475e-02 3.76657464e-04 9.98035404e-01 -2.12338066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48864 meters Centerline goodness [0,1] 0.9996563911250737 Centerline is valid? [True, True] Translation: X:45.70, Y:-10.04, Z:-2.12 [[ 9.50171054e-01 3.05821760e-01 6.03988304e-02 4.57030483e+01] [-3.05191378e-01 9.52088759e-01 -1.96269780e-02 -1.00430287e+01] [-6.35074044e-02 2.15784067e-04 9.97981344e-01 -2.12473898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51864 meters Centerline goodness [0,1] 0.9998036809815951 Centerline is valid? [True, True] Translation: X:45.73, Y:-10.05, Z:-2.13 [[ 9.49700480e-01 3.07478628e-01 5.93792208e-02 4.57303393e+01] [-3.06874541e-01 9.51554984e-01 -1.92646750e-02 -1.00526187e+01] [-6.24260693e-02 7.36999394e-05 9.98049588e-01 -2.12569512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54864 meters Centerline goodness [0,1] 0.9999018308545624 Centerline is valid? [True, True] Translation: X:45.76, Y:-10.06, Z:-2.13 [[ 9.48762843e-01 3.10343896e-01 5.94620300e-02 4.57569336e+01] [-3.09745617e-01 9.50624345e-01 -1.92615578e-02 -1.00620783e+01] [-6.25037603e-02 -1.43452820e-04 9.98044718e-01 -2.12557435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57864 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:45.78, Y:-10.07, Z:-2.13 [[ 9.48695779e-01 3.10580917e-01 5.92942855e-02 4.57835606e+01] [-3.09988511e-01 9.50546926e-01 -1.91745847e-02 -1.00704771e+01] [-6.23172609e-02 -1.89699757e-04 9.98056373e-01 -2.12637970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:-10.08, Z:-2.13 [[ 9.48571399e-01 3.10395044e-01 6.21869575e-02 4.58118342e+01] [-3.09745202e-01 9.50607631e-01 -2.00758806e-02 -1.00773533e+01] [-6.53468502e-02 -2.18705632e-04 9.97862586e-01 -2.12889049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.638639999999995 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:45.84, Y:-10.08, Z:-2.13 [[ 9.48874612e-01 3.09685442e-01 6.10892600e-02 4.58395123e+01] [-3.09058771e-01 9.50839045e-01 -1.96923008e-02 -1.00849774e+01] [-6.41844724e-02 -1.94647385e-04 9.97938032e-01 -2.12933225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.668639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.87, Y:-10.09, Z:-2.13 [[ 9.48862036e-01 3.09676446e-01 6.13297210e-02 4.58667645e+01] [-3.09046314e-01 9.50841970e-01 -1.97465026e-02 -1.00925837e+01] [-6.44298994e-02 -2.17017529e-04 9.97922212e-01 -2.13025080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.89, Y:-10.10, Z:-2.13 [[ 9.48742227e-01 3.09904258e-01 6.20285217e-02 4.58947148e+01] [-3.09261294e-01 9.50767736e-01 -1.99540689e-02 -1.01003279e+01] [-6.51585680e-02 -2.51753124e-04 9.97874891e-01 -2.13340460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:45.92, Y:-10.11, Z:-2.13 [[ 9.48680823e-01 3.09977369e-01 6.25997345e-02 4.59225716e+01] [-3.09324653e-01 9.50743892e-01 -2.01074915e-02 -1.01085360e+01] [-6.57491825e-02 -2.88049558e-04 9.97836140e-01 -2.13369827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:45.95, Y:-10.11, Z:-2.13 [[ 9.48590504e-01 3.10080708e-01 6.34508483e-02 4.59505070e+01] [-3.09411920e-01 9.50710182e-01 -2.03571283e-02 -1.01140626e+01] [-6.66357203e-02 -3.21870187e-04 9.97777318e-01 -2.13481677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:-10.12, Z:-2.14 [[ 9.48758316e-01 3.09445837e-01 6.40385121e-02 4.59783593e+01] [-3.08764379e-01 9.50917023e-01 -2.05273761e-02 -1.01215500e+01] [-6.72474224e-02 -2.97292623e-04 9.97736286e-01 -2.13641194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.818639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.01, Y:-10.13, Z:-2.14 [[ 9.48972166e-01 3.09091982e-01 6.25617653e-02 4.60054125e+01] [-3.08442803e-01 9.51032102e-01 -2.00244125e-02 -1.01295726e+01] [-6.56876325e-02 -2.94116203e-04 9.97840192e-01 -2.13821431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.848639999999996 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:46.03, Y:-10.14, Z:-2.14 [[ 9.49316126e-01 3.08201960e-01 6.17288027e-02 4.60331550e+01] [-3.07569993e-01 9.51320916e-01 -1.97284980e-02 -1.01374768e+01] [-6.48042629e-02 -2.57346126e-04 9.97897961e-01 -2.13846292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.06, Y:-10.14, Z:-2.14 [[ 9.49805955e-01 3.06267953e-01 6.37854933e-02 4.60616936e+01] [-3.05590871e-01 9.51945332e-01 -2.03544542e-02 -1.01430199e+01] [-6.69542197e-02 -1.59482667e-04 9.97756036e-01 -2.14169267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90864 meters Centerline goodness [0,1] 0.9998524711089255 Centerline is valid? [True, True] Translation: X:46.09, Y:-10.15, Z:-2.14 [[ 9.50615957e-01 3.03854517e-01 6.32592640e-02 4.60889903e+01] [-3.03185340e-01 9.52718443e-01 -2.01548406e-02 -1.01493402e+01] [-6.63924069e-02 -1.97684118e-05 9.97793590e-01 -2.14245967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93864 meters Centerline goodness [0,1] 0.9995581520938681 Centerline is valid? [True, True] Translation: X:46.12, Y:-10.16, Z:-2.14 [[ 9.51305865e-01 3.01874037e-01 6.23635843e-02 4.61169162e+01] [-3.01221571e-01 9.53347816e-01 -1.98370122e-02 -1.01564775e+01] [-6.54424659e-02 8.58092237e-05 9.97856341e-01 -2.14304570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96864 meters Centerline goodness [0,1] 0.9990189345629353 Centerline is valid? [True, True] Translation: X:46.15, Y:-10.16, Z:-2.14 [[ 9.52592261e-01 2.97534897e-01 6.35686155e-02 4.61455203e+01] [-2.96849336e-01 9.54710874e-01 -2.01895462e-02 -1.01625674e+01] [-6.66967430e-02 3.62104156e-04 9.97773227e-01 -2.14496639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.998639999999995 meters Centerline goodness [0,1] 0.999019319407669 Centerline is valid? [True, True] Translation: X:46.17, Y:-10.17, Z:-2.15 [[ 9.52984174e-01 2.96155574e-01 6.41329828e-02 4.61727706e+01] [-2.95456707e-01 9.55139617e-01 -2.03382878e-02 -1.01701804e+01] [-6.72792499e-02 4.33546541e-04 9.97734090e-01 -2.14678633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.028639999999996 meters Centerline goodness [0,1] 0.9990674846625767 Centerline is valid? [True, True] Translation: X:46.20, Y:-10.18, Z:-2.15 [[ 9.52911875e-01 2.96632477e-01 6.29931073e-02 4.62011719e+01] [-2.95961242e-01 9.54991644e-01 -1.99474899e-02 -1.01752663e+01] [-6.60749644e-02 3.64681750e-04 9.97814595e-01 -2.14789989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05864 meters Centerline goodness [0,1] 0.9991627265563435 Centerline is valid? [True, True] Translation: X:46.23, Y:-10.18, Z:-2.15 [[ 9.52414186e-01 2.97762730e-01 6.51504043e-02 4.62289652e+01] [-2.97049413e-01 9.54639872e-01 -2.06000302e-02 -1.01822443e+01] [-6.83290948e-02 2.66871668e-04 9.97662801e-01 -2.14983106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08864 meters Centerline goodness [0,1] 0.9990685361309932 Centerline is valid? [True, True] Translation: X:46.26, Y:-10.19, Z:-2.15 [[ 9.52156932e-01 2.98672165e-01 6.47465360e-02 4.62557471e+01] [-2.97971883e-01 9.54355756e-01 -2.04413308e-02 -1.01887516e+01] [-6.78964859e-02 1.70707574e-04 9.97692356e-01 -2.15090290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11864 meters Centerline goodness [0,1] 0.9991651524824436 Centerline is valid? [True, True] Translation: X:46.28, Y:-10.19, Z:-2.15 [[ 9.52217031e-01 2.98873957e-01 6.29053501e-02 4.62835392e+01] [-2.98215555e-01 9.54292588e-01 -1.98277419e-02 -1.01949006e+01] [-6.59561050e-02 1.20959598e-04 9.97822518e-01 -2.15220650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14864 meters Centerline goodness [0,1] 0.9988712764391225 Centerline is valid? [True, True] Translation: X:46.31, Y:-10.20, Z:-2.15 [[ 9.52676163e-01 2.97469957e-01 6.26079266e-02 4.63100668e+01] [-2.96816791e-01 9.54731161e-01 -1.97028689e-02 -1.02024321e+01] [-6.56347500e-02 1.87369667e-04 9.97843697e-01 -2.15366166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17864 meters Centerline goodness [0,1] 0.9990692661898697 Centerline is valid? [True, True] Translation: X:46.34, Y:-10.21, Z:-2.15 [[ 9.53252065e-01 2.95686221e-01 6.22909199e-02 4.63373236e+01] [-2.95038057e-01 9.55285079e-01 -1.95694291e-02 -1.02100873e+01] [-6.52919969e-02 2.76406651e-04 9.97866163e-01 -2.15455424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.208639999999995 meters Centerline goodness [0,1] 0.9989704873026767 Centerline is valid? [True, True] Translation: X:46.37, Y:-10.22, Z:-2.16 [[ 9.53811936e-01 2.93454802e-01 6.42422716e-02 4.63652484e+01] [-2.92762566e-01 9.55972861e-01 -2.01486758e-02 -1.02179084e+01] [-6.73265938e-02 4.10315186e-04 9.97730906e-01 -2.15684888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23864 meters Centerline goodness [0,1] 0.9985759182871734 Centerline is valid? [True, True] Translation: X:46.39, Y:-10.22, Z:-2.16 [[ 9.55537348e-01 2.87563887e-01 6.52333263e-02 4.63933446e+01] [-2.86838479e-01 9.57761117e-01 -2.04286702e-02 -1.02249374e+01] [-6.83524913e-02 8.08929223e-04 9.97660906e-01 -2.15719273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26864 meters Centerline goodness [0,1] 0.9986758864204797 Centerline is valid? [True, True] Translation: X:46.42, Y:-10.23, Z:-2.16 [[ 9.56212983e-01 2.85136346e-01 6.59848127e-02 4.64210560e+01] [-2.84390471e-01 9.58486481e-01 -2.06331078e-02 -1.02336250e+01] [-6.91287999e-02 9.64193579e-04 9.97607277e-01 -2.15984800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29864 meters Centerline goodness [0,1] 0.9985294838488309 Centerline is valid? [True, True] Translation: X:46.45, Y:-10.24, Z:-2.16 [[ 9.57696225e-01 2.80435864e-01 6.46039229e-02 4.64478092e+01] [-2.79712209e-01 9.59871954e-01 -2.01720548e-02 -1.02431189e+01] [-6.76684614e-02 1.24819474e-03 9.97707082e-01 -2.16085227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32864 meters Centerline goodness [0,1] 0.9986760162800961 Centerline is valid? [True, True] Translation: X:46.47, Y:-10.25, Z:-2.16 [[ 9.58093612e-01 2.78870836e-01 6.54804402e-02 4.64747092e+01] [-2.78125802e-01 9.60327673e-01 -2.04156765e-02 -1.02528278e+01] [-6.85760155e-02 1.34832937e-03 9.97644983e-01 -2.16277785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35864 meters Centerline goodness [0,1] 0.9985271736462271 Centerline is valid? [True, True] Translation: X:46.50, Y:-10.26, Z:-2.16 [[ 9.58561308e-01 2.77170796e-01 6.58526246e-02 4.65010381e+01] [-2.76415334e-01 9.60819572e-01 -2.05015536e-02 -1.02632370e+01] [-6.89549225e-02 1.44932078e-03 9.97618724e-01 -2.16383211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.388639999999995 meters Centerline goodness [0,1] 0.9984792739759627 Centerline is valid? [True, True] Translation: X:46.53, Y:-10.27, Z:-2.16 [[ 9.58928003e-01 2.75692499e-01 6.67138056e-02 4.65275464e+01] [-2.74915694e-01 9.61244638e-01 -2.07390194e-02 -1.02746748e+01] [-6.98458800e-02 1.54655428e-03 9.97556595e-01 -2.16414515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.418639999999996 meters Centerline goodness [0,1] 0.9988730462051056 Centerline is valid? [True, True] Translation: X:46.55, Y:-10.29, Z:-2.17 [[ 9.58990200e-01 2.75800621e-01 6.53591067e-02 4.65540735e+01] [-2.75057351e-01 9.61213728e-01 -2.02885104e-02 -1.02854414e+01] [-6.84196544e-02 1.47897994e-03 9.97655533e-01 -2.16529129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44864 meters Centerline goodness [0,1] 0.9984793485725498 Centerline is valid? [True, True] Translation: X:46.58, Y:-10.30, Z:-2.17 [[ 9.59219453e-01 2.75255468e-01 6.42842846e-02 4.65812992e+01] [-2.74537195e-01 9.61370002e-01 -1.99260419e-02 -1.02951792e+01] [-6.72857348e-02 1.46501978e-03 9.97732671e-01 -2.16619478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47864 meters Centerline goodness [0,1] 0.9983820356932732 Centerline is valid? [True, True] Translation: X:46.61, Y:-10.31, Z:-2.17 [[ 9.59681724e-01 2.73397923e-01 6.53036316e-02 4.66081764e+01] [-2.72654417e-01 9.61899705e-01 -2.02120524e-02 -1.03061852e+01] [-6.83414771e-02 1.59181368e-03 9.97660718e-01 -2.16786211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50864 meters Centerline goodness [0,1] 0.9985766871165644 Centerline is valid? [True, True] Translation: X:46.64, Y:-10.32, Z:-2.17 [[ 9.59731241e-01 2.73084144e-01 6.58862322e-02 4.66355753e+01] [-2.72327963e-01 9.61988805e-01 -2.03720267e-02 -1.03174691e+01] [-6.89450953e-02 1.60900705e-03 9.97619158e-01 -2.16907093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53864 meters Centerline goodness [0,1] 0.998523549387273 Centerline is valid? [True, True] Translation: X:46.66, Y:-10.33, Z:-2.17 [[ 9.59913944e-01 2.72463724e-01 6.57931518e-02 4.66626980e+01] [-2.71708407e-01 9.62164643e-01 -2.03406173e-02 -1.03321709e+01] [-6.88459247e-02 1.64868969e-03 9.97625942e-01 -2.17104521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.568639999999995 meters Centerline goodness [0,1] 0.9985758483524039 Centerline is valid? [True, True] Translation: X:46.69, Y:-10.34, Z:-2.17 [[ 9.60091302e-01 2.71669579e-01 6.64855743e-02 4.66910697e+01] [-2.70896357e-01 9.62389042e-01 -2.05546867e-02 -1.03436509e+01] [-6.95690712e-02 1.72367606e-03 9.97575648e-01 -2.17253404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.598639999999996 meters Centerline goodness [0,1] 0.9985217305607569 Centerline is valid? [True, True] Translation: X:46.72, Y:-10.35, Z:-2.17 [[ 9.60382021e-01 2.70862206e-01 6.55746853e-02 4.67203929e+01] [-2.70108066e-01 9.62616523e-01 -2.02746736e-02 -1.03538224e+01] [-6.86149184e-02 1.75918063e-03 9.97641668e-01 -2.17272741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62864 meters Centerline goodness [0,1] 0.9982822085889571 Centerline is valid? [True, True] Translation: X:46.75, Y:-10.37, Z:-2.17 [[ 9.60586325e-01 2.70128405e-01 6.56091249e-02 4.67493011e+01] [-2.69371470e-01 9.62822592e-01 -2.02895739e-02 -1.03660950e+01] [-6.86507379e-02 1.81666082e-03 9.97639101e-01 -2.17399469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65864 meters Centerline goodness [0,1] 0.9984781541482572 Centerline is valid? [True, True] Translation: X:46.78, Y:-10.38, Z:-2.18 [[ 9.60359860e-01 2.70610777e-01 6.69234314e-02 4.67780491e+01] [-2.69824030e-01 9.62687118e-01 -2.07003939e-02 -1.03777376e+01] [-7.00280750e-02 1.82227749e-03 9.97543356e-01 -2.17624105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68864 meters Centerline goodness [0,1] 0.9983316158790912 Centerline is valid? [True, True] Translation: X:46.81, Y:-10.39, Z:-2.18 [[ 9.60200950e-01 2.71438948e-01 6.58409681e-02 4.68082080e+01] [-2.70679022e-01 9.62454089e-01 -2.03713771e-02 -1.03896740e+01] [-6.88984942e-02 1.73884679e-03 9.97622160e-01 -2.17747933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71864 meters Centerline goodness [0,1] 0.9981347862366858 Centerline is valid? [True, True] Translation: X:46.84, Y:-10.40, Z:-2.18 [[ 9.59368857e-01 2.74565789e-01 6.50001767e-02 4.68378238e+01] [-2.73831869e-01 9.61567144e-01 -2.01180074e-02 -1.04004137e+01] [-6.80257508e-02 1.50146989e-03 9.97682436e-01 -2.17735679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.748639999999995 meters Centerline goodness [0,1] 0.9985764775181621 Centerline is valid? [True, True] Translation: X:46.87, Y:-10.41, Z:-2.18 [[ 9.58900295e-01 2.76415066e-01 6.40697668e-02 4.68683428e+01] [-2.75705826e-01 9.61037395e-01 -1.98348859e-02 -1.04095141e+01] [-6.70561030e-02 1.35526997e-03 9.97748286e-01 -2.17742246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.778639999999996 meters Centerline goodness [0,1] 0.9984281363591708 Centerline is valid? [True, True] Translation: X:46.90, Y:-10.42, Z:-2.18 [[ 9.58272024e-01 2.78488370e-01 6.44899588e-02 4.68983100e+01] [-2.77774096e-01 9.60438822e-01 -1.99705053e-02 -1.04191157e+01] [-6.75002135e-02 1.22353654e-03 9.97718509e-01 -2.17882515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80864 meters Centerline goodness [0,1] 0.9984281363591708 Centerline is valid? [True, True] Translation: X:46.93, Y:-10.43, Z:-2.18 [[ 9.58255343e-01 2.78546043e-01 6.44887629e-02 4.69277729e+01] [-2.77831639e-01 9.60422097e-01 -1.99743666e-02 -1.04282178e+01] [-6.75002137e-02 1.22352481e-03 9.97718509e-01 -2.18014751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83864 meters Centerline goodness [0,1] 0.998231305885821 Centerline is valid? [True, True] Translation: X:46.96, Y:-10.44, Z:-2.18 [[ 9.57903475e-01 2.79894488e-01 6.38749426e-02 4.69572440e+01] [-2.79196349e-01 9.60030113e-01 -1.97884268e-02 -1.04389389e+01] [-6.68605399e-02 1.12175204e-03 9.97761700e-01 -2.18065406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86864 meters Centerline goodness [0,1] 0.9985253637436099 Centerline is valid? [True, True] Translation: X:46.99, Y:-10.45, Z:-2.18 [[ 9.57839569e-01 2.80189183e-01 6.35403911e-02 4.69866578e+01] [-2.79498716e-01 9.59944172e-01 -1.96889506e-02 -1.04484538e+01] [-6.65118591e-02 1.09939823e-03 9.97785029e-01 -2.18228369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89864 meters Centerline goodness [0,1] 0.9984295249312917 Centerline is valid? [True, True] Translation: X:47.02, Y:-10.46, Z:-2.18 [[ 9.58008018e-01 2.79172476e-01 6.54474297e-02 4.70156180e+01] [-2.78437327e-01 9.60240215e-01 -2.02826394e-02 -1.04569125e+01] [-6.85076086e-02 1.20792383e-03 9.97649863e-01 -2.18462014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92864 meters Centerline goodness [0,1] 0.9984273638686849 Centerline is valid? [True, True] Translation: X:47.05, Y:-10.47, Z:-2.18 [[ 9.58259302e-01 2.78785191e-01 6.33871248e-02 4.70459129e+01] [-2.78094662e-01 9.60352737e-01 -1.96463347e-02 -1.04670492e+01] [-6.63511060e-02 1.19866190e-03 9.97795617e-01 -2.18378975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.958639999999995 meters Centerline goodness [0,1] 0.9983714962495065 Centerline is valid? [True, True] Translation: X:47.08, Y:-10.48, Z:-2.18 [[ 9.58351434e-01 2.78595470e-01 6.28258984e-02 4.70751541e+01] [-2.77916366e-01 9.60407783e-01 -1.94777933e-02 -1.04772324e+01] [-6.57649068e-02 1.20622575e-03 9.97834416e-01 -2.18392660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98864 meters Centerline goodness [0,1] 0.9985757084622563 Centerline is valid? [True, True] Translation: X:47.10, Y:-10.49, Z:-2.19 [[ 9.58357355e-01 2.78548003e-01 6.29459315e-02 4.71041489e+01] [-2.77866019e-01 9.60421540e-01 -1.95176920e-02 -1.04867357e+01] [-6.58912426e-02 1.21438834e-03 9.97826072e-01 -2.18516240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01864 meters Centerline goodness [0,1] 0.9985776644268969 Centerline is valid? [True, True] Translation: X:47.13, Y:-10.50, Z:-2.19 [[ 9.58144560e-01 2.78597046e-01 6.58990703e-02 4.71329285e+01] [-2.77849542e-01 9.60407245e-01 -2.04341899e-02 -1.04980036e+01] [-6.89828495e-02 1.26888139e-03 9.97617039e-01 -2.18643313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04864 meters Centerline goodness [0,1] 0.9985250012291657 Centerline is valid? [True, True] Translation: X:47.16, Y:-10.51, Z:-2.19 [[ 9.58148527e-01 2.78399339e-01 6.66723937e-02 4.71627521e+01] [-2.77633414e-01 9.60464530e-01 -2.06778765e-02 -1.05087538e+01] [-6.97931765e-02 1.30199268e-03 9.97560633e-01 -2.18721464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07864 meters Centerline goodness [0,1] 0.9987749901999216 Centerline is valid? [True, True] Translation: X:47.19, Y:-10.52, Z:-2.19 [[ 9.58287365e-01 2.77932761e-01 6.66236189e-02 4.71925656e+01] [-2.77166314e-01 9.60599594e-01 -2.06701537e-02 -1.05225583e+01] [-6.97435341e-02 1.34212421e-03 9.97564052e-01 -2.18811437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10864 meters Centerline goodness [0,1] 0.9989695274547328 Centerline is valid? [True, True] Translation: X:47.22, Y:-10.53, Z:-2.19 [[ 9.58326998e-01 2.77937437e-01 6.60314105e-02 4.72223464e+01] [-2.77183987e-01 9.60598246e-01 -2.04950310e-02 -1.05348210e+01] [-6.91259935e-02 1.33809190e-03 9.97607040e-01 -2.19057090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.138639999999995 meters Centerline goodness [0,1] 0.9993608024387846 Centerline is valid? [True, True] Translation: X:47.25, Y:-10.55, Z:-2.19 [[ 9.57377108e-01 2.81537845e-01 6.45407957e-02 4.72514518e+01] [-2.80825614e-01 9.59549537e-01 -2.00414952e-02 -1.05517368e+01] [-6.75725300e-02 1.06256018e-03 9.97713799e-01 -2.19030680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.168639999999996 meters Centerline goodness [0,1] 0.9997539006743121 Centerline is valid? [True, True] Translation: X:47.28, Y:-10.56, Z:-2.19 [[ 9.56673395e-01 2.83853224e-01 6.48333483e-02 4.72808437e+01] [-2.83139142e-01 9.58867308e-01 -2.01422935e-02 -1.05643514e+01] [-6.78840331e-02 9.12737629e-04 9.97692801e-01 -2.19294597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19864 meters Centerline goodness [0,1] 0.9997531961103707 Centerline is valid? [True, True] Translation: X:47.31, Y:-10.58, Z:-2.19 [[ 9.56032158e-01 2.86166834e-01 6.41175223e-02 4.73104939e+01] [-2.85473073e-01 9.58179515e-01 -1.99284136e-02 -1.05765227e+01] [-6.71389475e-02 7.48378104e-04 9.97743355e-01 -2.19338500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22864 meters Centerline goodness [0,1] 0.9996552743031616 Centerline is valid? [True, True] Translation: X:47.34, Y:-10.59, Z:-2.20 [[ 9.55316283e-01 2.88340275e-01 6.50437145e-02 4.73402824e+01] [-2.87630728e-01 9.57527812e-01 -2.02250951e-02 -1.05890062e+01] [-6.81128751e-02 6.12791749e-04 9.97677433e-01 -2.19516186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25864 meters Centerline goodness [0,1] 0.9998034494619429 Centerline is valid? [True, True] Translation: X:47.37, Y:-10.60, Z:-2.20 [[ 9.54020539e-01 2.93118127e-01 6.26623884e-02 4.73695676e+01] [-2.92469327e-01 9.56076195e-01 -1.94936479e-02 -1.06049898e+01] [-6.56239594e-02 2.70513938e-04 9.97844388e-01 -2.19680430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28864 meters Centerline goodness [0,1] 0.999901768172888 Centerline is valid? [True, True] Translation: X:47.40, Y:-10.62, Z:-2.20 [[ 9.53523188e-01 2.94570554e-01 6.34170308e-02 4.74001408e+01] [-2.93908548e-01 9.55629717e-01 -1.97385326e-02 -1.06167116e+01] [-6.64175897e-02 1.82341020e-04 9.97791897e-01 -2.19761425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.318639999999995 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:47.43, Y:-10.63, Z:-2.20 [[ 9.52524536e-01 2.97782357e-01 6.34245664e-02 4.74300472e+01] [-2.97126717e-01 9.54633787e-01 -1.97496092e-02 -1.06294842e+01] [-6.64283191e-02 -3.31458421e-05 9.97791199e-01 -2.19913972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.348639999999996 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:47.46, Y:-10.64, Z:-2.20 [[ 9.52204767e-01 2.98572877e-01 6.45005268e-02 4.74604445e+01] [-2.97895978e-01 9.54386835e-01 -2.00936773e-02 -1.06406249e+01] [-6.75578807e-02 -8.11521435e-05 9.97715353e-01 -2.20140306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.49, Y:-10.65, Z:-2.20 [[ 9.52212328e-01 2.98465431e-01 6.48850505e-02 4.74915704e+01] [-2.97779450e-01 9.54420443e-01 -2.02241522e-02 -1.06514110e+01] [-6.79638290e-02 -6.37476720e-05 9.97687784e-01 -2.20321965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40864 meters Centerline goodness [0,1] 0.9997544686702023 Centerline is valid? [True, True] Translation: X:47.52, Y:-10.66, Z:-2.20 [[ 9.52358209e-01 2.98304469e-01 6.34687775e-02 4.75220610e+01] [-2.97647022e-01 9.54470765e-01 -1.97941409e-02 -1.06607114e+01] [-6.64837733e-02 -4.01800249e-05 9.97787506e-01 -2.20458013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.55, Y:-10.67, Z:-2.21 [[ 9.52334136e-01 2.98357200e-01 6.35820324e-02 4.75531828e+01] [-2.97696933e-01 9.54454284e-01 -1.98382545e-02 -1.06692666e+01] [-6.66050293e-02 -3.55291461e-05 9.97779419e-01 -2.20598081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:47.58, Y:-10.68, Z:-2.21 [[ 9.52260830e-01 2.98664805e-01 6.32348400e-02 4.75844135e+01] [-2.98011835e-01 9.54358073e-01 -1.97386453e-02 -1.06784361e+01] [-6.62439187e-02 -4.83919745e-05 9.97803458e-01 -2.20697713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.498639999999995 meters Centerline goodness [0,1] 0.9998028391167192 Centerline is valid? [True, True] Translation: X:47.62, Y:-10.69, Z:-2.21 [[ 9.52058114e-01 2.98871523e-01 6.52775572e-02 4.76150699e+01] [-2.98175489e-01 9.54293356e-01 -2.03854888e-02 -1.06874094e+01] [-6.83865812e-02 -5.59975187e-05 9.97658896e-01 -2.20873759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.528639999999996 meters Centerline goodness [0,1] 0.999901748870112 Centerline is valid? [True, True] Translation: X:47.65, Y:-10.70, Z:-2.21 [[ 9.52061382e-01 2.98768280e-01 6.57011350e-02 4.76463476e+01] [-2.98062296e-01 9.54325685e-01 -2.05269129e-02 -1.06962682e+01] [-6.88330711e-02 -4.01500575e-05 9.97628191e-01 -2.21058473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55864 meters Centerline goodness [0,1] 0.9996564754379939 Centerline is valid? [True, True] Translation: X:47.68, Y:-10.70, Z:-2.21 [[ 9.52485005e-01 2.97754717e-01 6.41439240e-02 4.76771836e+01] [-2.97078956e-01 9.54642408e-01 -2.00491229e-02 -1.07044402e+01] [-6.72042309e-02 4.06789424e-05 9.97739239e-01 -2.21108758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58864 meters Centerline goodness [0,1] 0.9996557997738112 Centerline is valid? [True, True] Translation: X:47.71, Y:-10.71, Z:-2.21 [[ 9.53232018e-01 2.95661623e-01 6.27130269e-02 4.77078428e+01] [-2.95010619e-01 9.55292713e-01 -1.96103819e-02 -1.07138452e+01] [-6.57073350e-02 1.92235018e-04 9.97838919e-01 -2.21289011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.74, Y:-10.72, Z:-2.21 [[ 9.53201288e-01 2.95679992e-01 6.30923633e-02 4.77380351e+01] [-2.95020541e-01 9.55287026e-01 -1.97377321e-02 -1.07240472e+01] [-6.61073686e-02 2.00488537e-04 9.97812495e-01 -2.21463361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64864 meters Centerline goodness [0,1] 0.9997053913385053 Centerline is valid? [True, True] Translation: X:47.77, Y:-10.73, Z:-2.22 [[ 9.53181729e-01 2.95748791e-01 6.30653911e-02 4.77682892e+01] [-2.95089482e-01 9.55265728e-01 -1.97379546e-02 -1.07338342e+01] [-6.60816829e-02 2.03924138e-04 9.97814196e-01 -2.21519583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67864 meters Centerline goodness [0,1] 0.9996560365584001 Centerline is valid? [True, True] Translation: X:47.80, Y:-10.74, Z:-2.22 [[ 9.52606470e-01 2.97729857e-01 6.24327236e-02 4.77992028e+01] [-2.97087410e-01 9.54650159e-01 -1.95485085e-02 -1.07424474e+01] [-6.54215841e-02 7.40595628e-05 9.97857711e-01 -2.21574996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.708639999999995 meters Centerline goodness [0,1] 0.9996554100620262 Centerline is valid? [True, True] Translation: X:47.83, Y:-10.75, Z:-2.22 [[ 9.52296530e-01 2.98587887e-01 6.30602304e-02 4.78295723e+01] [-2.97933744e-01 9.54382142e-01 -1.97537633e-02 -1.07521659e+01] [-6.60817922e-02 2.36697460e-05 9.97814209e-01 -2.21766813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73864 meters Centerline goodness [0,1] 0.9996562561382832 Centerline is valid? [True, True] Translation: X:47.86, Y:-10.76, Z:-2.22 [[ 9.52093315e-01 2.99210344e-01 6.31782347e-02 4.78602424e+01] [-2.98554485e-01 9.54187178e-01 -1.98002406e-02 -1.07626625e+01] [-6.62082982e-02 -1.04685769e-05 9.97805823e-01 -2.21905698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76864 meters Centerline goodness [0,1] 0.99950874435056 Centerline is valid? [True, True] Translation: X:47.89, Y:-10.77, Z:-2.22 [[ 9.51950649e-01 2.99717878e-01 6.29218139e-02 4.78906826e+01] [-2.99067776e-01 9.54027878e-01 -1.97300040e-02 -1.07729586e+01] [-6.59425995e-02 -3.58968650e-05 9.97823417e-01 -2.22045035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79864 meters Centerline goodness [0,1] 0.9997051017398997 Centerline is valid? [True, True] Translation: X:47.92, Y:-10.78, Z:-2.22 [[ 9.51919957e-01 2.99533877e-01 6.42483559e-02 4.79216475e+01] [-2.98855011e-01 9.54085665e-01 -2.01550533e-02 -1.07811675e+01] [-6.73355566e-02 -1.49456387e-05 9.97730386e-01 -2.22224346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82864 meters Centerline goodness [0,1] 0.9995084062530725 Centerline is valid? [True, True] Translation: X:47.95, Y:-10.79, Z:-2.22 [[ 9.52509042e-01 2.97822954e-01 6.34666374e-02 4.79531641e+01] [-2.97156148e-01 9.54621116e-01 -1.99185407e-02 -1.07892924e+01] [-6.65187909e-02 1.13088618e-04 9.97785166e-01 -2.22353092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85864 meters Centerline goodness [0,1] 0.9996063766975005 Centerline is valid? [True, True] Translation: X:47.98, Y:-10.80, Z:-2.23 [[ 9.53201318e-01 2.95620091e-01 6.33719925e-02 4.79836213e+01] [-2.94949824e-01 9.55305546e-01 -1.98976155e-02 -1.07982927e+01] [-6.64217508e-02 2.74875246e-04 9.97791599e-01 -2.22513880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.888639999999995 meters Centerline goodness [0,1] 0.9996070340897927 Centerline is valid? [True, True] Translation: X:48.01, Y:-10.81, Z:-2.23 [[ 9.54836556e-01 2.90136048e-01 6.40954442e-02 4.80146079e+01] [-2.89437409e-01 9.56985173e-01 -2.01336801e-02 -1.08063021e+01] [-6.71798962e-02 6.72754418e-04 9.97740652e-01 -2.22544889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.918639999999996 meters Centerline goodness [0,1] 0.9996069954804481 Centerline is valid? [True, True] Translation: X:48.05, Y:-10.81, Z:-2.23 [[ 9.55595651e-01 2.87305945e-01 6.55152306e-02 4.80458415e+01] [-2.86568701e-01 9.57838444e-01 -2.05887172e-02 -1.08142420e+01] [-6.86682673e-02 8.99874123e-04 9.97639143e-01 -2.22771622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94864 meters Centerline goodness [0,1] 0.9995578916343273 Centerline is valid? [True, True] Translation: X:48.08, Y:-10.82, Z:-2.23 [[ 9.56696747e-01 2.83676353e-01 6.52614840e-02 4.80770144e+01] [-2.82935773e-01 9.58919377e-01 -2.05177318e-02 -1.08230038e+01] [-6.84008969e-02 1.16443888e-03 9.97657236e-01 -2.22922962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97864 meters Centerline goodness [0,1] 0.9994104063283054 Centerline is valid? [True, True] Translation: X:48.11, Y:-10.83, Z:-2.23 [[ 9.57244040e-01 2.81759852e-01 6.55380341e-02 4.81073615e+01] [-2.81007884e-01 9.59484057e-01 -2.06134320e-02 -1.08337276e+01] [-6.86907364e-02 1.31538061e-03 9.97637135e-01 -2.23158144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00864 meters Centerline goodness [0,1] 0.9997542876799843 Centerline is valid? [True, True] Translation: X:48.14, Y:-10.84, Z:-2.23 [[ 9.57884067e-01 2.79929960e-01 6.40104093e-02 4.81382841e+01] [-2.79207934e-01 9.60019372e-01 -2.01428613e-02 -1.08446672e+01] [-6.70898233e-02 1.42231179e-03 9.97745926e-01 -2.23178896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03864 meters Centerline goodness [0,1] 0.9994592734601583 Centerline is valid? [True, True] Translation: X:48.17, Y:-10.86, Z:-2.23 [[ 9.58817355e-01 2.76366488e-01 6.55045361e-02 4.81681456e+01] [-2.75601264e-01 9.61050780e-01 -2.06238107e-02 -1.08551657e+01] [-6.86529157e-02 1.72133462e-03 9.97639120e-01 -2.23234419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.068639999999995 meters Centerline goodness [0,1] 0.999311802585656 Centerline is valid? [True, True] Translation: X:48.20, Y:-10.87, Z:-2.23 [[ 9.59150409e-01 2.75081452e-01 6.60355075e-02 4.81979999e+01] [-2.74300204e-01 9.61419173e-01 -2.07983504e-02 -1.08665862e+01] [-6.92090435e-02 1.83519310e-03 9.97600491e-01 -2.23342065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.098639999999996 meters Centerline goodness [0,1] 0.9990171024179281 Centerline is valid? [True, True] Translation: X:48.23, Y:-10.88, Z:-2.24 [[ 9.59579157e-01 2.73651809e-01 6.57459405e-02 4.82280342e+01] [-2.72873465e-01 9.61826872e-01 -2.07157121e-02 -1.08785852e+01] [-6.89051044e-02 1.93804298e-03 9.97621336e-01 -2.23516131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12864 meters Centerline goodness [0,1] 0.9988695566696156 Centerline is valid? [True, True] Translation: X:48.26, Y:-10.89, Z:-2.24 [[ 9.60743529e-01 2.69616773e-01 6.54115274e-02 4.82565982e+01] [-2.68836412e-01 9.62965133e-01 -2.06188292e-02 -1.08942899e+01] [-6.85482023e-02 2.22440639e-03 9.97645326e-01 -2.23644930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15864 meters Centerline goodness [0,1] 0.9987222959359182 Centerline is valid? [True, True] Translation: X:48.29, Y:-10.91, Z:-2.24 [[ 9.60642921e-01 2.69973352e-01 6.54183980e-02 4.82865021e+01] [-2.69192962e-01 9.62865261e-01 -2.06310266e-02 -1.09077815e+01] [-6.85589302e-02 2.20887734e-03 9.97644623e-01 -2.23854883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18864 meters Centerline goodness [0,1] 0.998328991988991 Centerline is valid? [True, True] Translation: X:48.32, Y:-10.92, Z:-2.24 [[ 9.60628731e-01 2.70144674e-01 6.49176197e-02 4.83165135e+01] [-2.69375792e-01 9.62817249e-01 -2.04848360e-02 -1.09211913e+01] [-6.80376733e-02 2.19108681e-03 9.97680347e-01 -2.23995703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21864 meters Centerline goodness [0,1] 0.9982792527040315 Centerline is valid? [True, True] Translation: X:48.35, Y:-10.94, Z:-2.24 [[ 9.60343387e-01 2.71085747e-01 6.52157681e-02 4.83460189e+01] [-2.70311270e-01 9.62552815e-01 -2.05887041e-02 -1.09351476e+01] [-6.83549254e-02 2.14366869e-03 9.97658764e-01 -2.24220289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.248639999999995 meters Centerline goodness [0,1] 0.9987202205158495 Centerline is valid? [True, True] Translation: X:48.37, Y:-10.95, Z:-2.24 [[ 9.59204656e-01 2.75617420e-01 6.29401684e-02 4.83728470e+01] [-2.74905406e-01 9.61265795e-01 -1.98768659e-02 -1.09539903e+01] [-6.59806416e-02 1.76338984e-03 9.97819345e-01 -2.24150164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.278639999999996 meters Centerline goodness [0,1] 0.9989656191508226 Centerline is valid? [True, True] Translation: X:48.40, Y:-10.97, Z:-2.24 [[ 9.58131723e-01 2.79193250e-01 6.35195345e-02 4.84029431e+01] [-2.78475456e-01 9.60233703e-01 -2.00662673e-02 -1.09672313e+01] [-6.65959643e-02 1.53749591e-03 9.97778840e-01 -2.24196006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30864 meters Centerline goodness [0,1] 0.9988202330039817 Centerline is valid? [True, True] Translation: X:48.43, Y:-10.98, Z:-2.24 [[ 9.57114484e-01 2.82822456e-01 6.27958792e-02 4.84325517e+01] [-2.82128102e-01 9.59171424e-01 -1.98472447e-02 -1.09806382e+01] [-6.58452594e-02 1.27960323e-03 9.97829026e-01 -2.24275561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33864 meters Centerline goodness [0,1] 0.9995084787417056 Centerline is valid? [True, True] Translation: X:48.46, Y:-11.00, Z:-2.25 [[ 9.54857273e-01 2.90284980e-01 6.31048195e-02 4.84608994e+01] [-2.89598948e-01 9.56939922e-01 -1.99608410e-02 -1.09966817e+01] [-6.61818534e-02 7.84664878e-04 9.97807269e-01 -2.24510623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36864 meters Centerline goodness [0,1] 0.9998525653626892 Centerline is valid? [True, True] Translation: X:48.49, Y:-11.01, Z:-2.25 [[ 9.53934507e-01 2.93251583e-01 6.33440298e-02 4.84905837e+01] [-2.92565367e-01 9.56035118e-01 -2.00589147e-02 -1.10088354e+01] [-6.64414255e-02 6.02621553e-04 9.97790145e-01 -2.24618266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39864 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:48.52, Y:-11.02, Z:-2.25 [[ 9.52824769e-01 2.96983969e-01 6.26536664e-02 4.85207224e+01] [-2.96320133e-01 9.54882402e-01 -1.98488486e-02 -1.10210932e+01] [-6.57216733e-02 3.46931797e-04 9.97837933e-01 -2.24748230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42864 meters Centerline goodness [0,1] 0.999754323899371 Centerline is valid? [True, True] Translation: X:48.55, Y:-11.03, Z:-2.25 [[ 9.51820971e-01 3.00625397e-01 6.05079285e-02 4.85510166e+01] [-3.00013122e-01 9.53742293e-01 -1.91772173e-02 -1.10330152e+01] [-6.34741290e-02 1.00105019e-04 9.97983479e-01 -2.24827964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.458639999999995 meters Centerline goodness [0,1] 0.9995575221238938 Centerline is valid? [True, True] Translation: X:48.58, Y:-11.04, Z:-2.25 [[ 9.51331915e-01 3.01953267e-01 6.15776891e-02 4.85810222e+01] [-3.01321345e-01 9.53322728e-01 -1.95249389e-02 -1.10437351e+01] [-6.45990297e-02 2.00254267e-05 9.97911301e-01 -2.25067521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48864 meters Centerline goodness [0,1] 0.9995085270555856 Centerline is valid? [True, True] Translation: X:48.61, Y:-11.05, Z:-2.25 [[ 9.50860189e-01 3.03699892e-01 6.02600788e-02 4.86116276e+01] [-3.03097725e-01 9.52767741e-01 -1.91154648e-02 -1.10535214e+01] [-6.32192237e-02 -8.85583072e-05 9.97999660e-01 -2.25062009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51864 meters Centerline goodness [0,1] 0.9996556812592228 Centerline is valid? [True, True] Translation: X:48.64, Y:-11.06, Z:-2.25 [[ 9.50479516e-01 3.04854618e-01 6.04346895e-02 4.86439010e+01] [-3.04250654e-01 9.52398886e-01 -1.91807665e-02 -1.10625721e+01] [-6.34052762e-02 -1.56368132e-04 9.97987849e-01 -2.25194210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54864 meters Centerline goodness [0,1] 0.9998030235879254 Centerline is valid? [True, True] Translation: X:48.68, Y:-11.07, Z:-2.25 [[ 9.49915331e-01 3.06659176e-01 6.01748544e-02 4.86754641e+01] [-3.06063205e-01 9.51819353e-01 -1.91111020e-02 -1.10716546e+01] [-6.31361858e-02 -2.63379993e-04 9.98004886e-01 -2.25301281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57864 meters Centerline goodness [0,1] 0.9998525001229166 Centerline is valid? [True, True] Translation: X:48.71, Y:-11.08, Z:-2.25 [[ 9.49484408e-01 3.08050223e-01 5.98700146e-02 4.87067807e+01] [-3.07462238e-01 9.51370035e-01 -1.90270635e-02 -1.10810961e+01] [-6.28198291e-02 -3.41868554e-04 9.98024825e-01 -2.25442382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60864 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:48.74, Y:-11.09, Z:-2.26 [[ 9.48346591e-01 3.11657360e-01 5.92320265e-02 4.87379108e+01] [-3.11088168e-01 9.50194387e-01 -1.88355806e-02 -1.10900433e+01] [-6.21521864e-02 -5.63724012e-04 9.98066525e-01 -2.25513201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.638639999999995 meters Centerline goodness [0,1] 0.9997542393708528 Centerline is valid? [True, True] Translation: X:48.77, Y:-11.10, Z:-2.26 [[ 9.47856464e-01 3.13533460e-01 5.71392504e-02 4.87690556e+01] [-3.13006744e-01 9.49576927e-01 -1.81779468e-02 -1.10980101e+01] [-5.99575084e-02 -6.54886350e-04 9.98200715e-01 -2.25504729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.668639999999996 meters Centerline goodness [0,1] 0.9998524783634933 Centerline is valid? [True, True] Translation: X:48.80, Y:-11.11, Z:-2.26 [[ 9.46996077e-01 3.15747272e-01 5.91784542e-02 4.88007739e+01] [-3.15186033e-01 9.48842977e-01 -1.88353199e-02 -1.11055207e+01] [-6.20982616e-02 -8.15248131e-04 9.98069708e-01 -2.25844455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.83, Y:-11.11, Z:-2.26 [[ 9.45975270e-01 3.18928210e-01 5.84430168e-02 4.88323718e+01] [-3.18386396e-01 9.47778344e-01 -1.86094727e-02 -1.11119815e+01] [-6.13261115e-02 -1.00336059e-03 9.98117278e-01 -2.25989870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.86, Y:-11.12, Z:-2.26 [[ 9.45913668e-01 3.19111373e-01 5.84402626e-02 4.88633759e+01] [-3.18569375e-01 9.47716687e-01 -1.86181185e-02 -1.11217954e+01] [-6.13260654e-02 -1.00614512e-03 9.98117278e-01 -2.26129300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75864 meters Centerline goodness [0,1] 0.9999017343880509 Centerline is valid? [True, True] Translation: X:48.90, Y:-11.13, Z:-2.26 [[ 9.45905544e-01 3.19161407e-01 5.82983592e-02 4.88951374e+01] [-3.18621374e-01 9.47699850e-01 -1.85853087e-02 -1.11307122e+01] [-6.11810595e-02 -9.95156832e-04 9.98126188e-01 -2.26287292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78864 meters Centerline goodness [0,1] 0.9999507364894823 Centerline is valid? [True, True] Translation: X:48.93, Y:-11.14, Z:-2.26 [[ 9.46052881e-01 3.18921595e-01 5.72098101e-02 4.89262590e+01] [-3.18400467e-01 9.47780624e-01 -1.82491359e-02 -1.11393303e+01] [-6.00423931e-02 -9.50982605e-04 9.98195375e-01 -2.26312034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.818639999999995 meters Centerline goodness [0,1] 0.9999015941743751 Centerline is valid? [True, True] Translation: X:48.96, Y:-11.15, Z:-2.26 [[ 9.47040663e-01 3.15870768e-01 5.77896274e-02 4.89580452e+01] [-3.15332833e-01 9.48801921e-01 -1.84423405e-02 -1.11454147e+01] [-6.06563057e-02 -7.57320564e-04 9.98158424e-01 -2.26383560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.848639999999996 meters Centerline goodness [0,1] 0.999754033844943 Centerline is valid? [True, True] Translation: X:48.99, Y:-11.15, Z:-2.27 [[ 9.47816540e-01 3.13380609e-01 5.86208157e-02 4.89892399e+01] [-3.12821794e-01 9.49627419e-01 -1.87160334e-02 -1.11530235e+01] [-6.15331759e-02 -5.98502665e-04 9.98104859e-01 -2.26533227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:49.02, Y:-11.16, Z:-2.27 [[ 9.49402864e-01 3.08125181e-01 6.07706684e-02 4.90211325e+01] [-3.07513154e-01 9.51345787e-01 -1.94127124e-02 -1.11606571e+01] [-6.37954649e-02 -2.57295097e-04 9.97962961e-01 -2.26763013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90864 meters Centerline goodness [0,1] 0.99970469534403 Centerline is valid? [True, True] Translation: X:49.05, Y:-11.17, Z:-2.27 [[ 9.50299243e-01 3.05718784e-01 5.88844111e-02 4.90522561e+01] [-3.05138896e-01 9.52121850e-01 -1.88211668e-02 -1.11701434e+01] [-6.18191187e-02 -8.21835827e-05 9.98087366e-01 -2.26906892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93864 meters Centerline goodness [0,1] 0.999262246704702 Centerline is valid? [True, True] Translation: X:49.08, Y:-11.18, Z:-2.27 [[ 9.51050384e-01 3.03619776e-01 5.76038069e-02 4.90827398e+01] [-3.03060526e-01 9.52793276e-01 -1.84198215e-02 -1.11800066e+01] [-6.04771420e-02 6.07382870e-05 9.98169581e-01 -2.26941939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96864 meters Centerline goodness [0,1] 0.9988198849387815 Centerline is valid? [True, True] Translation: X:49.11, Y:-11.19, Z:-2.27 [[ 9.51700120e-01 3.01585363e-01 5.75599711e-02 4.91142222e+01] [-3.01022683e-01 9.53439159e-01 -1.84150827e-02 -1.11913211e+01] [-6.04336498e-02 1.98779442e-04 9.98172197e-01 -2.27142941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.998639999999995 meters Centerline goodness [0,1] 0.9990659259623421 Centerline is valid? [True, True] Translation: X:49.15, Y:-11.20, Z:-2.27 [[ 9.52024857e-01 3.00564201e-01 5.75311386e-02 4.91452929e+01] [-2.99999485e-01 9.53761545e-01 -1.84180289e-02 -1.12024023e+01] [-6.04067878e-02 2.75109397e-04 9.98173805e-01 -2.27274859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.028639999999996 meters Centerline goodness [0,1] 0.9991146525011066 Centerline is valid? [True, True] Translation: X:49.18, Y:-11.21, Z:-2.27 [[ 9.52070509e-01 3.00313710e-01 5.80811673e-02 4.91752787e+01] [-2.99736993e-01 9.53840439e-01 -1.86051653e-02 -1.12149499e+01] [-6.09875524e-02 3.04354758e-04 9.98138480e-01 -2.27345263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05864 meters Centerline goodness [0,1] 0.99911526173507 Centerline is valid? [True, True] Translation: X:49.21, Y:-11.23, Z:-2.28 [[ 9.52091080e-01 3.00150129e-01 5.85873396e-02 4.92052225e+01] [-2.99562492e-01 9.53891920e-01 -1.87754958e-02 -1.12274961e+01] [-6.15214573e-02 3.25412605e-04 9.98105708e-01 -2.27530417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08864 meters Centerline goodness [0,1] 0.9986719134284309 Centerline is valid? [True, True] Translation: X:49.24, Y:-11.24, Z:-2.27 [[ 9.51933560e-01 3.00292134e-01 6.03914893e-02 4.92352588e+01] [-2.99667451e-01 9.53847222e-01 -1.93622307e-02 -1.12408438e+01] [-6.34185799e-02 3.34193560e-04 9.97986960e-01 -2.27497912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11864 meters Centerline goodness [0,1] 0.999163179916318 Centerline is valid? [True, True] Translation: X:49.27, Y:-11.25, Z:-2.28 [[ 9.51807031e-01 3.00065161e-01 6.34371778e-02 4.92652480e+01] [-2.99374696e-01 9.53918633e-01 -2.03478176e-02 -1.12515687e+01] [-6.66195770e-02 3.75710046e-04 9.97778378e-01 -2.27784099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14864 meters Centerline goodness [0,1] 0.9995562348996598 Centerline is valid? [True, True] Translation: X:49.30, Y:-11.27, Z:-2.28 [[ 9.51473770e-01 3.01095219e-01 6.35557546e-02 4.92956716e+01] [-3.00403762e-01 9.53594028e-01 -2.03963039e-02 -1.12655808e+01] [-6.67476176e-02 3.14160395e-04 9.97769842e-01 -2.27896728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17864 meters Centerline goodness [0,1] 0.9995569121701458 Centerline is valid? [True, True] Translation: X:49.33, Y:-11.28, Z:-2.28 [[ 9.51135766e-01 3.02089771e-01 6.38946467e-02 4.93265064e+01] [-3.01392250e-01 9.53279447e-01 -2.05184790e-02 -1.12769467e+01] [-6.71078761e-02 2.58507908e-04 9.97745692e-01 -2.27940352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.208639999999995 meters Centerline goodness [0,1] 0.999655952029883 Centerline is valid? [True, True] Translation: X:49.36, Y:-11.29, Z:-2.28 [[ 9.50916703e-01 3.02839602e-01 6.36050260e-02 4.93565965e+01] [-3.02149288e-01 9.53041515e-01 -2.04372002e-02 -1.12874791e+01] [-6.68074239e-02 2.15861750e-04 9.97765865e-01 -2.28048050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23864 meters Centerline goodness [0,1] 0.9993114979836727 Centerline is valid? [True, True] Translation: X:49.39, Y:-11.30, Z:-2.28 [[ 9.50133204e-01 3.05505240e-01 6.25575174e-02 4.93864907e+01] [-3.04842698e-01 9.52190394e-01 -2.01092620e-02 -1.13003797e+01] [-6.57101521e-02 3.62751645e-05 9.97838752e-01 -2.28251104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26864 meters Centerline goodness [0,1] 0.9994593797611442 Centerline is valid? [True, True] Translation: X:49.42, Y:-11.31, Z:-2.28 [[ 9.49716839e-01 3.06807183e-01 6.25082283e-02 4.94172974e+01] [-3.06147820e-01 9.51771690e-01 -2.01037804e-02 -1.13127608e+01] [-6.56615463e-02 -4.38590786e-05 9.97841951e-01 -2.28367044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29864 meters Centerline goodness [0,1] 0.9992118614846559 Centerline is valid? [True, True] Translation: X:49.45, Y:-11.32, Z:-2.28 [[ 9.49472488e-01 3.07646815e-01 6.20921278e-02 4.94474550e+01] [-3.06997245e-01 9.51500619e-01 -1.99815615e-02 -1.13240404e+01] [-6.52279618e-02 -9.01692765e-05 9.97870385e-01 -2.28474160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32864 meters Centerline goodness [0,1] 0.9991146089522872 Centerline is valid? [True, True] Translation: X:49.48, Y:-11.33, Z:-2.28 [[ 9.48714370e-01 3.09993075e-01 6.20107789e-02 4.94789885e+01] [-3.09349542e-01 9.50738784e-01 -1.99656160e-02 -1.13341483e+01] [-6.51452552e-02 -2.41339239e-04 9.97875763e-01 -2.28458527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35864 meters Centerline goodness [0,1] 0.9994100294985251 Centerline is valid? [True, True] Translation: X:49.51, Y:-11.34, Z:-2.29 [[ 9.47821615e-01 3.12813521e-01 6.14970507e-02 4.95105278e+01] [-3.12185697e-01 9.49814469e-01 -1.98132565e-02 -1.13439828e+01] [-6.46086431e-02 -4.19066804e-04 9.97910591e-01 -2.28566855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.388639999999995 meters Centerline goodness [0,1] 0.9992625368731564 Centerline is valid? [True, True] Translation: X:49.54, Y:-11.35, Z:-2.29 [[ 9.46862565e-01 3.15654024e-01 6.17561287e-02 4.95416764e+01] [-3.15026162e-01 9.48874160e-01 -1.99084213e-02 -1.13534878e+01] [-6.48829681e-02 -6.04257283e-04 9.97892697e-01 -2.28707316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.418639999999996 meters Centerline goodness [0,1] 0.9994592202939875 Centerline is valid? [True, True] Translation: X:49.57, Y:-11.36, Z:-2.29 [[ 9.44750521e-01 3.21954852e-01 6.15753692e-02 4.95727215e+01] [-3.21343433e-01 9.46754468e-01 -1.98588938e-02 -1.13631827e+01] [-6.46904231e-02 -1.02514029e-03 9.97904854e-01 -2.28771330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44864 meters Centerline goodness [0,1] 0.999459698413478 Centerline is valid? [True, True] Translation: X:49.60, Y:-11.37, Z:-2.29 [[ 9.44000294e-01 3.24126500e-01 6.16883915e-02 4.96037415e+01] [-3.23516840e-01 9.46013029e-01 -1.99048750e-02 -1.13710622e+01] [-6.48097196e-02 -1.16702562e-03 9.97896958e-01 -2.28847733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47864 meters Centerline goodness [0,1] 0.9996068023198663 Centerline is valid? [True, True] Translation: X:49.63, Y:-11.38, Z:-2.29 [[ 9.43173532e-01 3.26536205e-01 6.16262564e-02 4.96346324e+01] [-3.25932243e-01 9.45183771e-01 -1.98950470e-02 -1.13796310e+01] [-6.47445905e-02 -1.32150216e-03 9.97900993e-01 -2.29058851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50864 meters Centerline goodness [0,1] 0.999802945957929 Centerline is valid? [True, True] Translation: X:49.67, Y:-11.39, Z:-2.29 [[ 9.42141390e-01 3.29474305e-01 6.17760773e-02 4.96664438e+01] [-3.28873123e-01 9.44163321e-01 -1.99522709e-02 -1.13859991e+01] [-6.49004669e-02 -1.51863125e-03 9.97890587e-01 -2.29254868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53864 meters Centerline goodness [0,1] 0.9993616812334283 Centerline is valid? [True, True] Translation: X:49.70, Y:-11.39, Z:-2.29 [[ 9.42026979e-01 3.29996037e-01 6.07271460e-02 4.96975871e+01] [-3.29415650e-01 9.43981094e-01 -1.96220397e-02 -1.13937132e+01] [-6.38004730e-02 -1.51998152e-03 9.97961517e-01 -2.29304031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.568639999999995 meters Centerline goodness [0,1] 0.9997052755673446 Centerline is valid? [True, True] Translation: X:49.73, Y:-11.40, Z:-2.29 [[ 9.42791615e-01 3.27969973e-01 5.98303201e-02 4.97305200e+01] [-3.27402006e-01 9.44687177e-01 -1.93407384e-02 -1.13973587e+01] [-6.28641177e-02 -1.35428086e-03 9.98021176e-01 -2.29435116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.598639999999996 meters Centerline goodness [0,1] 0.9994591937069813 Centerline is valid? [True, True] Translation: X:49.76, Y:-11.40, Z:-2.30 [[ 9.43650250e-01 3.25522654e-01 5.96590933e-02 4.97626877e+01] [-3.24952402e-01 9.45533508e-01 -1.92956558e-02 -1.14040993e+01] [-6.26908449e-02 -1.17801526e-03 9.98032299e-01 -2.29640035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62864 meters Centerline goodness [0,1] 0.9994107826770107 Centerline is valid? [True, True] Translation: X:49.79, Y:-11.41, Z:-2.30 [[ 9.44272967e-01 3.23788292e-01 5.92427649e-02 4.97941610e+01] [-3.23221802e-01 9.46128983e-01 -1.91732715e-02 -1.14115535e+01] [-6.22593777e-02 -1.04375125e-03 9.98059457e-01 -2.29830605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65864 meters Centerline goodness [0,1] 0.9992627905833784 Centerline is valid? [True, True] Translation: X:49.83, Y:-11.42, Z:-2.30 [[ 9.44999791e-01 3.21629861e-01 5.94106632e-02 4.98252262e+01] [-3.21055360e-01 9.46865054e-01 -1.92360571e-02 -1.14195445e+01] [-6.24407711e-02 -8.96041970e-04 9.98048269e-01 -2.29956396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68864 meters Centerline goodness [0,1] 0.9986236728273693 Centerline is valid? [True, True] Translation: X:49.86, Y:-11.43, Z:-2.30 [[ 9.46341934e-01 3.17344979e-01 6.10664274e-02 4.98563495e+01] [-3.16728488e-01 9.48309959e-01 -1.97809779e-02 -1.14269592e+01] [-6.41872952e-02 -6.21908303e-04 9.97937676e-01 -2.30128589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71864 meters Centerline goodness [0,1] 0.9991652754590985 Centerline is valid? [True, True] Translation: X:49.89, Y:-11.44, Z:-2.30 [[ 9.46917684e-01 3.15463205e-01 6.18859107e-02 4.98883953e+01] [-3.14825346e-01 9.48937682e-01 -2.00568369e-02 -1.14359203e+01] [-6.50530667e-02 -4.91079722e-04 9.97881685e-01 -2.30218999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.748639999999995 meters Centerline goodness [0,1] 0.9992126759177247 Centerline is valid? [True, True] Translation: X:49.92, Y:-11.44, Z:-2.30 [[ 9.47580512e-01 3.13007164e-01 6.41692268e-02 4.99191414e+01] [-3.12314847e-01 9.49750710e-01 -2.08092417e-02 -1.14442079e+01] [-6.74582105e-02 -3.22570383e-04 9.97722048e-01 -2.30386942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.778639999999996 meters Centerline goodness [0,1] 0.9988216232140227 Centerline is valid? [True, True] Translation: X:49.95, Y:-11.45, Z:-2.31 [[ 9.48084231e-01 3.11454069e-01 6.42857216e-02 4.99506546e+01] [-3.10754935e-01 9.50261186e-01 -2.08578209e-02 -1.14529750e+01] [-6.75844792e-02 -2.02134110e-04 9.97713535e-01 -2.30592698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80864 meters Centerline goodness [0,1] 0.9986238757556396 Centerline is valid? [True, True] Translation: X:49.98, Y:-11.46, Z:-2.31 [[ 9.49876345e-01 3.06056622e-01 6.37516473e-02 4.99811540e+01] [-3.05356106e-01 9.52013291e-01 -2.06964080e-02 -1.14614336e+01] [-6.70266884e-02 1.92073644e-04 9.97751164e-01 -2.30870876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83864 meters Centerline goodness [0,1] 0.9985244208351778 Centerline is valid? [True, True] Translation: X:50.01, Y:-11.47, Z:-2.31 [[ 9.50767145e-01 3.03170906e-01 6.42591527e-02 5.00118664e+01] [-3.02451979e-01 9.52936113e-01 -2.08701775e-02 -1.14717967e+01] [-6.75620978e-02 4.07371134e-04 9.97714988e-01 -2.31198567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86864 meters Centerline goodness [0,1] 0.9986711290481347 Centerline is valid? [True, True] Translation: X:50.04, Y:-11.48, Z:-2.31 [[ 9.51699925e-01 3.00453628e-01 6.32049822e-02 5.00432560e+01] [-2.99751450e-01 9.53796235e-01 -2.05380312e-02 -1.14826585e+01] [-6.64554000e-02 6.00257728e-04 9.97789216e-01 -2.31226688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89864 meters Centerline goodness [0,1] 0.998575358616624 Centerline is valid? [True, True] Translation: X:50.07, Y:-11.49, Z:-2.31 [[ 9.53286003e-01 2.95123202e-01 6.44056799e-02 5.00732939e+01] [-2.94381084e-01 9.55458681e-01 -2.09400456e-02 -1.14941808e+01] [-6.77168592e-02 1.00203846e-03 9.97704076e-01 -2.31461267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92864 meters Centerline goodness [0,1] 0.9980307207562032 Centerline is valid? [True, True] Translation: X:50.10, Y:-11.51, Z:-2.32 [[ 9.54097944e-01 2.92835836e-01 6.28035491e-02 5.01046683e+01] [-2.92124616e-01 9.56162048e-01 -2.04290603e-02 -1.15059464e+01] [-6.60327310e-02 1.14486178e-03 9.97816801e-01 -2.31512991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.958639999999995 meters Centerline goodness [0,1] 0.9983281703299405 Centerline is valid? [True, True] Translation: X:50.13, Y:-11.52, Z:-2.32 [[ 9.55187040e-01 2.89253925e-01 6.28481096e-02 5.01338211e+01] [-2.88533197e-01 9.57251375e-01 -2.04548155e-02 -1.15210810e+01] [-6.60780750e-02 1.40440870e-03 9.97813467e-01 -2.31759750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98864 meters Centerline goodness [0,1] 0.9980819357694388 Centerline is valid? [True, True] Translation: X:50.16, Y:-11.53, Z:-2.32 [[ 9.55410461e-01 2.88229895e-01 6.41434265e-02 5.01631884e+01] [-2.87476220e-01 9.57560043e-01 -2.08851019e-02 -1.15338381e+01] [-6.74408929e-02 1.51413503e-03 9.97722122e-01 -2.31959067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01864 meters Centerline goodness [0,1] 0.9982798446945496 Centerline is valid? [True, True] Translation: X:50.19, Y:-11.55, Z:-2.32 [[ 9.55830526e-01 2.86845314e-01 6.40919003e-02 5.01927315e+01] [-2.86089165e-01 9.57975545e-01 -2.08768839e-02 -1.15461415e+01] [-6.73869095e-02 1.61876467e-03 9.97725606e-01 -2.32115736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04864 meters Centerline goodness [0,1] 0.9983755845434408 Centerline is valid? [True, True] Translation: X:50.22, Y:-11.56, Z:-2.32 [[ 9.56392925e-01 2.84591073e-01 6.57304654e-02 5.02218920e+01] [-2.83789203e-01 9.58647243e-01 -2.14278271e-02 -1.15618468e+01] [-6.91104978e-02 1.83982586e-03 9.97607315e-01 -2.32204529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07864 meters Centerline goodness [0,1] 0.9987221075395655 Centerline is valid? [True, True] Translation: X:50.25, Y:-11.58, Z:-2.32 [[ 9.56466725e-01 2.84358959e-01 6.56611479e-02 5.02521438e+01] [-2.83556012e-01 9.58716030e-01 -2.14373705e-02 -1.15758114e+01] [-6.90463035e-02 1.88551826e-03 9.97611674e-01 -2.32387634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10864 meters Centerline goodness [0,1] 0.9986236728273693 Centerline is valid? [True, True] Translation: X:50.28, Y:-11.59, Z:-2.33 [[ 9.56589839e-01 2.84226124e-01 6.44312827e-02 5.02813246e+01] [-2.83450524e-01 9.58755410e-01 -2.10680709e-02 -1.15904614e+01] [-6.77619370e-02 1.89042173e-03 9.97699727e-01 -2.32541588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.138639999999995 meters Centerline goodness [0,1] 0.9977853240809095 Centerline is valid? [True, True] Translation: X:50.31, Y:-11.60, Z:-2.33 [[ 9.56677744e-01 2.84176636e-01 6.33350957e-02 5.03118899e+01] [-2.83425087e-01 9.58770079e-01 -2.07402092e-02 -1.16048855e+01] [-6.66176776e-02 1.89094156e-03 9.97776783e-01 -2.32632778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.168639999999996 meters Centerline goodness [0,1] 0.9976860968885388 Centerline is valid? [True, True] Translation: X:50.34, Y:-11.62, Z:-2.33 [[ 9.56789920e-01 2.84014207e-01 6.23616871e-02 5.03414843e+01] [-2.83283107e-01 9.58818180e-01 -2.04542953e-02 -1.16218402e+01] [-6.56028298e-02 1.90445108e-03 9.97843997e-01 -2.32674600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19864 meters Centerline goodness [0,1] 0.9977374452806059 Centerline is valid? [True, True] Translation: X:50.37, Y:-11.64, Z:-2.33 [[ 9.56790509e-01 2.83685217e-01 6.38327491e-02 5.03706151e+01] [-2.82916228e-01 9.58915367e-01 -2.09696830e-02 -1.16358700e+01] [-6.71589930e-02 2.00427311e-03 9.97740273e-01 -2.32859406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22864 meters Centerline goodness [0,1] 0.9980318834875025 Centerline is valid? [True, True] Translation: X:50.40, Y:-11.65, Z:-2.33 [[ 9.56873103e-01 2.83046623e-01 6.54100459e-02 5.03992255e+01] [-2.82235556e-01 9.59103789e-01 -2.15177353e-02 -1.16504341e+01] [-6.88255451e-02 2.12870145e-03 9.97626440e-01 -2.33054294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25864 meters Centerline goodness [0,1] 0.9981290004923683 Centerline is valid? [True, True] Translation: X:50.43, Y:-11.67, Z:-2.33 [[ 9.56931253e-01 2.82562326e-01 6.66416386e-02 5.04261432e+01] [-2.81717649e-01 9.59246359e-01 -2.19451329e-02 -1.16705520e+01] [-7.01266170e-02 2.22585779e-03 9.97535615e-01 -2.33070025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28864 meters Centerline goodness [0,1] 0.9981801190300527 Centerline is valid? [True, True] Translation: X:50.46, Y:-11.68, Z:-2.33 [[ 9.56809512e-01 2.83195451e-01 6.56954726e-02 5.04556740e+01] [-2.82374819e-01 9.59059771e-01 -2.16522093e-02 -1.16835778e+01] [-6.91376920e-02 2.16629267e-03 9.97604775e-01 -2.33183507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.318639999999995 meters Centerline goodness [0,1] 0.9986701472688765 Centerline is valid? [True, True] Translation: X:50.49, Y:-11.70, Z:-2.33 [[ 9.56429004e-01 2.84183519e-01 6.69573646e-02 5.04854528e+01] [-2.83331051e-01 9.58767453e-01 -2.21017344e-02 -1.16984571e+01] [-7.04774905e-02 2.16763937e-03 9.97511015e-01 -2.33421979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.348639999999996 meters Centerline goodness [0,1] 0.9989664337041048 Centerline is valid? [True, True] Translation: X:50.51, Y:-11.72, Z:-2.34 [[ 9.55682117e-01 2.86655020e-01 6.70864367e-02 5.05128002e+01] [-2.85802936e-01 9.58031739e-01 -2.21781321e-02 -1.17191281e+01] [-7.06284085e-02 2.02174367e-03 9.97500647e-01 -2.33579664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37864 meters Centerline goodness [0,1] 0.9991143039905526 Centerline is valid? [True, True] Translation: X:50.54, Y:-11.73, Z:-2.34 [[ 9.54937354e-01 2.88956972e-01 6.78123807e-02 5.05418365e+01] [-2.88089828e-01 9.57340195e-01 -2.24499698e-02 -1.17336463e+01] [-7.14065931e-02 1.90225764e-03 9.97445477e-01 -2.33699049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40864 meters Centerline goodness [0,1] 0.9987219190876468 Centerline is valid? [True, True] Translation: X:50.57, Y:-11.75, Z:-2.34 [[ 9.54063273e-01 2.92196619e-01 6.62148553e-02 5.05711874e+01] [-2.91375537e-01 9.56356844e-01 -2.19518371e-02 -1.17472783e+01] [-6.97392826e-02 1.65005254e-03 9.97563888e-01 -2.33745932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43864 meters Centerline goodness [0,1] 0.9991634269967029 Centerline is valid? [True, True] Translation: X:50.60, Y:-11.76, Z:-2.34 [[ 9.52609641e-01 2.97169716e-01 6.50002435e-02 5.05993999e+01] [-2.96388478e-01 9.54823811e-01 -2.15722102e-02 -1.17645112e+01] [-6.84743878e-02 1.28457218e-03 9.97652048e-01 -2.33905256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46864 meters Centerline goodness [0,1] 0.9988658217860841 Centerline is valid? [True, True] Translation: X:50.63, Y:-11.78, Z:-2.34 [[ 9.52040163e-01 2.99226713e-01 6.38975865e-02 5.06290211e+01] [-2.98475195e-01 9.54181370e-01 -2.12243078e-02 -1.17766538e+01] [-6.73207665e-02 1.13454885e-03 9.97730739e-01 -2.34002917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.498639999999995 meters Centerline goodness [0,1] 0.9992617020229364 Centerline is valid? [True, True] Translation: X:50.66, Y:-11.79, Z:-2.34 [[ 9.51113213e-01 3.02039930e-01 6.44634468e-02 5.06592630e+01] [-3.01279331e-01 9.53294777e-01 -2.14437062e-02 -1.17889305e+01] [-6.79295227e-02 9.73888144e-04 9.97689647e-01 -2.34312617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.528639999999996 meters Centerline goodness [0,1] 0.9992131018541287 Centerline is valid? [True, True] Translation: X:50.69, Y:-11.80, Z:-2.34 [[ 9.49730894e-01 3.06325820e-01 6.46198188e-02 5.06882911e+01] [-3.05569262e-01 9.51926469e-01 -2.15272673e-02 -1.18024050e+01] [-6.81076738e-02 6.99280495e-04 9.97677731e-01 -2.34390372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55864 meters Centerline goodness [0,1] 0.9992613020782035 Centerline is valid? [True, True] Translation: X:50.72, Y:-11.81, Z:-2.35 [[ 9.49179189e-01 3.08194472e-01 6.38359993e-02 5.07181546e+01] [-3.07458305e-01 9.51323195e-01 -2.12971683e-02 -1.18148467e+01] [-6.72923363e-02 5.87920832e-04 9.97733129e-01 -2.34507191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58864 meters Centerline goodness [0,1] 0.9988175009854159 Centerline is valid? [True, True] Translation: X:50.75, Y:-11.83, Z:-2.35 [[ 9.48557515e-01 3.10157053e-01 6.35707667e-02 5.07481608e+01] [-3.09429295e-01 9.50685213e-01 -2.12399675e-02 -1.18277237e+01] [-6.70235137e-02 4.76673277e-04 9.97751282e-01 -2.34606852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61864 meters Centerline goodness [0,1] 0.9988175009854159 Centerline is valid? [True, True] Translation: X:50.78, Y:-11.84, Z:-2.35 [[ 9.48398713e-01 3.10644348e-01 6.35607616e-02 5.07791250e+01] [-3.09915679e-01 9.50526099e-01 -2.12698744e-02 -1.18377244e+01] [-6.70235290e-02 4.73844947e-04 9.97751283e-01 -2.34746309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64864 meters Centerline goodness [0,1] 0.9988679431018359 Centerline is valid? [True, True] Translation: X:50.81, Y:-11.85, Z:-2.35 [[ 9.47514359e-01 3.13395259e-01 6.32451644e-02 5.08083284e+01] [-3.12677637e-01 9.49622722e-01 -2.11985883e-02 -1.18508192e+01] [-6.67025823e-02 3.10618182e-04 9.97772854e-01 -2.34879338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.678639999999994 meters Centerline goodness [0,1] 0.9992608288572414 Centerline is valid? [True, True] Translation: X:50.84, Y:-11.86, Z:-2.35 [[ 9.46989968e-01 3.15229841e-01 6.19689207e-02 5.08384026e+01] [-3.14542843e-01 9.49015334e-01 -2.08013271e-02 -1.18625827e+01] [-6.53666550e-02 2.06767592e-04 9.97861292e-01 -2.35132628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.708639999999995 meters Centerline goodness [0,1] 0.9994588212142084 Centerline is valid? [True, True] Translation: X:50.87, Y:-11.87, Z:-2.35 [[ 9.46369271e-01 3.17058174e-01 6.21234070e-02 5.08686751e+01] [-3.16369527e-01 9.48406085e-01 -2.08858899e-02 -1.18748140e+01] [-6.55402594e-02 1.11811539e-04 9.97849920e-01 -2.35225357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73864 meters Centerline goodness [0,1] 0.9991142168200384 Centerline is valid? [True, True] Translation: X:50.90, Y:-11.89, Z:-2.35 [[ 9.45592545e-01 3.19643291e-01 6.06869512e-02 5.08979370e+01] [-3.18989361e-01 9.47537949e-01 -2.04358201e-02 -1.18887221e+01] [-6.40353621e-02 -3.45326193e-05 9.97947629e-01 -2.35252745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76864 meters Centerline goodness [0,1] 0.9994577006507592 Centerline is valid? [True, True] Translation: X:50.93, Y:-11.90, Z:-2.35 [[ 9.44924150e-01 3.21516320e-01 6.12013685e-02 5.09286968e+01] [-3.20853057e-01 9.46904028e-01 -2.06416337e-02 -1.19010181e+01] [-6.45884445e-02 -1.31868001e-04 9.97911978e-01 -2.35468202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79864 meters Centerline goodness [0,1] 0.9996056782334385 Centerline is valid? [True, True] Translation: X:50.96, Y:-11.91, Z:-2.36 [[ 9.44061371e-01 3.24403143e-01 5.92514013e-02 5.09581397e+01] [-3.23785161e-01 9.45918875e-01 -2.00162930e-02 -1.19141710e+01] [-6.25403672e-02 -2.88115528e-04 9.98042394e-01 -2.35559739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82864 meters Centerline goodness [0,1] 0.9995571302037201 Centerline is valid? [True, True] Translation: X:50.99, Y:-11.93, Z:-2.36 [[ 9.43294529e-01 3.26476114e-01 6.00731180e-02 5.09885774e+01] [-3.25843093e-01 9.45205367e-01 -2.03246979e-02 -1.19252315e+01] [-6.34169619e-02 -4.02234281e-04 9.97987038e-01 -2.35740932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85864 meters Centerline goodness [0,1] 0.9996549854601016 Centerline is valid? [True, True] Translation: X:51.02, Y:-11.94, Z:-2.36 [[ 9.42693704e-01 3.28293907e-01 5.95960692e-02 5.10195595e+01] [-3.27672539e-01 9.44575497e-01 -2.01949863e-02 -1.19359344e+01] [-6.29228777e-02 -4.90308891e-04 9.98018272e-01 -2.35848606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.888639999999995 meters Centerline goodness [0,1] 0.9996047040221365 Centerline is valid? [True, True] Translation: X:51.05, Y:-11.95, Z:-2.36 [[ 9.41337946e-01 3.32132107e-01 5.97589767e-02 5.10496968e+01] [-3.31513317e-01 9.43232602e-01 -2.02775764e-02 -1.19468436e+01] [-6.31014492e-02 -7.22844466e-04 9.98006856e-01 -2.35958476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.918639999999996 meters Centerline goodness [0,1] 0.9998522385854307 Centerline is valid? [True, True] Translation: X:51.08, Y:-11.96, Z:-2.36 [[ 9.40455107e-01 3.34779461e-01 5.88804264e-02 5.10807218e+01] [-3.34182792e-01 9.42296108e-01 -1.99976563e-02 -1.19568098e+01] [-6.21776012e-02 -8.69927313e-04 9.98064722e-01 -2.36078621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94864 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:51.11, Y:-11.97, Z:-2.36 [[ 9.39748114e-01 3.36714866e-01 5.91318980e-02 5.11115377e+01] [-3.36114800e-01 9.41606158e-01 -2.01167605e-02 -1.19651410e+01] [-6.24525716e-02 -9.70418293e-04 9.98047461e-01 -2.36198460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97864 meters Centerline goodness [0,1] 0.9998030235879254 Centerline is valid? [True, True] Translation: X:51.14, Y:-11.97, Z:-2.36 [[ 9.38565740e-01 3.40134846e-01 5.83321300e-02 5.11431109e+01] [-3.39555680e-01 9.40375965e-01 -1.98742270e-02 -1.19736052e+01] [-6.16140502e-02 -1.15373745e-03 9.98099383e-01 -2.36230906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00864 meters Centerline goodness [0,1] 0.999409681227863 Centerline is valid? [True, True] Translation: X:51.17, Y:-11.98, Z:-2.36 [[ 9.36741748e-01 3.45320711e-01 5.71708286e-02 5.11742091e+01] [-3.44772520e-01 9.38483633e-01 -1.95033310e-02 -1.19803945e+01] [-6.03887910e-02 -1.44134632e-03 9.98173891e-01 -2.36315440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03864 meters Centerline goodness [0,1] 0.9996059889676912 Centerline is valid? [True, True] Translation: X:51.20, Y:-11.99, Z:-2.37 [[ 9.36002453e-01 3.47281893e-01 5.73994349e-02 5.12048373e+01] [-3.46731792e-01 9.37759493e-01 -1.96009615e-02 -1.19892028e+01] [-6.06339240e-02 -1.55566090e-03 9.98158859e-01 -2.36511256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.068639999999995 meters Centerline goodness [0,1] 0.9993604250713372 Centerline is valid? [True, True] Translation: X:51.24, Y:-12.00, Z:-2.36 [[ 9.35311328e-01 3.49209160e-01 5.69708845e-02 5.12365886e+01] [-3.48669067e-01 9.37043366e-01 -1.94836187e-02 -1.19966195e+01] [-6.01880476e-02 -1.64073582e-03 9.98185708e-01 -2.36444578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.098639999999996 meters Centerline goodness [0,1] 0.9996058724997536 Centerline is valid? [True, True] Translation: X:51.27, Y:-12.00, Z:-2.37 [[ 9.35462309e-01 3.48858926e-01 5.66367170e-02 5.12676176e+01] [-3.48322787e-01 9.37173916e-01 -1.93981374e-02 -1.20044044e+01] [-5.98456673e-02 -1.58163273e-03 9.98206389e-01 -2.36536641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12864 meters Centerline goodness [0,1] 0.9997535124476213 Centerline is valid? [True, True] Translation: X:51.30, Y:-12.01, Z:-2.37 [[ 9.35548305e-01 3.48394771e-01 5.80555942e-02 5.12995210e+01] [-3.47828574e-01 9.37346599e-01 -1.99157540e-02 -1.20123143e+01] [-6.13567583e-02 -1.56124463e-03 9.98114678e-01 -2.36755940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15864 meters Centerline goodness [0,1] 0.9994583415402797 Centerline is valid? [True, True] Translation: X:51.33, Y:-12.02, Z:-2.37 [[ 9.35629647e-01 3.48148802e-01 5.82200573e-02 5.13312085e+01] [-3.47576789e-01 9.37438057e-01 -2.00066431e-02 -1.20214732e+01] [-6.15429861e-02 -1.51713219e-03 9.98103281e-01 -2.36860301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18864 meters Centerline goodness [0,1] 0.9992120555500837 Centerline is valid? [True, True] Translation: X:51.36, Y:-12.03, Z:-2.37 [[ 9.35111010e-01 3.49444020e-01 5.87901045e-02 5.13620652e+01] [-3.48861215e-01 9.36955900e-01 -2.02359493e-02 -1.20297129e+01] [-6.21550667e-02 -1.58672832e-03 9.98065243e-01 -2.37012979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21864 meters Centerline goodness [0,1] 0.9994581814599547 Centerline is valid? [True, True] Translation: X:51.39, Y:-12.04, Z:-2.37 [[ 9.34677769e-01 3.50600195e-01 5.87960072e-02 5.13948385e+01] [-3.50017591e-01 9.36523802e-01 -2.02695248e-02 -1.20372917e+01] [-6.21703596e-02 -1.63416259e-03 9.98064214e-01 -2.37154074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.248639999999995 meters Centerline goodness [0,1] 0.9998523839984255 Centerline is valid? [True, True] Translation: X:51.43, Y:-12.04, Z:-2.37 [[ 9.33750474e-01 3.53101612e-01 5.85602623e-02 5.14270893e+01] [-3.52526538e-01 9.35583318e-01 -2.02211461e-02 -1.20422884e+01] [-6.19281238e-02 -1.76254180e-03 9.98079055e-01 -2.37278997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.278639999999996 meters Centerline goodness [0,1] 0.9998033238273183 Centerline is valid? [True, True] Translation: X:51.46, Y:-12.05, Z:-2.37 [[ 9.33231445e-01 3.54384870e-01 5.90799037e-02 5.14578068e+01] [-3.53800197e-01 9.35097853e-01 -2.04310115e-02 -1.20508482e+01] [-6.24859325e-02 -1.83561913e-03 9.98044157e-01 -2.37409740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30864 meters Centerline goodness [0,1] 0.9995080918884353 Centerline is valid? [True, True] Translation: X:51.49, Y:-12.06, Z:-2.38 [[ 9.32900915e-01 3.55205069e-01 5.93737511e-02 5.14895189e+01] [-3.54614215e-01 9.34786533e-01 -2.05644652e-02 -1.20591542e+01] [-6.28063852e-02 -1.87016774e-03 9.98023978e-01 -2.37506581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33864 meters Centerline goodness [0,1] 0.9994090125584831 Centerline is valid? [True, True] Translation: X:51.52, Y:-12.06, Z:-2.38 [[ 9.32843139e-01 3.55374887e-01 5.92652352e-02 5.15224581e+01] [-3.54784357e-01 9.34722035e-01 -2.05615328e-02 -1.20647666e+01] [-6.27035736e-02 -1.84569352e-03 9.98030488e-01 -2.37694840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36864 meters Centerline goodness [0,1] 0.9996058530817362 Centerline is valid? [True, True] Translation: X:51.55, Y:-12.07, Z:-2.38 [[ 9.33083806e-01 3.54694263e-01 5.95532635e-02 5.15541701e+01] [-3.54094460e-01 9.34980653e-01 -2.06952126e-02 -1.20726765e+01] [-6.30216224e-02 -1.77711296e-03 9.98010580e-01 -2.37791100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39864 meters Centerline goodness [0,1] 0.9993601102579248 Centerline is valid? [True, True] Translation: X:51.59, Y:-12.08, Z:-2.38 [[ 9.33279155e-01 3.54321577e-01 5.87046707e-02 5.15857660e+01] [-3.53736159e-01 9.35122096e-01 -2.04302547e-02 -1.20808667e+01] [-6.21349147e-02 -1.69883394e-03 9.98066314e-01 -2.37909646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.428639999999994 meters Centerline goodness [0,1] 0.9995079950799508 Centerline is valid? [True, True] Translation: X:51.62, Y:-12.09, Z:-2.38 [[ 9.33892948e-01 3.52526938e-01 5.97387650e-02 5.16185154e+01] [-3.51915466e-01 9.35800325e-01 -2.08148154e-02 -1.20860164e+01] [-6.32413389e-02 -1.58418607e-03 9.97997006e-01 -2.38052617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.458639999999995 meters Centerline goodness [0,1] 0.9990161837768705 Centerline is valid? [True, True] Translation: X:51.65, Y:-12.09, Z:-2.38 [[ 9.33675236e-01 3.53307004e-01 5.85210597e-02 5.16515456e+01] [-3.52720644e-01 9.35506089e-01 -2.04084401e-02 -1.20925124e+01] [-6.19572525e-02 -1.58673069e-03 9.98077543e-01 -2.38125348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48864 meters Centerline goodness [0,1] 0.9994091871399734 Centerline is valid? [True, True] Translation: X:51.68, Y:-12.10, Z:-2.38 [[ 9.33395217e-01 3.53963212e-01 5.90204531e-02 5.16838053e+01] [-3.53365916e-01 9.35257958e-01 -2.06175137e-02 -1.20996874e+01] [-6.24971898e-02 -1.61152774e-03 9.98043839e-01 -2.38341233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51864 meters Centerline goodness [0,1] 0.9997047534691468 Centerline is valid? [True, True] Translation: X:51.72, Y:-12.10, Z:-2.39 [[ 9.32328262e-01 3.56760058e-01 5.90446725e-02 5.17161422e+01] [-3.56165769e-01 9.34194377e-01 -2.06594121e-02 -1.21040090e+01] [-6.25296541e-02 -1.76833737e-03 9.98041540e-01 -2.38514410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54864 meters Centerline goodness [0,1] 0.9995572609208973 Centerline is valid? [True, True] Translation: X:51.75, Y:-12.11, Z:-2.39 [[ 9.31910584e-01 3.57705533e-01 5.99117232e-02 5.17481133e+01] [-3.57093632e-01 9.33832642e-01 -2.09936883e-02 -1.21114390e+01] [-6.34570812e-02 -1.82985450e-03 9.97982891e-01 -2.38712726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57864 meters Centerline goodness [0,1] 0.9999014778325123 Centerline is valid? [True, True] Translation: X:51.78, Y:-12.12, Z:-2.39 [[ 9.31617615e-01 3.58590177e-01 5.91751914e-02 5.17806410e+01] [-3.57993042e-01 9.33493283e-01 -2.07671141e-02 -1.21188586e+01] [-6.26865268e-02 -1.83729743e-03 9.98031574e-01 -2.38814479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60864 meters Centerline goodness [0,1] 0.9997045644788025 Centerline is valid? [True, True] Translation: X:51.81, Y:-12.12, Z:-2.39 [[ 9.32045406e-01 3.57562330e-01 5.86561354e-02 5.18140256e+01] [-3.56971958e-01 9.33887678e-01 -2.06113201e-02 -1.21207861e+01] [-6.21480737e-02 -1.72790933e-03 9.98065444e-01 -2.38868506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.638639999999995 meters Centerline goodness [0,1] 0.9998524493409404 Centerline is valid? [True, True] Translation: X:51.85, Y:-12.13, Z:-2.39 [[ 9.32177321e-01 3.57347760e-01 5.78620888e-02 5.18451374e+01] [-3.56772347e-01 9.33969886e-01 -2.03407203e-02 -1.21284396e+01] [-6.13101593e-02 -1.68243508e-03 9.98117345e-01 -2.39024892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.668639999999996 meters Centerline goodness [0,1] 0.9996064735107482 Centerline is valid? [True, True] Translation: X:51.88, Y:-12.14, Z:-2.39 [[ 9.32522585e-01 3.56451395e-01 5.78275972e-02 5.18766625e+01] [-3.55874426e-01 9.34312472e-01 -2.03370786e-02 -1.21364876e+01] [-6.12782254e-02 -1.61457785e-03 9.98119418e-01 -2.39207193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69864 meters Centerline goodness [0,1] 0.9996556981948749 Centerline is valid? [True, True] Translation: X:51.91, Y:-12.14, Z:-2.39 [[ 9.33029056e-01 3.55374035e-01 5.62678884e-02 5.19083941e+01] [-3.54825353e-01 9.34722987e-01 -1.97966363e-02 -1.21442196e+01] [-5.96300993e-02 -1.49443650e-03 9.98219424e-01 -2.39316009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72864 meters Centerline goodness [0,1] 0.9993604565356422 Centerline is valid? [True, True] Translation: X:51.94, Y:-12.15, Z:-2.39 [[ 9.34337799e-01 3.51635900e-01 5.80092301e-02 5.19413542e+01] [-3.51044965e-01 9.36135962e-01 -2.04179812e-02 -1.21478416e+01] [-6.14842216e-02 -1.28655654e-03 9.98107226e-01 -2.39487917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75864 meters Centerline goodness [0,1] 0.9992627181125584 Centerline is valid? [True, True] Translation: X:51.97, Y:-12.16, Z:-2.40 [[ 9.35272291e-01 3.49180369e-01 5.77824467e-02 5.19724900e+01] [-3.48588843e-01 9.37054872e-01 -2.03466465e-02 -1.21563943e+01] [-6.12499727e-02 -1.11266156e-03 9.98121838e-01 -2.39617471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78864 meters Centerline goodness [0,1] 0.9991638384732674 Centerline is valid? [True, True] Translation: X:52.00, Y:-12.16, Z:-2.40 [[ 9.37525965e-01 3.42827100e-01 5.92844411e-02 5.20045102e+01] [-3.42191075e-01 9.39398255e-01 -2.08851130e-02 -1.21637909e+01] [-6.28516832e-02 -7.06270900e-04 9.98022629e-01 -2.39815217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.818639999999995 meters Centerline goodness [0,1] 0.9993111592206259 Centerline is valid? [True, True] Translation: X:52.04, Y:-12.17, Z:-2.40 [[ 9.38715566e-01 3.39472543e-01 5.97618561e-02 5.20359297e+01] [-3.38818772e-01 9.40615844e-01 -2.10635465e-02 -1.21723954e+01] [-6.33634445e-02 -4.75759765e-04 9.97990405e-01 -2.39996330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.848639999999996 meters Centerline goodness [0,1] 0.9988185487840898 Centerline is valid? [True, True] Translation: X:52.07, Y:-12.18, Z:-2.40 [[ 9.40055200e-01 3.35798022e-01 5.94635106e-02 5.20666664e+01] [-3.35142870e-01 9.41933990e-01 -2.09670250e-02 -1.21808952e+01] [-6.30513873e-02 -2.18610664e-04 9.98010258e-01 -2.40134233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87864 meters Centerline goodness [0,1] 0.9988206967716574 Centerline is valid? [True, True] Translation: X:52.10, Y:-12.19, Z:-2.40 [[ 9.42097196e-01 3.29643511e-01 6.15469706e-02 5.20971025e+01] [-3.28927846e-01 9.44105456e-01 -2.17108358e-02 -1.21905286e+01] [-6.52636669e-02 2.09205013e-04 9.97868032e-01 -2.40341045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90864 meters Centerline goodness [0,1] 0.99881994296391 Centerline is valid? [True, True] Translation: X:52.13, Y:-12.20, Z:-2.40 [[ 9.43336757e-01 3.25874099e-01 6.26245458e-02 5.21269849e+01] [-3.25124212e-01 9.45413050e-01 -2.21000611e-02 -1.22017711e+01] [-6.64079003e-02 4.87043856e-04 9.97792440e-01 -2.40413461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93864 meters Centerline goodness [0,1] 0.9988682216317292 Centerline is valid? [True, True] Translation: X:52.16, Y:-12.21, Z:-2.41 [[ 9.44568780e-01 3.22136629e-01 6.33862175e-02 5.21566319e+01] [-3.21359342e-01 9.46692877e-01 -2.23778995e-02 -1.22135734e+01] [-6.72160217e-02 7.67712093e-04 9.97738151e-01 -2.40688657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96864 meters Centerline goodness [0,1] 0.9983275946876538 Centerline is valid? [True, True] Translation: X:52.19, Y:-12.23, Z:-2.41 [[ 9.46278371e-01 3.17525009e-01 6.11155743e-02 5.21853889e+01] [-3.16792310e-01 9.48249301e-01 -2.15846297e-02 -1.22276858e+01] [-6.48064604e-02 1.06412429e-03 9.97897284e-01 -2.40826861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.998639999999995 meters Centerline goodness [0,1] 0.9981279866003251 Centerline is valid? [True, True] Translation: X:52.22, Y:-12.24, Z:-2.41 [[ 9.46391533e-01 3.17350645e-01 6.02630457e-02 5.22151450e+01] [-3.16637384e-01 9.48307664e-01 -2.12918279e-02 -1.22412090e+01] [-6.39048834e-02 1.06887251e-03 9.97955422e-01 -2.40978768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.028639999999996 meters Centerline goodness [0,1] 0.9979809917762348 Centerline is valid? [True, True] Translation: X:52.24, Y:-12.26, Z:-2.41 [[ 9.46300234e-01 3.17709937e-01 5.98018689e-02 5.22440879e+01] [-3.17007754e-01 9.48187379e-01 -2.11371367e-02 -1.22557305e+01] [-6.34188557e-02 1.04442130e-03 9.97986452e-01 -2.41080730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05864 meters Centerline goodness [0,1] 0.9985715693035169 Centerline is valid? [True, True] Translation: X:52.27, Y:-12.27, Z:-2.41 [[ 9.45117345e-01 3.21189419e-01 5.99212917e-02 5.22717428e+01] [-3.20490437e-01 9.47014611e-01 -2.11944979e-02 -1.22742004e+01] [-6.35537872e-02 8.27086568e-04 9.97978072e-01 -2.41234340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08864 meters Centerline goodness [0,1] 0.9983245454097472 Centerline is valid? [True, True] Translation: X:52.30, Y:-12.29, Z:-2.41 [[ 9.44193053e-01 3.24059194e-01 5.90348781e-02 5.23012230e+01] [-3.23384565e-01 9.46036582e-01 -2.09095326e-02 -1.22880978e+01] [-6.26250806e-02 6.51667026e-04 9.98036910e-01 -2.41365578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11864 meters Centerline goodness [0,1] 0.9986696886085928 Centerline is valid? [True, True] Translation: X:52.33, Y:-12.31, Z:-2.42 [[ 9.41906400e-01 3.30843426e-01 5.79220194e-02 5.23288049e+01] [-3.30205312e-01 9.43685636e-01 -2.05395402e-02 -1.23058400e+01] [-6.14555495e-02 2.20165859e-04 9.98109797e-01 -2.41513039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14864 meters Centerline goodness [0,1] 0.9986675878405054 Centerline is valid? [True, True] Translation: X:52.36, Y:-12.32, Z:-2.42 [[ 9.41068823e-01 3.33401261e-01 5.68600882e-02 5.23580699e+01] [-3.32789856e-01 9.42785020e-01 -2.01821083e-02 -1.23193001e+01] [-6.03355798e-02 7.02923973e-05 9.98178147e-01 -2.41597813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.178639999999994 meters Centerline goodness [0,1] 0.9988678316514891 Centerline is valid? [True, True] Translation: X:52.39, Y:-12.33, Z:-2.42 [[ 9.40421156e-01 3.35214528e-01 5.69145842e-02 5.23886183e+01] [-3.34603439e-01 9.42141826e-01 -2.02316178e-02 -1.23327495e+01] [-6.04035425e-02 -1.75742076e-05 9.98174039e-01 -2.41859739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.208639999999995 meters Centerline goodness [0,1] 0.9994581013843047 Centerline is valid? [True, True] Translation: X:52.42, Y:-12.35, Z:-2.42 [[ 9.39665545e-01 3.37479535e-01 5.60020254e-02 5.24186955e+01] [-3.36889982e-01 9.41332857e-01 -1.99397388e-02 -1.23458180e+01] [-5.94458003e-02 -1.29835838e-04 9.98231526e-01 -2.41940102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23864 meters Centerline goodness [0,1] 0.9990612648221344 Centerline is valid? [True, True] Translation: X:52.45, Y:-12.36, Z:-2.42 [[ 9.38249733e-01 3.41259600e-01 5.68271361e-02 5.24477063e+01] [-3.40657497e-01 9.39969024e-01 -2.02658065e-02 -1.23596499e+01] [-6.03316487e-02 -3.44202459e-04 9.98178328e-01 -2.42038136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26864 meters Centerline goodness [0,1] 0.9992612656981039 Centerline is valid? [True, True] Translation: X:52.48, Y:-12.37, Z:-2.42 [[ 9.37369622e-01 3.43497142e-01 5.78610812e-02 5.24779963e+01] [-3.42875337e-01 9.39153605e-01 -2.06642118e-02 -1.23702903e+01] [-6.14385406e-02 -4.69133305e-04 9.98110758e-01 -2.42082331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29864 meters Centerline goodness [0,1] 0.9997045790251108 Centerline is valid? [True, True] Translation: X:52.51, Y:-12.38, Z:-2.42 [[ 9.36223143e-01 3.46379452e-01 5.92241674e-02 5.25082829e+01] [-3.45731801e-01 9.38094270e-01 -2.11816451e-02 -1.23808092e+01] [-6.28947387e-02 -6.44931765e-04 9.98019958e-01 -2.42238760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32864 meters Centerline goodness [0,1] 0.9997047389400128 Centerline is valid? [True, True] Translation: X:52.54, Y:-12.39, Z:-2.42 [[ 9.34892685e-01 3.50127223e-01 5.81944501e-02 5.25399054e+01] [-3.49507263e-01 9.36701767e-01 -2.08440061e-02 -1.23900819e+01] [-6.18088982e-02 -8.52474145e-04 9.98087638e-01 -2.42398143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35864 meters Centerline goodness [0,1] 0.9995069519771226 Centerline is valid? [True, True] Translation: X:52.57, Y:-12.40, Z:-2.42 [[ 9.34194870e-01 3.52186047e-01 5.69643086e-02 5.25716270e+01] [-3.51593867e-01 9.35929544e-01 -2.04362837e-02 -1.24000987e+01] [-6.05119533e-02 -9.36830165e-04 9.98167033e-01 -2.42497026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.388639999999995 meters Centerline goodness [0,1] 0.9997531961103707 Centerline is valid? [True, True] Translation: X:52.60, Y:-12.41, Z:-2.43 [[ 9.33461366e-01 3.53767019e-01 5.91504309e-02 5.26036001e+01] [-3.53129483e-01 9.35332989e-01 -2.12548569e-02 -1.24074019e+01] [-6.28446167e-02 -1.04717334e-03 9.98022774e-01 -2.42722416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.418639999999996 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:52.64, Y:-12.42, Z:-2.43 [[ 9.32870747e-01 3.55414338e-01 5.85902496e-02 5.26351128e+01] [-3.54790113e-01 9.34708189e-01 -2.10849766e-02 -1.24162476e+01] [-6.22586891e-02 -1.11768343e-03 9.98059420e-01 -2.42733964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.67, Y:-12.42, Z:-2.43 [[ 9.32495997e-01 3.56182395e-01 5.98775205e-02 5.26663539e+01] [-3.55529811e-01 9.34415727e-01 -2.15824734e-02 -1.24241056e+01] [-6.36377938e-02 -1.16267351e-03 9.97972384e-01 -2.42881189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47864 meters Centerline goodness [0,1] 0.9996059501526943 Centerline is valid? [True, True] Translation: X:52.70, Y:-12.43, Z:-2.43 [[ 9.31856291e-01 3.57672173e-01 6.09464487e-02 5.26982898e+01] [-3.56997195e-01 9.33846366e-01 -2.19992576e-02 -1.24301826e+01] [-6.47831419e-02 -1.25756459e-03 9.97898574e-01 -2.43032443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50864 meters Centerline goodness [0,1] 0.999458474868311 Centerline is valid? [True, True] Translation: X:52.73, Y:-12.44, Z:-2.43 [[ 9.31854843e-01 3.57762616e-01 6.04356077e-02 5.27291838e+01] [-3.57097127e-01 9.33811764e-01 -2.18456106e-02 -1.24380994e+01] [-6.42510243e-02 -1.22444389e-03 9.97933017e-01 -2.43137904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53864 meters Centerline goodness [0,1] 0.9998032464338417 Centerline is valid? [True, True] Translation: X:52.76, Y:-12.45, Z:-2.43 [[ 9.31915046e-01 3.57539949e-01 6.08237740e-02 5.27606924e+01] [-3.56863758e-01 9.33897083e-01 -2.20112854e-02 -1.24470196e+01] [-6.46730590e-02 -1.19315248e-03 9.97905793e-01 -2.43370261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.568639999999995 meters Centerline goodness [0,1] 0.9998032464338417 Centerline is valid? [True, True] Translation: X:52.79, Y:-12.46, Z:-2.44 [[ 9.31731242e-01 3.58019798e-01 6.08170799e-02 5.27914247e+01] [-3.57343422e-01 9.33713215e-01 -2.20297671e-02 -1.24578165e+01] [-6.46728040e-02 -1.20676118e-03 9.97905793e-01 -2.43509893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.598639999999996 meters Centerline goodness [0,1] 0.9998030720756204 Centerline is valid? [True, True] Translation: X:52.82, Y:-12.47, Z:-2.44 [[ 9.32055400e-01 3.57190190e-01 6.07280735e-02 5.28221303e+01] [-3.56512326e-01 9.34030999e-01 -2.20239343e-02 -1.24665002e+01] [-6.45886364e-02 -1.12277979e-03 9.97911342e-01 -2.43635700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:52.85, Y:-12.47, Z:-2.44 [[ 9.33364522e-01 3.53612810e-01 6.15520103e-02 5.28531175e+01] [-3.52908032e-01 9.35391474e-01 -2.23318713e-02 -1.24742656e+01] [-6.54720614e-02 -8.78422422e-04 9.97854016e-01 -2.43779444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65864 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:52.88, Y:-12.48, Z:-2.44 [[ 9.33872417e-01 3.52082917e-01 6.26093400e-02 5.28845922e+01] [-3.51349521e-01 9.35968493e-01 -2.27264932e-02 -1.24837624e+01] [-6.66019796e-02 -7.74116470e-04 9.97779323e-01 -2.44086150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68864 meters Centerline goodness [0,1] 0.9999015311899956 Centerline is valid? [True, True] Translation: X:52.92, Y:-12.49, Z:-2.44 [[ 9.35676217e-01 3.47503164e-01 6.12500446e-02 5.29161178e+01] [-3.46790661e-01 9.37678713e-01 -2.22456413e-02 -1.24925411e+01] [-6.51632937e-02 -4.26225939e-04 9.97874523e-01 -2.44188918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71864 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:52.95, Y:-12.50, Z:-2.44 [[ 9.36095661e-01 3.46330094e-01 6.14847905e-02 5.29474074e+01] [-3.45608791e-01 9.38112655e-01 -2.23429884e-02 -1.25030856e+01] [-6.54177093e-02 -3.34509684e-04 9.97857911e-01 -2.44323145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.748639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:-12.51, Z:-2.45 [[ 9.36542266e-01 3.44997466e-01 6.21717938e-02 5.29783193e+01] [-3.44256085e-01 9.38603588e-01 -2.26064810e-02 -1.25135653e+01] [-6.61538474e-02 -2.31093414e-04 9.97809408e-01 -2.44569134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.778639999999996 meters Centerline goodness [0,1] 0.9998521439132577 Centerline is valid? [True, True] Translation: X:53.01, Y:-12.52, Z:-2.45 [[ 9.37545529e-01 3.42149294e-01 6.27872699e-02 5.30085283e+01] [-3.41385939e-01 9.39645604e-01 -2.28425182e-02 -1.25232338e+01] [-6.68133336e-02 -1.87902170e-05 9.97765493e-01 -2.44895926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.04, Y:-12.53, Z:-2.45 [[ 9.37871630e-01 3.41185361e-01 6.31613470e-02 5.30387966e+01] [-3.40410065e-01 9.39996035e-01 -2.29878613e-02 -1.25338091e+01] [-6.72145375e-02 5.89046787e-05 9.97738544e-01 -2.45059088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83864 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:53.07, Y:-12.54, Z:-2.45 [[ 9.38916878e-01 3.37958168e-01 6.49567088e-02 5.30691570e+01] [-3.37129180e-01 9.41161080e-01 -2.36587893e-02 -1.25431847e+01] [-6.91304073e-02 3.14834577e-04 9.97607582e-01 -2.45165699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86864 meters Centerline goodness [0,1] 0.9999015651146766 Centerline is valid? [True, True] Translation: X:53.10, Y:-12.55, Z:-2.45 [[ 9.39758529e-01 3.35802827e-01 6.39559902e-02 5.31001783e+01] [-3.34992046e-01 9.41932171e-01 -2.33262542e-02 -1.25537419e+01] [-6.80752268e-02 4.96298241e-04 9.97680068e-01 -2.45229954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89864 meters Centerline goodness [0,1] 0.9997537916092181 Centerline is valid? [True, True] Translation: X:53.13, Y:-12.56, Z:-2.45 [[ 9.40497233e-01 3.33636676e-01 6.44323106e-02 5.31308591e+01] [-3.32806258e-01 9.42701485e-01 -2.35351718e-02 -1.25647625e+01] [-6.85926314e-02 6.91287728e-04 9.97644512e-01 -2.45381859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.928639999999994 meters Centerline goodness [0,1] 0.9999506927666288 Centerline is valid? [True, True] Translation: X:53.16, Y:-12.58, Z:-2.46 [[ 9.41152347e-01 3.31767824e-01 6.45164416e-02 5.31605462e+01] [-3.30928642e-01 9.43360680e-01 -2.35979002e-02 -1.25764364e+01] [-6.86912982e-02 8.58880743e-04 9.97637593e-01 -2.45658706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.958639999999995 meters Centerline goodness [0,1] 0.9998030720756204 Centerline is valid? [True, True] Translation: X:53.19, Y:-12.59, Z:-2.46 [[ 9.42804940e-01 3.26920889e-01 6.51273985e-02 5.31902211e+01] [-3.26051909e-01 9.45050876e-01 -2.38535941e-02 -1.25885670e+01] [-6.93469433e-02 1.25437378e-03 9.97591814e-01 -2.45839194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98864 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:53.22, Y:-12.60, Z:-2.46 [[ 9.43025605e-01 3.26388676e-01 6.45998449e-02 5.32206152e+01] [-3.25530208e-01 9.45234735e-01 -2.36934307e-02 -1.26007180e+01] [-6.87952847e-02 1.31431083e-03 9.97629932e-01 -2.46010947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01864 meters Centerline goodness [0,1] 0.9996554270243663 Centerline is valid? [True, True] Translation: X:53.25, Y:-12.61, Z:-2.46 [[ 9.43706155e-01 3.24144784e-01 6.59458261e-02 5.32504346e+01] [-3.23242161e-01 9.46006226e-01 -2.42224196e-02 -1.26134814e+01] [-7.02367331e-02 1.54237511e-03 9.97529159e-01 -2.46117594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04864 meters Centerline goodness [0,1] 0.999409681227863 Centerline is valid? [True, True] Translation: X:53.28, Y:-12.63, Z:-2.46 [[ 9.43460524e-01 3.24819741e-01 6.61390584e-02 5.32813194e+01] [-3.23911088e-01 9.45774709e-01 -2.43270952e-02 -1.26263432e+01] [-7.04545694e-02 1.52847962e-03 9.97513818e-01 -2.46264081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07864 meters Centerline goodness [0,1] 0.9993598897040721 Centerline is valid? [True, True] Translation: X:53.31, Y:-12.64, Z:-2.46 [[ 9.42679506e-01 3.26766610e-01 6.76678083e-02 5.33114580e+01] [-3.25817668e-01 9.45103950e-01 -2.49272975e-02 -1.26390453e+01] [-7.20985214e-02 1.45108496e-03 9.97396460e-01 -2.46449842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10864 meters Centerline goodness [0,1] 0.9994585015260411 Centerline is valid? [True, True] Translation: X:53.34, Y:-12.65, Z:-2.47 [[ 9.42544523e-01 3.27065822e-01 6.81011714e-02 5.33421654e+01] [-3.26102690e-01 9.45000411e-01 -2.51248601e-02 -1.26518148e+01] [-7.25731180e-02 1.47332406e-03 9.97362006e-01 -2.46683088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.138639999999995 meters Centerline goodness [0,1] 0.9996063379588623 Centerline is valid? [True, True] Translation: X:53.37, Y:-12.67, Z:-2.47 [[ 9.42603218e-01 3.27372725e-01 6.57744123e-02 5.33714555e+01] [-3.26472740e-01 9.44894200e-01 -2.43002408e-02 -1.26660805e+01] [-7.01050967e-02 1.43193262e-03 9.97538583e-01 -2.46762920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.168639999999996 meters Centerline goodness [0,1] 0.9995574786114663 Centerline is valid? [True, True] Translation: X:53.40, Y:-12.68, Z:-2.47 [[ 9.42705175e-01 3.26730710e-01 6.74833067e-02 5.34018145e+01] [-3.25779259e-01 9.45116205e-01 -2.49646357e-02 -1.26776214e+01] [-7.19362799e-02 1.54962959e-03 9.97408026e-01 -2.46978940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19864 meters Centerline goodness [0,1] 0.9993600157534583 Centerline is valid? [True, True] Translation: X:53.43, Y:-12.69, Z:-2.47 [[ 9.42821760e-01 3.26635971e-01 6.63028826e-02 5.34320878e+01] [-3.25715082e-01 9.45148936e-01 -2.45596199e-02 -1.26889311e+01] [-7.06881542e-02 1.55949521e-03 9.97497245e-01 -2.47069948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22864 meters Centerline goodness [0,1] 0.9996065702763843 Centerline is valid? [True, True] Translation: X:53.46, Y:-12.70, Z:-2.47 [[ 9.43166570e-01 3.25118204e-01 6.88111477e-02 5.34611420e+01] [-3.24120183e-01 9.45671744e-01 -2.55158782e-02 -1.27013314e+01] [-7.33684345e-02 1.76264150e-03 9.97303347e-01 -2.47251646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25864 meters Centerline goodness [0,1] 0.9994587146934357 Centerline is valid? [True, True] Translation: X:53.49, Y:-12.71, Z:-2.47 [[ 9.43427255e-01 3.24407122e-01 6.85932525e-02 5.34913946e+01] [-3.23411824e-01 9.45915776e-01 -2.54585455e-02 -1.27135541e+01] [-7.31423731e-02 1.83441674e-03 9.97319822e-01 -2.47322682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28864 meters Centerline goodness [0,1] 0.9997537552327013 Centerline is valid? [True, True] Translation: X:53.52, Y:-12.73, Z:-2.48 [[ 9.43377500e-01 3.24333911e-01 6.96161434e-02 5.35203592e+01] [-3.23305964e-01 9.45940752e-01 -2.58717594e-02 -1.27285444e+01] [-7.42438359e-02 1.89952140e-03 9.97238309e-01 -2.47570183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.318639999999995 meters Centerline goodness [0,1] 0.9994581814599547 Centerline is valid? [True, True] Translation: X:53.55, Y:-12.74, Z:-2.48 [[ 9.43342222e-01 3.24692727e-01 6.84111488e-02 5.35500924e+01] [-3.23698686e-01 9.45817709e-01 -2.54562760e-02 -1.27420585e+01] [-7.29699437e-02 1.86938092e-03 9.97332388e-01 -2.47679220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.348639999999996 meters Centerline goodness [0,1] 0.9992594055495211 Centerline is valid? [True, True] Translation: X:53.58, Y:-12.76, Z:-2.48 [[ 9.43109254e-01 3.25377158e-01 6.83713331e-02 5.35802870e+01] [-3.24383531e-01 9.45582513e-01 -2.54761841e-02 -1.27560937e+01] [-7.29401054e-02 1.84829048e-03 9.97334610e-01 -2.47765118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37864 meters Centerline goodness [0,1] 0.9998031689794311 Centerline is valid? [True, True] Translation: X:53.61, Y:-12.77, Z:-2.48 [[ 9.42605903e-01 3.26702089e-01 6.89917160e-02 5.36094546e+01] [-3.25691034e-01 9.45125660e-01 -2.57456328e-02 -1.27728188e+01] [-7.36169931e-02 1.79800209e-03 9.97284967e-01 -2.47985347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40864 meters Centerline goodness [0,1] 0.9992612656981039 Centerline is valid? [True, True] Translation: X:53.64, Y:-12.79, Z:-2.48 [[ 9.42715858e-01 3.26627268e-01 6.78339083e-02 5.36381088e+01] [-3.25647159e-01 9.45151503e-01 -2.53488669e-02 -1.27869718e+01] [-7.23929515e-02 1.80685931e-03 9.97374551e-01 -2.47995926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43864 meters Centerline goodness [0,1] 0.9992122107336288 Centerline is valid? [True, True] Translation: X:53.67, Y:-12.80, Z:-2.48 [[ 9.42720139e-01 3.26325129e-01 6.92145237e-02 5.36667348e+01] [-3.25301335e-01 9.45255681e-01 -2.58986486e-02 -1.28011776e+01] [-7.38768016e-02 1.89960067e-03 9.97265566e-01 -2.48290982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46864 meters Centerline goodness [0,1] 0.9988187232366983 Centerline is valid? [True, True] Translation: X:53.70, Y:-12.82, Z:-2.48 [[ 9.43124651e-01 3.25484069e-01 6.76462314e-02 5.36952763e+01] [-3.24501573e-01 9.45545507e-01 -2.53460681e-02 -1.28194863e+01] [-7.22123315e-02 1.95319313e-03 9.97387369e-01 -2.48418688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.498639999999995 meters Centerline goodness [0,1] 0.9989660265878877 Centerline is valid? [True, True] Translation: X:53.72, Y:-12.83, Z:-2.49 [[ 9.43218008e-01 3.25482044e-01 6.63417484e-02 5.37244298e+01] [-3.24534668e-01 9.45546214e-01 -2.48918919e-02 -1.28333592e+01] [-7.08310529e-02 1.94828340e-03 9.97486424e-01 -2.48513309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.528639999999996 meters Centerline goodness [0,1] 0.9990132714983472 Centerline is valid? [True, True] Translation: X:53.75, Y:-12.85, Z:-2.49 [[ 9.42934296e-01 3.26462848e-01 6.55509189e-02 5.37512484e+01] [-3.25538095e-01 9.45208160e-01 -2.46268596e-02 -1.28524019e+01] [-6.99990182e-02 1.88218925e-03 9.97545285e-01 -2.48676276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55864 meters Centerline goodness [0,1] 0.9988683886838868 Centerline is valid? [True, True] Translation: X:53.78, Y:-12.87, Z:-2.49 [[ 9.42479775e-01 3.27708494e-01 6.58712087e-02 5.37803849e+01] [-3.26775311e-01 9.44777112e-01 -2.47811303e-02 -1.28675266e+01] [-7.03545972e-02 1.83062939e-03 9.97520365e-01 -2.48822398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58864 meters Centerline goodness [0,1] 0.9989656191508226 Centerline is valid? [True, True] Translation: X:53.81, Y:-12.88, Z:-2.49 [[ 9.42200374e-01 3.28694052e-01 6.49513348e-02 5.38097882e+01] [-3.27786745e-01 9.44434807e-01 -2.44692529e-02 -1.28817176e+01] [-6.93851992e-02 1.76475265e-03 9.97588382e-01 -2.48976156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61864 meters Centerline goodness [0,1] 0.9990144870405046 Centerline is valid? [True, True] Translation: X:53.84, Y:-12.90, Z:-2.49 [[ 9.41405916e-01 3.31121657e-01 6.41353958e-02 5.38380863e+01] [-3.30240513e-01 9.43586723e-01 -2.41929894e-02 -1.28987781e+01] [-6.85281306e-02 1.59531743e-03 9.97647909e-01 -2.49121730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64864 meters Centerline goodness [0,1] 0.9989649563803046 Centerline is valid? [True, True] Translation: X:53.87, Y:-12.91, Z:-2.49 [[ 9.40710538e-01 3.33227444e-01 6.34283415e-02 5.38670197e+01] [-3.32368318e-01 9.42845349e-01 -2.39572246e-02 -1.29138168e+01] [-6.77863215e-02 1.45524249e-03 9.97698801e-01 -2.49171271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.678639999999994 meters Centerline goodness [0,1] 0.99935960591133 Centerline is valid? [True, True] Translation: X:53.90, Y:-12.93, Z:-2.49 [[ 9.39881028e-01 3.35677618e-01 6.28027903e-02 5.38964659e+01] [-3.34838751e-01 9.41976040e-01 -2.37518849e-02 -1.29281378e+01] [-6.71316998e-02 1.29513815e-03 9.97743282e-01 -2.49291114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.708639999999995 meters Centerline goodness [0,1] 0.9995072677999507 Centerline is valid? [True, True] Translation: X:53.92, Y:-12.94, Z:-2.49 [[ 9.38620851e-01 3.39356032e-01 6.18739187e-02 5.39248606e+01] [-3.38547766e-01 9.40657424e-01 -2.34311738e-02 -1.29437982e+01] [-6.61536711e-02 1.04571129e-03 9.97808899e-01 -2.49419412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73864 meters Centerline goodness [0,1] 0.999556672085119 Centerline is valid? [True, True] Translation: X:53.96, Y:-12.96, Z:-2.50 [[ 9.37931923e-01 3.41185768e-01 6.22573700e-02 5.39551553e+01] [-3.40369273e-01 9.39995406e-01 -2.36092147e-02 -1.29577077e+01] [-6.65767699e-02 9.53340358e-04 9.97780850e-01 -2.49553800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76864 meters Centerline goodness [0,1] 0.9995074862096138 Centerline is valid? [True, True] Translation: X:53.98, Y:-12.97, Z:-2.50 [[ 9.37360214e-01 3.42780691e-01 6.21065835e-02 5.39841307e+01] [-3.41969370e-01 9.39415052e-01 -2.35862137e-02 -1.29730113e+01] [-6.64287580e-02 8.70229147e-04 9.97790791e-01 -2.49756260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79864 meters Centerline goodness [0,1] 0.9994578877334779 Centerline is valid? [True, True] Translation: X:54.01, Y:-12.99, Z:-2.50 [[ 9.37105146e-01 3.43389787e-01 6.25891374e-02 5.40149232e+01] [-3.42564901e-01 9.39192582e-01 -2.38029889e-02 -1.29854361e+01] [-6.69569569e-02 8.65061676e-04 9.97755490e-01 -2.49963817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82864 meters Centerline goodness [0,1] 0.9994085173501577 Centerline is valid? [True, True] Translation: X:54.04, Y:-13.00, Z:-2.50 [[ 9.36966461e-01 3.44104519e-01 6.07118724e-02 5.40447385e+01] [-3.43327785e-01 9.38930992e-01 -2.31219613e-02 -1.29975934e+01] [-6.49606299e-02 8.20429587e-04 9.97887490e-01 -2.50001634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85864 meters Centerline goodness [0,1] 0.999162602827447 Centerline is valid? [True, True] Translation: X:54.07, Y:-13.01, Z:-2.50 [[ 9.36980970e-01 3.44211807e-01 5.98739855e-02 5.40742189e+01] [-3.43454973e-01 9.38891661e-01 -2.28283042e-02 -1.30105496e+01] [-6.40729575e-02 8.25668519e-04 9.97944875e-01 -2.50051138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.888639999999995 meters Centerline goodness [0,1] 0.9995069762855593 Centerline is valid? [True, True] Translation: X:54.10, Y:-13.02, Z:-2.50 [[ 9.36568335e-01 3.45412734e-01 5.94120917e-02 5.41042122e+01] [-3.44668620e-01 9.38450568e-01 -2.26731761e-02 -1.30233973e+01] [-6.35869150e-02 7.57495106e-04 9.97976017e-01 -2.50221160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.918639999999996 meters Centerline goodness [0,1] 0.9991101443543603 Centerline is valid? [True, True] Translation: X:54.13, Y:-13.04, Z:-2.50 [[ 9.36582894e-01 3.45320842e-01 5.97159789e-02 5.41348286e+01] [-3.44566836e-01 9.38484352e-01 -2.28213941e-02 -1.30363083e+01] [-6.39232148e-02 7.97981426e-04 9.97954501e-01 -2.50347669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94864 meters Centerline goodness [0,1] 0.9990125407326947 Centerline is valid? [True, True] Translation: X:54.16, Y:-13.05, Z:-2.51 [[ 9.36865113e-01 3.44443446e-01 6.03529073e-02 5.41645397e+01] [-3.43669227e-01 9.38806638e-01 -2.30988764e-02 -1.30479318e+01] [-6.46159666e-02 8.99094410e-04 9.97909800e-01 -2.50549337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97864 meters Centerline goodness [0,1] 0.9993103448275862 Centerline is valid? [True, True] Translation: X:54.19, Y:-13.06, Z:-2.51 [[ 9.36804312e-01 3.44287553e-01 6.21591707e-02 5.41944225e+01] [-3.43463736e-01 9.38863752e-01 -2.38226421e-02 -1.30585862e+01] [-6.65608314e-02 9.67732913e-04 9.97781900e-01 -2.50809407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00864 meters Centerline goodness [0,1] 0.9991635504821885 Centerline is valid? [True, True] Translation: X:54.22, Y:-13.07, Z:-2.51 [[ 9.36497132e-01 3.45248882e-01 6.14518642e-02 5.42240660e+01] [-3.44443740e-01 9.38510717e-01 -2.35827011e-02 -1.30719339e+01] [-6.58151343e-02 9.18422022e-04 9.97831411e-01 -2.50923525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03864 meters Centerline goodness [0,1] 0.9987674407138983 Centerline is valid? [True, True] Translation: X:54.25, Y:-13.08, Z:-2.51 [[ 9.36477288e-01 3.45522827e-01 6.02018688e-02 5.42540531e+01] [-3.44748769e-01 9.38409905e-01 -2.31330131e-02 -1.30840927e+01] [-6.44870141e-02 9.09021228e-04 9.97918132e-01 -2.50937004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.068639999999995 meters Centerline goodness [0,1] 0.9996051917287667 Centerline is valid? [True, True] Translation: X:54.29, Y:-13.10, Z:-2.51 [[ 9.36376371e-01 3.45800449e-01 6.01775747e-02 5.42852307e+01] [-3.45025758e-01 9.38307631e-01 -2.31520275e-02 -1.30960225e+01] [-6.44710590e-02 9.16198247e-04 9.97919157e-01 -2.51027878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.098639999999996 meters Centerline goodness [0,1] 0.999015263417036 Centerline is valid? [True, True] Translation: X:54.32, Y:-13.11, Z:-2.51 [[ 9.35977135e-01 3.46901975e-01 6.00484981e-02 5.43160016e+01] [-3.46131073e-01 9.37900993e-01 -2.31302473e-02 -1.31068675e+01] [-6.43434744e-02 8.64731590e-04 9.97927437e-01 -2.51144235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12864 meters Centerline goodness [0,1] 0.999458474868311 Centerline is valid? [True, True] Translation: X:54.35, Y:-13.12, Z:-2.51 [[ 9.35575420e-01 3.47798185e-01 6.11151016e-02 5.43471496e+01] [-3.46999149e-01 9.37569036e-01 -2.35773825e-02 -1.31186916e+01] [-6.54997977e-02 8.51531275e-04 9.97852219e-01 -2.51362046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15864 meters Centerline goodness [0,1] 0.9993600787595373 Centerline is valid? [True, True] Translation: X:54.38, Y:-13.13, Z:-2.51 [[ 9.34970093e-01 3.49502785e-01 6.06525265e-02 5.43767833e+01] [-3.48717204e-01 9.36935018e-01 -2.34325286e-02 -1.31305831e+01] [-6.50172100e-02 7.58134035e-04 9.97883855e-01 -2.51431972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18864 meters Centerline goodness [0,1] 0.9990145841545132 Centerline is valid? [True, True] Translation: X:54.41, Y:-13.14, Z:-2.51 [[ 9.34029834e-01 3.52208341e-01 5.94773474e-02 5.44068945e+01] [-3.51456501e-01 9.35921439e-01 -2.30084147e-02 -1.31413422e+01] [-6.37698801e-02 5.86845357e-04 9.97964457e-01 -2.51434649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21864 meters Centerline goodness [0,1] 0.9995568248965925 Centerline is valid? [True, True] Translation: X:54.44, Y:-13.15, Z:-2.52 [[ 9.33620113e-01 3.53060366e-01 6.08429351e-02 5.44369608e+01] [-3.52273308e-01 9.35600370e-01 -2.35682769e-02 -1.31520802e+01] [-6.52456970e-02 5.70475257e-04 9.97869066e-01 -2.51631415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.248639999999995 meters Centerline goodness [0,1] 0.9991122071516646 Centerline is valid? [True, True] Translation: X:54.47, Y:-13.16, Z:-2.52 [[ 9.33565017e-01 3.53647090e-01 5.82245249e-02 5.44669322e+01] [-3.52925714e-01 9.35378774e-01 -2.25829495e-02 -1.31636377e+01] [-6.24483791e-02 5.33719604e-04 9.98048052e-01 -2.51673304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.278639999999996 meters Centerline goodness [0,1] 0.9992615566386058 Centerline is valid? [True, True] Translation: X:54.50, Y:-13.17, Z:-2.52 [[ 9.32755961e-01 3.55421742e-01 6.03465164e-02 5.44970621e+01] [-3.54648404e-01 9.34705929e-01 -2.34379187e-02 -1.31745019e+01] [-6.47365926e-02 4.60062612e-04 9.97902281e-01 -2.51892355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30864 meters Centerline goodness [0,1] 0.9992120555500837 Centerline is valid? [True, True] Translation: X:54.53, Y:-13.19, Z:-2.52 [[ 9.32402784e-01 3.56423702e-01 5.98931868e-02 5.45285391e+01] [-3.55661926e-01 9.34324339e-01 -2.32943077e-02 -1.31851618e+01] [-6.42623055e-02 4.17951219e-04 9.97932954e-01 -2.52031973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33864 meters Centerline goodness [0,1] 0.9994089252290415 Centerline is valid? [True, True] Translation: X:54.56, Y:-13.20, Z:-2.52 [[ 9.31939357e-01 3.58002888e-01 5.76451784e-02 5.45590145e+01] [-3.57298313e-01 9.33720421e-01 -2.24519654e-02 -1.31955909e+01] [-6.18623487e-02 3.27345246e-04 9.98084637e-01 -2.52053131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36864 meters Centerline goodness [0,1] 0.9993091878022303 Centerline is valid? [True, True] Translation: X:54.59, Y:-13.21, Z:-2.52 [[ 9.31056804e-01 3.60324041e-01 5.74439942e-02 5.45899560e+01] [-3.59626865e-01 9.32827178e-01 -2.24047601e-02 -1.32058010e+01] [-6.16582927e-02 2.01700733e-04 9.98097297e-01 -2.52301118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39864 meters Centerline goodness [0,1] 0.9992611565363019 Centerline is valid? [True, True] Translation: X:54.62, Y:-13.22, Z:-2.52 [[ 9.30728879e-01 3.61425204e-01 5.58173491e-02 5.46206202e+01] [-3.60767068e-01 9.32401093e-01 -2.18019342e-02 -1.32163657e+01] [-5.99239258e-02 1.54628347e-04 9.98202935e-01 -2.52445697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.428639999999994 meters Centerline goodness [0,1] 0.9992611565363019 Centerline is valid? [True, True] Translation: X:54.65, Y:-13.23, Z:-2.53 [[ 9.30540832e-01 3.61910683e-01 5.58069682e-02 5.46510306e+01] [-3.61251828e-01 9.32212762e-01 -2.18284794e-02 -1.32278955e+01] [-5.99239279e-02 1.51922140e-04 9.98202935e-01 -2.52585121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.458639999999995 meters Centerline goodness [0,1] 0.9992608652803784 Centerline is valid? [True, True] Translation: X:54.68, Y:-13.24, Z:-2.53 [[ 9.30317279e-01 3.62363765e-01 5.65885258e-02 5.46824386e+01] [-3.61685056e-01 9.32036736e-01 -2.21685111e-02 -1.32390763e+01] [-6.07756500e-02 1.56524776e-04 9.98151439e-01 -2.52818426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48864 meters Centerline goodness [0,1] 0.9994077583654131 Centerline is valid? [True, True] Translation: X:54.71, Y:-13.25, Z:-2.53 [[ 9.30131928e-01 3.62777244e-01 5.69847982e-02 5.47137838e+01] [-3.62087651e-01 9.31875874e-01 -2.23581867e-02 -1.32486496e+01] [-6.12138000e-02 1.62571547e-04 9.98124664e-01 -2.52873381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51864 meters Centerline goodness [0,1] 0.9995559502664298 Centerline is valid? [True, True] Translation: X:54.74, Y:-13.26, Z:-2.53 [[ 9.29662115e-01 3.63833941e-01 5.79069541e-02 5.47449948e+01] [-3.63121672e-01 9.31463820e-01 -2.27553058e-02 -1.32598165e+01] [-6.22173853e-02 1.27475670e-04 9.98062614e-01 -2.53085252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54864 meters Centerline goodness [0,1] 0.9993091537132988 Centerline is valid? [True, True] Translation: X:54.78, Y:-13.27, Z:-2.53 [[ 9.29236834e-01 3.64757539e-01 5.89138751e-02 5.47765619e+01] [-3.64019827e-01 9.31102533e-01 -2.31870212e-02 -1.32699332e+01] [-6.33124991e-02 1.00415528e-04 9.97993746e-01 -2.53341362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57864 meters Centerline goodness [0,1] 0.999357517050509 Centerline is valid? [True, True] Translation: X:54.81, Y:-13.28, Z:-2.53 [[ 9.28671734e-01 3.66393667e-01 5.76584103e-02 5.48064182e+01] [-3.65688192e-01 9.30459930e-01 -2.27258836e-02 -1.32807333e+01] [-6.19754602e-02 1.98859010e-05 9.98077673e-01 -2.53439734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60864 meters Centerline goodness [0,1] 0.9992616293379276 Centerline is valid? [True, True] Translation: X:54.84, Y:-13.29, Z:-2.54 [[ 9.27930110e-01 3.68360721e-01 5.70621709e-02 5.48382119e+01] [-3.67671567e-01 9.29682942e-01 -2.25221166e-02 -1.32914932e+01] [-6.13459901e-02 -8.11877383e-05 9.98116558e-01 -2.53538632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.638639999999995 meters Centerline goodness [0,1] 0.9994089252290415 Centerline is valid? [True, True] Translation: X:54.87, Y:-13.30, Z:-2.54 [[ 9.26383134e-01 3.72406051e-01 5.59287321e-02 5.48695218e+01] [-3.71749772e-01 9.28069843e-01 -2.21014459e-02 -1.33001008e+01] [-6.01364818e-02 -3.17086663e-04 9.98190114e-01 -2.53630350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.668639999999996 meters Centerline goodness [0,1] 0.9997536217601262 Centerline is valid? [True, True] Translation: X:54.90, Y:-13.31, Z:-2.54 [[ 9.25315620e-01 3.75013358e-01 5.61781537e-02 5.49008414e+01] [-3.74354946e-01 9.27019287e-01 -2.22174723e-02 -1.33099871e+01] [-6.04100809e-02 -4.72395489e-04 9.98173531e-01 -2.53666766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69864 meters Centerline goodness [0,1] 0.999753718845434 Centerline is valid? [True, True] Translation: X:54.93, Y:-13.32, Z:-2.54 [[ 9.24395037e-01 3.77328856e-01 5.58278534e-02 5.49325427e+01] [-3.76680822e-01 9.26079148e-01 -2.21126727e-02 -1.33201064e+01] [-6.00447604e-02 -5.88436767e-04 9.98195512e-01 -2.53881139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72864 meters Centerline goodness [0,1] 0.9999013417521705 Centerline is valid? [True, True] Translation: X:54.96, Y:-13.33, Z:-2.54 [[ 9.22977386e-01 3.80647842e-01 5.67447433e-02 5.49639581e+01] [-3.79982542e-01 9.24719742e-01 -2.25092378e-02 -1.33277846e+01] [-6.10410772e-02 -7.86494408e-04 9.98134945e-01 -2.53971897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75864 meters Centerline goodness [0,1] 0.9999506927666288 Centerline is valid? [True, True] Translation: X:55.00, Y:-13.34, Z:-2.54 [[ 9.22548410e-01 3.81590912e-01 5.73829844e-02 5.49957012e+01] [-3.80910387e-01 9.24330941e-01 -2.27944884e-02 -1.33376510e+01] [-6.17390376e-02 -8.28755778e-04 9.98091982e-01 -2.54138545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78864 meters Centerline goodness [0,1] 0.9997044626145207 Centerline is valid? [True, True] Translation: X:55.03, Y:-13.34, Z:-2.54 [[ 9.22184702e-01 3.82481764e-01 5.72981292e-02 5.50287735e+01] [-3.81802812e-01 9.23962645e-01 -2.27956863e-02 -1.33442763e+01] [-6.16602653e-02 -8.54753651e-04 9.98096830e-01 -2.54243439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.818639999999995 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:55.06, Y:-13.35, Z:-2.54 [[ 9.21903638e-01 3.83165993e-01 5.72494891e-02 5.50610504e+01] [-3.82487367e-01 9.23679094e-01 -2.28110769e-02 -1.33527611e+01] [-6.16205852e-02 -8.67591580e-04 9.98099269e-01 -2.54309620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.848639999999996 meters Centerline goodness [0,1] 0.9998523185980113 Centerline is valid? [True, True] Translation: X:55.09, Y:-13.36, Z:-2.54 [[ 9.21255183e-01 3.84546886e-01 5.84172977e-02 5.50925039e+01] [-3.83840864e-01 9.23104975e-01 -2.33108706e-02 -1.33612170e+01] [-6.28894208e-02 -9.47685640e-04 9.98020051e-01 -2.54427960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87864 meters Centerline goodness [0,1] 0.9999013903954245 Centerline is valid? [True, True] Translation: X:55.13, Y:-13.37, Z:-2.55 [[ 9.20715117e-01 3.85583077e-01 6.00779911e-02 5.51258894e+01] [-3.84836409e-01 9.22672561e-01 -2.40058917e-02 -1.33651476e+01] [-6.46885795e-02 -1.01761097e-03 9.97904982e-01 -2.54558919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90864 meters Centerline goodness [0,1] 0.9999015748031496 Centerline is valid? [True, True] Translation: X:55.16, Y:-13.37, Z:-2.55 [[ 9.19885205e-01 3.87559412e-01 6.00742132e-02 5.51572964e+01] [-3.86814996e-01 9.21844039e-01 -2.40359671e-02 -1.33736228e+01] [-6.46944206e-02 -1.12727597e-03 9.97904485e-01 -2.54657435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.19, Y:-13.38, Z:-2.55 [[ 9.19065946e-01 3.89713664e-01 5.86604287e-02 5.51908802e+01] [-3.89006260e-01 9.20935271e-01 -2.35022610e-02 -1.33796491e+01] [-6.31816101e-02 -1.21914618e-03 9.98001302e-01 -2.54890892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96864 meters Centerline goodness [0,1] 0.9998524275665306 Centerline is valid? [True, True] Translation: X:55.22, Y:-13.39, Z:-2.55 [[ 9.18764149e-01 3.90653757e-01 5.71146269e-02 5.52226765e+01] [-3.89982972e-01 9.20536884e-01 -2.29156458e-02 -1.33875192e+01] [-6.15282038e-02 -1.21965815e-03 9.98104600e-01 -2.54964826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.998639999999995 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:55.26, Y:-13.40, Z:-2.55 [[ 9.18383601e-01 3.91438749e-01 5.78555764e-02 5.52551205e+01] [-3.90749980e-01 9.20203304e-01 -2.32450615e-02 -1.33956660e+01] [-6.23379104e-02 -1.25918197e-03 9.98054307e-01 -2.55130900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.028639999999996 meters Centerline goodness [0,1] 0.9998524420835178 Centerline is valid? [True, True] Translation: X:55.29, Y:-13.40, Z:-2.55 [[ 9.17969929e-01 3.92375405e-01 5.80753923e-02 5.52869145e+01] [-3.91681048e-01 9.19804253e-01 -2.33686284e-02 -1.34043194e+01] [-6.25872678e-02 -1.29533237e-03 9.98038655e-01 -2.55233076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05864 meters Centerline goodness [0,1] 0.9998523694700064 Centerline is valid? [True, True] Translation: X:55.32, Y:-13.41, Z:-2.55 [[ 9.18877187e-01 3.90128294e-01 5.88611043e-02 5.53190278e+01] [-3.89408199e-01 9.20759821e-01 -2.37193474e-02 -1.34103438e+01] [-6.34505283e-02 -1.12582939e-03 9.97984350e-01 -2.55315981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08864 meters Centerline goodness [0,1] 0.9999506830398974 Centerline is valid? [True, True] Translation: X:55.35, Y:-13.42, Z:-2.56 [[ 9.19425080e-01 3.88534812e-01 6.08130090e-02 5.53509003e+01] [-3.87760367e-01 9.21433483e-01 -2.45404430e-02 -1.34187023e+01] [-6.55699591e-02 -1.01777593e-03 9.97847456e-01 -2.55533550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11864 meters Centerline goodness [0,1] 0.9999016328939603 Centerline is valid? [True, True] Translation: X:55.38, Y:-13.43, Z:-2.56 [[ 9.21170273e-01 3.84463136e-01 6.02779028e-02 5.53834626e+01] [-3.83691744e-01 9.23140083e-01 -2.43522662e-02 -1.34251780e+01] [-6.50074968e-02 -6.95549891e-04 9.97884533e-01 -2.55767485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14864 meters Centerline goodness [0,1] 0.9997536096190804 Centerline is valid? [True, True] Translation: X:55.41, Y:-13.44, Z:-2.56 [[ 9.21915673e-01 3.82640282e-01 6.04806237e-02 5.54141096e+01] [-3.81858554e-01 9.23897240e-01 -2.44526986e-02 -1.34350147e+01] [-6.52344688e-02 -5.51717390e-04 9.97869811e-01 -2.55952320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.178639999999994 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:55.45, Y:-13.44, Z:-2.56 [[ 9.23870946e-01 3.77999822e-01 5.98214904e-02 5.54454411e+01] [-3.77223605e-01 9.25805647e-01 -2.42127226e-02 -1.34445262e+01] [-6.45354785e-02 -1.96647345e-04 9.97915394e-01 -2.56180650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.208639999999995 meters Centerline goodness [0,1] 0.9998524420835178 Centerline is valid? [True, True] Translation: X:55.48, Y:-13.46, Z:-2.56 [[ 9.25187298e-01 3.74478615e-01 6.15973161e-02 5.54758329e+01] [-3.73646766e-01 9.27235549e-01 -2.49465828e-02 -1.34557060e+01] [-6.64571829e-02 6.46235877e-05 9.97789276e-01 -2.56493646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23864 meters Centerline goodness [0,1] 0.9999013903954245 Centerline is valid? [True, True] Translation: X:55.51, Y:-13.47, Z:-2.57 [[ 9.25834860e-01 3.72860188e-01 6.16854378e-02 5.55071209e+01] [-3.72021082e-01 9.27887515e-01 -2.50014783e-02 -1.34676379e+01] [-6.65592035e-02 1.98956845e-04 9.97782458e-01 -2.56653626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26864 meters Centerline goodness [0,1] 0.9999015263417036 Centerline is valid? [True, True] Translation: X:55.54, Y:-13.48, Z:-2.57 [[ 9.27305026e-01 3.69171797e-01 6.17865151e-02 5.55367727e+01] [-3.68319389e-01 9.29361037e-01 -2.50777024e-02 -1.34795232e+01] [-6.66799601e-02 4.97508007e-04 9.97774291e-01 -2.56879692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29864 meters Centerline goodness [0,1] 0.999803139918303 Centerline is valid? [True, True] Translation: X:55.57, Y:-13.49, Z:-2.57 [[ 9.27820368e-01 3.68271907e-01 5.93731240e-02 5.55664713e+01] [-3.67481521e-01 9.29717961e-01 -2.41214524e-02 -1.34918241e+01] [-6.40835130e-02 5.61848919e-04 9.97944381e-01 -2.56862647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32864 meters Centerline goodness [0,1] 0.9997542393708528 Centerline is valid? [True, True] Translation: X:55.60, Y:-13.51, Z:-2.57 [[ 9.27284104e-01 3.69598862e-01 5.95052236e-02 5.55962954e+01] [-3.68806452e-01 9.29191284e-01 -2.41941968e-02 -1.35069042e+01] [-6.42338827e-02 4.88983743e-04 9.97934752e-01 -2.57024226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35864 meters Centerline goodness [0,1] 0.9997536945812808 Centerline is valid? [True, True] Translation: X:55.63, Y:-13.52, Z:-2.57 [[ 9.27125117e-01 3.69967187e-01 5.96933578e-02 5.56260525e+01] [-3.69168225e-01 9.29044688e-01 -2.43061535e-02 -1.35212628e+01] [-6.44502762e-02 4.97954442e-04 9.97920795e-01 -2.57220098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.388639999999995 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:55.66, Y:-13.54, Z:-2.57 [[ 9.26363889e-01 3.71575897e-01 6.14922658e-02 5.56550212e+01] [-3.70729187e-01 9.28402481e-01 -2.50739385e-02 -1.35356119e+01] [-6.64064433e-02 4.30613481e-04 9.97792563e-01 -2.57392739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.418639999999996 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:55.69, Y:-13.55, Z:-2.58 [[ 9.25476098e-01 3.73655599e-01 6.22533924e-02 5.56851269e+01] [-3.72790169e-01 9.27567460e-01 -2.54184454e-02 -1.35489460e+01] [-6.72419655e-02 3.16711025e-04 9.97736648e-01 -2.57500475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44864 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:55.72, Y:-13.56, Z:-2.58 [[ 9.23545194e-01 3.78349101e-01 6.25798070e-02 5.57155895e+01] [-3.77482764e-01 9.25662983e-01 -2.55891604e-02 -1.35623812e+01] [-6.76094467e-02 9.94761489e-06 9.97711864e-01 -2.57716573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:-13.58, Z:-2.58 [[ 9.22525868e-01 3.80730236e-01 6.31704857e-02 5.57453664e+01] [-3.79850411e-01 9.24686147e-01 -2.58687951e-02 -1.35756322e+01] [-6.82619055e-02 -1.30702320e-04 9.97667427e-01 -2.57953077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.77, Y:-13.59, Z:-2.58 [[ 9.21266524e-01 3.84362569e-01 5.94424759e-02 5.57747817e+01] [-3.83589494e-01 9.23182155e-01 -2.43681917e-02 -1.35883993e+01] [-6.42424538e-02 -3.51910028e-04 9.97934258e-01 -2.57857298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.81, Y:-13.60, Z:-2.58 [[ 9.20274924e-01 3.86759895e-01 5.92524042e-02 5.58058672e+01] [-3.85995490e-01 9.22180315e-01 -2.43094323e-02 -1.35984824e+01] [-6.40433143e-02 -4.99799814e-04 9.97946995e-01 -2.57966336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.568639999999995 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:55.84, Y:-13.61, Z:-2.58 [[ 9.19336049e-01 3.88999479e-01 5.91661549e-02 5.58373483e+01] [-3.88239641e-01 9.21237764e-01 -2.43097160e-02 -1.36085022e+01] [-6.39625631e-02 -6.21848527e-04 9.97952105e-01 -2.58133593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.598639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.87, Y:-13.62, Z:-2.58 [[ 9.18404321e-01 3.91416928e-01 5.76740116e-02 5.58688024e+01] [-3.90697578e-01 9.20213151e-01 -2.37309803e-02 -1.36182548e+01] [-6.23610914e-02 -7.38461774e-04 9.98053380e-01 -2.58272308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.90, Y:-13.63, Z:-2.58 [[ 9.17799953e-01 3.92663522e-01 5.88099093e-02 5.58994599e+01] [-3.91916337e-01 9.19681845e-01 -2.42257890e-02 -1.36293186e+01] [-6.35989895e-02 -8.14136265e-04 9.97975203e-01 -2.58459154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.93, Y:-13.64, Z:-2.59 [[ 9.17464632e-01 3.93346417e-01 5.94747516e-02 5.59302151e+01] [-3.92583075e-01 9.19389935e-01 -2.45087250e-02 -1.36389633e+01] [-6.43209071e-02 -8.62892447e-04 9.97928893e-01 -2.58530799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.96, Y:-13.65, Z:-2.59 [[ 9.16399755e-01 3.95408090e-01 6.21605341e-02 5.59617347e+01] [-3.94578253e-01 9.18504955e-01 -2.56251935e-02 -1.36460118e+01] [-6.72271673e-02 -1.04427396e-03 9.97737148e-01 -2.58744442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.99, Y:-13.66, Z:-2.59 [[ 9.15975443e-01 3.96245460e-01 6.30755337e-02 5.59918531e+01] [-3.95392305e-01 9.18143941e-01 -2.60120857e-02 -1.36567712e+01] [-6.82195900e-02 -1.11314894e-03 9.97669709e-01 -2.58951296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.748639999999995 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:56.02, Y:-13.67, Z:-2.59 [[ 9.15456037e-01 3.97740410e-01 6.11785074e-02 5.60233257e+01] [-3.96940578e-01 9.17497235e-01 -2.52389026e-02 -1.36655953e+01] [-6.61696428e-02 -1.17912635e-03 9.97807691e-01 -2.59034892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.778639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:-13.68, Z:-2.59 [[ 9.15006664e-01 3.98724254e-01 6.14961368e-02 5.60535002e+01] [-3.97917677e-01 9.17070014e-01 -2.53793374e-02 -1.36758372e+01] [-6.65156205e-02 -1.24813707e-03 9.97784603e-01 -2.59150640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.08, Y:-13.69, Z:-2.59 [[ 9.14738979e-01 3.99305654e-01 6.17057190e-02 5.60841812e+01] [-3.98494258e-01 9.16816961e-01 -2.54752049e-02 -1.36860495e+01] [-6.67452431e-02 -1.28621184e-03 9.97769221e-01 -2.59264890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.12, Y:-13.69, Z:-2.59 [[ 9.14986966e-01 3.98782282e-01 6.14128917e-02 5.61166638e+01] [-3.97976598e-01 9.17044806e-01 -2.53663409e-02 -1.36932134e+01] [-6.64340207e-02 -1.23102248e-03 9.97790061e-01 -2.59232317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:-13.70, Z:-2.59 [[ 9.14894113e-01 3.98811959e-01 6.25922048e-02 5.61472841e+01] [-3.97974070e-01 9.17031884e-01 -2.58682004e-02 -1.37035475e+01] [-6.77155952e-02 -1.24341023e-03 9.97703890e-01 -2.59485578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89864 meters Centerline goodness [0,1] 0.9999014729789645 Centerline is valid? [True, True] Translation: X:56.18, Y:-13.71, Z:-2.60 [[ 9.15263698e-01 3.98258186e-01 6.06859118e-02 5.61792308e+01] [-3.97468693e-01 9.17272632e-01 -2.50909690e-02 -1.37115958e+01] [-6.56582098e-02 -1.15589701e-03 9.97841502e-01 -2.59635340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.928639999999994 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:56.21, Y:-13.72, Z:-2.60 [[ 9.15246670e-01 3.98447062e-01 5.96948313e-02 5.62096107e+01] [-3.97682804e-01 9.17190624e-01 -2.46930391e-02 -1.37218719e+01] [-6.45904085e-02 -1.13938615e-03 9.97911209e-01 -2.59755056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.958639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:-13.73, Z:-2.60 [[ 9.15126165e-01 3.98597150e-01 6.05344096e-02 5.62405623e+01] [-3.97810941e-01 9.17125385e-01 -2.50496153e-02 -1.37312078e+01] [-6.55023490e-02 -1.15769206e-03 9.97851744e-01 -2.59820286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98864 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:56.27, Y:-13.74, Z:-2.60 [[ 9.15939116e-01 3.96623957e-01 6.11961800e-02 5.62731198e+01] [-3.95815430e-01 9.17980609e-01 -2.53327344e-02 -1.37370114e+01] [-6.62244759e-02 -1.01914997e-03 9.97804229e-01 -2.59966631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01864 meters Centerline goodness [0,1] 0.9999507024895242 Centerline is valid? [True, True] Translation: X:56.30, Y:-13.75, Z:-2.60 [[ 9.16951609e-01 3.94075129e-01 6.24863202e-02 5.63040289e+01] [-3.93225554e-01 9.19077842e-01 -2.58763134e-02 -1.37468822e+01] [-6.76270039e-02 -8.43890621e-04 9.97710317e-01 -2.60249895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.34, Y:-13.76, Z:-2.60 [[ 9.20130238e-01 3.86752892e-01 6.15024070e-02 5.63351028e+01] [-3.85912887e-01 9.22183342e-01 -2.54779926e-02 -1.37554082e+01] [-6.65701825e-02 -2.91500039e-04 9.97781702e-01 -2.60382827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.37, Y:-13.77, Z:-2.61 [[ 9.21554448e-01 3.83463341e-01 6.07722453e-02 5.63652602e+01] [-3.82635430e-01 9.23556097e-01 -2.51845911e-02 -1.37666264e+01] [-6.57839452e-02 -4.46423144e-05 9.97833889e-01 -2.60525155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10864 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:56.40, Y:-13.78, Z:-2.61 [[ 9.22694982e-01 3.80580027e-01 6.15858144e-02 5.63950979e+01] [-3.79722729e-01 9.24747973e-01 -2.55310811e-02 -1.37784058e+01] [-6.66679766e-02 1.71866885e-04 9.97775201e-01 -2.60709702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.138639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.42, Y:-13.79, Z:-2.61 [[ 9.23502510e-01 3.78720604e-01 6.09410981e-02 5.64249965e+01] [-3.77876539e-01 9.25510998e-01 -2.52728014e-02 -1.37904546e+01] [-6.59729871e-02 3.11284297e-04 9.97821361e-01 -2.60711932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.168639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.45, Y:-13.80, Z:-2.61 [[ 9.23221828e-01 3.79705187e-01 5.90375129e-02 5.64549771e+01] [-3.78914549e-01 9.25107514e-01 -2.44918622e-02 -1.38029103e+01] [-6.39157339e-02 2.41249155e-04 9.97955270e-01 -2.60702920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19864 meters Centerline goodness [0,1] 0.9999017295597484 Centerline is valid? [True, True] Translation: X:56.48, Y:-13.82, Z:-2.61 [[ 9.22468761e-01 3.81654285e-01 5.82356503e-02 5.64842564e+01] [-3.80888342e-01 9.24305141e-01 -2.41676857e-02 -1.38162311e+01] [-6.30512118e-02 1.12654859e-04 9.98010287e-01 -2.60911577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:56.51, Y:-13.83, Z:-2.61 [[ 9.21914277e-01 3.83044075e-01 5.78904299e-02 5.65133656e+01] [-3.82289393e-01 9.23730067e-01 -2.40329755e-02 -1.38300365e+01] [-6.26808196e-02 2.54459145e-05 9.98033624e-01 -2.61011139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25864 meters Centerline goodness [0,1] 0.9999015941743751 Centerline is valid? [True, True] Translation: X:56.54, Y:-13.84, Z:-2.61 [[ 9.20990716e-01 3.84858186e-01 6.05002210e-02 5.65416630e+01] [-3.84037034e-01 9.22975714e-01 -2.51274509e-02 -1.38443738e+01] [-6.55107398e-02 -9.21764397e-05 9.97851860e-01 -2.61244686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28864 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:56.57, Y:-13.86, Z:-2.61 [[ 9.21221983e-01 3.84558090e-01 5.88653921e-02 5.65716133e+01] [-3.83779389e-01 9.23100792e-01 -2.44603384e-02 -1.38571830e+01] [-6.37451111e-02 -5.79227860e-05 9.97966211e-01 -2.61296847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.318639999999995 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:56.60, Y:-13.87, Z:-2.61 [[ 9.21565547e-01 3.83877583e-01 5.79218735e-02 5.66010607e+01] [-3.83121788e-01 9.23383994e-01 -2.40768485e-02 -1.38697788e+01] [-6.27266933e-02 -2.73763151e-06 9.98030742e-01 -2.61402162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.348639999999996 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:56.63, Y:-13.88, Z:-2.62 [[ 9.21516951e-01 3.83994689e-01 5.79188059e-02 5.66303220e+01] [-3.83238661e-01 9.23335301e-01 -2.40842260e-02 -1.38818962e+01] [-6.27266930e-02 -2.70309462e-06 9.98030742e-01 -2.61537943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:56.66, Y:-13.89, Z:-2.62 [[ 9.21936427e-01 3.83078572e-01 5.73064688e-02 5.66597767e+01] [-3.82336166e-01 9.23715759e-01 -2.38380639e-02 -1.38944268e+01] [-6.20667398e-02 6.68439581e-05 9.98071999e-01 -2.61623609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40864 meters Centerline goodness [0,1] 0.9998034108222342 Centerline is valid? [True, True] Translation: X:56.69, Y:-13.91, Z:-2.62 [[ 9.23599548e-01 3.79335056e-01 5.53966590e-02 5.66887323e+01] [-3.78634129e-01 9.25259324e-01 -2.30516868e-02 -1.39075967e+01] [-6.00005881e-02 3.15461801e-04 9.98198292e-01 -2.61697830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43864 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:56.72, Y:-13.92, Z:-2.62 [[ 9.23810253e-01 3.78783819e-01 5.56546050e-02 5.67178051e+01] [-3.78074842e-01 9.25485110e-01 -2.31673315e-02 -1.39203603e+01] [-6.02829185e-02 3.60612414e-04 9.98181266e-01 -2.61805328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46864 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:56.75, Y:-13.93, Z:-2.62 [[ 9.23562575e-01 3.79024487e-01 5.80741546e-02 5.67471119e+01] [-3.78252381e-01 9.25386569e-01 -2.41833386e-02 -1.39338506e+01] [-6.29071202e-02 3.68139187e-04 9.98019318e-01 -2.61928880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.498639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.78, Y:-13.95, Z:-2.62 [[ 9.22947883e-01 3.80512615e-01 5.81150148e-02 5.67761337e+01] [-3.79741825e-01 9.24775689e-01 -2.42089249e-02 -1.39470363e+01] [-6.29551541e-02 2.74874242e-04 9.98016319e-01 -2.62061774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.528639999999996 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:56.81, Y:-13.96, Z:-2.62 [[ 9.22037966e-01 3.82693715e-01 5.82366684e-02 5.68051880e+01] [-3.81923488e-01 9.23875264e-01 -2.42682165e-02 -1.39597831e+01] [-6.30907113e-02 1.34265404e-04 9.98007788e-01 -2.62196881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55864 meters Centerline goodness [0,1] 0.9997543480396973 Centerline is valid? [True, True] Translation: X:56.84, Y:-13.97, Z:-2.62 [[ 9.20313831e-01 3.86998667e-01 5.70480823e-02 5.68360667e+01] [-3.86267322e-01 9.22080262e-01 -2.37812341e-02 -1.39701731e+01] [-6.18062165e-02 -1.49611303e-04 9.98088157e-01 -2.62324537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58864 meters Centerline goodness [0,1] 0.9998526377836723 Centerline is valid? [True, True] Translation: X:56.87, Y:-13.98, Z:-2.63 [[ 9.18930260e-01 3.90096467e-01 5.82402306e-02 5.68656051e+01] [-3.89339859e-01 9.20773924e-01 -2.42869343e-02 -1.39817505e+01] [-6.31003329e-02 -3.57244381e-04 9.98007124e-01 -2.62599428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61864 meters Centerline goodness [0,1] 0.9997047825231253 Centerline is valid? [True, True] Translation: X:56.90, Y:-13.99, Z:-2.63 [[ 9.18301913e-01 3.91632166e-01 5.78432622e-02 5.68957596e+01] [-3.90888351e-01 9.20121754e-01 -2.41299503e-02 -1.39936592e+01] [-6.26729086e-02 -4.51677900e-04 9.98034019e-01 -2.62674795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64864 meters Centerline goodness [0,1] 0.9995577612893716 Centerline is valid? [True, True] Translation: X:56.93, Y:-14.00, Z:-2.63 [[ 9.18217863e-01 3.91650939e-01 5.90381067e-02 5.69266791e+01] [-3.90875512e-01 9.20113762e-01 -2.46373430e-02 -1.40043180e+01] [-6.39710130e-02 -4.54101784e-04 9.97951654e-01 -2.62712451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.678639999999994 meters Centerline goodness [0,1] 0.9996559858462748 Centerline is valid? [True, True] Translation: X:56.96, Y:-14.01, Z:-2.63 [[ 9.18864371e-01 3.89988969e-01 5.99739283e-02 5.69572762e+01] [-3.89184605e-01 9.20819467e-01 -2.50370120e-02 -1.40136743e+01] [-6.49893192e-02 -3.35311327e-04 9.97885903e-01 -2.62790831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.708639999999995 meters Centerline goodness [0,1] 0.9996063379588623 Centerline is valid? [True, True] Translation: X:56.99, Y:-14.02, Z:-2.63 [[ 9.20692375e-01 3.85618290e-01 6.02003704e-02 5.69893680e+01] [-3.84797888e-01 9.22658406e-01 -2.51406346e-02 -1.40192187e+01] [-6.52390663e-02 -1.81847908e-05 9.97869663e-01 -2.62915280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73864 meters Centerline goodness [0,1] 0.9995573915609324 Centerline is valid? [True, True] Translation: X:57.02, Y:-14.03, Z:-2.63 [[ 9.21456644e-01 3.83864888e-01 5.97109805e-02 5.70193730e+01] [-3.83053526e-01 9.23389265e-01 -2.49451757e-02 -1.40299706e+01] [-6.47120554e-02 1.13396294e-04 9.97903972e-01 -2.63061549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76864 meters Centerline goodness [0,1] 0.9996067443346606 Centerline is valid? [True, True] Translation: X:57.05, Y:-14.04, Z:-2.63 [[ 9.22158004e-01 3.82043569e-01 6.05584580e-02 5.70496078e+01] [-3.81204462e-01 9.24144278e-01 -2.53083215e-02 -1.40405310e+01] [-6.56336339e-02 2.53116917e-04 9.97843756e-01 -2.63282441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79864 meters Centerline goodness [0,1] 0.999557609123083 Centerline is valid? [True, True] Translation: X:57.08, Y:-14.05, Z:-2.63 [[ 9.22339792e-01 3.81729388e-01 5.97660734e-02 5.70796716e+01] [-3.80910892e-01 9.24274092e-01 -2.49859185e-02 -1.40518185e+01] [-6.47780925e-02 2.79958555e-04 9.97899654e-01 -2.63454539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82864 meters Centerline goodness [0,1] 0.9996066669944442 Centerline is valid? [True, True] Translation: X:57.11, Y:-14.06, Z:-2.63 [[ 9.21608333e-01 3.83615163e-01 5.89702298e-02 5.71103503e+01] [-3.82821643e-01 9.23493034e-01 -2.46618395e-02 -1.40627105e+01] [-6.39192520e-02 1.53476542e-04 9.97955062e-01 -2.63392667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85864 meters Centerline goodness [0,1] 0.9996558336201387 Centerline is valid? [True, True] Translation: X:57.14, Y:-14.07, Z:-2.63 [[ 9.20896127e-01 3.85260516e-01 5.93688382e-02 5.71388532e+01] [-3.84459164e-01 9.22807852e-01 -2.48358406e-02 -1.40745273e+01] [-6.43542988e-02 4.63355848e-05 9.97927113e-01 -2.63480266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.888639999999995 meters Centerline goodness [0,1] 0.9996554948570303 Centerline is valid? [True, True] Translation: X:57.17, Y:-14.09, Z:-2.64 [[ 9.20758238e-01 3.85656872e-01 5.89325376e-02 5.71670705e+01] [-3.84867800e-01 9.22642280e-01 -2.46576545e-02 -1.40871616e+01] [-6.38830447e-02 2.25023606e-05 9.97957392e-01 -2.63556664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.918639999999996 meters Centerline goodness [0,1] 0.9997054491899853 Centerline is valid? [True, True] Translation: X:57.20, Y:-14.10, Z:-2.64 [[ 9.20548147e-01 3.86099760e-01 5.93134421e-02 5.71953835e+01] [-3.85301078e-01 9.22457032e-01 -2.48214430e-02 -1.41001350e+01] [-6.42976549e-02 -4.19986208e-06 9.97930765e-01 -2.63738678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94864 meters Centerline goodness [0,1] 0.999705304518664 Centerline is valid? [True, True] Translation: X:57.22, Y:-14.11, Z:-2.64 [[ 9.20639893e-01 3.85997616e-01 5.85493641e-02 5.72229917e+01] [-3.85218918e-01 9.22499778e-01 -2.45060022e-02 -1.41144643e+01] [-6.34710338e-02 6.88053997e-06 9.97983681e-01 -2.64010843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97864 meters Centerline goodness [0,1] 0.9995084787417056 Centerline is valid? [True, True] Translation: X:57.25, Y:-14.13, Z:-2.64 [[ 9.20463518e-01 3.86234148e-01 5.97502645e-02 5.72513610e+01] [-3.85423352e-01 9.22400771e-01 -2.50131350e-02 -1.41272311e+01] [-6.47746169e-02 -5.46893047e-06 9.97899919e-01 -2.64139801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00864 meters Centerline goodness [0,1] 0.9997054202670856 Centerline is valid? [True, True] Translation: X:57.28, Y:-14.14, Z:-2.64 [[ 9.20375776e-01 3.86461534e-01 5.96314917e-02 5.72806062e+01] [-3.85654055e-01 9.22305526e-01 -2.49693301e-02 -1.41401757e+01] [-6.46481399e-02 -1.59599790e-05 9.97908121e-01 -2.64327503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03864 meters Centerline goodness [0,1] 0.9994595125786163 Centerline is valid? [True, True] Translation: X:57.31, Y:-14.15, Z:-2.64 [[ 9.19744758e-01 3.88067841e-01 5.89315890e-02 5.73096901e+01] [-3.87281959e-01 9.21630803e-01 -2.46849653e-02 -1.41547044e+01] [-6.38926089e-02 -1.19273762e-04 9.97956773e-01 -2.64328563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.068639999999995 meters Centerline goodness [0,1] 0.9995088649869849 Centerline is valid? [True, True] Translation: X:57.34, Y:-14.17, Z:-2.64 [[ 9.19211714e-01 3.89116229e-01 6.03190328e-02 5.73393485e+01] [-3.88294525e-01 9.21188648e-01 -2.52752310e-02 -1.41671109e+01] [-6.54002108e-02 -1.88261780e-04 9.97859097e-01 -2.64444472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.098639999999996 meters Centerline goodness [0,1] 0.999557630867535 Centerline is valid? [True, True] Translation: X:57.37, Y:-14.18, Z:-2.65 [[ 9.18832026e-01 3.89783481e-01 6.17781973e-02 5.73690154e+01] [-3.88922376e-01 9.20906501e-01 -2.58959855e-02 -1.41794260e+01] [-6.69857709e-02 -2.32862427e-04 9.97753904e-01 -2.64711812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12864 meters Centerline goodness [0,1] 0.9996071498723237 Centerline is valid? [True, True] Translation: X:57.40, Y:-14.19, Z:-2.65 [[ 9.17351089e-01 3.93370197e-01 6.10480755e-02 5.73988562e+01] [-3.92536671e-01 9.19380040e-01 -2.55989181e-02 -1.41922818e+01] [-6.61962335e-02 -4.80412918e-04 9.97806508e-01 -2.64810156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15864 meters Centerline goodness [0,1] 0.9995571302037201 Centerline is valid? [True, True] Translation: X:57.43, Y:-14.20, Z:-2.65 [[ 9.16959828e-01 3.94314297e-01 6.08350888e-02 5.74291164e+01] [-3.93488062e-01 9.18975487e-01 -2.55186169e-02 -1.42044002e+01] [-6.59683108e-02 -5.38334621e-04 9.97821573e-01 -2.64933907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18864 meters Centerline goodness [0,1] 0.9994599106397604 Centerline is valid? [True, True] Translation: X:57.46, Y:-14.22, Z:-2.65 [[ 9.16449572e-01 3.95373550e-01 6.16436339e-02 5.74589635e+01] [-3.94526953e-01 9.18520211e-01 -2.58670530e-02 -1.42161762e+01] [-6.68480722e-02 -6.14225394e-04 9.97762977e-01 -2.65149019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21864 meters Centerline goodness [0,1] 0.9996071112857283 Centerline is valid? [True, True] Translation: X:57.49, Y:-14.23, Z:-2.65 [[ 9.15948972e-01 3.96688890e-01 6.06251215e-02 5.74894591e+01] [-3.95872353e-01 9.17952857e-01 -2.54486142e-02 -1.42257803e+01] [-6.57461861e-02 -6.90177478e-04 9.97836140e-01 -2.65163553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.248639999999995 meters Centerline goodness [0,1] 0.9997048696507624 Centerline is valid? [True, True] Translation: X:57.52, Y:-14.24, Z:-2.65 [[ 9.15735397e-01 3.97169682e-01 6.07035883e-02 5.75191398e+01] [-3.96351590e-01 9.17744914e-01 -2.54890199e-02 -1.42374012e+01] [-6.58338754e-02 -7.18765966e-04 9.97830338e-01 -2.65172632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.278639999999996 meters Centerline goodness [0,1] 0.9995085995085995 Centerline is valid? [True, True] Translation: X:57.55, Y:-14.25, Z:-2.65 [[ 9.16129903e-01 3.96284548e-01 6.05355903e-02 5.75487687e+01] [-3.95468757e-01 9.18127516e-01 -2.54229540e-02 -1.42483176e+01] [-6.56541150e-02 -6.49206220e-04 9.97842230e-01 -2.65259631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30864 meters Centerline goodness [0,1] 0.9996066863323501 Centerline is valid? [True, True] Translation: X:57.58, Y:-14.26, Z:-2.65 [[ 9.16540014e-01 3.95050318e-01 6.23670534e-02 5.75794138e+01] [-3.94181187e-01 9.18659304e-01 -2.61968476e-02 -1.42572552e+01] [-6.76431469e-02 -5.73460070e-04 9.97709415e-01 -2.65460224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.33864 meters Centerline goodness [0,1] 0.9994108694584909 Centerline is valid? [True, True] Translation: X:57.61, Y:-14.27, Z:-2.66 [[ 9.16978894e-01 3.94163742e-01 6.15195262e-02 5.76094400e+01] [-3.93315800e-01 9.19040096e-01 -2.58453869e-02 -1.42675237e+01] [-6.67262257e-02 -4.96927371e-04 9.97771198e-01 -2.65579144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36864 meters Centerline goodness [0,1] 0.9994107826770107 Centerline is valid? [True, True] Translation: X:57.64, Y:-14.28, Z:-2.66 [[ 9.16600870e-01 3.95115064e-01 6.10485998e-02 5.76391383e+01] [-3.94281874e-01 9.18631469e-01 -2.56520538e-02 -1.42785566e+01] [-6.62166778e-02 -5.57661563e-04 9.97805112e-01 -2.65672128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39864 meters Centerline goodness [0,1] 0.9996544574982723 Centerline is valid? [True, True] Translation: X:57.67, Y:-14.29, Z:-2.66 [[ 9.16627650e-01 3.95260220e-01 5.96917909e-02 5.76681036e+01] [-3.94463814e-01 9.18569025e-01 -2.50847861e-02 -1.42872729e+01] [-6.47460482e-02 -5.52843000e-04 9.97901620e-01 -2.65810026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.428639999999994 meters Centerline goodness [0,1] 0.9995580001964444 Centerline is valid? [True, True] Translation: X:57.70, Y:-14.30, Z:-2.66 [[ 9.16415689e-01 3.95649301e-01 6.03648601e-02 5.76956066e+01] [-3.94836375e-01 9.18401478e-01 -2.53567040e-02 -1.42963432e+01] [-6.54715389e-02 -5.96961222e-04 9.97854259e-01 -2.65856907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.458639999999995 meters Centerline goodness [0,1] 0.999607265586647 Centerline is valid? [True, True] Translation: X:57.72, Y:-14.30, Z:-2.66 [[ 9.16362588e-01 3.95772652e-01 6.03623752e-02 5.77231612e+01] [-3.94962136e-01 9.18348303e-01 -2.53240257e-02 -1.43046923e+01] [-6.54562416e-02 -6.34862917e-04 9.97855239e-01 -2.66021921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48864 meters Centerline goodness [0,1] 0.9997049712346954 Centerline is valid? [True, True] Translation: X:57.75, Y:-14.31, Z:-2.66 [[ 9.15140521e-01 3.98578143e-01 6.04424543e-02 5.77518314e+01] [-3.97773648e-01 9.17133968e-01 -2.53260823e-02 -1.43098865e+01] [-6.55282507e-02 -8.65491363e-04 9.97850339e-01 -2.66082500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51864 meters Centerline goodness [0,1] 0.9995583038869258 Centerline is valid? [True, True] Translation: X:57.78, Y:-14.32, Z:-2.66 [[ 9.14390092e-01 4.00371924e-01 5.99423302e-02 5.77797374e+01] [-3.99586553e-01 9.16352167e-01 -2.50856930e-02 -1.43184298e+01] [-6.49718914e-02 -1.01404004e-03 9.97886579e-01 -2.66160706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54864 meters Centerline goodness [0,1] 0.9997542635277928 Centerline is valid? [True, True] Translation: X:57.81, Y:-14.32, Z:-2.66 [[ 9.12271416e-01 4.05344458e-01 5.87940031e-02 5.78098673e+01] [-4.04601125e-01 9.14163003e-01 -2.45750590e-02 -1.43215611e+01] [-6.37086664e-02 -1.36899592e-03 9.97967601e-01 -2.66173644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57864 meters Centerline goodness [0,1] 0.9998526450218577 Centerline is valid? [True, True] Translation: X:57.84, Y:-14.33, Z:-2.66 [[ 9.11882511e-01 4.06141738e-01 5.93226329e-02 5.78381109e+01] [-4.05388629e-01 9.13808919e-01 -2.47652696e-02 -1.43280378e+01] [-6.42677607e-02 -1.46570459e-03 9.97931614e-01 -2.66285949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.608639999999994 meters Centerline goodness [0,1] 0.9998526884360422 Centerline is valid? [True, True] Translation: X:57.87, Y:-14.33, Z:-2.66 [[ 9.11875259e-01 4.06256403e-01 5.86450991e-02 5.78654291e+01] [-4.05522656e-01 9.13757915e-01 -2.44509170e-02 -1.43340355e+01] [-6.35207651e-02 -1.48573016e-03 9.97979411e-01 -2.66306625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.638639999999995 meters Centerline goodness [0,1] 0.9997549740272469 Centerline is valid? [True, True] Translation: X:57.89, Y:-14.34, Z:-2.67 [[ 9.12350616e-01 4.05023118e-01 5.97714584e-02 5.78927733e+01] [-4.04260573e-01 9.14305279e-01 -2.48846641e-02 -1.43413256e+01] [-6.47282241e-02 -1.45970539e-03 9.97901862e-01 -2.66525878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.668639999999996 meters Centerline goodness [0,1] 0.9996073041429413 Centerline is valid? [True, True] Translation: X:57.92, Y:-14.34, Z:-2.67 [[ 9.13459260e-01 4.02484824e-01 5.99845634e-02 5.79218777e+01] [-4.01713575e-01 9.15425713e-01 -2.49392762e-02 -1.43448027e+01] [-6.49490919e-02 -1.31560064e-03 9.97887711e-01 -2.66743658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69864 meters Centerline goodness [0,1] 0.9996561717176679 Centerline is valid? [True, True] Translation: X:57.95, Y:-14.35, Z:-2.67 [[ 9.14169683e-01 4.00875396e-01 5.99392012e-02 5.79501669e+01] [-4.00103869e-01 9.16131763e-01 -2.48894916e-02 -1.43510970e+01] [-6.48897909e-02 -1.22868762e-03 9.97891680e-01 -2.66780173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72864 meters Centerline goodness [0,1] 0.9994596187856161 Centerline is valid? [True, True] Translation: X:57.98, Y:-14.36, Z:-2.67 [[ 9.14630861e-01 3.99869488e-01 5.96219840e-02 5.79786163e+01] [-3.99105950e-01 9.16571330e-01 -2.47272872e-02 -1.43575894e+01] [-6.45354888e-02 -1.17914852e-03 9.97914716e-01 -2.66925092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75864 meters Centerline goodness [0,1] 0.9992140295721373 Centerline is valid? [True, True] Translation: X:58.01, Y:-14.36, Z:-2.67 [[ 9.15148558e-01 3.98388610e-01 6.15599943e-02 5.80088778e+01] [-3.97573392e-01 9.17216014e-01 -2.54986502e-02 -1.43605155e+01] [-6.66221844e-02 -1.13956275e-03 9.97777623e-01 -2.67078763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78864 meters Centerline goodness [0,1] 0.9992141067832409 Centerline is valid? [True, True] Translation: X:58.04, Y:-14.37, Z:-2.67 [[ 9.15431302e-01 3.97727811e-01 6.16288801e-02 5.80360811e+01] [-3.96911497e-01 9.17502766e-01 -2.54938572e-02 -1.43674064e+01] [-6.66842840e-02 -1.12333614e-03 9.97773494e-01 -2.67207693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.818639999999995 meters Centerline goodness [0,1] 0.998971294209856 Centerline is valid? [True, True] Translation: X:58.07, Y:-14.37, Z:-2.67 [[ 9.15034075e-01 3.98387736e-01 6.32443969e-02 5.80660903e+01] [-3.97532054e-01 9.17216270e-01 -2.61262357e-02 -1.43702915e+01] [-6.84171617e-02 -1.23527910e-03 9.97656036e-01 -2.67385958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.848639999999996 meters Centerline goodness [0,1] 0.9986734794143657 Centerline is valid? [True, True] Translation: X:58.09, Y:-14.38, Z:-2.67 [[ 9.15343542e-01 3.97847443e-01 6.21579604e-02 5.80936005e+01] [-3.97021804e-01 9.17450797e-01 -2.56460993e-02 -1.43783124e+01] [-6.72301054e-02 -1.20307418e-03 9.97736772e-01 -2.67427622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87864 meters Centerline goodness [0,1] 0.9990193674920324 Centerline is valid? [True, True] Translation: X:58.12, Y:-14.39, Z:-2.68 [[ 9.16073011e-01 3.96139757e-01 6.23179832e-02 5.81210664e+01] [-3.95308068e-01 9.18189556e-01 -2.56801487e-02 -1.43875539e+01] [-6.73926492e-02 -1.10991041e-03 9.97725914e-01 -2.67762105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90864 meters Centerline goodness [0,1] 0.9987263018664576 Centerline is valid? [True, True] Translation: X:58.15, Y:-14.39, Z:-2.68 [[ 9.18124641e-01 3.91324825e-01 6.25461921e-02 5.81495689e+01] [-3.90478021e-01 9.20252281e-01 -2.57420859e-02 -1.43938389e+01] [-6.76317932e-02 -7.88469956e-04 9.97710037e-01 -2.67919130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93864 meters Centerline goodness [0,1] 0.9990181157641514 Centerline is valid? [True, True] Translation: X:58.18, Y:-14.40, Z:-2.68 [[ 9.19508744e-01 3.88015472e-01 6.28304366e-02 5.81767639e+01] [-3.87155398e-01 9.21652679e-01 -2.58270565e-02 -1.44018486e+01] [-6.79291377e-02 -5.76938427e-04 9.97689982e-01 -2.68078662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96864 meters Centerline goodness [0,1] 0.9985768268145458 Centerline is valid? [True, True] Translation: X:58.20, Y:-14.41, Z:-2.68 [[ 9.21128589e-01 3.83893209e-01 6.44059575e-02 5.82041215e+01] [-3.82981647e-01 9.23377446e-01 -2.64414560e-02 -1.44102211e+01] [-6.96217039e-02 -3.10318601e-04 9.97573417e-01 -2.68309770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.998639999999995 meters Centerline goodness [0,1] 0.9986772486772487 Centerline is valid? [True, True] Translation: X:58.23, Y:-14.42, Z:-2.68 [[ 9.22577211e-01 3.80360155e-01 6.46331397e-02 5.82300758e+01] [-3.79435904e-01 9.24838443e-01 -2.64999632e-02 -1.44190289e+01] [-6.98547425e-02 -7.58717051e-05 9.97557171e-01 -2.68447331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.028639999999996 meters Centerline goodness [0,1] 0.9981839599489546 Centerline is valid? [True, True] Translation: X:58.26, Y:-14.43, Z:-2.68 [[ 9.24472048e-01 3.76126410e-01 6.22925097e-02 5.82584151e+01] [-3.75260558e-01 9.26568336e-01 -2.55074957e-02 -1.44271111e+01] [-6.73123099e-02 2.05044839e-04 9.97731933e-01 -2.68416356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05864 meters Centerline goodness [0,1] 0.9981376200744952 Centerline is valid? [True, True] Translation: X:58.28, Y:-14.44, Z:-2.69 [[ 9.25539707e-01 3.73490388e-01 6.22991330e-02 5.82846407e+01] [-3.72620497e-01 9.27633977e-01 -2.54788238e-02 -1.44359642e+01] [-6.73068883e-02 3.67729284e-04 9.97732252e-01 -2.68564187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08864 meters Centerline goodness [0,1] 0.9979414791942361 Centerline is valid? [True, True] Translation: X:58.31, Y:-14.45, Z:-2.68 [[ 9.26969941e-01 3.70120694e-01 6.11342906e-02 5.83112378e+01] [-3.69278016e-01 9.28983503e-01 -2.49679431e-02 -1.44454547e+01] [-6.60338998e-02 5.68983175e-04 9.97817218e-01 -2.68497449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11864 meters Centerline goodness [0,1] 0.9972025912838633 Centerline is valid? [True, True] Translation: X:58.34, Y:-14.46, Z:-2.69 [[ 9.27368767e-01 3.69253075e-01 6.03269192e-02 5.83370858e+01] [-3.68432904e-01 9.29328692e-01 -2.46044250e-02 -1.44560328e+01] [-6.51487965e-02 5.90953225e-04 9.97875386e-01 -2.68513285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14864 meters Centerline goodness [0,1] 0.9974489795918368 Centerline is valid? [True, True] Translation: X:58.36, Y:-14.47, Z:-2.69 [[ 9.27583828e-01 3.68550103e-01 6.13112096e-02 5.83635930e+01] [-3.67703602e-01 9.29607679e-01 -2.49724476e-02 -1.44660373e+01] [-6.61989694e-02 6.19685908e-04 9.97806250e-01 -2.68620782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.178639999999994 meters Centerline goodness [0,1] 0.9975001225430126 Centerline is valid? [True, True] Translation: X:58.39, Y:-14.48, Z:-2.69 [[ 9.27503405e-01 3.68740386e-01 6.13837163e-02 5.83899783e+01] [-3.67894413e-01 9.29532245e-01 -2.49701087e-02 -1.44760911e+01] [-6.62656312e-02 5.77134548e-04 9.97801851e-01 -2.68759150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.208639999999995 meters Centerline goodness [0,1] 0.9977213057908555 Centerline is valid? [True, True] Translation: X:58.42, Y:-14.49, Z:-2.69 [[ 9.27911576e-01 3.68088401e-01 5.90849909e-02 5.84168076e+01] [-3.67305291e-01 9.29790622e-01 -2.40046144e-02 -1.44876859e+01] [-6.37724907e-02 5.71929828e-04 9.97964299e-01 -2.68758090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23864 meters Centerline goodness [0,1] 0.9977213057908555 Centerline is valid? [True, True] Translation: X:58.44, Y:-14.50, Z:-2.69 [[ 9.28091912e-01 3.67631826e-01 5.90952097e-02 5.84419856e+01] [-3.66849394e-01 9.29971241e-01 -2.39794362e-02 -1.44982770e+01] [-6.37724494e-02 5.76078935e-04 9.97964299e-01 -2.68875799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26864 meters Centerline goodness [0,1] 0.9978408087152811 Centerline is valid? [True, True] Translation: X:58.47, Y:-14.51, Z:-2.69 [[ 9.28556443e-01 3.66568800e-01 5.83973167e-02 5.84675370e+01] [-3.65804750e-01 9.30390747e-01 -2.36631050e-02 -1.45089156e+01] [-6.30064791e-02 6.10512722e-04 9.98012931e-01 -2.69115500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29864 meters Centerline goodness [0,1] 0.9974017060496128 Centerline is valid? [True, True] Translation: X:58.49, Y:-14.52, Z:-2.69 [[ 9.29308140e-01 3.64725926e-01 5.79774080e-02 5.84936563e+01] [-3.63971315e-01 9.31114660e-01 -2.34600192e-02 -1.45186097e+01] [-6.25400918e-02 6.99473380e-04 9.98042207e-01 -2.69102632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32864 meters Centerline goodness [0,1] 0.9966637228927485 Centerline is valid? [True, True] Translation: X:58.52, Y:-14.53, Z:-2.69 [[ 9.29637396e-01 3.63927446e-01 5.77159076e-02 5.85200703e+01] [-3.63180132e-01 9.31427022e-01 -2.33215522e-02 -1.45286820e+01] [-6.22455088e-02 7.19316158e-04 9.98060609e-01 -2.69190929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.358639999999994 meters Centerline goodness [0,1] 0.9964217440321553 Centerline is valid? [True, True] Translation: X:58.55, Y:-14.54, Z:-2.69 [[ 9.29788249e-01 3.63608892e-01 5.72921010e-02 5.85457439e+01] [-3.62873917e-01 9.31551435e-01 -2.31180433e-02 -1.45397486e+01] [-6.17764650e-02 7.05075866e-04 9.98089761e-01 -2.69247863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.388639999999995 meters Centerline goodness [0,1] 0.9970049590023077 Centerline is valid? [True, True] Translation: X:58.57, Y:-14.55, Z:-2.69 [[ 9.28951114e-01 3.65725852e-01 5.73971218e-02 5.85716422e+01] [-3.64994133e-01 9.30722469e-01 -2.31294025e-02 -1.45524770e+01] [-6.18798113e-02 5.36471486e-04 9.98083464e-01 -2.69297593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.418639999999996 meters Centerline goodness [0,1] 0.9970599764798118 Centerline is valid? [True, True] Translation: X:58.60, Y:-14.56, Z:-2.69 [[ 9.28480991e-01 3.66894614e-01 5.75446842e-02 5.85972488e+01] [-3.66163211e-01 9.30262412e-01 -2.31591725e-02 -1.45628821e+01] [-6.20286324e-02 4.32105057e-04 9.98074277e-01 -2.69367756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44864 meters Centerline goodness [0,1] 0.9971554683668465 Centerline is valid? [True, True] Translation: X:58.62, Y:-14.57, Z:-2.69 [[ 9.26399532e-01 3.71950437e-01 5.86240480e-02 5.86229024e+01] [-3.71203494e-01 9.28252589e-01 -2.35605162e-02 -1.45726742e+01] [-6.31812687e-02 6.49997779e-05 9.98002066e-01 -2.69467554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47864 meters Centerline goodness [0,1] 0.9973052425281724 Centerline is valid? [True, True] Translation: X:58.65, Y:-14.58, Z:-2.69 [[ 9.25185315e-01 3.75107292e-01 5.76771402e-02 5.86486664e+01] [-3.74392365e-01 9.26981385e-01 -2.31488418e-02 -1.45844880e+01] [-6.21489347e-02 -1.76912403e-04 9.98066871e-01 -2.69465364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50864 meters Centerline goodness [0,1] 0.9976003917727718 Centerline is valid? [True, True] Translation: X:58.67, Y:-14.60, Z:-2.70 [[ 9.24304629e-01 3.77210607e-01 5.80784868e-02 5.86747854e+01] [-3.76491850e-01 9.26127440e-01 -2.32777086e-02 -1.45960626e+01] [-6.25686789e-02 -3.50383169e-04 9.98040599e-01 -2.69629256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53864 meters Centerline goodness [0,1] 0.9969088857269025 Centerline is valid? [True, True] Translation: X:58.70, Y:-14.61, Z:-2.70 [[ 9.22025307e-01 3.82906610e-01 5.70250901e-02 5.87016508e+01] [-3.82226267e-01 9.23786755e-01 -2.28278979e-02 -1.46073462e+01] [-6.14199759e-02 -7.48587745e-04 9.98111730e-01 -2.69559118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.568639999999995 meters Centerline goodness [0,1] 0.9970064288168032 Centerline is valid? [True, True] Translation: X:58.73, Y:-14.62, Z:-2.70 [[ 9.21525419e-01 3.84150579e-01 5.67383071e-02 5.87284708e+01] [-3.83481060e-01 9.23270062e-01 -2.26863455e-02 -1.46162604e+01] [-6.10997530e-02 -8.52022097e-04 9.98131301e-01 -2.69632019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.598639999999996 meters Centerline goodness [0,1] 0.9969637610186092 Centerline is valid? [True, True] Translation: X:58.76, Y:-14.63, Z:-2.70 [[ 9.21034035e-01 3.85133142e-01 5.80410987e-02 5.87556073e+01] [-3.84436298e-01 9.22860515e-01 -2.31776274e-02 -1.46252891e+01] [-6.24903107e-02 -9.65721436e-04 9.98045103e-01 -2.69863118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62864 meters Centerline goodness [0,1] 0.9973555337904015 Centerline is valid? [True, True] Translation: X:58.78, Y:-14.63, Z:-2.70 [[ 9.20978648e-01 3.85380813e-01 5.72709292e-02 5.87824908e+01] [-3.84704677e-01 9.22757083e-01 -2.28402363e-02 -1.46335152e+01] [-6.16493444e-02 -9.97024381e-04 9.98097372e-01 -2.69940669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65864 meters Centerline goodness [0,1] 0.9972509940601836 Centerline is valid? [True, True] Translation: X:58.81, Y:-14.64, Z:-2.70 [[ 9.20378478e-01 3.86960488e-01 5.62586704e-02 5.88105964e+01] [-3.86312875e-01 9.22095627e-01 -2.24057540e-02 -1.46392546e+01] [-6.05460154e-02 -1.11167495e-03 9.98164788e-01 -2.70069839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68864 meters Centerline goodness [0,1] 0.9972561124993875 Centerline is valid? [True, True] Translation: X:58.84, Y:-14.65, Z:-2.70 [[ 9.20285993e-01 3.87273722e-01 5.56125476e-02 5.88378458e+01] [-3.86643214e-01 9.21964072e-01 -2.21195476e-02 -1.46469203e+01] [-5.98390904e-02 -1.14590433e-03 9.98207378e-01 -2.70142938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71864 meters Centerline goodness [0,1] 0.9973085392708588 Centerline is valid? [True, True] Translation: X:58.86, Y:-14.65, Z:-2.70 [[ 9.20553453e-01 3.86663303e-01 5.54331101e-02 5.88648044e+01] [-3.86037655e-01 9.22220260e-01 -2.20163568e-02 -1.46542182e+01] [-5.96344545e-02 -1.13203461e-03 9.98219640e-01 -2.70177545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.748639999999995 meters Centerline goodness [0,1] 0.9970096573361439 Centerline is valid? [True, True] Translation: X:58.89, Y:-14.66, Z:-2.70 [[ 9.20590724e-01 3.86314796e-01 5.72153519e-02 5.88941823e+01] [-3.85649570e-01 9.22366249e-01 -2.26916779e-02 -1.46577288e+01] [-6.15396404e-02 -1.17532773e-03 9.98103948e-01 -2.70371685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.778639999999996 meters Centerline goodness [0,1] 0.997161037689672 Centerline is valid? [True, True] Translation: X:58.92, Y:-14.66, Z:-2.70 [[ 9.20918169e-01 3.85618704e-01 5.66386859e-02 5.89216600e+01] [-3.84967315e-01 9.22657523e-01 -2.24334879e-02 -1.46646503e+01] [-6.09088822e-02 -1.14463616e-03 9.98142674e-01 -2.70416228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80864 meters Centerline goodness [0,1] 0.996966286636982 Centerline is valid? [True, True] Translation: X:58.95, Y:-14.67, Z:-2.70 [[ 9.21255948e-01 3.84839589e-01 5.64443833e-02 5.89515420e+01] [-3.84193175e-01 9.22982794e-01 -2.23241265e-02 -1.46656356e+01] [-6.06884023e-02 -1.11931246e-03 9.98156133e-01 -2.70446247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83864 meters Centerline goodness [0,1] 0.9970648226456396 Centerline is valid? [True, True] Translation: X:58.98, Y:-14.67, Z:-2.71 [[ 9.21646755e-01 3.83781805e-01 5.72606787e-02 5.89792870e+01] [-3.83116547e-01 9.23423157e-01 -2.26138324e-02 -1.46714298e+01] [-6.15546140e-02 -1.09554827e-03 9.98103116e-01 -2.70642314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86864 meters Centerline goodness [0,1] 0.9975057465642881 Centerline is valid? [True, True] Translation: X:59.01, Y:-14.68, Z:-2.71 [[ 9.21778589e-01 3.83415951e-01 5.75885498e-02 5.90070210e+01] [-3.82744402e-01 9.23575108e-01 -2.27099606e-02 -1.46774534e+01] [-6.18947123e-02 -1.10813965e-03 9.98082069e-01 -2.70787249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89864 meters Centerline goodness [0,1] 0.9970181356015057 Centerline is valid? [True, True] Translation: X:59.04, Y:-14.68, Z:-2.71 [[ 9.22641468e-01 3.81026894e-01 5.95921768e-02 5.90365061e+01] [-3.80305019e-01 9.24563399e-01 -2.34651434e-02 -1.46783384e+01] [-6.40375963e-02 -1.01328959e-03 9.97946972e-01 -2.70955316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.928639999999994 meters Centerline goodness [0,1] 0.9969242786701167 Centerline is valid? [True, True] Translation: X:59.06, Y:-14.68, Z:-2.71 [[ 9.23540765e-01 3.78607353e-01 6.10649463e-02 5.90637541e+01] [-3.77846361e-01 9.25556948e-01 -2.40096642e-02 -1.46837950e+01] [-6.56093208e-02 -8.99264059e-04 9.97844982e-01 -2.71109226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.958639999999995 meters Centerline goodness [0,1] 0.9967760844079718 Centerline is valid? [True, True] Translation: X:59.09, Y:-14.69, Z:-2.71 [[ 9.24891293e-01 3.75392346e-01 6.04705131e-02 5.90923472e+01] [-3.74641329e-01 9.26865742e-01 -2.37438493e-02 -1.46906351e+01] [-6.49613063e-02 -6.94273914e-04 9.97887542e-01 -2.71307088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98864 meters Centerline goodness [0,1] 0.9967229151381756 Centerline is valid? [True, True] Translation: X:59.12, Y:-14.70, Z:-2.71 [[ 9.26205242e-01 3.72204887e-01 6.00613909e-02 5.91203454e+01] [-3.71459125e-01 9.28150461e-01 -2.35550481e-02 -1.46974985e+01] [-6.45133116e-02 -4.93542630e-04 9.97916725e-01 -2.71408201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01864 meters Centerline goodness [0,1] 0.9971154786349858 Centerline is valid? [True, True] Translation: X:59.15, Y:-14.70, Z:-2.72 [[ 9.29154101e-01 3.64663728e-01 6.07702431e-02 5.91481776e+01] [-3.63886142e-01 9.31139284e-01 -2.38014668e-02 -1.47019167e+01] [-6.52650923e-02 1.78114743e-06 9.97867961e-01 -2.71735757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04864 meters Centerline goodness [0,1] 0.9968642822146007 Centerline is valid? [True, True] Translation: X:59.17, Y:-14.71, Z:-2.72 [[ 9.30269625e-01 3.61766940e-01 6.10172651e-02 5.91749625e+01] [-3.60979052e-01 9.32268551e-01 -2.38636266e-02 -1.47097721e+01] [-6.55175485e-02 1.73652435e-04 9.97851402e-01 -2.71769784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07864 meters Centerline goodness [0,1] 0.9980449657869013 Centerline is valid? [True, True] Translation: X:59.20, Y:-14.72, Z:-2.72 [[ 9.31879782e-01 3.57294560e-01 6.27747598e-02 5.92021368e+01] [-3.56452719e-01 9.33991636e-01 -2.45169869e-02 -1.47183094e+01] [-6.73908867e-02 4.70650540e-04 9.97726539e-01 -2.71946671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.108639999999994 meters Centerline goodness [0,1] 0.9984836626883193 Centerline is valid? [True, True] Translation: X:59.23, Y:-14.73, Z:-2.72 [[ 9.32111491e-01 3.56462112e-01 6.40541219e-02 5.92284730e+01] [-3.55585770e-01 9.34309638e-01 -2.49852018e-02 -1.47298267e+01] [-6.87526613e-02 5.12259496e-04 9.97633605e-01 -2.72159039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.138639999999995 meters Centerline goodness [0,1] 0.9987305927155551 Centerline is valid? [True, True] Translation: X:59.25, Y:-14.74, Z:-2.72 [[ 9.32110400e-01 3.56522761e-01 6.37316432e-02 5.92534054e+01] [-3.55657587e-01 9.34286517e-01 -2.48271124e-02 -1.47416073e+01] [-6.83950455e-02 4.74967252e-04 9.97658204e-01 -2.72296575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.168639999999996 meters Centerline goodness [0,1] 0.9992179863147606 Centerline is valid? [True, True] Translation: X:59.28, Y:-14.76, Z:-2.72 [[ 9.31094497e-01 3.59014027e-01 6.45907566e-02 5.92781378e+01] [-3.58133807e-01 9.33332127e-01 -2.51260099e-02 -1.47553121e+01] [-6.93052182e-02 2.62555968e-04 9.97595468e-01 -2.72428968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19864 meters Centerline goodness [0,1] 0.9994624706802189 Centerline is valid? [True, True] Translation: X:59.30, Y:-14.77, Z:-2.73 [[ 9.30360346e-01 3.60788874e-01 6.52764449e-02 5.93035962e+01] [-3.59896621e-01 9.32647510e-01 -2.53583011e-02 -1.47682471e+01] [-7.00289067e-02 9.95858430e-05 9.97544958e-01 -2.72704267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22864 meters Centerline goodness [0,1] 0.9997055214723927 Centerline is valid? [True, True] Translation: X:59.33, Y:-14.78, Z:-2.73 [[ 9.30020009e-01 3.61862224e-01 6.41756447e-02 5.93290398e+01] [-3.61004513e-01 9.32231587e-01 -2.49000158e-02 -1.47810577e+01] [-6.88369382e-02 -1.01844197e-05 9.97627925e-01 -2.72768050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25864 meters Centerline goodness [0,1] 0.9999511217557066 Centerline is valid? [True, True] Translation: X:59.35, Y:-14.79, Z:-2.73 [[ 9.29242958e-01 3.63861029e-01 6.41301569e-02 5.93545555e+01] [-3.63011537e-01 9.31453228e-01 -2.48497217e-02 -1.47928628e+01] [-6.87760870e-02 -1.88557906e-04 9.97632104e-01 -2.72947825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:59.38, Y:-14.80, Z:-2.73 [[ 9.29456583e-01 3.63257483e-01 6.44551136e-02 5.93808694e+01] [-3.62400390e-01 9.31688773e-01 -2.49396779e-02 -1.48020951e+01] [-6.91116303e-02 -1.78210530e-04 9.97608917e-01 -2.73046817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.318639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:-14.81, Z:-2.73 [[ 9.30274467e-01 3.61209141e-01 6.41667621e-02 5.94075477e+01] [-3.60357315e-01 9.32484827e-01 -2.47921874e-02 -1.48107714e+01] [-6.87896968e-02 -5.94232373e-05 9.97631181e-01 -2.73065864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.348639999999996 meters Centerline goodness [0,1] 0.9999511241446726 Centerline is valid? [True, True] Translation: X:59.43, Y:-14.82, Z:-2.73 [[ 9.30927982e-01 3.59469389e-01 6.44581231e-02 5.94337500e+01] [-3.58608152e-01 9.33156877e-01 -2.48683864e-02 -1.48202953e+01] [-6.90889645e-02 3.54683771e-05 9.97610502e-01 -2.73153301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37864 meters Centerline goodness [0,1] 0.9997554892659788 Centerline is valid? [True, True] Translation: X:59.46, Y:-14.83, Z:-2.73 [[ 9.31864628e-01 3.56952464e-01 6.49095770e-02 5.94612583e+01] [-3.56075401e-01 9.34122531e-01 -2.50081323e-02 -1.48292481e+01] [-6.95602128e-02 1.91490288e-04 9.97577736e-01 -2.73361031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40864 meters Centerline goodness [0,1] 0.999902238733014 Centerline is valid? [True, True] Translation: X:59.49, Y:-14.83, Z:-2.73 [[ 9.33359909e-01 3.52904503e-01 6.55567832e-02 5.94901827e+01] [-3.52002080e-01 9.35659229e-01 -2.52258601e-02 -1.48348286e+01] [-7.02411288e-02 4.68682488e-04 9.97529931e-01 -2.73481334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43864 meters Centerline goodness [0,1] 0.9999023342123254 Centerline is valid? [True, True] Translation: X:59.52, Y:-14.84, Z:-2.74 [[ 9.34312943e-01 3.50232706e-01 6.63051834e-02 5.95170802e+01] [-3.49305073e-01 9.36662497e-01 -2.54820183e-02 -1.48437357e+01] [-7.10302148e-02 6.47442543e-04 9.97473954e-01 -2.73713264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46864 meters Centerline goodness [0,1] 0.9999511360860005 Centerline is valid? [True, True] Translation: X:59.54, Y:-14.85, Z:-2.74 [[ 9.35529139e-01 3.46871298e-01 6.68246405e-02 5.95439233e+01] [-3.45922763e-01 9.37912324e-01 -2.56498339e-02 -1.48529510e+01] [-7.15728451e-02 8.80002705e-04 9.97434987e-01 -2.73895127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.498639999999995 meters Centerline goodness [0,1] 0.9994618921827609 Centerline is valid? [True, True] Translation: X:59.57, Y:-14.86, Z:-2.74 [[ 9.36973380e-01 3.42937736e-01 6.68924061e-02 5.95714738e+01] [-3.41979505e-01 9.39357430e-01 -2.56444248e-02 -1.48619283e+01] [-7.16303196e-02 1.15231147e-03 9.97430584e-01 -2.73974205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.528639999999996 meters Centerline goodness [0,1] 0.9989736070381232 Centerline is valid? [True, True] Translation: X:59.60, Y:-14.87, Z:-2.74 [[ 9.38787351e-01 3.37796489e-01 6.76153993e-02 5.95986358e+01] [-3.36805770e-01 9.41217914e-01 -2.58980913e-02 -1.48698518e+01] [-7.23891094e-02 1.53954393e-03 9.97375279e-01 -2.74043181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55864 meters Centerline goodness [0,1] 0.9989252039669745 Centerline is valid? [True, True] Translation: X:59.62, Y:-14.88, Z:-2.74 [[ 9.39741543e-01 3.35228858e-01 6.71375100e-02 5.96248653e+01] [-3.34246946e-01 9.42135181e-01 -2.56959242e-02 -1.48805275e+01] [-7.18666254e-02 1.70701973e-03 9.97412790e-01 -2.74198244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58864 meters Centerline goodness [0,1] 0.9986316766847481 Centerline is valid? [True, True] Translation: X:59.65, Y:-14.89, Z:-2.75 [[ 9.41678916e-01 3.29746683e-01 6.71412283e-02 5.96510770e+01] [-3.28752188e-01 9.44067099e-01 -2.56770793e-02 -1.48937717e+01] [-7.18527564e-02 2.10673851e-03 9.97413025e-01 -2.74576520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61864 meters Centerline goodness [0,1] 0.9980451568761607 Centerline is valid? [True, True] Translation: X:59.68, Y:-14.91, Z:-2.75 [[ 9.42804847e-01 3.26667362e-01 6.63886749e-02 5.96771230e+01] [-3.25688465e-01 9.45136571e-01 -2.53749109e-02 -1.49050606e+01] [-7.10355197e-02 2.30156340e-03 9.97471131e-01 -2.74704175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64864 meters Centerline goodness [0,1] 0.9975 Centerline is valid? [True, True] Translation: X:59.70, Y:-14.92, Z:-2.75 [[ 9.44420006e-01 3.21975538e-01 6.63521323e-02 5.97042343e+01] [-3.20987543e-01 9.46744322e-01 -2.53413974e-02 -1.49166451e+01] [-7.09778145e-02 2.63471475e-03 9.97474415e-01 -2.74754844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.678639999999994 meters Centerline goodness [0,1] 0.9974017060496128 Centerline is valid? [True, True] Translation: X:59.73, Y:-14.93, Z:-2.75 [[ 9.45227221e-01 3.19476370e-01 6.69354104e-02 5.97304203e+01] [-3.18465692e-01 9.47590006e-01 -2.55496130e-02 -1.49289327e+01] [-7.15898236e-02 2.83355793e-03 9.97430132e-01 -2.74926794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.708639999999995 meters Centerline goodness [0,1] 0.9952106343465937 Centerline is valid? [True, True] Translation: X:59.76, Y:-14.94, Z:-2.75 [[ 9.45921120e-01 3.17535042e-01 6.63681518e-02 5.97564424e+01] [-3.16538771e-01 9.48242020e-01 -2.53037210e-02 -1.49420759e+01] [-7.09678885e-02 2.92723089e-03 9.97474305e-01 -2.75090467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73864 meters Centerline goodness [0,1] 0.9964129526804579 Centerline is valid? [True, True] Translation: X:59.78, Y:-14.95, Z:-2.75 [[ 9.46571563e-01 3.15432884e-01 6.71146177e-02 5.97824738e+01] [-3.14410921e-01 9.48942854e-01 -2.55584271e-02 -1.49548752e+01] [-7.17499052e-02 3.09131158e-03 9.97417864e-01 -2.75227536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76864 meters Centerline goodness [0,1] 0.9951097853195755 Centerline is valid? [True, True] Translation: X:59.81, Y:-14.97, Z:-2.75 [[ 9.47440277e-01 3.12951870e-01 6.64684017e-02 5.98084131e+01] [-3.11945509e-01 9.49763528e-01 -2.52831859e-02 -1.49682126e+01] [-7.10416840e-02 3.21978921e-03 9.97468151e-01 -2.75233558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79864 meters Centerline goodness [0,1] 0.9950063644374817 Centerline is valid? [True, True] Translation: X:59.83, Y:-14.98, Z:-2.75 [[ 9.48101117e-01 3.11101202e-01 6.57291001e-02 5.98340305e+01] [-3.10114673e-01 9.50371080e-01 -2.49739897e-02 -1.49826635e+01] [-7.02364741e-02 3.29430912e-03 9.97524930e-01 -2.75411226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82864 meters Centerline goodness [0,1] 0.9944221548096682 Centerline is valid? [True, True] Translation: X:59.86, Y:-15.00, Z:-2.76 [[ 9.48592313e-01 3.09304817e-01 6.71055401e-02 5.98596847e+01] [-3.08274055e-01 9.50956610e-01 -2.54682690e-02 -1.49958530e+01] [-7.16919153e-02 3.47210726e-03 9.97420781e-01 -2.75712692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.858639999999994 meters Centerline goodness [0,1] 0.9938205002452183 Centerline is valid? [True, True] Translation: X:59.89, Y:-15.01, Z:-2.76 [[ 9.49596326e-01 3.06291891e-01 6.67240175e-02 5.98851686e+01] [-3.05266801e-01 9.51930608e-01 -2.53041202e-02 -1.50131720e+01] [-7.12670813e-02 3.66007221e-03 9.97450554e-01 -2.75726548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.888639999999995 meters Centerline goodness [0,1] 0.9919757314805754 Centerline is valid? [True, True] Translation: X:59.91, Y:-15.03, Z:-2.76 [[ 9.49911513e-01 3.05314680e-01 6.67162997e-02 5.99107844e+01] [-3.04288437e-01 9.52244250e-01 -2.52870556e-02 -1.50253049e+01] [-7.12507221e-02 3.71946663e-03 9.97451503e-01 -2.75854009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.918639999999996 meters Centerline goodness [0,1] 0.9938319953005679 Centerline is valid? [True, True] Translation: X:59.93, Y:-15.05, Z:-2.76 [[ 9.50780401e-01 3.02822073e-01 6.56918687e-02 5.99335765e+01] [-3.01823217e-01 9.53039458e-01 -2.48704186e-02 -1.50453140e+01] [-7.01382546e-02 3.81897543e-03 9.97529970e-01 -2.75916525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94864 meters Centerline goodness [0,1] 0.9939726564414172 Centerline is valid? [True, True] Translation: X:59.96, Y:-15.06, Z:-2.76 [[ 9.51067472e-01 3.02127574e-01 6.47270691e-02 5.99570088e+01] [-3.01158320e-01 9.53259987e-01 -2.44757812e-02 -1.50615417e+01] [-6.90965334e-02 3.78502396e-03 9.97602798e-01 -2.76069035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97864 meters Centerline goodness [0,1] 0.9935828353091016 Centerline is valid? [True, True] Translation: X:59.98, Y:-15.08, Z:-2.76 [[ 9.51457885e-01 3.00906675e-01 6.46766293e-02 5.99815937e+01] [-2.99938240e-01 9.53645855e-01 -2.44261298e-02 -1.50778355e+01] [-6.90285849e-02 3.84143945e-03 9.97607286e-01 -2.76116507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00864 meters Centerline goodness [0,1] 0.994486560992419 Centerline is valid? [True, True] Translation: X:60.01, Y:-15.09, Z:-2.76 [[ 9.51168364e-01 3.01669827e-01 6.53762808e-02 6.00061713e+01] [-3.00684029e-01 9.53404883e-01 -2.46626164e-02 -1.50949778e+01] [-6.97700326e-02 3.80069700e-03 9.97555862e-01 -2.76200904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03864 meters Centerline goodness [0,1] 0.9955387783115992 Centerline is valid? [True, True] Translation: X:60.03, Y:-15.12, Z:-2.76 [[ 9.50473132e-01 3.03832515e-01 6.54723416e-02 6.00286612e+01] [-3.02850787e-01 9.52718576e-01 -2.46721712e-02 -1.51175261e+01] [-6.98729239e-02 3.62188570e-03 9.97549325e-01 -2.76471893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.068639999999995 meters Centerline goodness [0,1] 0.9959809831887467 Centerline is valid? [True, True] Translation: X:60.05, Y:-15.14, Z:-2.76 [[ 9.49576130e-01 3.06977085e-01 6.37984576e-02 6.00538024e+01] [-3.06053245e-01 9.51711231e-01 -2.40238333e-02 -1.51351755e+01] [-6.80924750e-02 3.28673366e-03 9.97673600e-01 -2.76496974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.098639999999996 meters Centerline goodness [0,1] 0.9967155252708466 Centerline is valid? [True, True] Translation: X:60.08, Y:-15.16, Z:-2.76 [[ 9.47361516e-01 3.13919770e-01 6.29327946e-02 6.00766795e+01] [-3.13036263e-01 9.49445537e-01 -2.36953675e-02 -1.51593467e+01] [-6.71897052e-02 2.74783244e-03 9.97736435e-01 -2.76486466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12864 meters Centerline goodness [0,1] 0.997480983898054 Centerline is valid? [True, True] Translation: X:60.10, Y:-15.18, Z:-2.77 [[ 9.46172807e-01 3.17418194e-01 6.32669722e-02 6.01017672e+01] [-3.16533717e-01 9.48282354e-01 -2.38114222e-02 -1.51755115e+01] [-6.75531319e-02 2.50359032e-03 9.97712537e-01 -2.76647133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15864 meters Centerline goodness [0,1] 0.997480983898054 Centerline is valid? [True, True] Translation: X:60.13, Y:-15.19, Z:-2.77 [[ 9.46318096e-01 3.16982869e-01 6.32765559e-02 6.01272447e+01] [-3.16099123e-01 9.48427949e-01 -2.37859328e-02 -1.51854533e+01] [-6.75529873e-02 2.50739480e-03 9.97712537e-01 -2.76764938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18864 meters Centerline goodness [0,1] 0.9978911230995586 Centerline is valid? [True, True] Translation: X:60.15, Y:-15.20, Z:-2.77 [[ 9.44747107e-01 3.21505996e-01 6.39280643e-02 6.01517717e+01] [-3.20615912e-01 9.46905025e-01 -2.40064784e-02 -1.52019711e+01] [-6.82520321e-02 2.18369640e-03 9.97665721e-01 -2.76960846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21864 meters Centerline goodness [0,1] 0.9983813214303232 Centerline is valid? [True, True] Translation: X:60.17, Y:-15.22, Z:-2.77 [[ 9.42463368e-01 3.28172749e-01 6.37608576e-02 6.01748449e+01] [-3.27302921e-01 9.44616211e-01 -2.39376568e-02 -1.52240496e+01] [-6.80852264e-02 1.69124969e-03 9.97678075e-01 -2.77090638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.248639999999995 meters Centerline goodness [0,1] 0.9983804475853946 Centerline is valid? [True, True] Translation: X:60.20, Y:-15.24, Z:-2.77 [[ 9.41548429e-01 3.31046447e-01 6.24083835e-02 6.02005581e+01] [-3.30220208e-01 9.43613360e-01 -2.34188410e-02 -1.52388361e+01] [-6.66421085e-02 1.44146356e-03 9.97775902e-01 -2.77074211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.278639999999996 meters Centerline goodness [0,1] 0.9988716086935191 Centerline is valid? [True, True] Translation: X:60.23, Y:-15.26, Z:-2.77 [[ 9.39718183e-01 3.36120089e-01 6.28730670e-02 6.02250615e+01] [-3.35294675e-01 9.41818535e-01 -2.35653809e-02 -1.52562908e+01] [-6.71358178e-02 1.06381229e-03 9.97743279e-01 -2.77192316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30864 meters Centerline goodness [0,1] 0.9981328616352201 Centerline is valid? [True, True] Translation: X:60.25, Y:-15.27, Z:-2.77 [[ 9.38880694e-01 3.38317181e-01 6.35965977e-02 6.02505347e+01] [-3.37479660e-01 9.41031718e-01 -2.38072449e-02 -1.52704365e+01] [-6.79008156e-02 8.89604438e-04 9.97691680e-01 -2.77323668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33864 meters Centerline goodness [0,1] 0.9989218328840971 Centerline is valid? [True, True] Translation: X:60.28, Y:-15.28, Z:-2.77 [[ 9.38180459e-01 3.40178247e-01 6.40014512e-02 6.02752569e+01] [-3.39336565e-01 9.40360691e-01 -2.39262858e-02 -1.52833471e+01] [-6.83236508e-02 7.29141201e-04 9.97662943e-01 -2.77456788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36864 meters Centerline goodness [0,1] 0.9989177489177489 Centerline is valid? [True, True] Translation: X:60.30, Y:-15.30, Z:-2.78 [[ 9.37669312e-01 3.41639214e-01 6.37095698e-02 6.03008124e+01] [-3.40810795e-01 9.39830996e-01 -2.37844903e-02 -1.52958912e+01] [-6.80019430e-02 5.89077474e-04 9.97685015e-01 -2.77511381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39864 meters Centerline goodness [0,1] 0.9980887037490811 Centerline is valid? [True, True] Translation: X:60.33, Y:-15.31, Z:-2.78 [[ 9.36203056e-01 3.45399518e-01 6.49846943e-02 6.03250746e+01] [-3.44548855e-01 9.38455693e-01 -2.42280568e-02 -1.53095855e+01] [-6.93536155e-02 2.91978791e-04 9.97592096e-01 -2.77729352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.428639999999994 meters Centerline goodness [0,1] 0.9977921695613777 Centerline is valid? [True, True] Translation: X:60.35, Y:-15.32, Z:-2.78 [[ 9.35562677e-01 3.47302550e-01 6.40579136e-02 6.03513747e+01] [-3.46482796e-01 9.37753126e-01 -2.38484071e-02 -1.53217517e+01] [-6.83531213e-02 1.16714533e-04 9.97661184e-01 -2.77758665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.458639999999995 meters Centerline goodness [0,1] 0.9977391133392313 Centerline is valid? [True, True] Translation: X:60.38, Y:-15.33, Z:-2.78 [[ 9.34771119e-01 3.49619847e-01 6.29993470e-02 6.03779823e+01] [-3.48834313e-01 9.36891646e-01 -2.34236198e-02 -1.53333803e+01] [-6.72129243e-02 -8.06106097e-05 9.97738651e-01 -2.77882348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48864 meters Centerline goodness [0,1] 0.9966638865721434 Centerline is valid? [True, True] Translation: X:60.40, Y:-15.34, Z:-2.78 [[ 9.33040961e-01 3.54352927e-01 6.21978146e-02 6.04041017e+01] [-3.53599892e-01 9.35111653e-01 -2.30935569e-02 -1.53440054e+01] [-6.63451707e-02 -4.45905979e-04 9.97796632e-01 -2.77867802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51864 meters Centerline goodness [0,1] 0.9964152425849538 Centerline is valid? [True, True] Translation: X:60.43, Y:-15.35, Z:-2.78 [[ 9.32610069e-01 3.55585737e-01 6.16217695e-02 6.04302890e+01] [-3.54851571e-01 9.34643498e-01 -2.28449873e-02 -1.53542286e+01] [-6.57177379e-02 -5.61116489e-04 9.97838095e-01 -2.77992159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54864 meters Centerline goodness [0,1] 0.9961234604249473 Centerline is valid? [True, True] Translation: X:60.46, Y:-15.36, Z:-2.78 [[ 9.31456186e-01 3.58585529e-01 6.16910964e-02 6.04575688e+01] [-3.57858481e-01 9.33496530e-01 -2.28371775e-02 -1.53639374e+01] [-6.57775057e-02 -8.04851790e-04 9.97833990e-01 -2.78104170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57864 meters Centerline goodness [0,1] 0.9958728442981378 Centerline is valid? [True, True] Translation: X:60.48, Y:-15.37, Z:-2.78 [[ 9.31049302e-01 3.59676960e-01 6.14791208e-02 6.04846639e+01] [-3.58959284e-01 9.33076450e-01 -2.27282017e-02 -1.53735636e+01] [-6.55395302e-02 -9.07424860e-04 9.97849561e-01 -2.78118732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.608639999999994 meters Centerline goodness [0,1] 0.9961274509803921 Centerline is valid? [True, True] Translation: X:60.51, Y:-15.38, Z:-2.78 [[ 9.31112525e-01 3.59578902e-01 6.10940232e-02 6.05108179e+01] [-3.58872064e-01 9.33114226e-01 -2.25539973e-02 -1.53818477e+01] [-6.51176438e-02 -9.24628889e-04 9.97877166e-01 -2.78234333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.638639999999995 meters Centerline goodness [0,1] 0.9961164093992725 Centerline is valid? [True, True] Translation: X:60.54, Y:-15.39, Z:-2.78 [[ 9.30922915e-01 3.59914096e-01 6.20029821e-02 6.05384566e+01] [-3.59189054e-01 9.32984917e-01 -2.28553850e-02 -1.53902574e+01] [-6.60738224e-02 -9.94190875e-04 9.97814242e-01 -2.78397520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.668639999999996 meters Centerline goodness [0,1] 0.9954808920326161 Centerline is valid? [True, True] Translation: X:60.57, Y:-15.40, Z:-2.79 [[ 9.30995965e-01 3.59879021e-01 6.11032265e-02 6.05661727e+01] [-3.59176877e-01 9.32998433e-01 -2.24921031e-02 -1.53959399e+01] [-6.51036506e-02 -1.00680881e-03 9.97877999e-01 -2.78506480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69864 meters Centerline goodness [0,1] 0.9961751581424999 Centerline is valid? [True, True] Translation: X:60.59, Y:-15.40, Z:-2.79 [[ 9.30841938e-01 3.60096581e-01 6.21589859e-02 6.05936024e+01] [-3.59372691e-01 9.32914414e-01 -2.28465551e-02 -1.54036464e+01] [-6.62159803e-02 -1.07171043e-03 9.97804738e-01 -2.78677549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72864 meters Centerline goodness [0,1] 0.9958177524109427 Centerline is valid? [True, True] Translation: X:60.62, Y:-15.41, Z:-2.79 [[ 9.30644280e-01 3.60350956e-01 6.36271398e-02 6.06211553e+01] [-3.59595206e-01 9.32816100e-01 -2.33540545e-02 -1.54110093e+01] [-6.77680762e-02 -1.14569716e-03 9.97700444e-01 -2.78839386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75864 meters Centerline goodness [0,1] 0.9959823615874571 Centerline is valid? [True, True] Translation: X:60.65, Y:-15.42, Z:-2.79 [[ 9.30355355e-01 3.60975542e-01 6.43084082e-02 6.06503012e+01] [-3.60207194e-01 9.32574467e-01 -2.35720482e-02 -1.54159005e+01] [-6.84813123e-02 -1.23397005e-03 9.97651636e-01 -2.78998900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78864 meters Centerline goodness [0,1] 0.9955418381344308 Centerline is valid? [True, True] Translation: X:60.68, Y:-15.42, Z:-2.79 [[ 9.30634905e-01 3.60053589e-01 6.54223720e-02 6.06778301e+01] [-3.59258374e-01 9.32930829e-01 -2.39476338e-02 -1.54227827e+01] [-6.96569793e-02 -1.21703108e-03 9.97570260e-01 -2.79143422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.818639999999995 meters Centerline goodness [0,1] 0.9959827552420145 Centerline is valid? [True, True] Translation: X:60.71, Y:-15.43, Z:-2.79 [[ 9.31961448e-01 3.56254504e-01 6.73096462e-02 6.07062107e+01] [-3.55405364e-01 9.34388432e-01 -2.46025634e-02 -1.54264048e+01] [-7.16581288e-02 -9.93568755e-04 9.97428757e-01 -2.79388647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.848639999999996 meters Centerline goodness [0,1] 0.9965243783042882 Centerline is valid? [True, True] Translation: X:60.73, Y:-15.43, Z:-2.80 [[ 9.33122873e-01 3.53118690e-01 6.77413857e-02 6.07335480e+01] [-3.52253000e-01 9.35578198e-01 -2.47236770e-02 -1.54337469e+01] [-7.21077560e-02 -7.91877853e-04 9.97396533e-01 -2.79600212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87864 meters Centerline goodness [0,1] 0.9963673850080997 Centerline is valid? [True, True] Translation: X:60.76, Y:-15.44, Z:-2.80 [[ 9.34286372e-01 3.50127510e-01 6.72287253e-02 6.07609050e+01] [-3.49269512e-01 9.36701864e-01 -2.45036024e-02 -1.54414003e+01] [-7.15526576e-02 -5.87562271e-04 9.97436651e-01 -2.79624534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90864 meters Centerline goodness [0,1] 0.9967648644674281 Centerline is valid? [True, True] Translation: X:60.79, Y:-15.45, Z:-2.80 [[ 9.35743251e-01 3.46056821e-01 6.80385508e-02 6.07887964e+01] [-3.45169823e-01 9.38213504e-01 -2.47631632e-02 -1.54471175e+01] [-7.24041486e-02 -3.12891717e-04 9.97375326e-01 -2.79848317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93864 meters Centerline goodness [0,1] 0.9967193850070999 Centerline is valid? [True, True] Translation: X:60.82, Y:-15.46, Z:-2.80 [[ 9.36268707e-01 3.44765797e-01 6.73606245e-02 6.08166345e+01] [-3.43895631e-01 9.38688705e-01 -2.44807992e-02 -1.54556806e+01] [-7.16707996e-02 -2.44418267e-04 9.97428312e-01 -2.79885591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96864 meters Centerline goodness [0,1] 0.9969613801215448 Centerline is valid? [True, True] Translation: X:60.84, Y:-15.46, Z:-2.80 [[ 9.36543162e-01 3.43930890e-01 6.78118606e-02 6.08429363e+01] [-3.43049365e-01 9.38994940e-01 -2.46096916e-02 -1.54639904e+01] [-7.21390271e-02 -2.14777271e-04 9.97394563e-01 -2.79985651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.998639999999995 meters Centerline goodness [0,1] 0.9972102584181676 Centerline is valid? [True, True] Translation: X:60.87, Y:-15.47, Z:-2.80 [[ 9.36064179e-01 3.45099861e-01 6.84831337e-02 6.08714698e+01] [-3.44206561e-01 9.38565911e-01 -2.48168212e-02 -1.54701329e+01] [-7.28402163e-02 -3.42206618e-04 9.97343565e-01 -2.80181019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.028639999999996 meters Centerline goodness [0,1] 0.9968684249155942 Centerline is valid? [True, True] Translation: X:60.90, Y:-15.48, Z:-2.80 [[ 9.36094574e-01 3.45333387e-01 6.68715138e-02 6.08993456e+01] [-3.44484581e-01 9.38479997e-01 -2.42005751e-02 -1.54784715e+01] [-7.11148447e-02 -3.82178339e-04 9.97468061e-01 -2.80212098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05864 meters Centerline goodness [0,1] 0.9968615143193409 Centerline is valid? [True, True] Translation: X:60.93, Y:-15.49, Z:-2.81 [[ 9.36179238e-01 3.44749825e-01 6.86730887e-02 6.09265435e+01] [-3.43855523e-01 9.38694527e-01 -2.48186446e-02 -1.54878539e+01] [-7.30192759e-02 -3.78920978e-04 9.97330458e-01 -2.80542017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08864 meters Centerline goodness [0,1] 0.996769456681351 Centerline is valid? [True, True] Translation: X:60.95, Y:-15.50, Z:-2.81 [[ 9.36797588e-01 3.43151331e-01 6.82454675e-02 6.09531529e+01] [-3.42266308e-01 9.39280088e-01 -2.46310971e-02 -1.54974561e+01] [-7.25538025e-02 -2.83771823e-04 9.97364460e-01 -2.80666398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11864 meters Centerline goodness [0,1] 0.9965143109627375 Centerline is valid? [True, True] Translation: X:60.98, Y:-15.51, Z:-2.81 [[ 9.37065828e-01 3.42530319e-01 6.76802366e-02 6.09799190e+01] [-3.41660655e-01 9.39506738e-01 -2.43943793e-02 -1.55069723e+01] [-7.19418529e-02 -2.64534709e-04 9.97408793e-01 -2.80806355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14864 meters Centerline goodness [0,1] 0.9965691319903935 Centerline is valid? [True, True] Translation: X:61.01, Y:-15.52, Z:-2.81 [[ 9.38048869e-01 3.40327053e-01 6.51292302e-02 6.10070857e+01] [-3.39518633e-01 9.40307121e-01 -2.34438852e-02 -1.55153033e+01] [-6.92200674e-02 -1.21077188e-04 9.97601407e-01 -2.80836911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.178639999999994 meters Centerline goodness [0,1] 0.9966186415760071 Centerline is valid? [True, True] Translation: X:61.03, Y:-15.52, Z:-2.81 [[ 9.38568108e-01 3.38925376e-01 6.49576564e-02 6.10333674e+01] [-3.38120181e-01 9.40813259e-01 -2.33485647e-02 -1.55243490e+01] [-6.90264455e-02 -4.92763627e-05 9.97614829e-01 -2.80974604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.208639999999995 meters Centerline goodness [0,1] 0.9965718203633871 Centerline is valid? [True, True] Translation: X:61.06, Y:-15.53, Z:-2.81 [[ 9.38799902e-01 3.38476979e-01 6.39380845e-02 6.10601236e+01] [-3.37698144e-01 9.40974672e-01 -2.29484466e-02 -1.55338029e+01] [-6.79316389e-02 -4.77730327e-05 9.97689977e-01 -2.81076660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23864 meters Centerline goodness [0,1] 0.9965250587314017 Centerline is valid? [True, True] Translation: X:61.09, Y:-15.54, Z:-2.81 [[ 9.38503942e-01 3.38943981e-01 6.57824359e-02 6.10874707e+01] [-3.38122930e-01 9.40806550e-01 -2.35779462e-02 -1.55416614e+01] [-6.98801495e-02 -1.14554523e-04 9.97555388e-01 -2.81238905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26864 meters Centerline goodness [0,1] 0.9966678100651737 Centerline is valid? [True, True] Translation: X:61.11, Y:-15.55, Z:-2.81 [[ 9.38707457e-01 3.38725265e-01 6.39805025e-02 6.11145442e+01] [-3.37950197e-01 9.40885317e-01 -2.29016339e-02 -1.55505206e+01] [-6.79556774e-02 -1.24288896e-04 9.97688333e-01 -2.81269951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29864 meters Centerline goodness [0,1] 0.9966214562013416 Centerline is valid? [True, True] Translation: X:61.14, Y:-15.56, Z:-2.82 [[ 9.38555061e-01 3.39115878e-01 6.41468455e-02 6.11416086e+01] [-3.38339927e-01 9.40744592e-01 -2.29282957e-02 -1.55585774e+01] [-6.81211471e-02 -1.83971055e-04 9.97677040e-01 -2.81515542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32864 meters Centerline goodness [0,1] 0.9963355645673523 Centerline is valid? [True, True] Translation: X:61.17, Y:-15.57, Z:-2.82 [[ 9.38280331e-01 3.39685929e-01 6.51420800e-02 6.11687179e+01] [-3.38889468e-01 9.40538889e-01 -2.32492424e-02 -1.55668672e+01] [-6.91661000e-02 -2.61658005e-04 9.97605123e-01 -2.81760018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.358639999999994 meters Centerline goodness [0,1] 0.9969646528933712 Centerline is valid? [True, True] Translation: X:61.20, Y:-15.57, Z:-2.82 [[ 9.38185781e-01 3.39858776e-01 6.56007028e-02 6.11961553e+01] [-3.39053699e-01 9.40476432e-01 -2.33809950e-02 -1.55745250e+01] [-6.96421512e-02 -3.06443797e-04 9.97571991e-01 -2.81912292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.388639999999995 meters Centerline goodness [0,1] 0.996766291033807 Centerline is valid? [True, True] Translation: X:61.22, Y:-15.58, Z:-2.82 [[ 9.38517386e-01 3.38923069e-01 6.56983238e-02 6.12231353e+01] [-3.38115654e-01 9.40814052e-01 -2.33821223e-02 -1.55812982e+01] [-6.97346469e-02 -2.69103384e-04 9.97565540e-01 -2.81947493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.418639999999996 meters Centerline goodness [0,1] 0.9975023262647534 Centerline is valid? [True, True] Translation: X:61.25, Y:-15.59, Z:-2.82 [[ 9.39895713e-01 3.35121068e-01 6.54974648e-02 6.12511092e+01] [-3.34311899e-01 9.42175074e-01 -2.32741182e-02 -1.55860210e+01] [-6.95097260e-02 -2.13379584e-05 9.97581274e-01 -2.82052851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44864 meters Centerline goodness [0,1] 0.9980431485739445 Centerline is valid? [True, True] Translation: X:61.28, Y:-15.59, Z:-2.82 [[ 9.40705400e-01 3.32790944e-01 6.57536169e-02 6.12782769e+01] [-3.31972313e-01 9.43000622e-01 -2.33282994e-02 -1.55938470e+01] [-6.97691485e-02 1.16676888e-04 9.97563157e-01 -2.82149409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47864 meters Centerline goodness [0,1] 0.9988254869335421 Centerline is valid? [True, True] Translation: X:61.31, Y:-15.60, Z:-2.82 [[ 9.42260641e-01 3.27786400e-01 6.85635511e-02 6.13058142e+01] [-3.26885184e-01 9.44751738e-01 -2.42946615e-02 -1.56003064e+01] [-7.27389936e-02 4.79494317e-04 9.97350896e-01 -2.82440195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50864 meters Centerline goodness [0,1] 0.9993140953407477 Centerline is valid? [True, True] Translation: X:61.33, Y:-15.61, Z:-2.83 [[ 9.43312709e-01 3.24941887e-01 6.76306317e-02 6.13322999e+01] [-3.24059560e-01 9.45733751e-01 -2.39389703e-02 -1.56090157e+01] [-7.17393452e-02 6.65582161e-04 9.97423192e-01 -2.82541099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53864 meters Centerline goodness [0,1] 0.9994614179396788 Centerline is valid? [True, True] Translation: X:61.36, Y:-15.62, Z:-2.83 [[ 9.44406317e-01 3.21976091e-01 6.65440131e-02 6.13588443e+01] [-3.21117098e-01 9.46747425e-01 -2.35185594e-02 -1.56179933e+01] [-7.05727868e-02 8.42655710e-04 9.97506277e-01 -2.82563930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.568639999999995 meters Centerline goodness [0,1] 0.9998040464409935 Centerline is valid? [True, True] Translation: X:61.39, Y:-15.63, Z:-2.83 [[ 9.46511010e-01 3.15864428e-01 6.59285330e-02 6.13859351e+01] [-3.15008780e-01 9.48803503e-01 -2.32675775e-02 -1.56270504e+01] [-6.99026231e-02 1.25495150e-03 9.97553030e-01 -2.82733876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.598639999999996 meters Centerline goodness [0,1] 0.9997061848097547 Centerline is valid? [True, True] Translation: X:61.41, Y:-15.64, Z:-2.83 [[ 9.47574757e-01 3.13032548e-01 6.41303605e-02 6.14115602e+01] [-3.12218615e-01 9.49741375e-01 -2.26021468e-02 -1.56369804e+01] [-6.79824644e-02 1.39453141e-03 9.97685542e-01 -2.82814280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62864 meters Centerline goodness [0,1] 0.9994127147261782 Centerline is valid? [True, True] Translation: X:61.44, Y:-15.65, Z:-2.83 [[ 9.48508212e-01 3.10170601e-01 6.42368248e-02 6.14381282e+01] [-3.09349604e-01 9.50679614e-01 -2.26073944e-02 -1.56489187e+01] [-6.80807889e-02 1.57166289e-03 9.97678574e-01 -2.82937828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65864 meters Centerline goodness [0,1] 0.9993137927654152 Centerline is valid? [True, True] Translation: X:61.46, Y:-15.67, Z:-2.83 [[ 9.49663657e-01 3.07258948e-01 6.10809063e-02 6.14623142e+01] [-3.06512521e-01 9.51624486e-01 -2.14688418e-02 -1.56652769e+01] [-6.47225798e-02 1.66611619e-03 9.97901905e-01 -2.82882215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68864 meters Centerline goodness [0,1] 0.9996074775526226 Centerline is valid? [True, True] Translation: X:61.49, Y:-15.68, Z:-2.83 [[ 9.49853104e-01 3.06714141e-01 6.08729540e-02 6.14876175e+01] [-3.05973672e-01 9.51800217e-01 -2.13648974e-02 -1.56764456e+01] [-6.44918070e-02 1.66799283e-03 9.97916843e-01 -2.83026935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71864 meters Centerline goodness [0,1] 0.9994108405341713 Centerline is valid? [True, True] Translation: X:61.51, Y:-15.69, Z:-2.83 [[ 9.49636782e-01 3.07371637e-01 6.09315964e-02 6.15141457e+01] [-3.06633099e-01 9.51588215e-01 -2.13544101e-02 -1.56886062e+01] [-6.45455291e-02 1.59528905e-03 9.97913488e-01 -2.83056635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.748639999999995 meters Centerline goodness [0,1] 0.9995590180802587 Centerline is valid? [True, True] Translation: X:61.54, Y:-15.70, Z:-2.83 [[ 9.48427693e-01 3.11263772e-01 5.99981247e-02 6.15390349e+01] [-3.10557222e-01 9.50322690e-01 -2.09999170e-02 -1.57049012e+01] [-6.35540927e-02 1.28405187e-03 9.97977569e-01 -2.83227981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.778639999999996 meters Centerline goodness [0,1] 0.9997058535150505 Centerline is valid? [True, True] Translation: X:61.56, Y:-15.72, Z:-2.83 [[ 9.47956514e-01 3.12594111e-01 6.05257731e-02 6.15646823e+01] [-3.11879588e-01 9.49886063e-01 -2.11563138e-02 -1.57186312e+01] [-6.41059274e-02 1.17851231e-03 9.97942404e-01 -2.83435355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80864 meters Centerline goodness [0,1] 0.9999019078915101 Centerline is valid? [True, True] Translation: X:61.59, Y:-15.74, Z:-2.84 [[ 9.46698832e-01 3.16457967e-01 6.01304931e-02 6.15894388e+01] [-3.15762271e-01 9.48606121e-01 -2.09908648e-02 -1.57359974e+01] [-6.36828802e-02 8.85086123e-04 9.97969793e-01 -2.83584582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83864 meters Centerline goodness [0,1] 0.999901941557168 Centerline is valid? [True, True] Translation: X:61.61, Y:-15.75, Z:-2.84 [[ 9.46408606e-01 3.17247638e-01 6.05366588e-02 6.16144126e+01] [-3.16545893e-01 9.48342385e-01 -2.11049642e-02 -1.57475888e+01] [-6.41049794e-02 8.11289017e-04 9.97942831e-01 -2.83664610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.64, Y:-15.76, Z:-2.84 [[ 9.46098833e-01 3.18395790e-01 5.93390277e-02 6.16410176e+01] [-3.17725646e-01 9.47957617e-01 -2.06584329e-02 -1.57588915e+01] [-6.28284413e-02 6.91388308e-04 9.98024102e-01 -2.83685518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89864 meters Centerline goodness [0,1] 0.9998526377836723 Centerline is valid? [True, True] Translation: X:61.67, Y:-15.77, Z:-2.84 [[ 9.45750689e-01 3.19089762e-01 6.11339346e-02 6.16663442e+01] [-3.18381792e-01 9.47724284e-01 -2.12536061e-02 -1.57718847e+01] [-6.47199225e-02 6.36680941e-04 9.97903265e-01 -2.83873378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.928639999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.69, Y:-15.78, Z:-2.84 [[ 9.45840877e-01 3.19023692e-01 6.00742801e-02 6.16931464e+01] [-3.18341748e-01 9.47746548e-01 -2.08569259e-02 -1.57835257e+01] [-6.35890451e-02 6.03181735e-04 9.97975986e-01 -2.83883141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.958639999999995 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:61.72, Y:-15.79, Z:-2.84 [[ 9.45623670e-01 3.19421057e-01 6.13682602e-02 6.17194002e+01] [-3.18712163e-01 9.47612724e-01 -2.12763576e-02 -1.57944553e+01] [-6.49494609e-02 5.60616426e-04 9.97888397e-01 -2.84024081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98864 meters Centerline goodness [0,1] 0.999803902343367 Centerline is valid? [True, True] Translation: X:61.75, Y:-15.81, Z:-2.84 [[ 9.44849520e-01 3.21686859e-01 6.14568967e-02 6.17459075e+01] [-3.20982616e-01 9.46846039e-01 -2.12776432e-02 -1.58055060e+01] [-6.50349574e-02 3.77575502e-04 9.97882915e-01 -2.84087541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.77, Y:-15.82, Z:-2.84 [[ 9.44224794e-01 3.23784894e-01 6.00240101e-02 6.17724729e+01] [-3.23119176e-01 9.46130700e-01 -2.07532060e-02 -1.58159867e+01] [-6.35101333e-02 2.00782927e-04 9.97981173e-01 -2.84108294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.80, Y:-15.83, Z:-2.84 [[ 9.44383205e-01 3.23320836e-01 6.00333209e-02 6.17981845e+01] [-3.22655896e-01 9.46289383e-01 -2.07262438e-02 -1.58252394e+01] [-6.35101206e-02 2.03411621e-04 9.97981174e-01 -2.84226049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:61.82, Y:-15.84, Z:-2.84 [[ 9.43068477e-01 3.27188788e-01 5.97439883e-02 6.18239835e+01] [-3.26540021e-01 9.44958988e-01 -2.05942980e-02 -1.58361480e+01] [-6.31938421e-02 -8.69699989e-05 9.98001268e-01 -2.84404092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.108639999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.85, Y:-15.85, Z:-2.85 [[ 9.42491625e-01 3.28685867e-01 6.06229129e-02 6.18510250e+01] [-3.28022936e-01 9.44439280e-01 -2.08662565e-02 -1.58453608e+01] [-6.41131038e-02 -2.19433845e-04 9.97942614e-01 -2.84571270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.138639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.88, Y:-15.85, Z:-2.85 [[ 9.41937803e-01 3.30413442e-01 5.98342131e-02 6.18772241e+01] [-3.29773059e-01 9.43836229e-01 -2.05646011e-02 -1.58536949e+01] [-6.32685187e-02 -3.61136304e-04 9.97996475e-01 -2.84591702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.168639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.90, Y:-15.86, Z:-2.85 [[ 9.41417528e-01 3.31805116e-01 6.03191846e-02 6.19049989e+01] [-3.31159210e-01 9.43347829e-01 -2.06990652e-02 -1.58625570e+01] [-6.37700275e-02 -4.88790758e-04 9.97964501e-01 -2.84702139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.93, Y:-15.87, Z:-2.85 [[ 9.40932463e-01 3.33084915e-01 6.08320531e-02 6.19324106e+01] [-3.32432554e-01 9.42896638e-01 -2.08453342e-02 -1.58704497e+01] [-6.43016047e-02 -6.08503078e-04 9.97930325e-01 -2.84837647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.96, Y:-15.88, Z:-2.85 [[ 9.40792928e-01 3.33382989e-01 6.13551009e-02 6.19602318e+01] [-3.32721937e-01 9.42791251e-01 -2.09945034e-02 -1.58784112e+01] [-6.48442626e-02 -6.62707705e-04 9.97895176e-01 -2.84914131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25864 meters Centerline goodness [0,1] 0.999902095163501 Centerline is valid? [True, True] Translation: X:61.99, Y:-15.88, Z:-2.85 [[ 9.40818841e-01 3.33352445e-01 6.11232761e-02 6.19883810e+01] [-3.32698329e-01 9.42802034e-01 -2.08841358e-02 -1.58826006e+01] [-6.45889268e-02 -6.87423355e-04 9.97911719e-01 -2.84975397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.02, Y:-15.89, Z:-2.85 [[ 9.41215087e-01 3.31771215e-01 6.35768912e-02 6.20158157e+01] [-3.31061852e-01 9.43359668e-01 -2.16930108e-02 -1.58894927e+01] [-6.71729915e-02 -6.30094273e-04 9.97741145e-01 -2.85271768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.318639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.04, Y:-15.90, Z:-2.85 [[ 9.42204328e-01 3.29249888e-01 6.20122157e-02 6.20441339e+01] [-3.28570885e-01 9.44242713e-01 -2.11393489e-02 -1.58971242e+01] [-6.55147111e-02 -4.57822574e-04 9.97851498e-01 -2.85248654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.348639999999996 meters Centerline goodness [0,1] 0.9998527896363903 Centerline is valid? [True, True] Translation: X:62.07, Y:-15.90, Z:-2.86 [[ 9.44779925e-01 3.21728861e-01 6.23011528e-02 6.20715895e+01] [-3.21029027e-01 9.46831843e-01 -2.12090951e-02 -1.59044653e+01] [-6.58122933e-02 3.74488118e-05 9.97832020e-01 -2.85519979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37864 meters Centerline goodness [0,1] 0.9999020711942418 Centerline is valid? [True, True] Translation: X:62.10, Y:-15.91, Z:-2.86 [[ 9.46052069e-01 3.17809832e-01 6.31062077e-02 6.20992185e+01] [-3.17085107e-01 9.48154433e-01 -2.14524002e-02 -1.59134512e+01] [-6.66522143e-02 2.85048941e-04 9.97776228e-01 -2.85597906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40864 meters Centerline goodness [0,1] 0.9994614443084455 Centerline is valid? [True, True] Translation: X:62.13, Y:-15.92, Z:-2.86 [[ 9.49111071e-01 3.08636869e-01 6.27013407e-02 6.21267534e+01] [-3.07903350e-01 9.51179521e-01 -2.12848842e-02 -1.59226837e+01] [-6.62095313e-02 8.95766383e-04 9.97805340e-01 -2.85675440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43864 meters Centerline goodness [0,1] 0.9994121969140338 Centerline is valid? [True, True] Translation: X:62.15, Y:-15.93, Z:-2.86 [[ 9.50291467e-01 3.04757517e-01 6.37885845e-02 6.21530420e+01] [-3.03991636e-01 9.52429271e-01 -2.16233295e-02 -1.59330939e+01] [-6.73439873e-02 1.15726933e-03 9.97729146e-01 -2.85929702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46864 meters Centerline goodness [0,1] 0.9996569468267581 Centerline is valid? [True, True] Translation: X:62.18, Y:-15.94, Z:-2.86 [[ 9.51531159e-01 3.01252347e-01 6.19312310e-02 6.21797619e+01] [-3.00524906e-01 9.53543515e-01 -2.09653391e-02 -1.59442299e+01] [-6.53699813e-02 1.33729599e-03 9.97860199e-01 -2.86024792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.498639999999995 meters Centerline goodness [0,1] 0.9992154170548718 Centerline is valid? [True, True] Translation: X:62.21, Y:-15.96, Z:-2.86 [[ 9.52734452e-01 2.96997384e-01 6.39501274e-02 6.22066303e+01] [-2.96213508e-01 9.54876845e-01 -2.16279573e-02 -1.59570732e+01] [-6.74879427e-02 1.66280850e-03 9.97718704e-01 -2.86111609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.528639999999996 meters Centerline goodness [0,1] 0.9989208280192289 Centerline is valid? [True, True] Translation: X:62.23, Y:-15.97, Z:-2.86 [[ 9.52790216e-01 2.96615402e-01 6.48853436e-02 6.22321474e+01] [-2.95808465e-01 9.54995502e-01 -2.19304418e-02 -1.59703278e+01] [-6.84701180e-02 1.70147649e-03 9.97651717e-01 -2.86152288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55864 meters Centerline goodness [0,1] 0.999362588869821 Centerline is valid? [True, True] Translation: X:62.26, Y:-15.98, Z:-2.86 [[ 9.52607335e-01 2.96947525e-01 6.60411401e-02 6.22572875e+01] [-2.96114476e-01 9.54892324e-01 -2.22905074e-02 -1.59842530e+01] [-6.96812887e-02 1.67836329e-03 9.97567893e-01 -2.86354400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58864 meters Centerline goodness [0,1] 0.9996076315660405 Centerline is valid? [True, True] Translation: X:62.28, Y:-16.00, Z:-2.87 [[ 9.51829590e-01 2.99180372e-01 6.71679730e-02 6.22820284e+01] [-2.98326376e-01 9.54195379e-01 -2.26395993e-02 -1.60015986e+01] [-7.08646932e-02 1.51106252e-03 9.97484793e-01 -2.86671582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61864 meters Centerline goodness [0,1] 0.9996563236449332 Centerline is valid? [True, True] Translation: X:62.31, Y:-16.01, Z:-2.87 [[ 9.51503553e-01 3.00214479e-01 6.71733275e-02 6.23084865e+01] [-2.99365125e-01 9.53870691e-01 -2.26103499e-02 -1.60138254e+01] [-7.08626227e-02 1.40447667e-03 9.97485096e-01 -2.86808161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64864 meters Centerline goodness [0,1] 0.9997058823529412 Centerline is valid? [True, True] Translation: X:62.33, Y:-16.03, Z:-2.87 [[ 9.50754716e-01 3.02536080e-01 6.73601532e-02 6.23343774e+01] [-3.01690024e-01 9.53137171e-01 -2.26420380e-02 -1.60280316e+01] [-7.10534993e-02 1.20513823e-03 9.97471778e-01 -2.86943953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.678639999999994 meters Centerline goodness [0,1] 0.9998037291462217 Centerline is valid? [True, True] Translation: X:62.36, Y:-16.04, Z:-2.87 [[ 9.50687272e-01 3.03164159e-01 6.54614710e-02 6.23610505e+01] [-3.02368676e-01 9.52937714e-01 -2.19748967e-02 -1.60401614e+01] [-6.90427056e-02 1.09775627e-03 9.97613101e-01 -2.86954781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.708639999999995 meters Centerline goodness [0,1] 0.9994600431965442 Centerline is valid? [True, True] Translation: X:62.39, Y:-16.05, Z:-2.87 [[ 9.50544530e-01 3.03516603e-01 6.58996827e-02 6.23870407e+01] [-3.02713429e-01 9.52825572e-01 -2.20909529e-02 -1.60516163e+01] [-6.94958738e-02 1.04971551e-03 9.97581687e-01 -2.87117419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73864 meters Centerline goodness [0,1] 0.9995573044761437 Centerline is valid? [True, True] Translation: X:62.41, Y:-16.06, Z:-2.87 [[ 9.49983158e-01 3.04841534e-01 6.78501163e-02 6.24130304e+01] [-3.03995928e-01 9.52402615e-01 -2.27097876e-02 -1.60649848e+01] [-7.15435147e-02 9.47756677e-04 9.97437029e-01 -2.87272423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76864 meters Centerline goodness [0,1] 0.9997544686702023 Centerline is valid? [True, True] Translation: X:62.44, Y:-16.08, Z:-2.88 [[ 9.49900875e-01 3.04941693e-01 6.85484643e-02 6.24393234e+01] [-3.04081169e-01 9.52370579e-01 -2.29112140e-02 -1.60757737e+01] [-7.22701250e-02 9.19085082e-04 9.97384672e-01 -2.87519232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:62.47, Y:-16.09, Z:-2.88 [[ 9.49287948e-01 3.06646669e-01 6.94277516e-02 6.24665288e+01] [-3.05770009e-01 9.51823100e-01 -2.31837893e-02 -1.60865762e+01] [-7.31921695e-02 7.79167567e-04 9.97317552e-01 -2.87600985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82864 meters Centerline goodness [0,1] 0.9998522895125553 Centerline is valid? [True, True] Translation: X:62.49, Y:-16.10, Z:-2.88 [[ 9.48359448e-01 3.09300956e-01 7.03368763e-02 6.24946295e+01] [-3.08408642e-01 9.50964028e-01 -2.34846039e-02 -1.60993168e+01] [-7.41516497e-02 5.79345490e-04 9.97246809e-01 -2.87744491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.858639999999994 meters Centerline goodness [0,1] 0.9999016232169208 Centerline is valid? [True, True] Translation: X:62.52, Y:-16.11, Z:-2.88 [[ 9.47756755e-01 3.11125960e-01 7.04114371e-02 6.25228820e+01] [-3.10236777e-01 9.50368584e-01 -2.35094989e-02 -1.61097808e+01] [-7.42312332e-02 4.37069057e-04 9.97240960e-01 -2.87860219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.888639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.55, Y:-16.12, Z:-2.88 [[ 9.46390264e-01 3.15599232e-01 6.88664857e-02 6.25508177e+01] [-3.14760502e-01 9.48892574e-01 -2.29936589e-02 -1.61213772e+01] [-7.26036780e-02 8.45252607e-05 9.97360867e-01 -2.88043975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.918639999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.58, Y:-16.13, Z:-2.88 [[ 9.46015299e-01 3.16891478e-01 6.80796943e-02 6.25788549e+01] [-3.16075307e-01 9.48461802e-01 -2.27290522e-02 -1.61322871e+01] [-7.17736325e-02 -1.62791135e-05 9.97420947e-01 -2.88211820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94864 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:62.61, Y:-16.14, Z:-2.88 [[ 9.45531953e-01 3.18005080e-01 6.95851557e-02 6.26059875e+01] [-3.17156541e-01 9.48089002e-01 -2.32157989e-02 -1.61427433e+01] [-7.33556628e-02 -1.18107634e-04 9.97305837e-01 -2.88361103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.63, Y:-16.15, Z:-2.89 [[ 9.45445537e-01 3.18393966e-01 6.89784031e-02 6.26337212e+01] [-3.17562674e-01 9.47958467e-01 -2.29933268e-02 -1.61517712e+01] [-7.27095978e-02 -1.66027904e-04 9.97353140e-01 -2.88522777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00864 meters Centerline goodness [0,1] 0.9998036038690038 Centerline is valid? [True, True] Translation: X:62.66, Y:-16.16, Z:-2.89 [[ 9.45982424e-01 3.17070109e-01 6.77037587e-02 6.26620642e+01] [-3.16266239e-01 9.48402099e-01 -2.25637856e-02 -1.61608926e+01] [-7.13646888e-02 -6.74684862e-05 9.97450288e-01 -2.88671487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.69, Y:-16.17, Z:-2.89 [[ 9.46364096e-01 3.16274385e-01 6.60720158e-02 6.26890376e+01] [-3.15507948e-01 9.48667757e-01 -2.20050297e-02 -1.61714882e+01] [-6.96400182e-02 -2.14760647e-05 9.97572187e-01 -2.88721130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.068639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.71, Y:-16.19, Z:-2.89 [[ 9.47546533e-01 3.12695393e-01 6.61600994e-02 6.27148997e+01] [-3.11920409e-01 9.49853434e-01 -2.20025374e-02 -1.61852388e+01] [-6.97224897e-02 2.11742727e-04 9.97566404e-01 -2.89012970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.098639999999996 meters Centerline goodness [0,1] 0.9998527462818436 Centerline is valid? [True, True] Translation: X:62.74, Y:-16.20, Z:-2.89 [[ 9.47892379e-01 3.11671118e-01 6.60390248e-02 6.27421947e+01] [-3.10897974e-01 9.50190004e-01 -2.19409838e-02 -1.61961434e+01] [-6.95879922e-02 2.66292328e-04 9.97575782e-01 -2.89152484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:62.77, Y:-16.21, Z:-2.89 [[ 9.48349681e-01 3.10356340e-01 6.56644811e-02 6.27703433e+01] [-3.09589113e-01 9.50620226e-01 -2.18120600e-02 -1.62069727e+01] [-6.91914950e-02 3.56451651e-04 9.97603333e-01 -2.89180195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.80, Y:-16.22, Z:-2.89 [[ 9.48504591e-01 3.09653277e-01 6.67374672e-02 6.27982992e+01] [-3.08859201e-01 9.50849451e-01 -2.21656500e-02 -1.62182464e+01] [-7.03209502e-02 4.11740041e-04 9.97524333e-01 -2.89404721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.83, Y:-16.23, Z:-2.90 [[ 9.49117897e-01 3.07696203e-01 6.70691031e-02 6.28260542e+01] [-3.06889194e-01 9.51484488e-01 -2.22775889e-02 -1.62341221e+01] [-7.06699407e-02 5.61275305e-04 9.97499596e-01 -2.89614445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21864 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:62.86, Y:-16.25, Z:-2.90 [[ 9.49576869e-01 3.06402087e-01 6.64945966e-02 6.28559601e+01] [-3.05605254e-01 9.51901953e-01 -2.20929938e-02 -1.62473946e+01] [-7.00656757e-02 6.57897796e-04 9.97542164e-01 -2.89778436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.248639999999995 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:62.89, Y:-16.26, Z:-2.90 [[ 9.49899803e-01 3.05353574e-01 6.67050218e-02 6.28851642e+01] [-3.04548464e-01 9.52238750e-01 -2.21719495e-02 -1.62600167e+01] [-7.02893907e-02 7.46218494e-04 9.97526363e-01 -2.89922960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.278639999999996 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:62.91, Y:-16.28, Z:-2.90 [[ 9.50831275e-01 3.02345459e-01 6.71350118e-02 6.29139501e+01] [-3.01521779e-01 9.53197910e-01 -2.23239965e-02 -1.62764472e+01] [-7.07425119e-02 9.83685796e-04 9.97494125e-01 -2.90159700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30864 meters Centerline goodness [0,1] 0.9999507219238161 Centerline is valid? [True, True] Translation: X:62.94, Y:-16.29, Z:-2.90 [[ 9.51131711e-01 3.01424386e-01 6.70209527e-02 6.29429780e+01] [-3.00600580e-01 9.53489495e-01 -2.22951406e-02 -1.62905918e+01] [-7.06240734e-02 1.05907790e-03 9.97502440e-01 -2.90297476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33864 meters Centerline goodness [0,1] 0.9999016812506145 Centerline is valid? [True, True] Translation: X:62.97, Y:-16.30, Z:-2.90 [[ 9.51589971e-01 3.00044583e-01 6.67066405e-02 6.29724891e+01] [-2.99224475e-01 9.53924468e-01 -2.21995897e-02 -1.63038524e+01] [-7.02939632e-02 1.16464741e-03 9.97525640e-01 -2.90391070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36864 meters Centerline goodness [0,1] 0.9998525291254977 Centerline is valid? [True, True] Translation: X:63.00, Y:-16.32, Z:-2.91 [[ 9.51582485e-01 2.99846926e-01 6.76948639e-02 6.30009141e+01] [-2.99001145e-01 9.53986566e-01 -2.25377014e-02 -1.63208517e+01] [-7.13378512e-02 1.20564015e-03 9.97451481e-01 -2.90541452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39864 meters Centerline goodness [0,1] 0.9999508768482586 Centerline is valid? [True, True] Translation: X:63.03, Y:-16.34, Z:-2.91 [[ 9.50975371e-01 3.01502839e-01 6.88613214e-02 6.30292384e+01] [-3.00631337e-01 9.53464635e-01 -2.29344614e-02 -1.63358064e+01] [-7.25716399e-02 1.10823678e-03 9.97362586e-01 -2.90840889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.428639999999994 meters Centerline goodness [0,1] 0.9998029362498768 Centerline is valid? [True, True] Translation: X:63.06, Y:-16.36, Z:-2.91 [[ 9.49938431e-01 3.04772425e-01 6.87804148e-02 6.30561881e+01] [-3.03910876e-01 9.52424810e-01 -2.29163779e-02 -1.63556534e+01] [-7.24924535e-02 8.66031974e-04 9.97368585e-01 -2.91057741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.458639999999995 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:63.09, Y:-16.37, Z:-2.91 [[ 9.49235190e-01 3.07015296e-01 6.85139471e-02 6.30861854e+01] [-3.06165476e-01 9.51704321e-01 -2.28382763e-02 -1.63686685e+01] [-7.22167197e-02 7.02290299e-04 9.97388717e-01 -2.91109014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48864 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:63.12, Y:-16.38, Z:-2.91 [[ 9.48575124e-01 3.09342006e-01 6.71770609e-02 6.31161284e+01] [-3.08530243e-01 9.50950708e-01 -2.24017937e-02 -1.63809027e+01] [-7.08118894e-02 5.23629269e-04 9.97489550e-01 -2.91147747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.15, Y:-16.39, Z:-2.91 [[ 9.47987943e-01 3.11320551e-01 6.63202383e-02 6.31453701e+01] [-3.10533582e-01 9.50304883e-01 -2.21251804e-02 -1.63936748e+01] [-6.99124696e-02 3.79743098e-04 9.97553057e-01 -2.91331600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54864 meters Centerline goodness [0,1] 0.9999016909162407 Centerline is valid? [True, True] Translation: X:63.18, Y:-16.41, Z:-2.92 [[ 9.47551044e-01 3.12356227e-01 6.76801795e-02 6.31752574e+01] [-3.11538567e-01 9.49964992e-01 -2.25883810e-02 -1.64057057e+01] [-7.13494226e-02 3.18657815e-04 9.97451331e-01 -2.91586625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57864 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:63.21, Y:-16.42, Z:-2.92 [[ 9.47132168e-01 3.13536686e-01 6.80837884e-02 6.32055780e+01] [-3.12711459e-01 9.49576057e-01 -2.27344546e-02 -1.64193593e+01] [-7.17788209e-02 2.41952477e-04 9.97420544e-01 -2.91735035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.608639999999994 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:63.24, Y:-16.43, Z:-2.92 [[ 9.47271219e-01 3.13269460e-01 6.73756839e-02 6.32360888e+01] [-3.12459729e-01 9.49664242e-01 -2.25110219e-02 -1.64311818e+01] [-7.10362934e-02 2.71855304e-04 9.97473694e-01 -2.91872337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.638639999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.27, Y:-16.44, Z:-2.92 [[ 9.47445849e-01 3.12743555e-01 6.73634313e-02 6.32670097e+01] [-3.11931888e-01 9.49837546e-01 -2.25196135e-02 -1.64434046e+01] [-7.10271803e-02 3.23311960e-04 9.97474328e-01 -2.91997052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.668639999999996 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:63.30, Y:-16.46, Z:-2.92 [[ 9.47883497e-01 3.11578033e-01 6.66033416e-02 6.32967212e+01] [-3.10780876e-01 9.50220477e-01 -2.22776109e-02 -1.64571777e+01] [-7.02290733e-02 4.17534903e-04 9.97530803e-01 -2.92133810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69864 meters Centerline goodness [0,1] 0.9999015263417036 Centerline is valid? [True, True] Translation: X:63.33, Y:-16.47, Z:-2.92 [[ 9.47943454e-01 3.11495017e-01 6.61366934e-02 6.33264027e+01] [-3.10708164e-01 9.50247689e-01 -2.21306798e-02 -1.64692080e+01] [-6.97398365e-02 4.29422451e-04 9.97565121e-01 -2.92220292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72864 meters Centerline goodness [0,1] 0.9998031205394498 Centerline is valid? [True, True] Translation: X:63.36, Y:-16.48, Z:-2.92 [[ 9.48112215e-01 3.11281698e-01 6.47065114e-02 6.33553479e+01] [-3.10527447e-01 9.50317582e-01 -2.16609721e-02 -1.64828312e+01] [-6.82343996e-02 4.43884454e-04 9.97669219e-01 -2.92344570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75864 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:63.38, Y:-16.50, Z:-2.92 [[ 9.47847110e-01 3.12155157e-01 6.43817781e-02 6.33847203e+01] [-3.11409866e-01 9.50031056e-01 -2.15612507e-02 -1.64959894e+01] [-6.78951443e-02 3.87648268e-04 9.97692387e-01 -2.92461066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78864 meters Centerline goodness [0,1] 0.9998523839984255 Centerline is valid? [True, True] Translation: X:63.41, Y:-16.51, Z:-2.93 [[ 9.47614891e-01 3.12858918e-01 6.43841315e-02 6.34148662e+01] [-3.12114468e-01 9.49799546e-01 -2.15727254e-02 -1.65090312e+01] [-6.79012383e-02 3.47416899e-04 9.97691987e-01 -2.92626134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.818639999999995 meters Centerline goodness [0,1] 0.9999015214929342 Centerline is valid? [True, True] Translation: X:63.44, Y:-16.52, Z:-2.93 [[ 9.46848537e-01 3.15163999e-01 6.44166214e-02 6.34441366e+01] [-3.14423310e-01 9.49037205e-01 -2.15955122e-02 -1.65218577e+01] [-6.79398983e-02 1.93591850e-04 9.97689397e-01 -2.92601572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.848639999999996 meters Centerline goodness [0,1] 0.9999015457320075 Centerline is valid? [True, True] Translation: X:63.47, Y:-16.53, Z:-2.93 [[ 9.46160155e-01 3.17049386e-01 6.52736356e-02 6.34748136e+01] [-3.16292672e-01 9.48409027e-01 -2.18920814e-02 -1.65328608e+01] [-6.88469762e-02 6.78424688e-05 9.97627230e-01 -2.92680214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87864 meters Centerline goodness [0,1] 0.9999015602697249 Centerline is valid? [True, True] Translation: X:63.51, Y:-16.54, Z:-2.93 [[ 9.45956181e-01 3.17625137e-01 6.54306892e-02 6.35056393e+01] [-3.16865380e-01 9.48216363e-01 -2.19558677e-02 -1.65446708e+01] [-6.90161856e-02 3.65685790e-05 9.97615540e-01 -2.92840379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:63.54, Y:-16.56, Z:-2.93 [[ 9.46449261e-01 3.16202902e-01 6.51883486e-02 6.35361592e+01] [-3.15443826e-01 9.48691572e-01 -2.18973413e-02 -1.65581823e+01] [-6.87676398e-02 1.61460380e-04 9.97632691e-01 -2.93040740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93864 meters Centerline goodness [0,1] 0.9998523331364442 Centerline is valid? [True, True] Translation: X:63.57, Y:-16.57, Z:-2.93 [[ 9.46562813e-01 3.15606751e-01 6.64170169e-02 6.35661782e+01] [-3.14814739e-01 9.48890046e-01 -2.23463785e-02 -1.65696307e+01] [-7.00751141e-02 2.43195094e-04 9.97541688e-01 -2.93242266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96864 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:63.60, Y:-16.58, Z:-2.93 [[ 9.47464411e-01 3.12798035e-01 6.68474290e-02 6.35957853e+01] [-3.11986397e-01 9.49819537e-01 -2.25240879e-02 -1.65816050e+01] [-7.05384846e-02 4.85283198e-04 9.97508941e-01 -2.93466646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.998639999999995 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:63.63, Y:-16.59, Z:-2.94 [[ 9.47307371e-01 3.13275549e-01 6.68369302e-02 6.36267637e+01] [-3.12462902e-01 9.49662149e-01 -2.25552081e-02 -1.65916942e+01] [-7.05384980e-02 4.82653767e-04 9.97508941e-01 -2.93606130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02864 meters Centerline goodness [0,1] 0.9999016570782318 Centerline is valid? [True, True] Translation: X:63.66, Y:-16.60, Z:-2.94 [[ 9.47532169e-01 3.12745863e-01 6.61272516e-02 6.36579537e+01] [-3.11946541e-01 9.49836681e-01 -2.23525105e-02 -1.66038082e+01] [-6.98007444e-02 5.51555355e-04 9.97560801e-01 -2.93743384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05864 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:63.69, Y:-16.62, Z:-2.94 [[ 9.48087305e-01 3.11159935e-01 6.56502625e-02 6.36878707e+01] [-3.10365779e-01 9.50357305e-01 -2.22278190e-02 -1.66182561e+01] [-6.93076132e-02 6.98318136e-04 9.97595092e-01 -2.93814337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08864 meters Centerline goodness [0,1] 0.9998031689794311 Centerline is valid? [True, True] Translation: X:63.72, Y:-16.63, Z:-2.94 [[ 9.48116102e-01 3.11173307e-01 6.51692356e-02 6.37188616e+01] [-3.10388290e-01 9.50352905e-01 -2.21012458e-02 -1.66294520e+01] [-6.88110902e-02 7.26779477e-04 9.97629443e-01 -2.93810431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11864 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:63.75, Y:-16.64, Z:-2.94 [[ 9.47841993e-01 3.11942937e-01 6.54764031e-02 6.37499892e+01] [-3.11149770e-01 9.50100574e-01 -2.22422949e-02 -1.66402106e+01] [-6.91474949e-02 7.09213403e-04 9.97606195e-01 -2.93973532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.78, Y:-16.65, Z:-2.94 [[ 9.47202268e-01 3.13682465e-01 6.64166756e-02 6.37810407e+01] [-3.12867945e-01 9.49527735e-01 -2.25993454e-02 -1.66517084e+01] [-7.01534939e-02 6.26502415e-04 9.97536012e-01 -2.94281586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.81, Y:-16.66, Z:-2.94 [[ 9.46455163e-01 3.15951664e-01 6.63111686e-02 6.38109520e+01] [-3.15143376e-01 9.48775164e-01 -2.25907122e-02 -1.66638261e+01] [-7.00519630e-02 4.83570630e-04 9.97543226e-01 -2.94322612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20864 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:63.84, Y:-16.67, Z:-2.94 [[ 9.45664927e-01 3.17843827e-01 6.85065572e-02 6.38415458e+01] [-3.16984487e-01 9.48143007e-01 -2.33596570e-02 -1.66746004e+01] [-7.23787359e-02 3.74892452e-04 9.97377149e-01 -2.94430826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.87, Y:-16.68, Z:-2.94 [[ 9.44378326e-01 3.21979882e-01 6.69218361e-02 6.38727612e+01] [-3.21167934e-01 9.46746507e-01 -2.28519205e-02 -1.66832374e+01] [-7.07158732e-02 8.77106163e-05 9.97496495e-01 -2.94386654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.90, Y:-16.69, Z:-2.95 [[ 9.44106510e-01 3.23206789e-01 6.48094786e-02 6.39042922e+01] [-3.22446062e-01 9.46328363e-01 -2.21622688e-02 -1.66916423e+01] [-6.84940436e-02 2.59811000e-05 9.97651525e-01 -2.94539586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29863999999999 meters Centerline goodness [0,1] 0.9998524928704887 Centerline is valid? [True, True] Translation: X:63.94, Y:-16.70, Z:-2.95 [[ 9.44078225e-01 3.23369953e-01 6.44063559e-02 6.39364735e+01] [-3.22616740e-01 9.46272620e-01 -2.20582757e-02 -1.66995970e+01] [-6.80789547e-02 4.61692197e-05 9.97679936e-01 -2.94754970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.97, Y:-16.71, Z:-2.95 [[ 9.44245056e-01 3.23058694e-01 6.35165695e-02 6.39673826e+01] [-3.22323155e-01 9.46378925e-01 -2.17879189e-02 -1.67079513e+01] [-6.71495195e-02 1.00273636e-04 9.97742919e-01 -2.94843731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35864 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:64.00, Y:-16.72, Z:-2.95 [[ 9.44149317e-01 3.23252752e-01 6.39509610e-02 6.39996642e+01] [-3.22505275e-01 9.46312657e-01 -2.19705186e-02 -1.67165284e+01] [-6.76196344e-02 1.18927860e-04 9.97711166e-01 -2.94953984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38864 meters Centerline goodness [0,1] 0.9999016425690961 Centerline is valid? [True, True] Translation: X:64.03, Y:-16.72, Z:-2.95 [[ 9.44870357e-01 3.21437048e-01 6.24358251e-02 6.40317480e+01] [-3.20718939e-01 9.46930912e-01 -2.14757885e-02 -1.67234362e+01] [-6.60255269e-02 2.67484367e-04 9.97817898e-01 -2.95006537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41864 meters Centerline goodness [0,1] 0.9996554779013682 Centerline is valid? [True, True] Translation: X:64.06, Y:-16.73, Z:-2.95 [[ 9.45235533e-01 3.20198354e-01 6.32677017e-02 6.40619949e+01] [-3.19457581e-01 9.47350452e-01 -2.17709640e-02 -1.67335716e+01] [-6.69077127e-02 3.67341853e-04 9.97759101e-01 -2.95227916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:64.09, Y:-16.74, Z:-2.95 [[ 9.46433042e-01 3.16561994e-01 6.36631767e-02 6.40925731e+01] [-3.15803086e-01 9.48571609e-01 -2.19160465e-02 -1.67433265e+01] [-6.73268694e-02 6.37042885e-04 9.97730769e-01 -2.95300007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47864 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:64.12, Y:-16.75, Z:-2.95 [[ 9.46844088e-01 3.15435317e-01 6.31413812e-02 6.41239507e+01] [-3.14685612e-01 9.48946806e-01 -2.17468354e-02 -1.67528809e+01] [-6.67775319e-02 7.21178324e-04 9.97767629e-01 -2.95416311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50864 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:64.16, Y:-16.76, Z:-2.96 [[ 9.47356343e-01 3.13635644e-01 6.44099630e-02 6.41550762e+01] [-3.12850496e-01 9.49543003e-01 -2.21957806e-02 -1.67622553e+01] [-6.81214177e-02 8.76624705e-04 9.97676653e-01 -2.95647961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53864 meters Centerline goodness [0,1] 0.9999015505783904 Centerline is valid? [True, True] Translation: X:64.18, Y:-16.77, Z:-2.96 [[ 9.47778044e-01 3.12064117e-01 6.58237463e-02 6.41847914e+01] [-3.11239036e-01 9.50060487e-01 -2.27009550e-02 -1.67737241e+01] [-6.96206940e-02 1.02854739e-03 9.97573005e-01 -2.95826558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56864 meters Centerline goodness [0,1] 0.999803362501229 Centerline is valid? [True, True] Translation: X:64.22, Y:-16.79, Z:-2.96 [[ 9.47849382e-01 3.11806072e-01 6.60191054e-02 6.42159209e+01] [-3.10973104e-01 9.50145148e-01 -2.28019142e-02 -1.67853635e+01] [-6.98375080e-02 1.08261414e-03 9.97557793e-01 -2.95847021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59864 meters Centerline goodness [0,1] 0.9997047244094488 Centerline is valid? [True, True] Translation: X:64.25, Y:-16.80, Z:-2.96 [[ 9.48287044e-01 3.10329013e-01 6.66902306e-02 6.42463905e+01] [-3.09472880e-01 9.50628410e-01 -2.30686513e-02 -1.67962925e+01] [-7.05564997e-02 1.23688546e-03 9.97507018e-01 -2.95917349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62864 meters Centerline goodness [0,1] 0.9990135148466016 Centerline is valid? [True, True] Translation: X:64.28, Y:-16.81, Z:-2.96 [[ 9.48722497e-01 3.09209219e-01 6.56908079e-02 6.42778800e+01] [-3.08373621e-01 9.50993105e-01 -2.27557383e-02 -1.68074605e+01] [-6.95077894e-02 1.33156856e-03 9.97580520e-01 -2.96070924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65863999999999 meters Centerline goodness [0,1] 0.998523694700064 Centerline is valid? [True, True] Translation: X:64.31, Y:-16.82, Z:-2.96 [[ 9.49320584e-01 3.07417079e-01 6.54611994e-02 6.43073057e+01] [-3.06580706e-01 9.51573707e-01 -2.27101647e-02 -1.68207943e+01] [-6.92726487e-02 1.49008608e-03 9.97596652e-01 -2.96207593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68863999999999 meters Centerline goodness [0,1] 0.9984235676634317 Centerline is valid? [True, True] Translation: X:64.34, Y:-16.83, Z:-2.96 [[ 9.49728558e-01 3.06168262e-01 6.53961893e-02 6.43370560e+01] [-3.05328497e-01 9.51976054e-01 -2.27178496e-02 -1.68317775e+01] [-6.92110908e-02 1.60847030e-03 9.97600741e-01 -2.96335939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71864 meters Centerline goodness [0,1] 0.9990648685894281 Centerline is valid? [True, True] Translation: X:64.37, Y:-16.84, Z:-2.96 [[ 9.50010845e-01 3.05284131e-01 6.54293113e-02 6.43673456e+01] [-3.04439366e-01 9.52259787e-01 -2.27589426e-02 -1.68431997e+01] [-6.92536461e-02 1.70198425e-03 9.97597632e-01 -2.96421776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74864 meters Centerline goodness [0,1] 0.999016038571288 Centerline is valid? [True, True] Translation: X:64.40, Y:-16.86, Z:-2.97 [[ 9.50501286e-01 3.04092640e-01 6.38355108e-02 6.43965510e+01] [-3.03283776e-01 9.52640812e-01 -2.22358938e-02 -1.68585424e+01] [-6.75740844e-02 1.77497090e-03 9.97712680e-01 -2.96533913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77864 meters Centerline goodness [0,1] 0.9985251462563296 Centerline is valid? [True, True] Translation: X:64.43, Y:-16.87, Z:-2.97 [[ 9.50400242e-01 3.04444533e-01 6.36624425e-02 6.44264914e+01] [-3.03638511e-01 9.52528406e-01 -2.22101288e-02 -1.68731147e+01] [-6.74020371e-02 1.77814250e-03 9.97724312e-01 -2.96691469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80864 meters Centerline goodness [0,1] 0.9985246385364415 Centerline is valid? [True, True] Translation: X:64.45, Y:-16.89, Z:-2.97 [[ 9.50208057e-01 3.05256853e-01 6.26330754e-02 6.44549911e+01] [-3.04476340e-01 9.52268494e-01 -2.18832090e-02 -1.68899738e+01] [-6.63235039e-02 1.72331198e-03 9.97796684e-01 -2.96967601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83864 meters Centerline goodness [0,1] 0.99867171742018 Centerline is valid? [True, True] Translation: X:64.48, Y:-16.90, Z:-2.97 [[ 9.49643782e-01 3.07021138e-01 6.25676228e-02 6.44840792e+01] [-3.06244111e-01 9.51701306e-01 -2.18899450e-02 -1.69035357e+01] [-6.62663641e-02 1.62668416e-03 9.97800643e-01 -2.97087495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86864 meters Centerline goodness [0,1] 0.9988181415275521 Centerline is valid? [True, True] Translation: X:64.51, Y:-16.92, Z:-2.97 [[ 9.48832361e-01 3.09410847e-01 6.31037096e-02 6.45133244e+01] [-3.08624104e-01 9.50927280e-01 -2.21013723e-02 -1.69188538e+01] [-6.68454432e-02 1.49517144e-03 9.97762222e-01 -2.97289135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89864 meters Centerline goodness [0,1] 0.9990655124926224 Centerline is valid? [True, True] Translation: X:64.54, Y:-16.93, Z:-2.98 [[ 9.47733814e-01 3.12263954e-01 6.55121381e-02 6.45425723e+01] [-3.11421159e-01 9.49994400e-01 -2.29674122e-02 -1.69345574e+01] [-6.94080592e-02 1.36512717e-03 9.97587419e-01 -2.97555251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92864 meters Centerline goodness [0,1] 0.9989155082322784 Centerline is valid? [True, True] Translation: X:64.57, Y:-16.95, Z:-2.98 [[ 9.46121947e-01 3.17057711e-01 6.57850246e-02 6.45701845e+01] [-3.16217300e-01 9.48405668e-01 -2.30934545e-02 -1.69547748e+01] [-6.97128480e-02 1.04686130e-03 9.97566551e-01 -2.97612900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95864 meters Centerline goodness [0,1] 0.9990157480314961 Centerline is valid? [True, True] Translation: X:64.60, Y:-16.97, Z:-2.98 [[ 9.45581876e-01 3.19000746e-01 6.41360960e-02 6.45997499e+01] [-3.18205338e-01 9.47754040e-01 -2.25309332e-02 -1.69689711e+01] [-6.79726286e-02 8.96394040e-04 9.97686784e-01 -2.97701447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98864 meters Centerline goodness [0,1] 0.9989658229094849 Centerline is valid? [True, True] Translation: X:64.63, Y:-16.99, Z:-2.98 [[ 9.44745176e-01 3.21772033e-01 6.26044015e-02 6.46272493e+01] [-3.21019554e-01 9.46816921e-01 -2.20037185e-02 -1.69874058e+01] [-6.63550879e-02 6.90669820e-04 9.97795833e-01 -2.97884325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01863999999999 meters Centerline goodness [0,1] 0.9986715867158672 Centerline is valid? [True, True] Translation: X:64.66, Y:-17.00, Z:-2.98 [[ 9.43729030e-01 3.24397507e-01 6.43566313e-02 6.46556258e+01] [-3.23607088e-01 9.45920699e-01 -2.26381244e-02 -1.70020547e+01] [-6.82200208e-02 5.37993174e-04 9.97670156e-01 -2.98119452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04863999999999 meters Centerline goodness [0,1] 0.9988678316514891 Centerline is valid? [True, True] Translation: X:64.69, Y:-17.02, Z:-2.98 [[ 9.43043221e-01 3.26366981e-01 6.44521320e-02 6.46864939e+01] [-3.25576562e-01 9.45243043e-01 -2.27044341e-02 -1.70153325e+01] [-6.83329070e-02 4.27159148e-04 9.97662484e-01 -2.98119726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07864 meters Centerline goodness [0,1] 0.9992127921279212 Centerline is valid? [True, True] Translation: X:64.72, Y:-17.03, Z:-2.98 [[ 9.41302850e-01 3.31616347e-01 6.30836183e-02 6.47158989e+01] [-3.30868634e-01 9.43414327e-01 -2.22565623e-02 -1.70274691e+01] [-6.68946292e-02 7.77749243e-05 9.97760043e-01 -2.98253754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10864 meters Centerline goodness [0,1] 0.9990156995915154 Centerline is valid? [True, True] Translation: X:64.75, Y:-17.04, Z:-2.98 [[ 9.39965864e-01 3.35479045e-01 6.25938131e-02 6.47463838e+01] [-3.34749244e-01 9.42047654e-01 -2.21169754e-02 -1.70399285e+01] [-6.63861366e-02 -1.64029703e-04 9.97793994e-01 -2.98435071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13864 meters Centerline goodness [0,1] 0.9989662810730987 Centerline is valid? [True, True] Translation: X:64.78, Y:-17.05, Z:-2.99 [[ 9.38366555e-01 3.39608428e-01 6.42987151e-02 6.47754718e+01] [-3.38845468e-01 9.40566812e-01 -2.27556934e-02 -1.70528665e+01] [-6.82052627e-02 -4.34146642e-04 9.97671215e-01 -2.98652057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16864 meters Centerline goodness [0,1] 0.9988190719874034 Centerline is valid? [True, True] Translation: X:64.80, Y:-17.07, Z:-2.99 [[ 9.35423012e-01 3.47846624e-01 6.31388525e-02 6.48048875e+01] [-3.47127520e-01 9.37550935e-01 -2.23769909e-02 -1.70656403e+01] [-6.69796510e-02 -9.85281023e-04 9.97753855e-01 -2.98675234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19864 meters Centerline goodness [0,1] 0.9989161493743226 Centerline is valid? [True, True] Translation: X:64.84, Y:-17.07, Z:-2.99 [[ 9.33894519e-01 3.51835678e-01 6.36606844e-02 6.48361737e+01] [-3.51111655e-01 9.36060944e-01 -2.25945715e-02 -1.70746439e+01] [-6.75398567e-02 -1.25106182e-03 9.97715792e-01 -2.98808880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22864 meters Centerline goodness [0,1] 0.9984737334449313 Centerline is valid? [True, True] Translation: X:64.87, Y:-17.08, Z:-2.99 [[ 9.30952665e-01 3.59457217e-01 6.41688705e-02 6.48674032e+01] [-3.58737933e-01 9.33159840e-01 -2.27992848e-02 -1.70821144e+01] [-6.80751804e-02 -1.79475300e-03 9.97678580e-01 -2.99055247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25864 meters Centerline goodness [0,1] 0.9979333759779561 Centerline is valid? [True, True] Translation: X:64.90, Y:-17.09, Z:-2.99 [[ 9.29593736e-01 3.62809837e-01 6.49962158e-02 6.48985198e+01] [-3.62078752e-01 9.31860946e-01 -2.31117906e-02 -1.70916677e+01] [-6.89526201e-02 -2.04917289e-03 9.97617831e-01 -2.99154679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28864 meters Centerline goodness [0,1] 0.9974883033735533 Centerline is valid? [True, True] Translation: X:64.93, Y:-17.10, Z:-2.99 [[ 9.28618425e-01 3.65440507e-01 6.41954570e-02 6.49291064e+01] [-3.64731386e-01 9.30832131e-01 -2.28595641e-02 -1.71009685e+01] [-6.81090047e-02 -2.18628562e-03 9.97675490e-01 -2.99262508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31864 meters Centerline goodness [0,1] 0.997984267453294 Centerline is valid? [True, True] Translation: X:64.96, Y:-17.10, Z:-2.99 [[ 9.27081709e-01 3.69370731e-01 6.39121872e-02 6.49625093e+01] [-3.68674951e-01 9.29278936e-01 -2.27912075e-02 -1.71039907e+01] [-6.78106543e-02 -2.43351090e-03 9.97695241e-01 -2.99389404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34864 meters Centerline goodness [0,1] 0.9981794922259398 Centerline is valid? [True, True] Translation: X:64.99, Y:-17.11, Z:-3.00 [[ 9.26121728e-01 3.71437324e-01 6.58244577e-02 6.49946685e+01] [-3.70702071e-01 9.28454303e-01 -2.35070548e-02 -1.71106664e+01] [-6.98463985e-02 -2.63086862e-03 9.97554289e-01 -2.99636903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37864 meters Centerline goodness [0,1] 0.9978844829282693 Centerline is valid? [True, True] Translation: X:65.03, Y:-17.12, Z:-3.00 [[ 9.25751045e-01 3.72300956e-01 6.61588982e-02 6.50265486e+01] [-3.71558050e-01 9.28108196e-01 -2.36599363e-02 -1.71177433e+01] [-7.02112326e-02 -2.67866044e-03 9.97528550e-01 -2.99828223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40863999999999 meters Centerline goodness [0,1] 0.9982790834890353 Centerline is valid? [True, True] Translation: X:65.06, Y:-17.12, Z:-3.00 [[ 9.25549937e-01 3.72726999e-01 6.65724992e-02 6.50605739e+01] [-3.71973352e-01 9.27937132e-01 -2.38433194e-02 -1.71217454e+01] [-7.06621429e-02 -2.69501294e-03 9.97496666e-01 -2.99939240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43863999999999 meters Centerline goodness [0,1] 0.9981315763595241 Centerline is valid? [True, True] Translation: X:65.09, Y:-17.13, Z:-3.00 [[ 9.25681482e-01 3.72305677e-01 6.70990107e-02 6.50927686e+01] [-3.71536323e-01 9.28106385e-01 -2.40686358e-02 -1.71280559e+01] [-7.12359100e-02 -2.64982925e-03 9.97455976e-01 -3.00048850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46864 meters Centerline goodness [0,1] 0.9978376253194418 Centerline is valid? [True, True] Translation: X:65.13, Y:-17.13, Z:-3.00 [[ 9.26515865e-01 3.69978592e-01 6.84411693e-02 6.51261331e+01] [-3.69169238e-01 9.29036948e-01 -2.45849954e-02 -1.71293143e+01] [-7.26802970e-02 -2.48798604e-03 9.97352187e-01 -3.00192730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49864 meters Centerline goodness [0,1] 0.9983767032318362 Centerline is valid? [True, True] Translation: X:65.16, Y:-17.14, Z:-3.00 [[ 9.26858652e-01 3.69439796e-01 6.66879078e-02 6.51576743e+01] [-3.68667661e-01 9.29251692e-01 -2.39885131e-02 -1.71374797e+01] [-7.08321626e-02 -2.35171408e-03 9.97485476e-01 -3.00364883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52864 meters Centerline goodness [0,1] 0.9981308411214953 Centerline is valid? [True, True] Translation: X:65.19, Y:-17.15, Z:-3.00 [[ 9.27616155e-01 3.67616498e-01 6.62297516e-02 6.51888144e+01] [-3.66847933e-01 9.29974956e-01 -2.38573699e-02 -1.71451118e+01] [-7.03623732e-02 -2.16576575e-03 9.97519146e-01 -3.00479734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55864 meters Centerline goodness [0,1] 0.9977893495775202 Centerline is valid? [True, True] Translation: X:65.22, Y:-17.15, Z:-3.01 [[ 9.28704798e-01 3.64934319e-01 6.58053225e-02 6.52209401e+01] [-3.64166512e-01 9.31031289e-01 -2.37379338e-02 -1.71504541e+01] [-6.99296009e-02 -1.91856170e-03 9.97550084e-01 -3.00563224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58864 meters Centerline goodness [0,1] 0.9974933647891477 Centerline is valid? [True, True] Translation: X:65.25, Y:-17.16, Z:-3.01 [[ 9.29364785e-01 3.63198644e-01 6.60896517e-02 6.52518442e+01] [-3.62417404e-01 9.31710059e-01 -2.38744909e-02 -1.71588784e+01] [-7.02475760e-02 -1.76392891e-03 9.97528028e-01 -3.00806722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61864 meters Centerline goodness [0,1] 0.9977886977886978 Centerline is valid? [True, True] Translation: X:65.28, Y:-17.17, Z:-3.01 [[ 9.30661163e-01 3.59712881e-01 6.69062244e-02 6.52829413e+01] [-3.58900729e-01 9.33061859e-01 -2.42040255e-02 -1.71667504e+01] [-7.11341458e-02 -1.48694612e-03 9.97465650e-01 -3.01067223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64864 meters Centerline goodness [0,1] 0.9979353062629044 Centerline is valid? [True, True] Translation: X:65.31, Y:-17.18, Z:-3.01 [[ 9.31308003e-01 3.57962622e-01 6.72916425e-02 6.53138218e+01] [-3.57134052e-01 9.33734970e-01 -2.43777379e-02 -1.71772969e+01] [-7.15588788e-02 -1.32895458e-03 9.97435492e-01 -3.01224092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67864 meters Centerline goodness [0,1] 0.9979857528862688 Centerline is valid? [True, True] Translation: X:65.34, Y:-17.19, Z:-3.01 [[ 9.32769021e-01 3.54305715e-01 6.64034249e-02 6.53445459e+01] [-3.53487870e-01 9.35129103e-01 -2.40808532e-02 -1.71882619e+01] [-7.06277590e-02 -1.01093136e-03 9.97502229e-01 -3.01454769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70864 meters Centerline goodness [0,1] 0.9977853240809095 Centerline is valid? [True, True] Translation: X:65.38, Y:-17.20, Z:-3.02 [[ 9.33756227e-01 3.51868234e-01 6.54832365e-02 6.53752424e+01] [-3.51065531e-01 9.36049204e-01 -2.37672180e-02 -1.71991240e+01] [-6.96584604e-02 -7.96119409e-04 9.97570582e-01 -3.01610632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73864 meters Centerline goodness [0,1] 0.99783688117595 Centerline is valid? [True, True] Translation: X:65.41, Y:-17.21, Z:-3.02 [[ 9.35624629e-01 3.46873668e-01 6.54615316e-02 6.54054520e+01] [-3.46056935e-01 9.37911779e-01 -2.37927035e-02 -1.72110553e+01] [-6.96502039e-02 -3.92377595e-04 9.97571399e-01 -3.01665559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76863999999999 meters Centerline goodness [0,1] 0.9979334776618776 Centerline is valid? [True, True] Translation: X:65.44, Y:-17.23, Z:-3.02 [[ 9.36774546e-01 3.43735937e-01 6.55671868e-02 6.54353700e+01] [-3.42906389e-01 9.39066339e-01 -2.38666857e-02 -1.72258133e+01] [-6.97757756e-02 -1.25703605e-04 9.97562692e-01 -3.01913558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79863999999999 meters Centerline goodness [0,1] 0.9982774742851518 Centerline is valid? [True, True] Translation: X:65.46, Y:-17.24, Z:-3.02 [[ 9.36745972e-01 3.44011941e-01 6.45195187e-02 6.54649480e+01] [-3.43206933e-01 9.38965267e-01 -2.35208200e-02 -1.72387859e+01] [-6.86730300e-02 -1.10512721e-04 9.97639215e-01 -3.02099031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82864 meters Centerline goodness [0,1] 0.9983294025157232 Centerline is valid? [True, True] Translation: X:65.50, Y:-17.25, Z:-3.02 [[ 9.36650404e-01 3.44315015e-01 6.42899018e-02 6.54955221e+01] [-3.43514103e-01 9.38854174e-01 -2.34712752e-02 -1.72510881e+01] [-6.84403551e-02 -1.00108518e-04 9.97655205e-01 -3.02233566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85864 meters Centerline goodness [0,1] 0.9983294025157232 Centerline is valid? [True, True] Translation: X:65.53, Y:-17.26, Z:-3.02 [[ 9.36475086e-01 3.44793800e-01 6.42779041e-02 6.55262286e+01] [-3.43991761e-01 9.38678446e-01 -2.35040955e-02 -1.72619428e+01] [-6.84403496e-02 -1.00069621e-04 9.97655205e-01 -3.02372999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88864 meters Centerline goodness [0,1] 0.9986220472440945 Centerline is valid? [True, True] Translation: X:65.56, Y:-17.28, Z:-3.03 [[ 9.36376714e-01 3.45291518e-01 6.30271197e-02 6.55554224e+01] [-3.44519242e-01 9.38495475e-01 -2.30810503e-02 -1.72756634e+01] [-6.71203576e-02 -1.01497453e-04 9.97744881e-01 -3.02512425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91864 meters Centerline goodness [0,1] 0.998769987699877 Centerline is valid? [True, True] Translation: X:65.59, Y:-17.29, Z:-3.03 [[ 9.36066798e-01 3.46112675e-01 6.31265863e-02 6.55861381e+01] [-3.45337552e-01 9.38192944e-01 -2.31511558e-02 -1.72886773e+01] [-6.72378263e-02 -1.28952499e-04 9.97736968e-01 -3.02597911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94864 meters Centerline goodness [0,1] 0.9984265132517087 Centerline is valid? [True, True] Translation: X:65.62, Y:-17.30, Z:-3.03 [[ 9.36585228e-01 3.44697987e-01 6.31775975e-02 6.56162471e+01] [-3.43915901e-01 9.38713640e-01 -2.32067927e-02 -1.73028045e+01] [-6.73050073e-02 7.35887107e-06 9.97732447e-01 -3.02775780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97864 meters Centerline goodness [0,1] 0.9985739575137687 Centerline is valid? [True, True] Translation: X:65.65, Y:-17.32, Z:-3.03 [[ 9.36755459e-01 3.44074284e-01 6.40476167e-02 6.56460573e+01] [-3.43266565e-01 9.38942426e-01 -2.35623894e-02 -1.73158512e+01] [-6.82442368e-02 8.67914927e-05 9.97668641e-01 -3.02917933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00864 meters Centerline goodness [0,1] 0.9989674500934211 Centerline is valid? [True, True] Translation: X:65.68, Y:-17.33, Z:-3.03 [[ 9.37104738e-01 3.43126941e-01 6.40203994e-02 6.56767582e+01] [-3.42315349e-01 9.39289022e-01 -2.35867512e-02 -1.73289334e+01] [-6.82269082e-02 1.88090959e-04 9.97669812e-01 -3.02963107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03864 meters Centerline goodness [0,1] 0.998523549387273 Centerline is valid? [True, True] Translation: X:65.71, Y:-17.34, Z:-3.03 [[ 9.37743954e-01 3.41780965e-01 6.18227276e-02 6.57056145e+01] [-3.41019035e-01 9.39779590e-01 -2.28109844e-02 -1.73441328e+01] [-6.58960978e-02 3.08135800e-04 9.97826442e-01 -3.03096428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06864 meters Centerline goodness [0,1] 0.9982788296041308 Centerline is valid? [True, True] Translation: X:65.74, Y:-17.36, Z:-3.03 [[ 9.37721503e-01 3.42097751e-01 6.03946288e-02 6.57351483e+01] [-3.41369356e-01 9.39664320e-01 -2.23143206e-02 -1.73571997e+01] [-6.43843567e-02 3.07742762e-04 9.97925127e-01 -3.03204711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09864 meters Centerline goodness [0,1] 0.9985252187592174 Centerline is valid? [True, True] Translation: X:65.77, Y:-17.37, Z:-3.03 [[ 9.37334313e-01 3.43053239e-01 6.09824620e-02 6.57656256e+01] [-3.42310478e-01 9.39315921e-01 -2.25640638e-02 -1.73704934e+01] [-6.50224726e-02 2.75135506e-04 9.97883762e-01 -3.03336484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12864 meters Centerline goodness [0,1] 0.9982763715158082 Centerline is valid? [True, True] Translation: X:65.80, Y:-17.38, Z:-3.03 [[ 9.36513524e-01 3.45296098e-01 6.09345964e-02 6.57956764e+01] [-3.44556921e-01 9.38493783e-01 -2.25820046e-02 -1.73845029e+01] [-6.49842180e-02 1.52915830e-04 9.97886280e-01 -3.03373934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15863999999999 meters Centerline goodness [0,1] 0.9980786284362991 Centerline is valid? [True, True] Translation: X:65.83, Y:-17.40, Z:-3.04 [[ 9.35979571e-01 3.46491619e-01 6.23361967e-02 6.58259252e+01] [-3.45718290e-01 9.38053062e-01 -2.31369237e-02 -1.73960807e+01] [-6.64914104e-02 1.04924624e-04 9.97786992e-01 -3.03579222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18863999999999 meters Centerline goodness [0,1] 0.9983261950475065 Centerline is valid? [True, True] Translation: X:65.86, Y:-17.41, Z:-3.04 [[ 9.35423684e-01 3.47885058e-01 6.29167496e-02 6.58557802e+01] [-3.47098087e-01 9.37537191e-01 -2.33865941e-02 -1.74102622e+01] [-6.71226393e-02 3.80906126e-05 9.97744732e-01 -3.03840164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21864 meters Centerline goodness [0,1] 0.9982770503101309 Centerline is valid? [True, True] Translation: X:65.89, Y:-17.42, Z:-3.04 [[ 9.35258390e-01 3.48685438e-01 6.09114938e-02 6.58855671e+01] [-3.47947398e-01 9.37239812e-01 -2.26747224e-02 -1.74238183e+01] [-6.49950225e-02 1.27286226e-05 9.97885588e-01 -3.03918918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24864 meters Centerline goodness [0,1] 0.9979361179361179 Centerline is valid? [True, True] Translation: X:65.92, Y:-17.44, Z:-3.04 [[ 9.35003018e-01 3.49143227e-01 6.21961625e-02 6.59151492e+01] [-3.48372542e-01 9.37069371e-01 -2.31854549e-02 -1.74366844e+01] [-6.63771634e-02 1.10351336e-05 9.97794604e-01 -3.04053410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27864 meters Centerline goodness [0,1] 0.9977884804403381 Centerline is valid? [True, True] Translation: X:65.95, Y:-17.45, Z:-3.04 [[ 9.34955609e-01 3.49375014e-01 6.16044503e-02 6.59457202e+01] [-3.48617264e-01 9.36982977e-01 -2.29979169e-02 -1.74501179e+01] [-6.57572188e-02 2.56565240e-05 9.97835652e-01 -3.04134377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30864 meters Centerline goodness [0,1] 0.9980334316617503 Centerline is valid? [True, True] Translation: X:65.98, Y:-17.46, Z:-3.04 [[ 9.35087961e-01 3.49217822e-01 6.04765876e-02 6.59755020e+01] [-3.48485091e-01 9.37041572e-01 -2.26104672e-02 -1.74617453e+01] [-6.45650548e-02 6.75865155e-05 9.97913498e-01 -3.04119942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33864 meters Centerline goodness [0,1] 0.9985247836349331 Centerline is valid? [True, True] Translation: X:66.01, Y:-17.47, Z:-3.04 [[ 9.35553260e-01 3.47877693e-01 6.10017156e-02 6.60058407e+01] [-3.47127153e-01 9.37539905e-01 -2.28400122e-02 -1.74748461e+01] [-6.51370734e-02 1.92696042e-04 9.97876307e-01 -3.04387966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36864 meters Centerline goodness [0,1] 0.998868722640303 Centerline is valid? [True, True] Translation: X:66.04, Y:-17.49, Z:-3.05 [[ 9.35418435e-01 3.48170630e-01 6.13967663e-02 6.60364143e+01] [-3.47408561e-01 9.37431154e-01 -2.30243927e-02 -1.74880872e+01] [-6.55716588e-02 2.07679145e-04 9.97847841e-01 -3.04555408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39864 meters Centerline goodness [0,1] 0.9992617746936365 Centerline is valid? [True, True] Translation: X:66.07, Y:-17.50, Z:-3.05 [[ 9.35327805e-01 3.48427751e-01 6.13188427e-02 6.60663486e+01] [-3.47665806e-01 9.37335614e-01 -2.30311698e-02 -1.75022110e+01] [-6.55010337e-02 2.23228603e-04 9.97852476e-01 -3.04633850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42864 meters Centerline goodness [0,1] 0.9993114641223627 Centerline is valid? [True, True] Translation: X:66.09, Y:-17.52, Z:-3.05 [[ 9.35308856e-01 3.48277734e-01 6.24496960e-02 6.60940733e+01] [-3.47484690e-01 9.37391352e-01 -2.34913598e-02 -1.75202958e+01] [-6.67213225e-02 2.71363565e-04 9.97771613e-01 -3.04832914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45864 meters Centerline goodness [0,1] 0.9992132953092733 Centerline is valid? [True, True] Translation: X:66.12, Y:-17.53, Z:-3.05 [[ 9.35237293e-01 3.48184525e-01 6.40214163e-02 6.61233145e+01] [-3.47348512e-01 9.37425963e-01 -2.41158634e-02 -1.75342281e+01] [-6.84121083e-02 3.16311058e-04 9.97657097e-01 -3.05043765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48864 meters Centerline goodness [0,1] 0.9993602677033611 Centerline is valid? [True, True] Translation: X:66.15, Y:-17.55, Z:-3.05 [[ 9.35001810e-01 3.48768920e-01 6.42795096e-02 6.61537243e+01] [-3.47925128e-01 9.37208699e-01 -2.42478784e-02 -1.75479550e+01] [-6.87002219e-02 3.07353582e-04 9.97637301e-01 -3.05102533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51863999999999 meters Centerline goodness [0,1] 0.9993609595438234 Centerline is valid? [True, True] Translation: X:66.18, Y:-17.56, Z:-3.05 [[ 9.34137966e-01 3.51174821e-01 6.37377889e-02 6.61824362e+01] [-3.50348382e-01 9.36309895e-01 -2.40788790e-02 -1.75634231e+01] [-6.81342184e-02 1.62563842e-04 9.97676151e-01 -3.05204977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54863999999999 meters Centerline goodness [0,1] 0.9995566065622229 Centerline is valid? [True, True] Translation: X:66.21, Y:-17.58, Z:-3.05 [[ 9.33415321e-01 3.53172853e-01 6.32832859e-02 6.62123757e+01] [-3.52360437e-01 9.35558087e-01 -2.39413642e-02 -1.75772946e+01] [-6.76606298e-02 4.87098100e-05 9.97708393e-01 -3.05282257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57864 meters Centerline goodness [0,1] 0.9996553761323356 Centerline is valid? [True, True] Translation: X:66.24, Y:-17.59, Z:-3.05 [[ 9.31931925e-01 3.56934941e-01 6.40338510e-02 6.62415683e+01] [-3.56109332e-01 9.34129226e-01 -2.42638026e-02 -1.75931153e+01] [-6.84764906e-02 -1.90839667e-04 9.97652712e-01 -3.05370109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60864 meters Centerline goodness [0,1] 0.9998032077142576 Centerline is valid? [True, True] Translation: X:66.27, Y:-17.61, Z:-3.05 [[ 9.31141731e-01 3.59180582e-01 6.29633702e-02 6.62709932e+01] [-3.58385095e-01 9.33268026e-01 -2.38938180e-02 -1.76058852e+01] [-6.73438957e-02 -3.16602375e-04 9.97729773e-01 -3.05440617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63864 meters Centerline goodness [0,1] 0.9998522822394013 Centerline is valid? [True, True] Translation: X:66.30, Y:-17.62, Z:-3.06 [[ 9.30454485e-01 3.61081289e-01 6.22475248e-02 6.63015115e+01] [-3.60305779e-01 9.32534251e-01 -2.36562225e-02 -1.76180291e+01] [-6.65897682e-02 -4.17104613e-04 9.97780351e-01 -3.05645127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:-17.63, Z:-3.06 [[ 9.29868846e-01 3.62524073e-01 6.26117078e-02 6.63324008e+01] [-3.61740174e-01 9.31974280e-01 -2.38324990e-02 -1.76301915e+01] [-6.69923559e-02 -4.88071759e-04 9.97753369e-01 -3.05920886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.36, Y:-17.64, Z:-3.06 [[ 9.29783047e-01 3.62865255e-01 6.19055085e-02 6.63627900e+01] [-3.62097359e-01 9.31841501e-01 -2.35991537e-02 -1.76419049e+01] [-6.62494349e-02 -4.73728142e-04 9.97802981e-01 -3.05995878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:-17.65, Z:-3.06 [[ 9.29958898e-01 3.62293174e-01 6.26107360e-02 6.63934395e+01] [-3.61504037e-01 9.32064103e-01 -2.39027015e-02 -1.76535548e+01] [-6.70170050e-02 -4.05503915e-04 9.97751751e-01 -3.06200354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.42, Y:-17.67, Z:-3.06 [[ 9.29500056e-01 3.63407513e-01 6.29652761e-02 6.64241667e+01] [-3.62609397e-01 9.31630170e-01 -2.40759559e-02 -1.76654541e+01] [-6.74097341e-02 -4.53198437e-04 9.97725274e-01 -3.06312563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.46, Y:-17.68, Z:-3.06 [[ 9.29112699e-01 3.64462488e-01 6.25834463e-02 6.64553126e+01] [-3.63673899e-01 9.31217941e-01 -2.39675161e-02 -1.76764660e+01] [-6.70140885e-02 -4.91442350e-04 9.97751908e-01 -3.06382796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.49, Y:-17.69, Z:-3.06 [[ 9.27957872e-01 3.67581573e-01 6.14652328e-02 6.64873686e+01] [-3.66825359e-01 9.29991042e-01 -2.35757775e-02 -1.76853568e+01] [-6.58281373e-02 -6.69677769e-04 9.97830751e-01 -3.06413356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.52, Y:-17.69, Z:-3.07 [[ 9.27722641e-01 3.68137094e-01 6.16910201e-02 6.65189321e+01] [-3.67374091e-01 9.29771274e-01 -2.36992755e-02 -1.76949113e+01] [-6.60831207e-02 -6.77327979e-04 9.97813892e-01 -3.06646209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.55, Y:-17.70, Z:-3.07 [[ 9.27167846e-01 3.69610624e-01 6.12190430e-02 6.65502782e+01] [-3.68860069e-01 9.29186437e-01 -2.35544925e-02 -1.77048818e+01] [-6.55898951e-02 -7.42292350e-04 9.97846388e-01 -3.06776934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.58, Y:-17.71, Z:-3.07 [[ 9.26522593e-01 3.71120568e-01 6.18498813e-02 6.65804021e+01] [-3.70355429e-01 9.28584322e-01 -2.38330125e-02 -1.77149815e+01] [-6.62777513e-02 -8.24614732e-04 9.97800872e-01 -3.06867158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:-17.72, Z:-3.07 [[ 9.26424185e-01 3.71497852e-01 6.10538790e-02 6.66108697e+01] [-3.70751038e-01 9.28433459e-01 -2.35580080e-02 -1.77246483e+01] [-6.54362134e-02 -8.11080649e-04 9.97856425e-01 -3.06953549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.64, Y:-17.73, Z:-3.07 [[ 9.27106374e-01 3.69881017e-01 6.05128435e-02 6.66418223e+01] [-3.69141898e-01 9.29078896e-01 -2.33808423e-02 -1.77326221e+01] [-6.48693356e-02 -6.61297977e-04 9.97893547e-01 -3.07173376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.67, Y:-17.74, Z:-3.07 [[ 9.27445775e-01 3.68987980e-01 6.07635203e-02 6.66727184e+01] [-3.68238604e-01 9.29433992e-01 -2.35113682e-02 -1.77434361e+01] [-6.51510935e-02 -5.69954846e-04 9.97875248e-01 -3.07423002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:-17.75, Z:-3.08 [[ 9.27661622e-01 3.68352420e-01 6.13221769e-02 6.67043035e+01] [-3.67585345e-01 9.29686103e-01 -2.37647797e-02 -1.77544454e+01] [-6.57641897e-02 -4.95459466e-04 9.97835069e-01 -3.07573074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.74, Y:-17.76, Z:-3.08 [[ 9.27842354e-01 3.67671734e-01 6.26582985e-02 6.67352522e+01] [-3.66866823e-01 9.29955546e-01 -2.43190726e-02 -1.77638900e+01] [-6.72108678e-02 -4.22985374e-04 9.97738703e-01 -3.07689371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.77, Y:-17.77, Z:-3.08 [[ 9.28043716e-01 3.67285452e-01 6.19375325e-02 6.67674853e+01] [-3.66495969e-01 9.30108202e-01 -2.40715095e-02 -1.77691064e+01] [-6.64497222e-02 -3.60442927e-04 9.97789710e-01 -3.07638329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.80, Y:-17.78, Z:-3.08 [[ 9.28155546e-01 3.66866856e-01 6.27374817e-02 6.67988011e+01] [-3.66053522e-01 9.30273411e-01 -2.44172229e-02 -1.77784855e+01] [-6.73208809e-02 -3.02295216e-04 9.97731330e-01 -3.07771490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.83, Y:-17.79, Z:-3.08 [[ 9.28844812e-01 3.65171667e-01 6.24257146e-02 6.68300515e+01] [-3.64360060e-01 9.30940188e-01 -2.43333820e-02 -1.77894621e+01] [-6.70004681e-02 -1.43501468e-04 9.97752934e-01 -3.08083298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.86, Y:-17.80, Z:-3.08 [[ 9.29285819e-01 3.63798014e-01 6.38660410e-02 6.68606998e+01] [-3.62942674e-01 9.31477861e-01 -2.49321258e-02 -1.78002789e+01] [-6.85600611e-02 -1.06406910e-05 9.97646991e-01 -3.08278803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.89, Y:-17.81, Z:-3.08 [[ 9.29393441e-01 3.63704884e-01 6.28218803e-02 6.68905781e+01] [-3.62874898e-01 9.31514228e-01 -2.45571147e-02 -1.78113048e+01] [-6.74510179e-02 2.67379364e-05 9.97722586e-01 -3.08393346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:-17.82, Z:-3.08 [[ 9.29922788e-01 3.62117537e-01 6.41443536e-02 6.69211021e+01] [-3.61246085e-01 9.32132425e-01 -2.51079118e-02 -1.78228608e+01] [-6.88830471e-02 1.76522747e-04 9.97624726e-01 -3.08475173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.95, Y:-17.83, Z:-3.09 [[ 9.30278641e-01 3.61218036e-01 6.40560737e-02 6.69518063e+01] [-3.60344428e-01 9.32481343e-01 -2.51085383e-02 -1.78346638e+01] [-6.88007505e-02 2.75687676e-04 9.97630383e-01 -3.08506102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.98, Y:-17.85, Z:-3.09 [[ 9.30127046e-01 3.61760137e-01 6.31924183e-02 6.69816509e+01] [-3.60908785e-01 9.32271169e-01 -2.48055796e-02 -1.78458981e+01] [-6.78861396e-02 2.65641558e-04 9.97693040e-01 -3.08682851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.01, Y:-17.86, Z:-3.09 [[ 9.30035778e-01 3.62095340e-01 6.26132357e-02 6.70124828e+01] [-3.61257986e-01 9.32141026e-01 -2.46125152e-02 -1.78589461e+01] [-6.72764428e-02 2.70988266e-04 9.97734337e-01 -3.08817133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35864 meters Centerline goodness [0,1] 0.9999505415698106 Centerline is valid? [True, True] Translation: X:67.04, Y:-17.87, Z:-3.09 [[ 9.29605388e-01 3.62948697e-01 6.40473760e-02 6.70415382e+01] [-3.62071962e-01 9.31809091e-01 -2.52133459e-02 -1.78734108e+01] [-6.88310782e-02 2.48703036e-04 9.97628298e-01 -3.09007343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.07, Y:-17.89, Z:-3.09 [[ 9.29338255e-01 3.63782662e-01 6.31868882e-02 6.70692819e+01] [-3.62929061e-01 9.31483832e-01 -2.49071980e-02 -1.78917402e+01] [-6.79183715e-02 2.14853906e-04 9.97690858e-01 -3.09192032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.10, Y:-17.91, Z:-3.09 [[ 9.29170719e-01 3.64117186e-01 6.37216605e-02 6.70994345e+01] [-3.63247428e-01 9.31353115e-01 -2.51531726e-02 -1.79058507e+01] [-6.85060694e-02 2.24862209e-04 9.97650674e-01 -3.09399530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.13, Y:-17.92, Z:-3.10 [[ 9.29219011e-01 3.64085669e-01 6.31953699e-02 6.71298322e+01] [-3.63227609e-01 9.31365427e-01 -2.49829151e-02 -1.79189217e+01] [-6.79539040e-02 2.60296559e-04 9.97688428e-01 -3.09519918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.16, Y:-17.94, Z:-3.10 [[ 9.29470761e-01 3.63807409e-01 6.10595933e-02 6.71582630e+01] [-3.63003914e-01 9.31474144e-01 -2.41677092e-02 -1.79358578e+01] [-6.56678240e-02 2.98307768e-04 9.97841494e-01 -3.09597861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.19, Y:-17.95, Z:-3.10 [[ 9.29010913e-01 3.64924237e-01 6.13923859e-02 6.71876164e+01] [-3.64112763e-01 9.31037186e-01 -2.43239314e-02 -1.79510035e+01] [-6.60349863e-02 2.43446469e-04 9.97817279e-01 -3.09672651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53864 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:67.21, Y:-17.97, Z:-3.10 [[ 9.28056421e-01 3.67535156e-01 6.02427563e-02 6.72149418e+01] [-3.66757072e-01 9.30009624e-01 -2.39029079e-02 -1.79683201e+01] [-6.48115021e-02 8.87902132e-05 9.97897520e-01 -3.09775861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56864 meters Centerline goodness [0,1] 0.999852194905651 Centerline is valid? [True, True] Translation: X:67.24, Y:-17.98, Z:-3.10 [[ 9.27412330e-01 3.68892974e-01 6.18412800e-02 6.72432323e+01] [-3.68073785e-01 9.29471878e-01 -2.45706368e-02 -1.79832792e+01] [-6.65436660e-02 2.49575700e-05 9.97783514e-01 -3.10034414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59864 meters Centerline goodness [0,1] 0.9992113953373749 Centerline is valid? [True, True] Translation: X:67.27, Y:-18.00, Z:-3.10 [[ 9.26390857e-01 3.71225261e-01 6.31805817e-02 6.72718128e+01] [-3.70373264e-01 9.28542833e-01 -2.51366688e-02 -1.79991368e+01] [-6.79972428e-02 -1.14018115e-04 9.97685503e-01 -3.10203379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62864 meters Centerline goodness [0,1] 0.9984741841807353 Centerline is valid? [True, True] Translation: X:67.30, Y:-18.02, Z:-3.10 [[ 9.24734055e-01 3.75219904e-01 6.38510150e-02 6.72989268e+01] [-3.74356874e-01 9.26935747e-01 -2.54372076e-02 -1.80173803e+01] [-6.87303349e-02 -3.80414272e-04 9.97635202e-01 -3.10266841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65863999999999 meters Centerline goodness [0,1] 0.9977851060688093 Centerline is valid? [True, True] Translation: X:67.33, Y:-18.03, Z:-3.10 [[ 9.23757705e-01 3.77357716e-01 6.53670926e-02 6.73281874e+01] [-3.76456033e-01 9.26067429e-01 -2.60762540e-02 -1.80316432e+01] [-7.03744111e-02 -5.19695799e-04 9.97520512e-01 -3.10295075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68863999999999 meters Centerline goodness [0,1] 0.997587632926349 Centerline is valid? [True, True] Translation: X:67.36, Y:-18.05, Z:-3.10 [[ 9.22635301e-01 3.80291829e-01 6.42045723e-02 6.73577614e+01] [-3.79426596e-01 9.24866282e-01 -2.56479947e-02 -1.80460099e+01] [-6.91343668e-02 -6.97177011e-04 9.97607114e-01 -3.10430415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71864 meters Centerline goodness [0,1] 0.9971900419028839 Centerline is valid? [True, True] Translation: X:67.39, Y:-18.06, Z:-3.10 [[ 9.20251928e-01 3.86001870e-01 6.43346350e-02 6.73866287e+01] [-3.85144439e-01 9.22497350e-01 -2.57371411e-02 -1.80610146e+01] [-6.92831149e-02 -1.09347313e-03 9.97596439e-01 -3.10430546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74864 meters Centerline goodness [0,1] 0.9966965782467212 Centerline is valid? [True, True] Translation: X:67.42, Y:-18.07, Z:-3.11 [[ 9.18500367e-01 3.90132292e-01 6.44505269e-02 6.74166618e+01] [-3.89279520e-01 9.20757787e-01 -2.58176888e-02 -1.80735965e+01] [-6.94156386e-02 -1.37571353e-03 9.97586877e-01 -3.10548718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77864 meters Centerline goodness [0,1] 0.9966965782467212 Centerline is valid? [True, True] Translation: X:67.45, Y:-18.09, Z:-3.11 [[ 9.18295097e-01 3.90617282e-01 6.44379809e-02 6.74469650e+01] [-3.89763508e-01 9.20552138e-01 -2.58489726e-02 -1.80854082e+01] [-6.94155765e-02 -1.37858870e-03 9.97586877e-01 -3.10688188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80864 meters Centerline goodness [0,1] 0.9966538726503297 Centerline is valid? [True, True] Translation: X:67.48, Y:-18.10, Z:-3.11 [[ 9.15239099e-01 3.97456426e-01 6.60740561e-02 6.74761653e+01] [-3.96574188e-01 9.17619049e-01 -2.65366690e-02 -1.80974926e+01] [-7.11779821e-02 -1.91586809e-03 9.97461791e-01 -3.10827198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83864 meters Centerline goodness [0,1] 0.9962074570260553 Centerline is valid? [True, True] Translation: X:67.51, Y:-18.11, Z:-3.11 [[ 9.13825301e-01 4.00533137e-01 6.70561369e-02 6.75070194e+01] [-3.99630956e-01 9.16279715e-01 -2.69551787e-02 -1.81078310e+01] [-7.22386203e-02 -2.16538389e-03 9.97385027e-01 -3.10966020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86864 meters Centerline goodness [0,1] 0.9958643099798139 Centerline is valid? [True, True] Translation: X:67.54, Y:-18.11, Z:-3.11 [[ 9.11581061e-01 4.05250624e-01 6.92235584e-02 6.75391578e+01] [-4.04299986e-01 9.14201964e-01 -2.78619907e-02 -1.81130447e+01] [-7.45754022e-02 -2.58862073e-03 9.97212018e-01 -3.11160632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89864 meters Centerline goodness [0,1] 0.9958933254168522 Centerline is valid? [True, True] Translation: X:67.57, Y:-18.12, Z:-3.11 [[ 9.11323030e-01 4.06297914e-01 6.64254542e-02 6.75711436e+01] [-4.05423754e-01 9.13737124e-01 -2.67590615e-02 -1.81211722e+01] [-7.15675543e-02 -2.54430800e-03 9.97432510e-01 -3.11194810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92864 meters Centerline goodness [0,1] 0.9959582018927445 Centerline is valid? [True, True] Translation: X:67.60, Y:-18.13, Z:-3.11 [[ 9.11110677e-01 4.06776140e-01 6.64116395e-02 6.76033020e+01] [-4.05901952e-01 9.13524284e-01 -2.67766204e-02 -1.81296318e+01] [-7.15607357e-02 -2.56014942e-03 9.97432959e-01 -3.11386194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95864 meters Centerline goodness [0,1] 0.9954252545624477 Centerline is valid? [True, True] Translation: X:67.63, Y:-18.14, Z:-3.11 [[ 9.11492123e-01 4.06053190e-01 6.55966166e-02 6.76349031e+01] [-4.05195884e-01 9.13846190e-01 -2.64846509e-02 -1.81374027e+01] [-7.06993951e-02 -2.43892842e-03 9.97494685e-01 -3.11496110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98864 meters Centerline goodness [0,1] 0.9952744277627369 Centerline is valid? [True, True] Translation: X:67.67, Y:-18.14, Z:-3.12 [[ 9.12950149e-01 4.03064581e-01 6.37257297e-02 6.76688448e+01] [-4.02246634e-01 9.15169077e-01 -2.57527949e-02 -1.81387005e+01] [-6.86998567e-02 -2.12244230e-03 9.97635116e-01 -3.11553295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01863999999999 meters Centerline goodness [0,1] 0.995811363524368 Centerline is valid? [True, True] Translation: X:67.70, Y:-18.15, Z:-3.12 [[ 9.13846486e-01 4.01106308e-01 6.32323479e-02 6.77006430e+01] [-4.00295061e-01 9.16029451e-01 -2.55716631e-02 -1.81455090e+01] [-6.81796483e-02 -1.94302209e-03 9.97671168e-01 -3.11602716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04863999999999 meters Centerline goodness [0,1] 0.9957187146301856 Centerline is valid? [True, True] Translation: X:67.73, Y:-18.15, Z:-3.12 [[ 9.15768486e-01 3.96872465e-01 6.21315292e-02 6.77335498e+01] [-3.96077318e-01 9.17872423e-01 -2.51589731e-02 -1.81501321e+01] [-6.70137209e-02 -1.56909476e-03 9.97750820e-01 -3.11756722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07864 meters Centerline goodness [0,1] 0.995563880126183 Centerline is valid? [True, True] Translation: X:67.77, Y:-18.16, Z:-3.12 [[ 9.16507239e-01 3.95043847e-01 6.28875184e-02 6.77651967e+01] [-3.94222618e-01 9.18661166e-01 -2.54988298e-02 -1.81576820e+01] [-6.78454767e-02 -1.42182000e-03 9.97694828e-01 -3.11842720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10864 meters Centerline goodness [0,1] 0.9954597048808173 Centerline is valid? [True, True] Translation: X:67.80, Y:-18.17, Z:-3.12 [[ 9.17280096e-01 3.93211083e-01 6.31052248e-02 6.77970307e+01] [-3.92377514e-01 9.19447366e-01 -2.56208604e-02 -1.81654049e+01] [-6.80963389e-02 -1.25956597e-03 9.97677955e-01 -3.11999398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13864 meters Centerline goodness [0,1] 0.9952744277627369 Centerline is valid? [True, True] Translation: X:67.83, Y:-18.17, Z:-3.12 [[ 9.18199890e-01 3.90782793e-01 6.47902028e-02 6.78293167e+01] [-3.89895423e-01 9.20482295e-01 -2.63420548e-02 -1.81730730e+01] [-6.99322562e-02 -1.07413171e-03 9.97551164e-01 -3.12240775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16864 meters Centerline goodness [0,1] 0.9955732625055335 Centerline is valid? [True, True] Translation: X:67.86, Y:-18.18, Z:-3.12 [[ 9.18943751e-01 3.88973689e-01 6.51295054e-02 6.78598227e+01] [-3.88069782e-01 9.21248418e-01 -2.65178437e-02 -1.81841290e+01] [-7.03151973e-02 -9.06386224e-04 9.97524411e-01 -3.12360134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19864 meters Centerline goodness [0,1] 0.996456169710095 Centerline is valid? [True, True] Translation: X:67.89, Y:-18.19, Z:-3.13 [[ 9.20564480e-01 3.85360573e-01 6.37045234e-02 6.78907538e+01] [-3.84485443e-01 9.22765884e-01 -2.59628031e-02 -1.81947685e+01] [-6.87894016e-02 -5.93027626e-04 9.97631027e-01 -3.12520625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22864 meters Centerline goodness [0,1] 0.9957702144402911 Centerline is valid? [True, True] Translation: X:67.92, Y:-18.21, Z:-3.13 [[ 9.21192548e-01 3.84012625e-01 6.27582101e-02 6.79211586e+01] [-3.83158861e-01 9.23327724e-01 -2.55968970e-02 -1.82061843e+01] [-6.77759269e-02 -4.66693573e-04 9.97700459e-01 -3.12648335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25864 meters Centerline goodness [0,1] 0.9960159362549801 Centerline is valid? [True, True] Translation: X:67.95, Y:-18.22, Z:-3.13 [[ 9.21922515e-01 3.82261908e-01 6.27272632e-02 6.79512668e+01] [-3.81403213e-01 9.24053967e-01 -2.56096559e-02 -1.82187059e+01] [-6.77529724e-02 -3.14261342e-04 9.97702078e-01 -3.12886276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28864 meters Centerline goodness [0,1] 0.9958144573567067 Centerline is valid? [True, True] Translation: X:67.98, Y:-18.23, Z:-3.13 [[ 9.23394408e-01 3.78751634e-01 6.23696036e-02 6.79799564e+01] [-3.77893378e-01 9.25498351e-01 -2.54832510e-02 -1.82329285e+01] [-6.73747883e-02 -3.79687142e-05 9.97727737e-01 -3.13128875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31864 meters Centerline goodness [0,1] 0.9961563100576554 Centerline is valid? [True, True] Translation: X:68.01, Y:-18.25, Z:-3.13 [[ 9.23819015e-01 3.77660112e-01 6.26998213e-02 6.80100098e+01] [-3.76787832e-01 9.25944293e-01 -2.56533669e-02 -1.82457643e+01] [-6.77447951e-02 7.45384053e-05 9.97702680e-01 -3.13224292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34864 meters Centerline goodness [0,1] 0.9968002362902432 Centerline is valid? [True, True] Translation: X:68.04, Y:-18.26, Z:-3.13 [[ 9.24668325e-01 3.75522483e-01 6.30186802e-02 6.80394297e+01] [-3.74633732e-01 9.26813246e-01 -2.58219697e-02 -1.82601882e+01] [-6.81032777e-02 2.67834181e-04 9.97678241e-01 -3.13395721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37864 meters Centerline goodness [0,1] 0.9963066922736002 Centerline is valid? [True, True] Translation: X:68.07, Y:-18.27, Z:-3.14 [[ 9.24918003e-01 3.74803192e-01 6.36337612e-02 6.80686980e+01] [-3.73892754e-01 9.27104330e-01 -2.61107138e-02 -1.82742580e+01] [-6.87815145e-02 3.58067004e-04 9.97631683e-01 -3.13575883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40863999999999 meters Centerline goodness [0,1] 0.9961139259186383 Centerline is valid? [True, True] Translation: X:68.10, Y:-18.29, Z:-3.14 [[ 9.24994062e-01 3.74908563e-01 6.18833976e-02 6.80971891e+01] [-3.74045680e-01 9.27061720e-01 -2.54243350e-02 -1.82888155e+01] [-6.69015299e-02 3.70141427e-04 9.97759514e-01 -3.13651609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43863999999999 meters Centerline goodness [0,1] 0.9961604725572237 Centerline is valid? [True, True] Translation: X:68.13, Y:-18.30, Z:-3.14 [[ 9.24371735e-01 3.76344970e-01 6.24608657e-02 6.81269358e+01] [-3.75466808e-01 9.26479559e-01 -2.56963677e-02 -1.83042685e+01] [-6.75394141e-02 3.01014121e-04 9.97716561e-01 -3.13774240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46864 meters Centerline goodness [0,1] 0.9960167199409884 Centerline is valid? [True, True] Translation: X:68.16, Y:-18.32, Z:-3.14 [[ 9.23758824e-01 3.77737037e-01 6.31218308e-02 6.81571394e+01] [-3.76840792e-01 9.25912887e-01 -2.60065962e-02 -1.83168904e+01] [-6.82689712e-02 2.36942090e-04 9.97666924e-01 -3.13960257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49864 meters Centerline goodness [0,1] 0.9966467774545096 Centerline is valid? [True, True] Translation: X:68.19, Y:-18.33, Z:-3.14 [[ 9.22970517e-01 3.79650889e-01 6.31714184e-02 6.81872713e+01] [-3.78755085e-01 9.25129821e-01 -2.60653082e-02 -1.83296110e+01] [-6.83374804e-02 1.31015061e-04 9.97662253e-01 -3.14084613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52864 meters Centerline goodness [0,1] 0.9958183696561224 Centerline is valid? [True, True] Translation: X:68.22, Y:-18.34, Z:-3.14 [[ 9.22103328e-01 3.81934280e-01 6.20617232e-02 6.82158329e+01] [-3.81072483e-01 9.24189486e-01 -2.56428776e-02 -1.83443700e+01] [-6.71506860e-02 -4.63213471e-06 9.97742845e-01 -3.14139841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55864 meters Centerline goodness [0,1] 0.9957195571955719 Centerline is valid? [True, True] Translation: X:68.25, Y:-18.36, Z:-3.14 [[ 9.21394038e-01 3.83718200e-01 6.15903394e-02 6.82464430e+01] [-3.82871146e-01 9.23450233e-01 -2.54824071e-02 -1.83579068e+01] [-6.66536766e-02 -1.01825863e-04 9.97776166e-01 -3.14312228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58864 meters Centerline goodness [0,1] 0.9954202984192643 Centerline is valid? [True, True] Translation: X:68.28, Y:-18.37, Z:-3.14 [[ 9.20385144e-01 3.86306008e-01 6.04884644e-02 6.82762148e+01] [-3.85492310e-01 9.22370644e-01 -2.50613973e-02 -1.83694548e+01] [-6.54741522e-02 -2.51700158e-04 9.97854234e-01 -3.14448982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61864 meters Centerline goodness [0,1] 0.995469765609612 Centerline is valid? [True, True] Translation: X:68.31, Y:-18.38, Z:-3.15 [[ 9.19791674e-01 3.87498915e-01 6.18697539e-02 6.83059834e+01] [-3.86648041e-01 9.21870106e-01 -2.56670963e-02 -1.83807594e+01] [-6.69818485e-02 -3.13437629e-04 9.97754145e-01 -3.14604493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64864 meters Centerline goodness [0,1] 0.995914550108289 Centerline is valid? [True, True] Translation: X:68.34, Y:-18.39, Z:-3.15 [[ 9.19412710e-01 3.88368514e-01 6.20497090e-02 6.83368922e+01] [-3.87512305e-01 9.21504085e-01 -2.57766418e-02 -1.83928231e+01] [-6.71898963e-02 -3.45653640e-04 9.97740146e-01 -3.14759822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67864 meters Centerline goodness [0,1] 0.9961146904047607 Centerline is valid? [True, True] Translation: X:68.37, Y:-18.40, Z:-3.15 [[ 9.20286948e-01 3.86240345e-01 6.23725002e-02 6.83685322e+01] [-3.85367708e-01 9.22398163e-01 -2.59491489e-02 -1.84035256e+01] [-6.75548879e-02 -1.55684420e-04 9.97715547e-01 -3.14936251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70864 meters Centerline goodness [0,1] 0.996404472245481 Centerline is valid? [True, True] Translation: X:68.40, Y:-18.41, Z:-3.15 [[ 9.20874996e-01 3.84859397e-01 6.22293096e-02 6.83996249e+01] [-3.83985036e-01 9.22975213e-01 -2.59277462e-02 -1.84144384e+01] [-6.74146470e-02 -1.89105198e-05 9.97725045e-01 -3.15101778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73864 meters Centerline goodness [0,1] 0.9966490908194944 Centerline is valid? [True, True] Translation: X:68.43, Y:-18.43, Z:-3.15 [[ 9.21428955e-01 3.83780797e-01 6.06710855e-02 6.84296099e+01] [-3.82945090e-01 9.23424221e-01 -2.53133604e-02 -1.84259381e+01] [-6.57399315e-02 9.07689108e-05 9.97836787e-01 -3.15240436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76863999999999 meters Centerline goodness [0,1] 0.9971917032073705 Centerline is valid? [True, True] Translation: X:68.46, Y:-18.44, Z:-3.15 [[ 9.22272202e-01 3.81731798e-01 6.07850287e-02 6.84599864e+01] [-3.80886239e-01 9.24273099e-01 -2.53950942e-02 -1.84392192e+01] [-6.58760819e-02 2.69008473e-04 9.97827775e-01 -3.15330789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79863999999999 meters Centerline goodness [0,1] 0.997640001966665 Centerline is valid? [True, True] Translation: X:68.49, Y:-18.45, Z:-3.15 [[ 9.22697233e-01 3.80767560e-01 6.03811304e-02 6.84902721e+01] [-3.79929001e-01 9.24670715e-01 -2.52591109e-02 -1.84514290e+01] [-6.54505131e-02 3.65969143e-04 9.97855749e-01 -3.15470779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82864 meters Centerline goodness [0,1] 0.9986704746897774 Centerline is valid? [True, True] Translation: X:68.52, Y:-18.46, Z:-3.16 [[ 9.23432619e-01 3.78824725e-01 6.13516592e-02 6.85215740e+01] [-3.77952776e-01 9.25468281e-01 -2.56935935e-02 -1.84608911e+01] [-6.65123830e-02 5.38272385e-04 9.97785454e-01 -3.15649155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85864 meters Centerline goodness [0,1] 0.9988672182821119 Centerline is valid? [True, True] Translation: X:68.55, Y:-18.47, Z:-3.16 [[ 9.23329711e-01 3.79063409e-01 6.14261971e-02 6.85526315e+01] [-3.78187577e-01 9.25370534e-01 -2.57590994e-02 -1.84734225e+01] [-6.66063249e-02 5.53517207e-04 9.97779180e-01 -3.15744781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88864 meters Centerline goodness [0,1] 0.9991629739044805 Centerline is valid? [True, True] Translation: X:68.58, Y:-18.49, Z:-3.16 [[ 9.23274106e-01 3.79118604e-01 6.19193814e-02 6.85827779e+01] [-3.78226233e-01 9.25347901e-01 -2.60034394e-02 -1.84869714e+01] [-6.71553572e-02 5.88767867e-04 9.97742357e-01 -3.15940139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91864 meters Centerline goodness [0,1] 0.9995078255733832 Centerline is valid? [True, True] Translation: X:68.61, Y:-18.50, Z:-3.16 [[ 9.23021045e-01 3.79710788e-01 6.20634265e-02 6.86124932e+01] [-3.78813058e-01 9.25105064e-01 -2.61014881e-02 -1.85010296e+01] [-6.73262067e-02 5.81786444e-04 9.97730847e-01 -3.16076192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94864 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:68.64, Y:-18.52, Z:-3.16 [[ 9.22952000e-01 3.79834179e-01 6.23345975e-02 6.86422541e+01] [-3.78926307e-01 9.25054390e-01 -2.62531765e-02 -1.85152188e+01] [-6.76347468e-02 6.10202957e-04 9.97709962e-01 -3.16188667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97864 meters Centerline goodness [0,1] 0.9999506660088802 Centerline is valid? [True, True] Translation: X:68.67, Y:-18.53, Z:-3.16 [[ 9.22635412e-01 3.80591096e-01 6.24044481e-02 6.86724390e+01] [-3.79680367e-01 9.24743245e-01 -2.63201382e-02 -1.85281301e+01] [-6.77253021e-02 5.90147792e-04 9.97703831e-01 -3.16315444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00864 meters Centerline goodness [0,1] 0.9999507364894823 Centerline is valid? [True, True] Translation: X:68.70, Y:-18.54, Z:-3.16 [[ 9.22524741e-01 3.80881703e-01 6.22674063e-02 6.87031201e+01] [-3.79973109e-01 9.24623580e-01 -2.62996317e-02 -1.85416550e+01] [-6.75909607e-02 6.02120913e-04 9.97712934e-01 -3.16430534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03864 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:68.73, Y:-18.56, Z:-3.17 [[ 9.21936547e-01 3.82274334e-01 6.24446618e-02 6.87332258e+01] [-3.81361183e-01 9.24048725e-01 -2.64121689e-02 -1.85558446e+01] [-6.77986044e-02 5.36373664e-04 9.97698883e-01 -3.16563863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06864 meters Centerline goodness [0,1] 0.9996062023135615 Centerline is valid? [True, True] Translation: X:68.76, Y:-18.57, Z:-3.17 [[ 9.20837074e-01 3.84882621e-01 6.26454449e-02 6.87631989e+01] [-3.83967011e-01 9.22965451e-01 -2.65350944e-02 -1.85706058e+01] [-6.80324779e-02 3.80714502e-04 9.97683034e-01 -3.16608075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09864 meters Centerline goodness [0,1] 0.9998520345252775 Centerline is valid? [True, True] Translation: X:68.79, Y:-18.58, Z:-3.17 [[ 9.19977378e-01 3.86975504e-01 6.23825624e-02 6.87938998e+01] [-3.86069805e-01 9.22089959e-01 -2.64615461e-02 -1.85838842e+01] [-6.77623045e-02 2.60000050e-04 9.97701460e-01 -3.16782264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12864 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:68.82, Y:-18.60, Z:-3.17 [[ 9.18883980e-01 3.89587023e-01 6.22429350e-02 6.88238505e+01] [-3.88688779e-01 9.20989653e-01 -2.64403432e-02 -1.85971826e+01] [-6.76259137e-02 1.02477318e-04 9.97710742e-01 -3.16975977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15863999999999 meters Centerline goodness [0,1] 0.9999015602697249 Centerline is valid? [True, True] Translation: X:68.85, Y:-18.61, Z:-3.17 [[ 9.18020511e-01 3.91741840e-01 6.14546440e-02 6.88537976e+01] [-3.90868671e-01 9.20075177e-01 -2.61410002e-02 -1.86096789e+01] [-6.67834159e-02 -2.27206153e-05 9.97767495e-01 -3.17096355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.89, Y:-18.62, Z:-3.17 [[ 9.15845905e-01 3.96740137e-01 6.18347970e-02 6.88850069e+01] [-3.95865115e-01 9.17930899e-01 -2.63376969e-02 -1.86203874e+01] [-6.72092923e-02 -3.56967180e-04 9.97738835e-01 -3.17257784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.92, Y:-18.63, Z:-3.17 [[ 9.14384673e-01 3.99892770e-01 6.31382783e-02 6.89153160e+01] [-3.98985350e-01 9.16561756e-01 -2.69302646e-02 -1.86321996e+01] [-6.86393493e-02 -5.66626871e-04 9.97641378e-01 -3.17333084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:-18.64, Z:-3.18 [[ 9.12760633e-01 4.03363696e-01 6.45426619e-02 6.89450668e+01] [-4.02421663e-01 9.15039379e-01 -2.75633854e-02 -1.86433401e+01] [-7.01771463e-02 -8.14592197e-04 9.97534212e-01 -3.17517692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:-18.65, Z:-3.18 [[ 9.11920919e-01 4.05340994e-01 6.40227748e-02 6.89767145e+01] [-4.04416543e-01 9.14165094e-01 -2.73759146e-02 -1.86544512e+01] [-6.96239663e-02 -9.27200057e-04 9.97572876e-01 -3.17668327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.01, Y:-18.67, Z:-3.18 [[ 9.10839581e-01 4.07731880e-01 6.42337223e-02 6.90071107e+01] [-4.06804605e-01 9.13101062e-01 -2.75038747e-02 -1.86651428e+01] [-6.98660866e-02 -1.07895629e-03 9.97555796e-01 -3.17898451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.04, Y:-18.67, Z:-3.18 [[ 9.09222390e-01 4.11915454e-01 6.03349381e-02 6.90395475e+01] [-4.11105033e-01 9.11221152e-01 -2.58585527e-02 -1.86720704e+01] [-6.56300093e-02 -1.29282163e-03 9.97843189e-01 -3.17920816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:-18.68, Z:-3.18 [[ 9.07776767e-01 4.14922137e-01 6.14895233e-02 6.90709780e+01] [-4.14085925e-01 9.09855651e-01 -2.63730985e-02 -1.86816301e+01] [-6.68893727e-02 -1.52106005e-03 9.97759239e-01 -3.17971181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.10, Y:-18.69, Z:-3.18 [[ 9.04639977e-01 4.21466603e-01 6.31855528e-02 6.91029972e+01] [-4.20597813e-01 9.06841634e-01 -2.71243479e-02 -1.86871517e+01] [-6.87312967e-02 -2.03793586e-03 9.97633127e-01 -3.18044207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.13, Y:-18.70, Z:-3.18 [[ 9.03141607e-01 4.24814245e-01 6.21940101e-02 6.91340357e+01] [-4.23979412e-01 9.05277763e-01 -2.67138574e-02 -1.86956196e+01] [-6.76512814e-02 -2.24258376e-03 9.97706507e-01 -3.18156189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:-18.70, Z:-3.18 [[ 9.01931558e-01 4.27430537e-01 6.18271795e-02 6.91654836e+01] [-4.26609439e-01 9.04045022e-01 -2.65891690e-02 -1.87039669e+01] [-6.72595767e-02 -2.39444775e-03 9.97732638e-01 -3.18321066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-18.71, Z:-3.19 [[ 9.00308109e-01 4.31076746e-01 6.01510486e-02 6.91986861e+01] [-4.30305634e-01 9.02311619e-01 -2.58998691e-02 -1.87076406e+01] [-6.54398214e-02 -2.56547300e-03 9.97853220e-01 -3.18521173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-18.72, Z:-3.19 [[ 8.99319268e-01 4.33048374e-01 6.07779530e-02 6.92307931e+01] [-4.32263419e-01 9.01366615e-01 -2.62023497e-02 -1.87153595e+01] [-6.61301027e-02 -2.70780775e-03 9.97807335e-01 -3.18644159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-18.72, Z:-3.19 [[ 8.98498651e-01 4.34698729e-01 6.11325493e-02 6.92624316e+01] [-4.33906212e-01 9.00571531e-01 -2.63878060e-02 -1.87223838e+01] [-6.65249793e-02 -2.81638477e-03 9.97780785e-01 -3.18767751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-18.72, Z:-3.19 [[ 8.99425039e-01 4.32845875e-01 6.06551520e-02 6.92971296e+01] [-4.32059384e-01 9.01464106e-01 -2.62136247e-02 -1.87241160e+01] [-6.60249017e-02 -2.62943715e-03 9.97814511e-01 -3.18798296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:-18.73, Z:-3.19 [[ 9.00426976e-01 4.30614646e-01 6.16626936e-02 6.93284924e+01] [-4.29794909e-01 9.02532467e-01 -2.66736313e-02 -1.87316982e+01] [-6.71386393e-02 -2.48465458e-03 9.97740562e-01 -3.18963213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:69.36, Y:-18.73, Z:-3.19 [[ 9.02568743e-01 4.26307755e-01 6.02607784e-02 6.93617426e+01] [-4.25514810e-01 9.04575732e-01 -2.60747210e-02 -1.87342928e+01] [-6.56262936e-02 -2.10762546e-03 9.97842045e-01 -3.18951528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:69.39, Y:-18.75, Z:-3.19 [[ 9.02485182e-01 4.26485033e-01 6.02578842e-02 6.93916170e+01] [-4.25692036e-01 9.04492151e-01 -2.60814078e-02 -1.87471692e+01] [-6.56261134e-02 -2.11321730e-03 9.97842045e-01 -3.19091050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.42, Y:-18.76, Z:-3.19 [[ 9.03214039e-01 4.24855389e-01 6.08465161e-02 6.94225605e+01] [-4.24042281e-01 9.05259016e-01 -2.63487701e-02 -1.87555588e+01] [-6.62762743e-02 -2.00291642e-03 9.97799300e-01 -3.19251135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.45, Y:-18.76, Z:-3.19 [[ 9.03986992e-01 4.23072754e-01 6.17815759e-02 6.94544767e+01] [-4.22229632e-01 9.06093739e-01 -2.67632997e-02 -1.87639485e+01] [-6.73027220e-02 -1.89233724e-03 9.97730807e-01 -3.19335817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:69.49, Y:-18.77, Z:-3.20 [[ 9.05315866e-01 4.19989252e-01 6.33420138e-02 6.94868581e+01] [-4.19094730e-01 9.07527493e-01 -2.74491614e-02 -1.87704973e+01] [-6.90129718e-02 -1.69614281e-03 9.97614321e-01 -3.19573414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.52, Y:-18.78, Z:-3.20 [[ 9.05616833e-01 4.19139180e-01 6.46567876e-02 6.95181884e+01] [-4.18204222e-01 9.07920484e-01 -2.80289876e-02 -1.87797334e+01] [-7.04512687e-02 -1.65621857e-03 9.97513847e-01 -3.19663464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.55, Y:-18.79, Z:-3.20 [[ 9.06188333e-01 4.17926987e-01 6.44960298e-02 6.95496069e+01] [-4.16992923e-01 9.08479297e-01 -2.79690623e-02 -1.87878852e+01] [-7.02823338e-02 -1.54915006e-03 9.97525936e-01 -3.19755881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-18.79, Z:-3.20 [[ 9.06869258e-01 4.16771656e-01 6.23661368e-02 6.95819529e+01] [-4.15894968e-01 9.09010131e-01 -2.70546915e-02 -1.87931209e+01] [-6.79670788e-02 -1.40269445e-03 9.97686578e-01 -3.19912438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.61, Y:-18.80, Z:-3.20 [[ 9.07226868e-01 4.16006425e-01 6.22741097e-02 6.96121769e+01] [-4.15129880e-01 9.09360695e-01 -2.70242430e-02 -1.88036802e+01] [-6.78718863e-02 -1.33472441e-03 9.97693152e-01 -3.20117363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.64, Y:-18.81, Z:-3.20 [[ 9.09580543e-01 4.11131008e-01 6.02870586e-02 6.96439540e+01] [-4.10298354e-01 9.11575792e-01 -2.61693778e-02 -1.88090651e+01] [-6.57152659e-02 -9.32524017e-04 9.97837980e-01 -3.20175626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:-18.82, Z:-3.20 [[ 9.10683766e-01 4.08645971e-01 6.05272575e-02 6.96728672e+01] [-4.07801080e-01 9.12692665e-01 -2.62750601e-02 -1.88160483e+01] [-6.59799814e-02 -7.54810264e-04 9.97820661e-01 -3.20245759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.70, Y:-18.82, Z:-3.20 [[ 9.12052316e-01 4.05826888e-01 5.88651808e-02 6.97018402e+01] [-4.05022212e-01 9.13949805e-01 -2.55491912e-02 -1.88238517e+01] [-6.41683692e-02 -5.39506749e-04 9.97938941e-01 -3.20310867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.73, Y:-18.83, Z:-3.20 [[ 9.13517496e-01 4.02542550e-01 5.86965090e-02 6.97283636e+01] [-4.01736547e-01 9.15401220e-01 -2.54627905e-02 -1.88339644e+01] [-6.39807125e-02 -3.19828266e-04 9.97951084e-01 -3.20486601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.76, Y:-18.84, Z:-3.21 [[ 9.16488134e-01 3.95708353e-01 5.88591496e-02 6.97553386e+01] [-3.94885755e-01 9.18376220e-01 -2.55021240e-02 -1.88443123e+01] [-6.41462468e-02 1.29754354e-04 9.97940500e-01 -3.20656489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.78, Y:-18.86, Z:-3.21 [[ 9.17350531e-01 3.93759361e-01 5.84941875e-02 6.97821583e+01] [-3.92944947e-01 9.19213528e-01 -2.53132114e-02 -1.88555571e+01] [-6.37359624e-02 2.36092582e-04 9.97966769e-01 -3.20716491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.81, Y:-18.87, Z:-3.21 [[ 9.19037640e-01 3.90169917e-01 5.60111878e-02 6.98089797e+01] [-3.89418070e-01 9.20742766e-01 -2.42141641e-02 -1.88671431e+01] [-6.10195344e-02 4.41959532e-04 9.98136474e-01 -3.20848298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.83, Y:-18.88, Z:-3.21 [[ 9.19319204e-01 3.89776576e-01 5.40964174e-02 6.98346749e+01] [-3.89075729e-01 9.20909350e-01 -2.33676219e-02 -1.88798053e+01] [-5.89260483e-02 4.34700491e-04 9.98262256e-01 -3.20986018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14864 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:69.86, Y:-18.89, Z:-3.21 [[ 9.19757880e-01 3.88991063e-01 5.22627619e-02 6.98606700e+01] [-3.88337187e-01 9.21241421e-01 -2.25493620e-02 -1.88927905e+01] [-5.69181214e-02 4.44379470e-04 9.98378751e-01 -3.21038046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.88, Y:-18.91, Z:-3.21 [[ 9.18654766e-01 3.91419940e-01 5.35149662e-02 6.98848541e+01] [-3.90740138e-01 9.20212125e-01 -2.30605449e-02 -1.89083466e+01] [-5.82714779e-02 2.74234173e-04 9.98300736e-01 -3.21103328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.91, Y:-18.92, Z:-3.21 [[ 9.17601473e-01 3.93508192e-01 5.62035519e-02 6.99094698e+01] [-3.92764256e-01 9.19321102e-01 -2.41857531e-02 -1.89233624e+01] [-6.11864033e-02 1.18136435e-04 9.98126350e-01 -3.21306932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.94, Y:-18.94, Z:-3.22 [[ 9.15616618e-01 3.98124472e-01 5.60634844e-02 6.99350782e+01] [-3.97394124e-01 9.17331380e-01 -2.41049482e-02 -1.89406090e+01] [-6.10255633e-02 -2.08408130e-04 9.98136182e-01 -3.21535126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:-18.95, Z:-3.22 [[ 9.14569873e-01 4.00550825e-01 5.58657636e-02 6.99627768e+01] [-3.99830142e-01 9.16274468e-01 -2.40199366e-02 -1.89537764e+01] [-6.08095783e-02 -3.68905858e-04 9.98149317e-01 -3.21649499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:-18.97, Z:-3.22 [[ 9.13423474e-01 4.03104803e-01 5.62501116e-02 6.99907281e+01] [-4.02378992e-01 9.15153661e-01 -2.41851901e-02 -1.89667771e+01] [-6.12266618e-02 -5.42542845e-04 9.98123741e-01 -3.21763311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.02, Y:-18.98, Z:-3.22 [[ 9.11902080e-01 4.06373258e-01 5.74053245e-02 7.00193597e+01] [-4.05623675e-01 9.13706831e-01 -2.46832302e-02 -1.89801976e+01] [-6.24822418e-02 -7.76269768e-04 9.98045774e-01 -3.21895416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.05, Y:-18.99, Z:-3.22 [[ 9.09523952e-01 4.11558921e-01 5.81844979e-02 7.00469339e+01] [-4.10799169e-01 9.11382436e-01 -2.50219380e-02 -1.89931060e+01] [-6.33263313e-02 -1.14409146e-03 9.97992218e-01 -3.22063433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.08, Y:-19.00, Z:-3.22 [[ 9.08450399e-01 4.13965078e-01 5.78859790e-02 7.00757337e+01] [-4.13217801e-01 9.10291831e-01 -2.48964067e-02 -1.90045518e+01] [-6.29993767e-02 -1.30236629e-03 9.98012717e-01 -3.22135504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.11, Y:-19.01, Z:-3.22 [[ 9.06809091e-01 4.17331599e-01 5.94273433e-02 7.01056279e+01] [-4.16550966e-01 9.08752914e-01 -2.55623786e-02 -1.90122371e+01] [-6.46727597e-02 -1.57431999e-03 9.97905284e-01 -3.22175955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.13, Y:-19.02, Z:-3.22 [[ 9.05648611e-01 4.19718594e-01 6.03066811e-02 7.01338062e+01] [-4.18920045e-01 9.07652556e-01 -2.59390407e-02 -1.90216064e+01] [-6.56246109e-02 -1.77202139e-03 9.97842808e-01 -3.22255977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47864 meters Centerline goodness [0,1] 0.999901772997397 Centerline is valid? [True, True] Translation: X:70.16, Y:-19.03, Z:-3.22 [[ 9.05027237e-01 4.20922091e-01 6.12396326e-02 7.01611992e+01] [-4.20102353e-01 9.07094801e-01 -2.63255678e-02 -1.90310809e+01] [-6.66311654e-02 -1.90155791e-03 9.97775863e-01 -3.22423232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50864 meters Centerline goodness [0,1] 0.999704942217851 Centerline is valid? [True, True] Translation: X:70.19, Y:-19.04, Z:-3.23 [[ 9.04802323e-01 4.21410813e-01 6.12019776e-02 7.01892933e+01] [-4.20595386e-01 9.06867720e-01 -2.62766163e-02 -1.90391366e+01] [-6.65753481e-02 -1.96612585e-03 9.97779463e-01 -3.22555730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53864 meters Centerline goodness [0,1] 0.9994597514856834 Centerline is valid? [True, True] Translation: X:70.22, Y:-19.04, Z:-3.23 [[ 9.05348719e-01 4.20300723e-01 6.07535980e-02 7.02195370e+01] [-4.19496852e-01 9.07382881e-01 -2.60518516e-02 -1.90419498e+01] [-6.60763869e-02 -1.89993270e-03 9.97812759e-01 -3.22615718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56864 meters Centerline goodness [0,1] 0.9993122083026283 Centerline is valid? [True, True] Translation: X:70.25, Y:-19.05, Z:-3.23 [[ 9.06022899e-01 4.18626273e-01 6.22458763e-02 7.02466958e+01] [-4.17780832e-01 9.08156708e-01 -2.66565119e-02 -1.90497322e+01] [-6.76881264e-02 -1.85372379e-03 9.97704807e-01 -3.22756533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59864 meters Centerline goodness [0,1] 0.9988208705905474 Centerline is valid? [True, True] Translation: X:70.27, Y:-19.06, Z:-3.23 [[ 9.07228223e-01 4.15792963e-01 6.36644576e-02 7.02744038e+01] [-4.14904099e-01 9.09457682e-01 -2.72270701e-02 -1.90577256e+01] [-6.92209542e-02 -1.71347799e-03 9.97599881e-01 -3.22946631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62863999999999 meters Centerline goodness [0,1] 0.998233562315996 Centerline is valid? [True, True] Translation: X:70.30, Y:-19.06, Z:-3.23 [[ 9.10237092e-01 4.09071220e-01 6.42586418e-02 7.03039349e+01] [-4.08150806e-01 9.12501619e-01 -2.74538600e-02 -1.90630226e+01] [-6.98666987e-02 -1.23769473e-03 9.97555569e-01 -3.23089983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65863999999999 meters Centerline goodness [0,1] 0.9982762017336485 Centerline is valid? [True, True] Translation: X:70.33, Y:-19.07, Z:-3.23 [[ 9.12475353e-01 4.04088907e-01 6.40381603e-02 7.03319519e+01] [-4.03164133e-01 9.14719296e-01 -2.73366139e-02 -1.90707805e+01] [-6.96233634e-02 -8.73902976e-04 9.97572967e-01 -3.23166545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68863999999999 meters Centerline goodness [0,1] 0.9983266069495029 Centerline is valid? [True, True] Translation: X:70.36, Y:-19.08, Z:-3.23 [[ 9.14850341e-01 3.99065984e-01 6.16051545e-02 7.03598069e+01] [-3.98200915e-01 9.16922074e-01 -2.62667430e-02 -1.90793226e+01] [-6.69692896e-02 -5.01090095e-04 9.97754911e-01 -3.23217325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71864 meters Centerline goodness [0,1] 0.9981296451247723 Centerline is valid? [True, True] Translation: X:70.39, Y:-19.09, Z:-3.23 [[ 9.18822329e-01 3.89819658e-01 6.16940949e-02 7.03877116e+01] [-3.88933358e-01 9.20891206e-01 -2.62722234e-02 -1.90860460e+01] [-6.70549786e-02 1.44613988e-04 9.97749272e-01 -3.23443219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74864 meters Centerline goodness [0,1] 0.9979352047588614 Centerline is valid? [True, True] Translation: X:70.41, Y:-19.10, Z:-3.24 [[ 9.20799100e-01 3.85207239e-01 6.11915100e-02 7.04142379e+01] [-3.84327372e-01 9.22829987e-01 -2.60247368e-02 -1.90956164e+01] [-6.64942773e-02 4.45981975e-04 9.97786707e-01 -3.23508478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77864 meters Centerline goodness [0,1] 0.9976946093098543 Centerline is valid? [True, True] Translation: X:70.44, Y:-19.11, Z:-3.23 [[ 9.22520602e-01 3.81406540e-01 5.90321104e-02 7.04404615e+01] [-3.80582048e-01 9.24407166e-01 -2.50738022e-02 -1.91078850e+01] [-6.41330181e-02 6.64537680e-04 9.97941138e-01 -3.23451776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80864 meters Centerline goodness [0,1] 0.9980360386900378 Centerline is valid? [True, True] Translation: X:70.47, Y:-19.12, Z:-3.24 [[ 9.22703387e-01 3.80870975e-01 5.96301996e-02 7.04666835e+01] [-3.80030538e-01 9.24627945e-01 -2.52972913e-02 -1.91205475e+01] [-6.47707529e-02 6.80599568e-04 9.97899938e-01 -3.23573180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83864 meters Centerline goodness [0,1] 0.9977927110413499 Centerline is valid? [True, True] Translation: X:70.49, Y:-19.13, Z:-3.24 [[ 9.23045872e-01 3.80050349e-01 5.95655093e-02 7.04919869e+01] [-3.79212082e-01 9.24965529e-01 -2.52381848e-02 -1.91333797e+01] [-6.46878238e-02 7.08041452e-04 9.97905298e-01 -3.23733674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86864 meters Centerline goodness [0,1] 0.9977415553809897 Centerline is valid? [True, True] Translation: X:70.52, Y:-19.15, Z:-3.24 [[ 9.22951994e-01 3.80396403e-01 5.88064011e-02 7.05176656e+01] [-3.79582169e-01 9.24823313e-01 -2.48840462e-02 -1.91472544e+01] [-6.38513324e-02 6.44918803e-04 9.97959213e-01 -3.23864060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89864 meters Centerline goodness [0,1] 0.9979883224571905 Centerline is valid? [True, True] Translation: X:70.54, Y:-19.16, Z:-3.24 [[ 9.22540494e-01 3.81254604e-01 5.96989388e-02 7.05424989e+01] [-3.80419324e-01 9.24469907e-01 -2.52295370e-02 -1.91603212e+01] [-6.48087496e-02 5.64639596e-04 9.97897543e-01 -3.24000034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92864 meters Centerline goodness [0,1] 0.9976923454607944 Centerline is valid? [True, True] Translation: X:70.57, Y:-19.17, Z:-3.24 [[ 9.22288753e-01 3.82000573e-01 5.88134247e-02 7.05680246e+01] [-3.81193505e-01 9.24161965e-01 -2.48228541e-02 -1.91733331e+01] [-6.38354746e-02 4.74543643e-04 9.97960323e-01 -3.24165729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95864 meters Centerline goodness [0,1] 0.9977435494947513 Centerline is valid? [True, True] Translation: X:70.59, Y:-19.19, Z:-3.24 [[ 9.21121078e-01 3.84511776e-01 6.07178198e-02 7.05921366e+01] [-3.83659067e-01 9.23120044e-01 -2.55950254e-02 -1.91889327e+01] [-6.58914252e-02 2.81175235e-04 9.97826759e-01 -3.24291087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98864 meters Centerline goodness [0,1] 0.9977836879432624 Centerline is valid? [True, True] Translation: X:70.62, Y:-19.20, Z:-3.24 [[ 9.20744153e-01 3.85135996e-01 6.24537346e-02 7.06173135e+01] [-3.84237407e-01 9.22859805e-01 -2.62944176e-02 -1.92033184e+01] [-6.77629680e-02 2.13370266e-04 9.97701426e-01 -3.24389676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01863999999999 meters Centerline goodness [0,1] 0.9977361090604853 Centerline is valid? [True, True] Translation: X:70.64, Y:-19.22, Z:-3.24 [[ 9.20920482e-01 3.84734697e-01 6.23271944e-02 7.06420222e+01] [-3.83840988e-01 9.23027176e-01 -2.62093115e-02 -1.92196059e+01] [-6.76133257e-02 2.12959912e-04 9.97711578e-01 -3.24421670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04863999999999 meters Centerline goodness [0,1] 0.9980357493616185 Centerline is valid? [True, True] Translation: X:70.67, Y:-19.23, Z:-3.25 [[ 9.21029621e-01 3.84367301e-01 6.29779038e-02 7.06677082e+01] [-3.83456184e-01 9.23180228e-01 -2.64503578e-02 -1.92329378e+01] [-6.83066082e-02 2.12296349e-04 9.97664353e-01 -3.24523728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07864 meters Centerline goodness [0,1] 0.997936422149069 Centerline is valid? [True, True] Translation: X:70.69, Y:-19.25, Z:-3.25 [[ 9.20806798e-01 3.85174776e-01 6.12799622e-02 7.06945265e+01] [-3.84315390e-01 9.22843636e-01 -2.57158616e-02 -1.92466224e+01] [-6.64569244e-02 1.28507607e-04 9.97789287e-01 -3.24708240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10864 meters Centerline goodness [0,1] 0.9977894581716363 Centerline is valid? [True, True] Translation: X:70.72, Y:-19.26, Z:-3.25 [[ 9.20375203e-01 3.86125177e-01 6.17805276e-02 7.07208008e+01] [-3.85254122e-01 9.22446391e-01 -2.59213651e-02 -1.92602221e+01] [-6.69981164e-02 5.61787401e-05 9.97753100e-01 -3.24861487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13864 meters Centerline goodness [0,1] 0.9978855232100708 Centerline is valid? [True, True] Translation: X:70.75, Y:-19.28, Z:-3.25 [[ 9.18836964e-01 3.89671392e-01 6.24086555e-02 7.07473439e+01] [-3.88790870e-01 9.20953942e-01 -2.61819756e-02 -1.92766867e+01] [-6.76778642e-02 -2.06948513e-04 9.97707203e-01 -3.24987531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16864 meters Centerline goodness [0,1] 0.9975942655145326 Centerline is valid? [True, True] Translation: X:70.77, Y:-19.29, Z:-3.25 [[ 9.18053117e-01 3.91783960e-01 6.06943340e-02 7.07747569e+01] [-3.90955807e-01 9.20057174e-01 -2.54627753e-02 -1.92900660e+01] [-6.58181644e-02 -3.52622090e-04 9.97831571e-01 -3.25032199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19864 meters Centerline goodness [0,1] 0.9980327546353219 Centerline is valid? [True, True] Translation: X:70.80, Y:-19.30, Z:-3.25 [[ 9.17108649e-01 3.94009322e-01 6.05671488e-02 7.08025990e+01] [-3.93189544e-01 9.19106301e-01 -2.54084785e-02 -1.93028339e+01] [-6.56788254e-02 -5.12034191e-04 9.97840684e-01 -3.25035828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22864 meters Centerline goodness [0,1] 0.9980841029671841 Centerline is valid? [True, True] Translation: X:70.83, Y:-19.32, Z:-3.25 [[ 9.15760332e-01 3.97028593e-01 6.12479479e-02 7.08296751e+01] [-3.96197116e-01 9.17805944e-01 -2.56922970e-02 -1.93160811e+01] [-6.64143072e-02 -7.38273810e-04 9.97791859e-01 -3.25210084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25864 meters Centerline goodness [0,1] 0.9979360165118679 Centerline is valid? [True, True] Translation: X:70.86, Y:-19.33, Z:-3.25 [[ 9.14827373e-01 3.99107670e-01 6.16761295e-02 7.08573373e+01] [-3.98269228e-01 9.16903630e-01 -2.58719107e-02 -1.93287176e+01] [-6.68767450e-02 -8.95372329e-04 9.97760843e-01 -3.25278207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28864 meters Centerline goodness [0,1] 0.9974464741701041 Centerline is valid? [True, True] Translation: X:70.89, Y:-19.34, Z:-3.25 [[ 9.13901896e-01 4.01177292e-01 6.19685727e-02 7.08852973e+01] [-4.00335618e-01 9.15999822e-01 -2.59945849e-02 -1.93407289e+01] [-6.71916387e-02 -1.05172648e-03 9.97739534e-01 -3.25463587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31864 meters Centerline goodness [0,1] 0.9979378406245397 Centerline is valid? [True, True] Translation: X:70.91, Y:-19.35, Z:-3.26 [[ 9.13789863e-01 4.01408340e-01 6.21243205e-02 7.09133348e+01] [-4.00562959e-01 9.15898573e-01 -2.60599179e-02 -1.93525749e+01] [-6.73602449e-02 -1.07141281e-03 9.97728144e-01 -3.25553788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34864 meters Centerline goodness [0,1] 0.997446724933713 Centerline is valid? [True, True] Translation: X:70.94, Y:-19.37, Z:-3.26 [[ 9.13658731e-01 4.01720219e-01 6.20369919e-02 7.09416782e+01] [-4.00877820e-01 9.15761800e-01 -2.60249551e-02 -1.93657525e+01] [-6.72658580e-02 -1.09132665e-03 9.97734490e-01 -3.25801280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37863999999999 meters Centerline goodness [0,1] 0.9978869778869779 Centerline is valid? [True, True] Translation: X:70.97, Y:-19.38, Z:-3.26 [[ 9.14973866e-01 3.98800223e-01 6.14915190e-02 7.09697200e+01] [-3.97965800e-01 9.17037421e-01 -2.57990288e-02 -1.93777275e+01] [-6.66786825e-02 -8.66084427e-04 9.97774124e-01 -3.25951630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40863999999999 meters Centerline goodness [0,1] 0.9975440836976276 Centerline is valid? [True, True] Translation: X:71.00, Y:-19.39, Z:-3.26 [[ 9.15699785e-01 3.97144542e-01 6.14012795e-02 7.09981571e+01] [-3.96308740e-01 9.17755774e-01 -2.57628000e-02 -1.93897445e+01] [-6.65829342e-02 -7.42873351e-04 9.97780618e-01 -3.26032063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43863999999999 meters Centerline goodness [0,1] 0.9976387249114522 Centerline is valid? [True, True] Translation: X:71.03, Y:-19.40, Z:-3.26 [[ 9.15889740e-01 3.96443551e-01 6.30753125e-02 7.10270040e+01] [-3.95559514e-01 9.18058828e-01 -2.64699745e-02 -1.94024405e+01] [-6.84006982e-02 -7.06461884e-04 9.97657679e-01 -3.26223609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46864 meters Centerline goodness [0,1] 0.9974419519874065 Centerline is valid? [True, True] Translation: X:71.06, Y:-19.42, Z:-3.26 [[ 9.17618435e-01 3.92411840e-01 6.31613477e-02 7.10559594e+01] [-3.91515382e-01 9.19789534e-01 -2.65126063e-02 -1.94175814e+01] [-6.84990072e-02 -4.00182907e-04 9.97651104e-01 -3.26443158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49864 meters Centerline goodness [0,1] 0.9979341891692489 Centerline is valid? [True, True] Translation: X:71.08, Y:-19.43, Z:-3.27 [[ 9.18354003e-01 3.90519032e-01 6.41935362e-02 7.10845316e+01] [-3.89587759e-01 9.20594819e-01 -2.69547351e-02 -1.94312276e+01] [-6.96225739e-02 -2.55027020e-04 9.97573372e-01 -3.26686364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52864 meters Centerline goodness [0,1] 0.9978377315838616 Centerline is valid? [True, True] Translation: X:71.11, Y:-19.45, Z:-3.27 [[ 9.19153388e-01 3.88717110e-01 6.36871909e-02 7.11131801e+01] [-3.87795608e-01 9.21357149e-01 -2.67501416e-02 -1.94452902e+01] [-6.90768864e-02 -1.10129607e-04 9.97611333e-01 -3.26845194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55864 meters Centerline goodness [0,1] 0.9977364432634583 Centerline is valid? [True, True] Translation: X:71.14, Y:-19.46, Z:-3.27 [[ 9.20172993e-01 3.86383146e-01 6.31642889e-02 7.11408582e+01] [-3.85470590e-01 9.22338365e-01 -2.65398800e-02 -1.94615918e+01] [-6.85134093e-02 7.33050755e-05 9.97650193e-01 -3.26998454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58864 meters Centerline goodness [0,1] 0.9977364432634583 Centerline is valid? [True, True] Translation: X:71.17, Y:-19.47, Z:-3.27 [[ 9.20123907e-01 3.86500576e-01 6.31609121e-02 7.11700777e+01] [-3.85587745e-01 9.22289163e-01 -2.65479143e-02 -1.94738229e+01] [-6.85134089e-02 7.32969929e-05 9.97650193e-01 -3.27134246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61864 meters Centerline goodness [0,1] 0.9978873931413973 Centerline is valid? [True, True] Translation: X:71.20, Y:-19.49, Z:-3.27 [[ 9.20123656e-01 3.86466823e-01 6.33707447e-02 7.11985166e+01] [-3.85547174e-01 9.22303305e-01 -2.66456286e-02 -1.94888439e+01] [-6.87446987e-02 8.48617212e-05 9.97634281e-01 -3.27233046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64864 meters Centerline goodness [0,1] 0.9979337826536134 Centerline is valid? [True, True] Translation: X:71.23, Y:-19.50, Z:-3.27 [[ 9.20273281e-01 3.86109033e-01 6.33790423e-02 7.12279707e+01] [-3.85187516e-01 9.22453142e-01 -2.66604186e-02 -1.95038450e+01] [-6.87580252e-02 1.22054952e-04 9.97633359e-01 -3.27431980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67864 meters Centerline goodness [0,1] 0.9985228223940125 Centerline is valid? [True, True] Translation: X:71.25, Y:-19.52, Z:-3.28 [[ 9.20422169e-01 3.85602001e-01 6.42971872e-02 7.12548806e+01] [-3.84651433e-01 9.22665198e-01 -2.70593523e-02 -1.95219483e+01] [-6.97589173e-02 1.74022515e-04 9.97563864e-01 -3.27556039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70864 meters Centerline goodness [0,1] 0.9990159417437512 Centerline is valid? [True, True] Translation: X:71.28, Y:-19.54, Z:-3.28 [[ 9.20052118e-01 3.86446804e-01 6.45210607e-02 7.12838505e+01] [-3.85490862e-01 9.22311690e-01 -2.71650980e-02 -1.95371574e+01] [-7.00063938e-02 1.21026690e-04 9.97546535e-01 -3.27727687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73864 meters Centerline goodness [0,1] 0.9990167158308751 Centerline is valid? [True, True] Translation: X:71.31, Y:-19.55, Z:-3.28 [[ 9.19488091e-01 3.87517902e-01 6.61175164e-02 7.13122066e+01] [-3.86515828e-01 9.21862177e-01 -2.78503471e-02 -1.95530323e+01] [-7.17437457e-02 5.25958974e-05 9.97423096e-01 -3.27938773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76863999999999 meters Centerline goodness [0,1] 0.9998028002366397 Centerline is valid? [True, True] Translation: X:71.34, Y:-19.57, Z:-3.28 [[ 9.18388889e-01 3.89776155e-01 6.80911012e-02 7.13392506e+01] [-3.88718704e-01 9.20909624e-01 -2.86920589e-02 -1.95717123e+01] [-7.38892308e-02 -1.17816501e-04 9.97266448e-01 -3.28244576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.37, Y:-19.59, Z:-3.28 [[ 9.17733721e-01 3.91363246e-01 6.78205511e-02 7.13690681e+01] [-3.90317611e-01 9.20236250e-01 -2.85903330e-02 -1.95869496e+01] [-7.36001351e-02 -2.33242758e-04 9.97287805e-01 -3.28305249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82864 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:71.40, Y:-19.60, Z:-3.28 [[ 9.16482794e-01 3.94258515e-01 6.79669897e-02 7.13977435e+01] [-3.93215317e-01 9.18999465e-01 -2.86652645e-02 -1.96009532e+01] [-7.37631518e-02 -4.54439770e-04 9.97275685e-01 -3.28451990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.43, Y:-19.61, Z:-3.28 [[ 9.15428243e-01 3.96767526e-01 6.75770741e-02 7.14277370e+01] [-3.95742201e-01 9.17918906e-01 -2.85130102e-02 -1.96141950e+01] [-7.33433105e-02 -6.41485244e-04 9.97306546e-01 -3.28497494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88864 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:71.46, Y:-19.63, Z:-3.29 [[ 9.12733377e-01 4.03037122e-01 6.69242974e-02 7.14568618e+01] [-4.02046632e-01 9.15182955e-01 -2.82606493e-02 -1.96273521e+01] [-7.26380670e-02 -1.11225056e-03 9.97357746e-01 -3.28661987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91864 meters Centerline goodness [0,1] 0.9998526305447758 Centerline is valid? [True, True] Translation: X:71.49, Y:-19.64, Z:-3.29 [[ 9.11198042e-01 4.06358007e-01 6.77591160e-02 7.14862185e+01] [-4.05349924e-01 9.13712915e-01 -2.86382470e-02 -1.96396913e+01] [-7.35497604e-02 -1.37103785e-03 9.97290606e-01 -3.28828886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94864 meters Centerline goodness [0,1] 0.9998034398034398 Centerline is valid? [True, True] Translation: X:71.52, Y:-19.65, Z:-3.29 [[ 9.09064227e-01 4.11124368e-01 6.76681959e-02 7.15159081e+01] [-4.10131391e-01 9.11577595e-01 -2.86099849e-02 -1.96518446e+01] [-7.34470733e-02 -1.74453747e-03 9.97297591e-01 -3.28946236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97864 meters Centerline goodness [0,1] 0.9998523040567152 Centerline is valid? [True, True] Translation: X:71.55, Y:-19.66, Z:-3.29 [[ 9.08369257e-01 4.12738291e-01 6.71743643e-02 7.15462380e+01] [-4.11763435e-01 9.10847777e-01 -2.84112750e-02 -1.96635136e+01] [-7.29120415e-02 -1.85201821e-03 9.97336655e-01 -3.29027735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00864 meters Centerline goodness [0,1] 0.9998035556428642 Centerline is valid? [True, True] Translation: X:71.58, Y:-19.67, Z:-3.29 [[ 9.07512368e-01 4.14638685e-01 6.70526856e-02 7.15767586e+01] [-4.13671792e-01 9.09983952e-01 -2.83699639e-02 -1.96729384e+01] [-7.27801524e-02 -1.99171143e-03 9.97346019e-01 -3.29112058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03864 meters Centerline goodness [0,1] 0.9998525218759218 Centerline is valid? [True, True] Translation: X:71.61, Y:-19.68, Z:-3.29 [[ 9.07425977e-01 4.14908434e-01 6.65513860e-02 7.16065300e+01] [-4.13955954e-01 9.09860998e-01 -2.81679408e-02 -1.96839602e+01] [-7.22396267e-02 -1.98902130e-03 9.97385322e-01 -3.29288524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06864 meters Centerline goodness [0,1] 0.9997052755673446 Centerline is valid? [True, True] Translation: X:71.64, Y:-19.70, Z:-3.29 [[ 9.07136870e-01 4.15482342e-01 6.69113030e-02 7.16368781e+01] [-4.14520334e-01 9.09598964e-01 -2.83304890e-02 -1.96955304e+01] [-7.26332699e-02 -2.03646463e-03 9.97356637e-01 -3.29474499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09864 meters Centerline goodness [0,1] 0.999803362501229 Centerline is valid? [True, True] Translation: X:71.67, Y:-19.70, Z:-3.30 [[ 9.06620496e-01 4.16809184e-01 6.56458705e-02 7.16687227e+01] [-4.15885881e-01 9.08991601e-01 -2.78065286e-02 -1.97049879e+01] [-7.12615615e-02 -2.09122189e-03 9.97455471e-01 -3.29525911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12863999999999 meters Centerline goodness [0,1] 0.9998523839984255 Centerline is valid? [True, True] Translation: X:71.70, Y:-19.71, Z:-3.30 [[ 9.06260033e-01 4.17669543e-01 6.51529368e-02 7.17001180e+01] [-4.16761237e-01 9.08596511e-01 -2.76125176e-02 -1.97148838e+01] [-7.07306387e-02 -2.12909744e-03 9.97493180e-01 -3.29674043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15863999999999 meters Centerline goodness [0,1] 0.999654781279282 Centerline is valid? [True, True] Translation: X:71.73, Y:-19.72, Z:-3.30 [[ 9.06425741e-01 4.17431695e-01 6.43673611e-02 7.17312723e+01] [-4.16543696e-01 9.08705938e-01 -2.72922698e-02 -1.97240475e+01] [-6.98836616e-02 -2.07340260e-03 9.97552993e-01 -3.29822565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18863999999999 meters Centerline goodness [0,1] 0.9995088649869849 Centerline is valid? [True, True] Translation: X:71.76, Y:-19.74, Z:-3.30 [[ 9.06488867e-01 4.17350009e-01 6.40070675e-02 7.17620036e+01] [-4.16471055e-01 9.08743518e-01 -2.71492092e-02 -1.97350535e+01] [-6.94967304e-02 -2.04663503e-03 9.97580080e-01 -3.30025356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21864 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:71.79, Y:-19.75, Z:-3.30 [[ 9.07145464e-01 4.15913720e-01 6.40537684e-02 7.17924926e+01] [-4.15029224e-01 9.09402032e-01 -2.71787927e-02 -1.97462180e+01] [-6.95546599e-02 -1.92906722e-03 9.97576277e-01 -3.30185325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24864 meters Centerline goodness [0,1] 0.9999016377317661 Centerline is valid? [True, True] Translation: X:71.82, Y:-19.76, Z:-3.30 [[ 9.09570611e-01 4.10527910e-01 6.44060409e-02 7.18232638e+01] [-4.09619446e-01 9.11846773e-01 -2.73381110e-02 -1.97555782e+01] [-6.99514981e-02 -1.51602450e-03 9.97549242e-01 -3.30178508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27864 meters Centerline goodness [0,1] 0.9998527245949926 Centerline is valid? [True, True] Translation: X:71.85, Y:-19.77, Z:-3.30 [[ 9.10504304e-01 4.08274607e-01 6.55267738e-02 7.18536002e+01] [-4.07327664e-01 9.12858151e-01 -2.78239233e-02 -1.97665621e+01] [-7.11764509e-02 -1.35706571e-03 9.97462817e-01 -3.30428633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30864 meters Centerline goodness [0,1] 0.9998035266958102 Centerline is valid? [True, True] Translation: X:71.88, Y:-19.78, Z:-3.30 [[ 9.13627320e-01 4.01647077e-01 6.29662272e-02 7.18834166e+01] [-4.00756485e-01 9.15794183e-01 -2.67442413e-02 -1.97766073e+01] [-6.84058509e-02 -7.99854408e-04 9.97657256e-01 -3.30498496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33864 meters Centerline goodness [0,1] 0.9998523549387273 Centerline is valid? [True, True] Translation: X:71.91, Y:-19.79, Z:-3.31 [[ 9.14761855e-01 3.99087909e-01 6.27661436e-02 7.19132290e+01] [-3.98196502e-01 9.16912471e-01 -2.66658155e-02 -1.97895968e+01] [-6.81930644e-02 -6.00387939e-04 9.97671963e-01 -3.30716786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36864 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:71.94, Y:-19.80, Z:-3.31 [[ 9.16276606e-01 3.95650041e-01 6.24357844e-02 7.19430677e+01] [-3.94759372e-01 9.18401292e-01 -2.65349669e-02 -1.98022258e+01] [-6.78396658e-02 -3.33741697e-04 9.97696180e-01 -3.30860954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.97, Y:-19.81, Z:-3.31 [[ 9.19293144e-01 3.88411396e-01 6.35350582e-02 7.19723041e+01] [-3.87471051e-01 9.21486051e-01 -2.70118956e-02 -1.98146715e+01] [-6.90383979e-02 2.13854686e-04 9.97613980e-01 -3.30912222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.00, Y:-19.83, Z:-3.31 [[ 9.20790231e-01 3.85006016e-01 6.25756989e-02 7.20008104e+01] [-3.84085385e-01 9.22913943e-01 -2.66133683e-02 -1.98293683e+01] [-6.79982919e-02 4.70918111e-04 9.97685326e-01 -3.31129798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45864 meters Centerline goodness [0,1] 0.9999017536965171 Centerline is valid? [True, True] Translation: X:72.03, Y:-19.85, Z:-3.31 [[ 9.21949452e-01 3.82284169e-01 6.21934215e-02 7.20291107e+01] [-3.81367941e-01 9.24044564e-01 -2.64600916e-02 -1.98458203e+01] [-6.75847672e-02 6.76289816e-04 9.97713306e-01 -3.31277399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:72.06, Y:-19.86, Z:-3.31 [[ 9.24234232e-01 3.77202988e-01 5.92367333e-02 7.20569501e+01] [-3.76360812e-01 9.26130061e-01 -2.52120707e-02 -1.98645833e+01] [-6.43709878e-02 1.00747379e-03 9.97925529e-01 -3.31290940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51863999999999 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:72.09, Y:-19.88, Z:-3.31 [[ 9.24627608e-01 3.76332308e-01 5.86325984e-02 7.20859543e+01] [-3.75504676e-01 9.26484134e-01 -2.49677193e-02 -1.98798147e+01] [-6.37183316e-02 1.06902772e-03 9.97967350e-01 -3.31414119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54863999999999 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:72.11, Y:-19.90, Z:-3.32 [[ 9.24559088e-01 3.76328802e-01 5.97254173e-02 7.21139336e+01] [-3.75469226e-01 9.26485522e-01 -2.54447996e-02 -1.98964445e+01] [-6.49103454e-02 1.10016456e-03 9.97890493e-01 -3.31645357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.14, Y:-19.92, Z:-3.32 [[ 9.23825601e-01 3.77928169e-01 6.09635824e-02 7.21401176e+01] [-3.77035316e-01 9.25834360e-01 -2.59828452e-02 -1.99199180e+01] [-6.62618284e-02 1.01819402e-03 9.97801751e-01 -3.31901960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60864 meters Centerline goodness [0,1] 0.9998524203069658 Centerline is valid? [True, True] Translation: X:72.17, Y:-19.94, Z:-3.32 [[ 9.22994061e-01 3.79913128e-01 6.12207428e-02 7.21676557e+01] [-3.79016230e-01 9.25021741e-01 -2.61051002e-02 -1.99380444e+01] [-6.65481884e-02 8.91197280e-04 9.97782814e-01 -3.32004160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:72.20, Y:-19.96, Z:-3.32 [[ 9.21828877e-01 3.82495360e-01 6.26803146e-02 7.21964675e+01] [-3.81559648e-01 9.23957115e-01 -2.67485449e-02 -1.99551922e+01] [-6.81451169e-02 7.41302273e-04 9.97675144e-01 -3.32234169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.22, Y:-19.97, Z:-3.32 [[ 9.20866020e-01 3.85046354e-01 6.11970484e-02 7.22240370e+01] [-3.84158290e-01 9.22897062e-01 -2.61423327e-02 -1.99724853e+01] [-6.65445861e-02 5.64232405e-04 9.97783293e-01 -3.32251956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69864 meters Centerline goodness [0,1] 0.9999508019285644 Centerline is valid? [True, True] Translation: X:72.25, Y:-19.99, Z:-3.33 [[ 9.18769889e-01 3.89821850e-01 6.24565129e-02 7.22510102e+01] [-3.88906347e-01 9.20890257e-01 -2.67018207e-02 -1.99934316e+01] [-6.79245474e-02 2.43094510e-04 9.97690431e-01 -3.32529353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.28, Y:-20.01, Z:-3.33 [[ 9.17717503e-01 3.92385267e-01 6.18739639e-02 7.22789972e+01] [-3.91490200e-01 9.19800954e-01 -2.64882655e-02 -2.00090594e+01] [-6.73053362e-02 8.56943331e-05 9.97732421e-01 -3.32623005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75864 meters Centerline goodness [0,1] 0.999950741342791 Centerline is valid? [True, True] Translation: X:72.31, Y:-20.03, Z:-3.33 [[ 9.14940884e-01 3.98472653e-01 6.40525086e-02 7.23066889e+01] [-3.97525812e-01 9.17180150e-01 -2.74554333e-02 -2.00264990e+01] [-6.96879288e-02 -3.42427124e-04 9.97568782e-01 -3.32790092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:72.34, Y:-20.04, Z:-3.33 [[ 9.13344316e-01 4.01869193e-01 6.55996291e-02 7.23351383e+01] [-4.00882210e-01 9.15696899e-01 -2.81539013e-02 -2.00411497e+01] [-7.13835626e-02 -5.83518531e-04 9.97448769e-01 -3.32959944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.36, Y:-20.06, Z:-3.33 [[ 9.12100086e-01 4.04549136e-01 6.64336520e-02 7.23634701e+01] [-4.03541380e-01 9.14515939e-01 -2.85473675e-02 -2.00557284e+01] [-7.23034465e-02 -7.70671255e-04 9.97382383e-01 -3.33171646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.39, Y:-20.07, Z:-3.33 [[ 9.09832893e-01 4.09577994e-01 6.67081282e-02 7.23913089e+01] [-4.08572761e-01 9.12274390e-01 -2.87008189e-02 -2.00719657e+01] [-7.26113408e-02 -1.14217503e-03 9.97359659e-01 -3.33290686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87863999999999 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:72.42, Y:-20.09, Z:-3.33 [[ 9.08511749e-01 4.12399579e-01 6.73274831e-02 7.24207350e+01] [-4.11380652e-01 9.11002070e-01 -2.90032266e-02 -2.00856671e+01] [-7.32963949e-02 -1.34745173e-03 9.97309291e-01 -3.33422223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90863999999999 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:72.45, Y:-20.10, Z:-3.33 [[ 9.06961232e-01 4.15676667e-01 6.80751869e-02 7.24496469e+01] [-4.14642172e-01 9.09511039e-01 -2.93519845e-02 -2.00994590e+01] [-7.41160691e-02 -1.60573132e-03 9.97248329e-01 -3.33469980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93863999999999 meters Centerline goodness [0,1] 0.9997534030380746 Centerline is valid? [True, True] Translation: X:72.48, Y:-20.12, Z:-3.34 [[ 9.04538238e-01 4.20834632e-01 6.86206129e-02 7.24774284e+01] [-4.19797100e-01 9.07135100e-01 -2.96024389e-02 -2.01150147e+01] [-7.47058980e-02 -2.03019640e-03 9.97203543e-01 -3.33622537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96864 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:72.51, Y:-20.13, Z:-3.34 [[ 9.03369292e-01 4.23321138e-01 6.87250700e-02 7.25069721e+01] [-4.22285651e-01 9.05976990e-01 -2.96736039e-02 -2.01275824e+01] [-7.48247958e-02 -2.21538844e-03 9.97194235e-01 -3.33678557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99864 meters Centerline goodness [0,1] 0.999803343166175 Centerline is valid? [True, True] Translation: X:72.54, Y:-20.14, Z:-3.34 [[ 9.01901027e-01 4.26483672e-01 6.84559364e-02 7.25365643e+01] [-4.25462626e-01 9.04491984e-01 -2.95939920e-02 -2.01398816e+01] [-7.45392002e-02 -2.43459072e-03 9.97215112e-01 -3.33824048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02864 meters Centerline goodness [0,1] 0.9998033334972221 Centerline is valid? [True, True] Translation: X:72.57, Y:-20.15, Z:-3.34 [[ 9.00260956e-01 4.30166126e-01 6.69874255e-02 7.25659282e+01] [-4.29196097e-01 9.02745860e-01 -2.89935018e-02 -2.01519682e+01] [-7.29446433e-02 -2.64902391e-03 9.97332473e-01 -3.33898415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05864 meters Centerline goodness [0,1] 0.9996559351191939 Centerline is valid? [True, True] Translation: X:72.60, Y:-20.16, Z:-3.34 [[ 8.99183694e-01 4.32236785e-01 6.81178878e-02 7.25956742e+01] [-4.31237011e-01 9.01755697e-01 -2.95178579e-02 -2.01634674e+01] [-7.41843974e-02 -2.83297781e-03 9.97240517e-01 -3.34176577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08864 meters Centerline goodness [0,1] 0.9996070147860687 Centerline is valid? [True, True] Translation: X:72.63, Y:-20.17, Z:-3.34 [[ 8.98635751e-01 4.33076773e-01 6.99878224e-02 7.26257633e+01] [-4.32020946e-01 9.01352215e-01 -3.03658827e-02 -2.01748930e+01] [-7.62344373e-02 -2.94833741e-03 9.97085562e-01 -3.34355338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:-20.18, Z:-3.34 [[ 8.97746425e-01 4.34968766e-01 6.96672746e-02 7.26571763e+01] [-4.33925483e-01 9.00440336e-01 -3.02634367e-02 -2.01826540e+01] [-7.58948739e-02 -3.06151365e-03 9.97111125e-01 -3.34383358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14864 meters Centerline goodness [0,1] 0.9999014146990683 Centerline is valid? [True, True] Translation: X:72.69, Y:-20.19, Z:-3.35 [[ 8.97965991e-01 4.34557242e-01 6.94052040e-02 7.26878906e+01] [-4.33517821e-01 9.00639277e-01 -3.01859400e-02 -2.01932883e+01] [-7.56265717e-02 -2.98244530e-03 9.97131750e-01 -3.34500098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17864 meters Centerline goodness [0,1] 0.999753961224289 Centerline is valid? [True, True] Translation: X:72.72, Y:-20.20, Z:-3.35 [[ 8.98849557e-01 4.32894509e-01 6.83507042e-02 7.27188025e+01] [-4.31879730e-01 9.01440315e-01 -2.97532890e-02 -2.02039675e+01] [-7.44941157e-02 -2.77555302e-03 9.97217591e-01 -3.34542050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20864 meters Centerline goodness [0,1] 0.9998525581166757 Centerline is valid? [True, True] Translation: X:72.75, Y:-20.21, Z:-3.35 [[ 9.00553106e-01 4.29493795e-01 6.73734678e-02 7.27493561e+01] [-4.28497647e-01 9.03066487e-01 -2.93374462e-02 -2.02121751e+01] [-7.34429720e-02 -2.44944412e-03 9.97296410e-01 -3.34700716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23864 meters Centerline goodness [0,1] 0.9997542031265362 Centerline is valid? [True, True] Translation: X:72.78, Y:-20.22, Z:-3.35 [[ 9.01304583e-01 4.27920684e-01 6.73345147e-02 7.27794796e+01] [-4.26919970e-01 9.03813356e-01 -2.93386545e-02 -2.02226723e+01] [-7.34124508e-02 -2.30338524e-03 9.97299006e-01 -3.34819150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26863999999999 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:72.81, Y:-20.23, Z:-3.35 [[ 9.02025879e-01 4.26313370e-01 6.78691702e-02 7.28095542e+01] [-4.25289411e-01 9.04572971e-01 -2.96083927e-02 -2.02338291e+01] [-7.40150706e-02 -2.15650296e-03 9.97254791e-01 -3.34973203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29863999999999 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:72.84, Y:-20.24, Z:-3.35 [[ 9.03575372e-01 4.22951788e-01 6.82885981e-02 7.28410544e+01] [-4.21902768e-01 9.06150280e-01 -2.98282695e-02 -2.02424679e+01] [-7.44956522e-02 -1.85905885e-03 9.97219606e-01 -3.35018588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32864 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:72.87, Y:-20.25, Z:-3.35 [[ 9.03954101e-01 4.22172467e-01 6.80983947e-02 7.28714266e+01] [-4.21124360e-01 9.06513829e-01 -2.97817184e-02 -2.02530981e+01] [-7.43051581e-02 -1.75658647e-03 9.97234004e-01 -3.35152647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35864 meters Centerline goodness [0,1] 0.9998524493409404 Centerline is valid? [True, True] Translation: X:72.90, Y:-20.26, Z:-3.35 [[ 9.04150762e-01 4.21967835e-01 6.67423875e-02 7.29015511e+01] [-4.20957962e-01 9.06609259e-01 -2.92240757e-02 -2.02642385e+01] [-7.28408864e-02 -1.67276910e-03 9.97342172e-01 -3.35268284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:-20.28, Z:-3.35 [[ 9.05296269e-01 4.19549561e-01 6.64592370e-02 7.29313964e+01] [-4.18539154e-01 9.07731289e-01 -2.91355950e-02 -2.02763226e+01] [-7.25509550e-02 -1.43944734e-03 9.97363668e-01 -3.35446687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:-20.29, Z:-3.36 [[ 9.06025554e-01 4.17755966e-01 6.78059539e-02 7.29608332e+01] [-4.16696708e-01 9.08558354e-01 -2.97585582e-02 -2.02899602e+01] [-7.40374811e-02 -1.29250356e-03 9.97254622e-01 -3.35805215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:-20.30, Z:-3.36 [[ 9.08105852e-01 4.13331839e-01 6.70861611e-02 7.29911982e+01] [-4.12281190e-01 9.10580024e-01 -2.94659108e-02 -2.03019924e+01] [-7.32665173e-02 -9.00196287e-04 9.97311991e-01 -3.35878426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:-20.31, Z:-3.36 [[ 9.07894112e-01 4.13798430e-01 6.70756288e-02 7.30211495e+01] [-4.12747283e-01 9.10368073e-01 -2.94898706e-02 -2.03148035e+01] [-7.32663731e-02 -9.11603612e-04 9.97311991e-01 -3.36018035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50864 meters Centerline goodness [0,1] 0.9999506611407144 Centerline is valid? [True, True] Translation: X:73.05, Y:-20.33, Z:-3.36 [[ 9.08709285e-01 4.12173321e-01 6.60347576e-02 7.30511296e+01] [-4.11147544e-01 9.11105162e-01 -2.90702895e-02 -2.03267610e+01] [-7.21466063e-02 -7.33586411e-04 9.97393768e-01 -3.36111566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-20.34, Z:-3.36 [[ 9.09496532e-01 4.10693382e-01 6.43972385e-02 7.30800725e+01] [-4.09711787e-01 9.11773339e-01 -2.83836100e-02 -2.03397908e+01] [-7.03726460e-02 -5.69512801e-04 9.97520609e-01 -3.36333859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:-20.35, Z:-3.37 [[ 9.10169118e-01 4.09129578e-01 6.48472468e-02 7.31104250e+01] [-4.08127589e-01 9.12476199e-01 -2.86191787e-02 -2.03540597e+01] [-7.08805218e-02 -4.17657893e-04 9.97484725e-01 -3.36507267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:-20.37, Z:-3.37 [[ 9.11862636e-01 4.05539879e-01 6.35919719e-02 7.31397349e+01] [-4.04565047e-01 9.14077347e-01 -2.81020779e-02 -2.03676493e+01] [-6.95244942e-02 -1.01854280e-04 9.97580240e-01 -3.36675305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62863999999999 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:73.17, Y:-20.38, Z:-3.37 [[ 9.12344907e-01 4.04501203e-01 6.32893979e-02 7.31697804e+01] [-4.03530649e-01 9.14537466e-01 -2.80042632e-02 -2.03817266e+01] [-6.92082837e-02 1.03350844e-05 9.97602232e-01 -3.36763288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65863999999999 meters Centerline goodness [0,1] 0.9999507389162562 Centerline is valid? [True, True] Translation: X:73.20, Y:-20.40, Z:-3.37 [[ 9.13843289e-01 4.01048309e-01 6.36450826e-02 7.31976905e+01] [-4.00055686e-01 9.16056853e-01 -2.82008768e-02 -2.03999878e+01] [-6.96124280e-02 3.09604837e-04 9.97574064e-01 -3.36954943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.23, Y:-20.42, Z:-3.37 [[ 9.14071479e-01 4.00641434e-01 6.29267228e-02 7.32267476e+01] [-3.99667512e-01 9.16234852e-01 -2.79208921e-02 -2.04151882e+01] [-6.88419228e-02 3.71924349e-04 9.97627511e-01 -3.37084405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71864 meters Centerline goodness [0,1] 0.9999015844897156 Centerline is valid? [True, True] Translation: X:73.26, Y:-20.43, Z:-3.37 [[ 9.14276280e-01 4.00274147e-01 6.22855612e-02 7.32567797e+01] [-3.99316563e-01 9.16395342e-01 -2.76741782e-02 -2.04298324e+01] [-6.81554562e-02 4.30188462e-04 9.97674621e-01 -3.37211836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-20.44, Z:-3.37 [[ 9.14297679e-01 4.00319995e-01 6.16737877e-02 7.32862979e+01] [-3.99378723e-01 9.16375301e-01 -2.74398011e-02 -2.04447396e+01] [-6.75010368e-02 4.56947870e-04 9.97719099e-01 -3.37264301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.31, Y:-20.46, Z:-3.38 [[ 9.13482508e-01 4.02096168e-01 6.21962983e-02 7.33132567e+01] [-4.01140361e-01 9.15597367e-01 -2.77104940e-02 -2.04649602e+01] [-6.80890505e-02 3.63606003e-04 9.97679181e-01 -3.37556748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:-20.48, Z:-3.38 [[ 9.13228408e-01 4.02747382e-01 6.17124026e-02 7.33425938e+01] [-4.01805340e-01 9.15311109e-01 -2.75325768e-02 -2.04812408e+01] [-6.75747209e-02 3.47158395e-04 9.97714156e-01 -3.37671067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:73.37, Y:-20.50, Z:-3.38 [[ 9.12490891e-01 4.04529990e-01 6.09578608e-02 7.33693054e+01] [-4.03612471e-01 9.14524700e-01 -2.72313578e-02 -2.04996310e+01] [-6.67633703e-02 2.45013162e-04 9.97768807e-01 -3.37778096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86864 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:73.40, Y:-20.52, Z:-3.38 [[ 9.11485926e-01 4.06633332e-01 6.19898338e-02 7.33973842e+01] [-4.05686884e-01 9.13591439e-01 -2.77278740e-02 -2.05167649e+01] [-6.79084593e-02 1.25104374e-04 9.97691548e-01 -3.37994143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89864 meters Centerline goodness [0,1] 0.9998523040567152 Centerline is valid? [True, True] Translation: X:73.43, Y:-20.53, Z:-3.38 [[ 9.11065578e-01 4.07552799e-01 6.21307370e-02 7.34263272e+01] [-4.06601546e-01 9.13181640e-01 -2.78293928e-02 -2.05337457e+01] [-6.80785952e-02 9.19481548e-05 9.97679957e-01 -3.38086183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92864 meters Centerline goodness [0,1] 0.9998523404045873 Centerline is valid? [True, True] Translation: X:73.45, Y:-20.55, Z:-3.38 [[ 9.09586557e-01 4.10746650e-01 6.27653194e-02 7.34543666e+01] [-4.09780712e-01 9.11749514e-01 -2.81529966e-02 -2.05525907e+01] [-6.87899985e-02 -1.12430096e-04 9.97631156e-01 -3.38243545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95864 meters Centerline goodness [0,1] 0.9998523839984255 Centerline is valid? [True, True] Translation: X:73.48, Y:-20.57, Z:-3.38 [[ 9.08838286e-01 4.12358102e-01 6.30378070e-02 7.34842715e+01] [-4.11384873e-01 9.11021820e-01 -2.83148311e-02 -2.05675323e+01] [-6.91046677e-02 -1.99197688e-04 9.97609395e-01 -3.38312553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98864 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:73.51, Y:-20.58, Z:-3.38 [[ 9.07821394e-01 4.14609355e-01 6.29237491e-02 7.35130517e+01] [-4.13642325e-01 9.09999435e-01 -2.83029393e-02 -2.05828701e+01] [-6.89952395e-02 -3.33912057e-04 9.97616933e-01 -3.38467326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01863999999999 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:73.54, Y:-20.60, Z:-3.39 [[ 9.07157391e-01 4.16197098e-01 6.20116414e-02 7.35414223e+01] [-4.15259131e-01 9.09274328e-01 -2.79293802e-02 -2.05979735e+01] [-6.80097205e-02 -4.14556618e-04 9.97684572e-01 -3.38519517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04863999999999 meters Centerline goodness [0,1] 0.9999015360378102 Centerline is valid? [True, True] Translation: X:73.57, Y:-20.61, Z:-3.39 [[ 9.06262561e-01 4.18295457e-01 6.09678776e-02 7.35702869e+01] [-4.17391250e-01 9.08310866e-01 -2.74939123e-02 -2.06139812e+01] [-6.68783643e-02 -5.30755260e-04 9.97760995e-01 -3.38577474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07864 meters Centerline goodness [0,1] 0.9999015941743751 Centerline is valid? [True, True] Translation: X:73.60, Y:-20.63, Z:-3.39 [[ 9.05603367e-01 4.19713335e-01 6.10185035e-02 7.36000519e+01] [-4.18808274e-01 9.07656518e-01 -2.75549434e-02 -2.06277343e+01] [-6.69490196e-02 -6.01204576e-04 9.97756216e-01 -3.38768106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10864 meters Centerline goodness [0,1] 0.999557609123083 Centerline is valid? [True, True] Translation: X:73.63, Y:-20.64, Z:-3.39 [[ 9.03876555e-01 4.23393895e-01 6.11946363e-02 7.36281625e+01] [-4.22489538e-01 9.05945307e-01 -2.76711114e-02 -2.06426416e+01] [-6.71547732e-02 -8.42824783e-04 9.97742214e-01 -3.38898604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13864 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:73.66, Y:-20.66, Z:-3.39 [[ 9.02949215e-01 4.24977087e-01 6.38528765e-02 7.36570563e+01] [-4.23993797e-01 9.05203587e-01 -2.89089185e-02 -2.06559009e+01] [-7.00854808e-02 -9.69938284e-04 9.97540518e-01 -3.39125277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16864 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:73.69, Y:-20.67, Z:-3.39 [[ 9.02163357e-01 4.26758840e-01 6.30727324e-02 7.36878998e+01] [-4.25801871e-01 9.04364832e-01 -2.85835307e-02 -2.06679455e+01] [-6.92390354e-02 -1.06947337e-03 9.97599525e-01 -3.39082194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19864 meters Centerline goodness [0,1] 0.9998524057856932 Centerline is valid? [True, True] Translation: X:73.72, Y:-20.68, Z:-3.39 [[ 9.00414552e-01 4.30356208e-01 6.36173606e-02 7.37191328e+01] [-4.29389862e-01 9.02658158e-01 -2.88547220e-02 -2.06764114e+01] [-6.98425383e-02 -1.33543813e-03 9.97557134e-01 -3.39230594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22864 meters Centerline goodness [0,1] 0.9998524203069658 Centerline is valid? [True, True] Translation: X:73.75, Y:-20.69, Z:-3.39 [[ 8.99739748e-01 4.31643250e-01 6.44398153e-02 7.37492181e+01] [-4.30652490e-01 9.02043282e-01 -2.92634466e-02 -2.06875368e+01] [-7.07588717e-02 -1.42168084e-03 9.97492437e-01 -3.39404954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25864 meters Centerline goodness [0,1] 0.9997536824474113 Centerline is valid? [True, True] Translation: X:73.78, Y:-20.70, Z:-3.40 [[ 8.98608644e-01 4.33859199e-01 6.53352960e-02 7.37794345e+01] [-4.32843921e-01 9.00979290e-01 -2.97062091e-02 -2.06998129e+01] [-7.17540607e-02 -1.58572942e-03 9.97421095e-01 -3.39548653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28864 meters Centerline goodness [0,1] 0.9997046226554424 Centerline is valid? [True, True] Translation: X:73.81, Y:-20.71, Z:-3.40 [[ 8.97517150e-01 4.36263863e-01 6.43180174e-02 7.38110658e+01] [-4.35283521e-01 8.99817145e-01 -2.92807305e-02 -2.07093749e+01] [-7.06485794e-02 -1.71661527e-03 9.97499790e-01 -3.39653953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31864 meters Centerline goodness [0,1] 0.9997047389400128 Centerline is valid? [True, True] Translation: X:73.84, Y:-20.72, Z:-3.40 [[ 8.97147151e-01 4.37065402e-01 6.40376820e-02 7.38421308e+01] [-4.36092797e-01 8.99428053e-01 -2.91933358e-02 -2.07198784e+01] [-7.03566847e-02 -1.73565376e-03 9.97520388e-01 -3.39729597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34864 meters Centerline goodness [0,1] 0.9999015651146766 Centerline is valid? [True, True] Translation: X:73.87, Y:-20.73, Z:-3.40 [[ 8.96912907e-01 4.37408208e-01 6.49715004e-02 7.38720422e+01] [-4.36405151e-01 8.99261354e-01 -2.96573914e-02 -2.07304882e+01] [-7.13987458e-02 -1.75380031e-03 9.97446311e-01 -3.40028473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37863999999999 meters Centerline goodness [0,1] 0.9993110575266965 Centerline is valid? [True, True] Translation: X:73.90, Y:-20.74, Z:-3.40 [[ 8.97718217e-01 4.35755975e-01 6.49517788e-02 7.39037853e+01] [-4.34747410e-01 9.00063427e-01 -2.96735105e-02 -2.07395635e+01] [-7.13911301e-02 -1.59916665e-03 9.97447116e-01 -3.40081091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40863999999999 meters Centerline goodness [0,1] 0.9998524928704887 Centerline is valid? [True, True] Translation: X:73.94, Y:-20.75, Z:-3.40 [[ 8.98535734e-01 4.33834519e-01 6.64916837e-02 7.39354165e+01] [-4.32770414e-01 9.00991389e-01 -3.04020674e-02 -2.07500042e+01] [-7.30979007e-02 -1.45828953e-03 9.97323704e-01 -3.40248194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43863999999999 meters Centerline goodness [0,1] 0.9996554270243663 Centerline is valid? [True, True] Translation: X:73.97, Y:-20.76, Z:-3.40 [[ 8.99115351e-01 4.32746510e-01 6.57422466e-02 7.39659912e+01] [-4.31700577e-01 9.01514680e-01 -3.00980729e-02 -2.07599749e+01] [-7.22924364e-02 -1.31932646e-03 9.97382606e-01 -3.40334662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46864 meters Centerline goodness [0,1] 0.9996557320611813 Centerline is valid? [True, True] Translation: X:74.00, Y:-20.77, Z:-3.40 [[ 9.00663749e-01 4.29745145e-01 6.42177729e-02 7.39983727e+01] [-4.28737767e-01 9.02949639e-01 -2.94257933e-02 -2.07673228e+01] [-7.06310067e-02 -1.02983933e-03 9.97501980e-01 -3.40431662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49864 meters Centerline goodness [0,1] 0.9995569557940337 Centerline is valid? [True, True] Translation: X:74.03, Y:-20.78, Z:-3.41 [[ 9.01626510e-01 4.27742316e-01 6.40792251e-02 7.40283994e+01] [-4.26732698e-01 9.03900319e-01 -2.93839716e-02 -2.07781858e+01] [-7.04900001e-02 -8.51332856e-04 9.97512123e-01 -3.40636234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52864 meters Centerline goodness [0,1] 0.9999507874015748 Centerline is valid? [True, True] Translation: X:74.06, Y:-20.79, Z:-3.41 [[ 9.02865180e-01 4.25311977e-01 6.28027774e-02 7.40597368e+01] [-4.24333962e-01 9.05046596e-01 -2.88330863e-02 -2.07879735e+01] [-6.91024969e-02 -6.16961707e-04 9.97609375e-01 -3.40728005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55864 meters Centerline goodness [0,1] 0.9999015505783904 Centerline is valid? [True, True] Translation: X:74.09, Y:-20.80, Z:-3.41 [[ 9.03610298e-01 4.23709463e-01 6.29183702e-02 7.40906782e+01] [-4.22721422e-01 9.05798034e-01 -2.89226830e-02 -2.07994789e+01] [-6.92461505e-02 -4.62108744e-04 9.97599497e-01 -3.40721151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-20.81, Z:-3.41 [[ 9.03914791e-01 4.22924315e-01 6.38206352e-02 7.41214364e+01] [-4.21902892e-01 9.06164933e-01 -2.93779475e-02 -2.08114904e+01] [-7.02566699e-02 -3.70949235e-04 9.97528878e-01 -3.41010958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61864 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:74.15, Y:-20.82, Z:-3.41 [[ 9.04316384e-01 4.22024864e-01 6.40850361e-02 7.41521837e+01] [-4.20989832e-01 9.06584218e-01 -2.95401048e-02 -2.08246277e+01] [-7.05651410e-02 -2.65547800e-04 9.97507138e-01 -3.41192699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64864 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:74.18, Y:-20.84, Z:-3.41 [[ 9.04800796e-01 4.21098640e-01 6.33360461e-02 7.41814860e+01] [-4.20082797e-01 9.07014835e-01 -2.92324006e-02 -2.08381352e+01] [-6.97564575e-02 -1.56884017e-04 9.97564039e-01 -3.41330078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67864 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:74.21, Y:-20.85, Z:-3.41 [[ 9.05847708e-01 4.19178215e-01 6.10700770e-02 7.42103912e+01] [-4.18227269e-01 9.07903973e-01 -2.82192810e-02 -2.08514392e+01] [-6.72746733e-02 2.11994853e-05 9.97734493e-01 -3.41383106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70864 meters Centerline goodness [0,1] 0.9999016425690961 Centerline is valid? [True, True] Translation: X:74.24, Y:-20.86, Z:-3.42 [[ 9.05824867e-01 4.19105795e-01 6.19002613e-02 7.42402828e+01] [-4.18126292e-01 9.07937404e-01 -2.86369520e-02 -2.08636973e+01] [-6.82034751e-02 5.79365126e-05 9.97671430e-01 -3.41641350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73864 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:74.27, Y:-20.88, Z:-3.42 [[ 9.05040970e-01 4.20650592e-01 6.28802206e-02 7.42697129e+01] [-4.19641103e-01 9.07222728e-01 -2.91250135e-02 -2.08776064e+01] [-6.92978195e-02 -2.77946215e-05 9.97596016e-01 -3.41776056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.30, Y:-20.89, Z:-3.42 [[ 9.04361455e-01 4.22058696e-01 6.32203780e-02 7.42990023e+01] [-4.21039126e-01 9.06568501e-01 -2.93190585e-02 -2.08924594e+01] [-6.96879669e-02 -1.03226357e-04 9.97568833e-01 -3.41929315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79863999999999 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:74.33, Y:-20.91, Z:-3.42 [[ 9.03860873e-01 4.23089789e-01 6.34866347e-02 7.43282922e+01] [-4.22061349e-01 9.06087749e-01 -2.94823478e-02 -2.09069534e+01] [-6.99981422e-02 -1.47314066e-04 9.97547111e-01 -3.42059670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.36, Y:-20.92, Z:-3.42 [[ 9.03259279e-01 4.24421016e-01 6.31623031e-02 7.43582357e+01] [-4.23403562e-01 9.05464939e-01 -2.93712109e-02 -2.09214045e+01] [-6.96570101e-02 -2.13325391e-04 9.97570978e-01 -3.42136974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:74.39, Y:-20.94, Z:-3.42 [[ 9.02910956e-01 4.25156643e-01 6.31952116e-02 7.43881828e+01] [-4.24137154e-01 9.05119757e-01 -2.94261891e-02 -2.09354917e+01] [-6.97099744e-02 -2.34208618e-04 9.97567273e-01 -3.42221669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88864 meters Centerline goodness [0,1] 0.9999016232169208 Centerline is valid? [True, True] Translation: X:74.42, Y:-20.95, Z:-3.43 [[ 9.03289683e-01 4.24096234e-01 6.48855322e-02 7.44169522e+01] [-4.23015858e-01 9.05617121e-01 -3.02525166e-02 -2.09499962e+01] [-7.15914272e-02 -1.20822922e-04 9.97434034e-01 -3.42503427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:-20.96, Z:-3.43 [[ 9.03118379e-01 4.24480491e-01 6.47572894e-02 7.44469048e+01] [-4.23402683e-01 9.05437076e-01 -3.02302734e-02 -2.09635581e+01] [-7.14658121e-02 -1.16894490e-04 9.97443043e-01 -3.42742895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-20.98, Z:-3.43 [[ 9.02665356e-01 4.25340848e-01 6.54249030e-02 7.44769857e+01] [-4.24239938e-01 9.05033226e-01 -3.05832358e-02 -2.09769916e+01] [-7.22200106e-02 -1.49429318e-04 9.97388714e-01 -3.42795389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.51, Y:-20.99, Z:-3.43 [[ 9.01945719e-01 4.26874510e-01 6.53610912e-02 7.45076669e+01] [-4.25776790e-01 9.04310842e-01 -3.05945637e-02 -2.09902477e+01] [-7.21667828e-02 -2.34599873e-04 9.97392551e-01 -3.42993779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00864 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:74.54, Y:-21.00, Z:-3.43 [[ 9.00439138e-01 4.30129505e-01 6.47917291e-02 7.45369871e+01] [-4.29056336e-01 9.02767081e-01 -3.03686973e-02 -2.10046930e+01] [-7.15543129e-02 -4.54138345e-04 9.97436602e-01 -3.43151606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03864 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:74.57, Y:-21.02, Z:-3.43 [[ 8.99496501e-01 4.32085395e-01 6.48710695e-02 7.45663934e+01] [-4.31011740e-01 9.01832514e-01 -3.04466316e-02 -2.10189648e+01] [-7.16583845e-02 -5.73553912e-04 9.97429069e-01 -3.43365847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06864 meters Centerline goodness [0,1] 0.9998524275665306 Centerline is valid? [True, True] Translation: X:74.60, Y:-21.03, Z:-3.44 [[ 8.98513443e-01 4.33812648e-01 6.69341355e-02 7.45954729e+01] [-4.32671291e-01 9.01002830e-01 -3.14555864e-02 -2.10324770e+01] [-7.39536768e-02 -6.97211533e-04 9.97261434e-01 -3.43618503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09864 meters Centerline goodness [0,1] 0.9998525798525798 Centerline is valid? [True, True] Translation: X:74.62, Y:-21.05, Z:-3.44 [[ 8.98457597e-01 4.33753300e-01 6.80589523e-02 7.46244844e+01] [-4.32570199e-01 9.01031423e-01 -3.20218337e-02 -2.10455586e+01] [-7.52128307e-02 -6.70014806e-04 9.97167278e-01 -3.43800730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:-21.06, Z:-3.44 [[ 8.98383284e-01 4.34034475e-01 6.72424697e-02 7.46541156e+01] [-4.32877681e-01 9.00896026e-01 -3.16743314e-02 -2.10589256e+01] [-7.43262256e-02 -6.52074498e-04 9.97233767e-01 -3.43920248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-21.07, Z:-3.44 [[ 8.98716920e-01 4.33650041e-01 6.52344974e-02 7.46839361e+01] [-4.32558507e-01 9.01081188e-01 -3.07543591e-02 -2.10721241e+01] [-7.21182075e-02 -5.78273877e-04 9.97395924e-01 -3.44036515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18863999999999 meters Centerline goodness [0,1] 0.9999016038571288 Centerline is valid? [True, True] Translation: X:74.71, Y:-21.09, Z:-3.44 [[ 8.98381252e-01 4.34370938e-01 6.50616179e-02 7.47142001e+01] [-4.33285322e-01 9.00733875e-01 -3.06971735e-02 -2.10852670e+01] [-7.19371633e-02 -6.12478848e-04 9.97408978e-01 -3.44156031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:74.74, Y:-21.10, Z:-3.44 [[ 8.97967220e-01 4.35081642e-01 6.60214903e-02 7.47437328e+01] [-4.33962687e-01 9.00390777e-01 -3.11902969e-02 -2.10986641e+01] [-7.30154666e-02 -6.42999130e-04 9.97330601e-01 -3.44356040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24864 meters Centerline goodness [0,1] 0.9999508019285644 Centerline is valid? [True, True] Translation: X:74.77, Y:-21.11, Z:-3.44 [[ 8.97434572e-01 4.36167405e-01 6.60997982e-02 7.47738087e+01] [-4.35045878e-01 8.99865273e-01 -3.12662019e-02 -2.11127255e+01] [-7.31182110e-02 -6.97074205e-04 9.97323038e-01 -3.44446520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27864 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:74.80, Y:-21.12, Z:-3.45 [[ 8.96457991e-01 4.38091022e-01 6.66282831e-02 7.48035732e+01] [-4.36953813e-01 8.98930240e-01 -3.15561221e-02 -2.11243511e+01] [-7.37186323e-02 -8.24744535e-04 9.97278739e-01 -3.44545749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.83, Y:-21.14, Z:-3.45 [[ 8.95761281e-01 4.39728248e-01 6.51981287e-02 7.48343126e+01] [-4.38641633e-01 8.98130411e-01 -3.09076627e-02 -2.11357708e+01] [-7.21473945e-02 -9.12726092e-04 9.97393563e-01 -3.44675236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.87, Y:-21.15, Z:-3.45 [[ 8.94267588e-01 4.42848161e-01 6.45831769e-02 7.48660345e+01] [-4.41788072e-01 8.96595915e-01 -3.06441691e-02 -2.11463016e+01] [-7.14757265e-02 -1.12799000e-03 9.97441702e-01 -3.44968137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36864 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:74.90, Y:-21.16, Z:-3.45 [[ 8.93730388e-01 4.43920522e-01 6.46572759e-02 7.48961246e+01] [-4.42857851e-01 8.96065389e-01 -3.07203906e-02 -2.11589531e+01] [-7.15745590e-02 -1.17823563e-03 9.97434556e-01 -3.45099629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39864 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:74.93, Y:-21.17, Z:-3.45 [[ 8.93500178e-01 4.44386011e-01 6.46413611e-02 7.49256785e+01] [-4.43322136e-01 8.95834630e-01 -3.07538508e-02 -2.11726504e+01] [-7.15745509e-02 -1.17837512e-03 9.97434557e-01 -3.45239088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42864 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:74.96, Y:-21.18, Z:-3.45 [[ 8.92314327e-01 4.46720200e-01 6.49323098e-02 7.49565653e+01] [-4.45650040e-01 8.94672721e-01 -3.09316084e-02 -2.11836917e+01] [-7.19109406e-02 -1.33636914e-03 9.97410162e-01 -3.45304403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45864 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:74.99, Y:-21.19, Z:-3.45 [[ 8.91913972e-01 4.47377565e-01 6.58997841e-02 7.49872280e+01] [-4.46274339e-01 8.94344127e-01 -3.14292316e-02 -2.11948450e+01] [-7.29978180e-02 -1.37721178e-03 9.97331150e-01 -3.45415416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:75.02, Y:-21.21, Z:-3.46 [[ 8.91975121e-01 4.47273255e-01 6.57800831e-02 7.50184920e+01] [-4.46170957e-01 8.94396367e-01 -3.14104342e-02 -2.12063096e+01] [-7.28825145e-02 -1.33183680e-03 9.97339644e-01 -3.45629046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.05, Y:-21.22, Z:-3.46 [[ 8.91930752e-01 4.47528986e-01 6.46323514e-02 7.50480531e+01] [-4.46462785e-01 8.94268489e-01 -3.09006600e-02 -2.12187105e+01] [-7.16276163e-02 -1.29469074e-03 9.97430603e-01 -3.45698236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.08, Y:-21.23, Z:-3.46 [[ 8.93188743e-01 4.45137770e-01 6.37670328e-02 7.50787511e+01] [-4.44092023e-01 8.95461463e-01 -3.05129925e-02 -2.12293217e+01] [-7.06834060e-02 -1.06456921e-03 9.97498232e-01 -3.45822254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57864 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:75.11, Y:-21.24, Z:-3.46 [[ 8.93550208e-01 4.44453333e-01 6.34764578e-02 7.51083239e+01] [-4.43413858e-01 8.95801464e-01 -3.03955256e-02 -2.12412268e+01] [-7.03716965e-02 -9.86412880e-04 9.97520351e-01 -3.45899896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:75.14, Y:-21.25, Z:-3.46 [[ 8.94935666e-01 4.41834141e-01 6.22313842e-02 7.51385059e+01] [-4.40826960e-01 8.97096451e-01 -2.98253153e-02 -2.12538821e+01] [-6.90053964e-02 -7.41533550e-04 9.97616011e-01 -3.46034736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:-21.27, Z:-3.46 [[ 8.95425253e-01 4.40874786e-01 6.19922596e-02 7.51678357e+01] [-4.39872256e-01 8.97568379e-01 -2.97221176e-02 -2.12680229e+01] [-6.87460241e-02 -6.54740410e-04 9.97633979e-01 -3.46119381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66864 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:75.20, Y:-21.28, Z:-3.46 [[ 8.96115542e-01 4.39464586e-01 6.20307406e-02 7.51967134e+01] [-4.38456752e-01 8.98259755e-01 -2.97504438e-02 -2.12811280e+01] [-6.87939844e-02 -5.37961958e-04 9.97630742e-01 -3.46325946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69864 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:75.23, Y:-21.29, Z:-3.46 [[ 8.96864661e-01 4.37926893e-01 6.20791143e-02 7.52268180e+01] [-4.36913123e-01 8.99010493e-01 -2.97834816e-02 -2.12936196e+01] [-6.88527628e-02 -4.11427576e-04 9.97626748e-01 -3.46423781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.26, Y:-21.31, Z:-3.46 [[ 8.97138785e-01 4.37695466e-01 5.97049396e-02 7.52561767e+01] [-4.36756715e-01 8.99123207e-01 -2.86536170e-02 -2.13079020e+01] [-6.62236550e-02 -3.70262173e-04 9.97804736e-01 -3.46394466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75864 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:75.28, Y:-21.32, Z:-3.46 [[ 8.97005325e-01 4.38035111e-01 5.92173026e-02 7.52848567e+01] [-4.37111775e-01 8.98957782e-01 -2.84288866e-02 -2.13232965e+01] [-6.56867055e-02 -3.83717589e-04 9.97840222e-01 -3.46494391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78864 meters Centerline goodness [0,1] 0.9999015941743751 Centerline is valid? [True, True] Translation: X:75.31, Y:-21.34, Z:-3.47 [[ 8.96793703e-01 4.38220041e-01 6.10266343e-02 7.53140517e+01] [-4.37239113e-01 8.98867641e-01 -2.93073848e-02 -2.13363464e+01] [-6.76979502e-02 -4.00553279e-04 9.97705782e-01 -3.46671381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:-21.35, Z:-3.47 [[ 8.96532756e-01 4.38959651e-01 5.95268135e-02 7.53437216e+01] [-4.38027409e-01 8.98506669e-01 -2.85964137e-02 -2.13494542e+01] [-6.60379107e-02 -4.36754311e-04 9.97817019e-01 -3.46709981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.37, Y:-21.36, Z:-3.47 [[ 8.96462437e-01 4.39093512e-01 5.95985529e-02 7.53734312e+01] [-4.38158575e-01 8.98441259e-01 -2.86420426e-02 -2.13627674e+01] [-6.61223340e-02 -4.37101760e-04 9.97811428e-01 -3.46908321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.40, Y:-21.38, Z:-3.47 [[ 8.95847333e-01 4.40373395e-01 5.94039487e-02 7.54035498e+01] [-4.39446429e-01 8.97814572e-01 -2.85627444e-02 -2.13765497e+01] [-6.59120035e-02 -5.16994712e-04 9.97825306e-01 -3.47006719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90863999999999 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:75.43, Y:-21.39, Z:-3.47 [[ 8.95115507e-01 4.41925249e-01 5.89092745e-02 7.54341198e+01] [-4.41016109e-01 8.97051670e-01 -2.83389153e-02 -2.13899910e+01] [-6.53683452e-02 -6.13336480e-04 9.97861014e-01 -3.46979663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93863999999999 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:75.46, Y:-21.40, Z:-3.47 [[ 8.94592478e-01 4.42986763e-01 5.88814533e-02 7.54649335e+01] [-4.42079845e-01 8.96527896e-01 -2.83397784e-02 -2.14024040e+01] [-6.53430121e-02 -6.77751143e-04 9.97862632e-01 -3.47202833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96864 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:75.50, Y:-21.41, Z:-3.47 [[ 8.93790903e-01 4.44617207e-01 5.87653055e-02 7.54952776e+01] [-4.43716556e-01 8.95720338e-01 -2.82965261e-02 -2.14127726e+01] [-6.52184018e-02 -7.83961388e-04 9.97870706e-01 -3.47290713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:-21.43, Z:-3.48 [[ 8.93344413e-01 4.45355147e-01 5.99545863e-02 7.55250352e+01] [-4.44418641e-01 8.95353605e-01 -2.88789535e-02 -2.14251087e+01] [-6.65419455e-02 -8.46083990e-04 9.97783270e-01 -3.47529576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02864 meters Centerline goodness [0,1] 0.9998520053278082 Centerline is valid? [True, True] Translation: X:75.56, Y:-21.44, Z:-3.48 [[ 8.93513867e-01 4.45132263e-01 5.90782319e-02 7.55551894e+01] [-4.44221859e-01 8.95464468e-01 -2.84662258e-02 -2.14364002e+01] [-6.55736930e-02 -8.08874437e-04 9.97847401e-01 -3.47519586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-21.45, Z:-3.48 [[ 8.94302267e-01 4.43604726e-01 5.86370398e-02 7.55863864e+01] [-4.42703988e-01 8.96222283e-01 -2.82630143e-02 -2.14451609e+01] [-6.50894284e-02 -6.83173578e-04 9.97879201e-01 -3.47757862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08864 meters Centerline goodness [0,1] 0.9997051741929144 Centerline is valid? [True, True] Translation: X:75.62, Y:-21.46, Z:-3.48 [[ 8.94963159e-01 4.42232446e-01 5.89186566e-02 7.56164311e+01] [-4.41319436e-01 8.96900290e-01 -2.84081913e-02 -2.14579284e+01] [-6.54071841e-02 -5.77663649e-04 9.97858490e-01 -3.47846935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11864 meters Centerline goodness [0,1] 0.9998523476720149 Centerline is valid? [True, True] Translation: X:75.65, Y:-21.47, Z:-3.48 [[ 8.95923144e-01 4.40409713e-01 5.79741722e-02 7.56457041e+01] [-4.39521372e-01 8.97796803e-01 -2.79618172e-02 -2.14709752e+01] [-6.43636824e-02 -4.29248517e-04 9.97926416e-01 -3.47962324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14864 meters Centerline goodness [0,1] 0.9994589010772787 Centerline is valid? [True, True] Translation: X:75.68, Y:-21.48, Z:-3.48 [[ 8.98005539e-01 4.36021079e-01 5.89208824e-02 7.56756988e+01] [-4.35093381e-01 8.99936446e-01 -2.84278415e-02 -2.14837388e+01] [-6.54201877e-02 -1.07726784e-04 9.97857799e-01 -3.48203442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17864 meters Centerline goodness [0,1] 0.9989184405879751 Centerline is valid? [True, True] Translation: X:75.71, Y:-21.50, Z:-3.48 [[ 8.98755957e-01 4.34535865e-01 5.84492288e-02 7.57051367e+01] [-4.33619236e-01 9.00654530e-01 -2.82095009e-02 -2.14970768e+01] [-6.49006025e-02 8.74700064e-06 9.97891733e-01 -3.48404868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20864 meters Centerline goodness [0,1] 0.9988697788697789 Centerline is valid? [True, True] Translation: X:75.74, Y:-21.51, Z:-3.49 [[ 8.99017734e-01 4.33956938e-01 5.87238357e-02 7.57354769e+01] [-4.33029722e-01 9.00933611e-01 -2.83529223e-02 -2.15109416e+01] [-6.52102247e-02 6.06137582e-05 9.97871546e-01 -3.48580274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23864 meters Centerline goodness [0,1] 0.9982295662437297 Centerline is valid? [True, True] Translation: X:75.76, Y:-21.53, Z:-3.49 [[ 8.99295273e-01 4.33252962e-01 5.96647543e-02 7.57639526e+01] [-4.32293377e-01 9.01272353e-01 -2.88197973e-02 -2.15259429e+01] [-6.62604560e-02 1.24829318e-04 9.97802353e-01 -3.48755625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26863999999999 meters Centerline goodness [0,1] 0.9981318519246841 Centerline is valid? [True, True] Translation: X:75.79, Y:-21.54, Z:-3.49 [[ 8.98996850e-01 4.33666920e-01 6.11364604e-02 7.57928112e+01] [-4.32659649e-01 9.01073244e-01 -2.95404219e-02 -2.15409776e+01] [-6.78991325e-02 1.05466764e-04 9.97692185e-01 -3.48848612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29863999999999 meters Centerline goodness [0,1] 0.9982305234701401 Centerline is valid? [True, True] Translation: X:75.82, Y:-21.56, Z:-3.49 [[ 8.98555050e-01 4.34353022e-01 6.27397449e-02 7.58207119e+01] [-4.33293199e-01 9.00742721e-01 -3.03241656e-02 -2.15558249e+01] [-6.96837615e-02 6.32272965e-05 9.97569130e-01 -3.49094815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32864 meters Centerline goodness [0,1] 0.998082218725413 Centerline is valid? [True, True] Translation: X:75.85, Y:-21.57, Z:-3.49 [[ 8.98528591e-01 4.34501953e-01 6.20840110e-02 7.58490248e+01] [-4.33463986e-01 9.00670889e-01 -3.00153891e-02 -2.15706861e+01] [-6.89590065e-02 5.85024458e-05 9.97619493e-01 -3.49264606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35864 meters Centerline goodness [0,1] 0.99827950646414 Centerline is valid? [True, True] Translation: X:75.88, Y:-21.59, Z:-3.49 [[ 8.98259416e-01 4.34958400e-01 6.27790725e-02 7.58769136e+01] [-4.33897389e-01 9.00450548e-01 -3.03622641e-02 -2.15871536e+01] [-6.97357721e-02 3.35139440e-05 9.97565497e-01 -3.49495024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38864 meters Centerline goodness [0,1] 0.9980790069943848 Centerline is valid? [True, True] Translation: X:75.90, Y:-21.60, Z:-3.50 [[ 9.00023336e-01 4.31445098e-01 6.17504755e-02 7.59046740e+01] [-4.30409571e-01 9.02139141e-01 -2.98759182e-02 -2.16046992e+01] [-6.85973394e-02 3.11027921e-04 9.97644380e-01 -3.49604502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41864 meters Centerline goodness [0,1] 0.9981320355896377 Centerline is valid? [True, True] Translation: X:75.93, Y:-21.62, Z:-3.50 [[ 9.00745891e-01 4.30046485e-01 6.09660610e-02 7.59332183e+01] [-4.29033278e-01 9.02806648e-01 -2.95059822e-02 -2.16199681e+01] [-6.77295091e-02 4.20923147e-04 9.97703632e-01 -3.49715632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44864 meters Centerline goodness [0,1] 0.9980327546353219 Centerline is valid? [True, True] Translation: X:75.96, Y:-21.64, Z:-3.50 [[ 9.01484102e-01 4.28684236e-01 5.96342115e-02 7.59611830e+01] [-4.27711272e-01 9.03454235e-01 -2.88706169e-02 -2.16358674e+01] [-6.62531593e-02 5.20177729e-04 9.97802710e-01 -3.49769162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47864 meters Centerline goodness [0,1] 0.9980280023663972 Centerline is valid? [True, True] Translation: X:75.99, Y:-21.65, Z:-3.50 [[ 9.01860994e-01 4.27929666e-01 5.93544380e-02 7.59899375e+01] [-4.26963470e-01 9.03811851e-01 -2.87460169e-02 -2.16533098e+01] [-6.59465178e-02 5.82734531e-04 9.97822989e-01 -3.49919953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50864 meters Centerline goodness [0,1] 0.9979794993100729 Centerline is valid? [True, True] Translation: X:76.02, Y:-21.68, Z:-3.50 [[ 9.01832286e-01 4.27943739e-01 5.96882166e-02 7.60153880e+01] [-4.26965842e-01 9.03805178e-01 -2.89200549e-02 -2.16754359e+01] [-6.63226757e-02 5.96209618e-04 9.97798049e-01 -3.50035481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53864 meters Centerline goodness [0,1] 0.9981302893131273 Centerline is valid? [True, True] Translation: X:76.04, Y:-21.69, Z:-3.50 [[ 9.01774114e-01 4.28280460e-01 5.81317029e-02 7.60433732e+01] [-4.27352588e-01 9.03645683e-01 -2.81823461e-02 -2.16924458e+01] [-6.46004105e-02 5.71376570e-04 9.97911048e-01 -3.50106986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56864 meters Centerline goodness [0,1] 0.9979835735012049 Centerline is valid? [True, True] Translation: X:76.07, Y:-21.71, Z:-3.50 [[ 8.99830719e-01 4.32236859e-01 5.89573960e-02 7.60698737e+01] [-4.31288648e-01 9.01760053e-01 -2.86165862e-02 -2.17128829e+01] [-6.55345678e-02 3.22427755e-04 9.97850248e-01 -3.50258198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59864 meters Centerline goodness [0,1] 0.9979337826536134 Centerline is valid? [True, True] Translation: X:76.10, Y:-21.73, Z:-3.50 [[ 8.98511266e-01 4.35078764e-01 5.81719432e-02 7.60971809e+01] [-4.34159375e-01 9.00392386e-01 -2.82699224e-02 -2.17294684e+01] [-6.46772176e-02 1.44949208e-04 9.97906226e-01 -3.50234901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62863999999999 meters Centerline goodness [0,1] 0.9980335283417727 Centerline is valid? [True, True] Translation: X:76.13, Y:-21.75, Z:-3.50 [[ 8.97300164e-01 4.37442678e-01 5.91296814e-02 7.61256558e+01] [-4.36495578e-01 8.99246297e-01 -2.87699043e-02 -2.17456357e+01] [-6.57573310e-02 5.39542819e-06 9.97835644e-01 -3.50420999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65863999999999 meters Centerline goodness [0,1] 0.9978346456692914 Centerline is valid? [True, True] Translation: X:76.15, Y:-21.76, Z:-3.50 [[ 8.95156495e-01 4.41944151e-01 5.81396354e-02 7.61525397e+01] [-4.41036196e-01 8.97042519e-01 -2.83159536e-02 -2.17647093e+01] [-6.46677950e-02 -2.94473866e-04 9.97906804e-01 -3.50396383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68863999999999 meters Centerline goodness [0,1] 0.9975887013434378 Centerline is valid? [True, True] Translation: X:76.18, Y:-21.78, Z:-3.50 [[ 8.94383495e-01 4.43548595e-01 5.78170186e-02 7.61821472e+01] [-4.42652762e-01 8.96250239e-01 -2.81787357e-02 -2.17803820e+01] [-6.43171554e-02 -3.90266826e-04 9.97929432e-01 -3.50473840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71864 meters Centerline goodness [0,1] 0.9972947715311593 Centerline is valid? [True, True] Translation: X:76.21, Y:-21.80, Z:-3.50 [[ 8.93211341e-01 4.45944442e-01 5.75069980e-02 7.62117503e+01] [-4.45060807e-01 8.95060488e-01 -2.80642326e-02 -2.17953601e+01] [-6.39873303e-02 -5.26820051e-04 9.97950572e-01 -3.50482340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74864 meters Centerline goodness [0,1] 0.9977362204724409 Centerline is valid? [True, True] Translation: X:76.24, Y:-21.81, Z:-3.51 [[ 8.91300845e-01 4.49742599e-01 5.75708091e-02 7.62409200e+01] [-4.48862639e-01 8.93157883e-01 -2.81305336e-02 -2.18090866e+01] [-6.40713213e-02 -7.68616988e-04 9.97945026e-01 -3.50601538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77864 meters Centerline goodness [0,1] 0.997344088136927 Centerline is valid? [True, True] Translation: X:76.27, Y:-21.82, Z:-3.51 [[ 8.90754978e-01 4.50936311e-01 5.66746186e-02 7.62712672e+01] [-4.50083912e-01 8.92555760e-01 -2.77252265e-02 -2.18231907e+01] [-6.30875686e-02 -8.11950567e-04 9.98007665e-01 -3.50709627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80864 meters Centerline goodness [0,1] 0.9975382797498892 Centerline is valid? [True, True] Translation: X:76.30, Y:-21.84, Z:-3.51 [[ 8.89236414e-01 4.53855537e-01 5.72167040e-02 7.63006528e+01] [-4.52990525e-01 8.91074720e-01 -2.80254827e-02 -2.18358504e+01] [-6.37038790e-02 -9.97345081e-04 9.97968347e-01 -3.50790026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83864 meters Centerline goodness [0,1] 0.9973418656165395 Centerline is valid? [True, True] Translation: X:76.33, Y:-21.85, Z:-3.51 [[ 8.88633149e-01 4.55052305e-01 5.70835007e-02 7.63312391e+01] [-4.54191658e-01 8.90464090e-01 -2.79936057e-02 -2.18486510e+01] [-6.35693623e-02 -1.05080384e-03 9.97976869e-01 -3.50921480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86864 meters Centerline goodness [0,1] 0.9973391150093623 Centerline is valid? [True, True] Translation: X:76.36, Y:-21.86, Z:-3.51 [[ 8.88274411e-01 4.55687553e-01 5.75970851e-02 7.63618550e+01] [-4.54810267e-01 8.90139148e-01 -2.82828212e-02 -2.18619117e+01] [-6.41575498e-02 -1.07283931e-03 9.97939205e-01 -3.51052502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89864 meters Centerline goodness [0,1] 0.9971975023354147 Centerline is valid? [True, True] Translation: X:76.39, Y:-21.87, Z:-3.51 [[ 8.87776747e-01 4.56889333e-01 5.57187980e-02 7.63924515e+01] [-4.56068646e-01 8.89522875e-01 -2.73942490e-02 -2.18733476e+01] [-6.20792855e-02 -1.09161948e-03 9.98070624e-01 -3.51112773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92864 meters Centerline goodness [0,1] 0.9973917322834646 Centerline is valid? [True, True] Translation: X:76.42, Y:-21.89, Z:-3.51 [[ 8.87890152e-01 4.56789230e-01 5.47236388e-02 7.64223238e+01] [-4.55995968e-01 8.89574342e-01 -2.69289268e-02 -2.18856574e+01] [-6.09815887e-02 -1.04382979e-03 9.98138345e-01 -3.51148286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95864 meters Centerline goodness [0,1] 0.9970971709717097 Centerline is valid? [True, True] Translation: X:76.45, Y:-21.90, Z:-3.51 [[ 8.87891537e-01 4.56810380e-01 5.45242557e-02 7.64534872e+01] [-4.56022318e-01 8.89563494e-01 -2.68409117e-02 -2.18979995e+01] [-6.07639945e-02 -1.03245916e-03 9.98151627e-01 -3.51267346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98864 meters Centerline goodness [0,1] 0.9966538726503297 Centerline is valid? [True, True] Translation: X:76.48, Y:-21.91, Z:-3.51 [[ 8.88253031e-01 4.56188582e-01 5.38380033e-02 7.64845781e+01] [-4.55418402e-01 8.89882600e-01 -2.65148283e-02 -2.19083347e+01] [-6.00052643e-02 -9.66940813e-04 9.98197592e-01 -3.51451936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01863999999999 meters Centerline goodness [0,1] 0.9961566888396157 Centerline is valid? [True, True] Translation: X:76.51, Y:-21.92, Z:-3.52 [[ 8.88476634e-01 4.55769697e-01 5.36959399e-02 7.65146716e+01] [-4.55002297e-01 8.90097254e-01 -2.64535152e-02 -2.19210508e+01] [-5.98513192e-02 -9.28445845e-04 9.98206871e-01 -3.51573651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04863999999999 meters Centerline goodness [0,1] 0.9959157563231965 Centerline is valid? [True, True] Translation: X:76.55, Y:-21.93, Z:-3.52 [[ 8.88476400e-01 4.55674953e-01 5.44979269e-02 7.65460180e+01] [-4.54883717e-01 8.90145761e-01 -2.68575546e-02 -2.19311975e+01] [-6.07494135e-02 -9.27916088e-04 9.98152617e-01 -3.51659041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07864 meters Centerline goodness [0,1] 0.9956202942768565 Centerline is valid? [True, True] Translation: X:76.58, Y:-21.94, Z:-3.52 [[ 8.88587610e-01 4.55555005e-01 5.36814484e-02 7.65757640e+01] [-4.54786582e-01 8.90207184e-01 -2.64638226e-02 -2.19430735e+01] [-5.98433378e-02 -8.98177504e-04 9.98207377e-01 -3.51708090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10864 meters Centerline goodness [0,1] 0.9958545131520505 Centerline is valid? [True, True] Translation: X:76.61, Y:-21.96, Z:-3.52 [[ 8.88850763e-01 4.55059048e-01 5.35311513e-02 7.66058787e+01] [-4.54293514e-01 8.90460854e-01 -2.63983185e-02 -2.19553923e+01] [-5.96801884e-02 -8.54689284e-04 9.98217183e-01 -3.51845839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13864 meters Centerline goodness [0,1] 0.995526276977533 Centerline is valid? [True, True] Translation: X:76.64, Y:-21.97, Z:-3.52 [[ 8.89913708e-01 4.53039701e-01 5.29964401e-02 7.66365820e+01] [-4.52285273e-01 8.91490064e-01 -2.61437844e-02 -2.19669878e+01] [-5.90899721e-02 -7.03797286e-04 9.98252413e-01 -3.52002376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16864 meters Centerline goodness [0,1] 0.9954728865269167 Centerline is valid? [True, True] Translation: X:76.67, Y:-21.98, Z:-3.52 [[ 8.90595673e-01 4.51729847e-01 5.27208900e-02 7.66657672e+01] [-4.50980360e-01 8.92154572e-01 -2.60179720e-02 -2.19794124e+01] [-5.87882776e-02 -6.04592726e-04 9.98270290e-01 -3.52174899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19864 meters Centerline goodness [0,1] 0.9961093326766807 Centerline is valid? [True, True] Translation: X:76.70, Y:-21.99, Z:-3.52 [[ 8.92350728e-01 4.48372192e-01 5.16967597e-02 7.66958653e+01] [-4.47645446e-01 8.93846878e-01 -2.55208398e-02 -2.19904915e+01] [-5.76518222e-02 -3.68279052e-04 9.98336683e-01 -3.52208417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22864 meters Centerline goodness [0,1] 0.9961685823754789 Centerline is valid? [True, True] Translation: X:76.73, Y:-22.00, Z:-3.52 [[ 8.93044481e-01 4.46992360e-01 5.16660887e-02 7.67253816e+01] [-4.46263682e-01 8.94537733e-01 -2.55141098e-02 -2.20039385e+01] [-5.76218780e-02 -2.71463980e-04 9.98338442e-01 -3.52298218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25864 meters Centerline goodness [0,1] 0.996064541519087 Centerline is valid? [True, True] Translation: X:76.75, Y:-22.02, Z:-3.52 [[ 8.93300044e-01 4.46479857e-01 5.16794903e-02 7.67548413e+01] [-4.45749457e-01 8.94793655e-01 -2.55291472e-02 -2.20170901e+01] [-5.76407300e-02 -2.30916437e-04 9.98337364e-01 -3.52404306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28864 meters Centerline goodness [0,1] 0.996064541519087 Centerline is valid? [True, True] Translation: X:76.78, Y:-22.03, Z:-3.53 [[ 8.93242258e-01 4.46595839e-01 5.16761602e-02 7.67832496e+01] [-4.45865244e-01 8.94735773e-01 -2.55358867e-02 -2.20310789e+01] [-5.76407298e-02 -2.30870686e-04 9.98337364e-01 -3.52540066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31864 meters Centerline goodness [0,1] 0.9967588272847813 Centerline is valid? [True, True] Translation: X:76.81, Y:-22.04, Z:-3.53 [[ 8.94403300e-01 4.44159908e-01 5.25805394e-02 7.68145289e+01] [-4.43398778e-01 8.95947527e-01 -2.59913792e-02 -2.20404833e+01] [-5.86537329e-02 -6.73716123e-05 9.98278386e-01 -3.52693988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34864 meters Centerline goodness [0,1] 0.9977861957003001 Centerline is valid? [True, True] Translation: X:76.84, Y:-22.05, Z:-3.53 [[ 8.94839424e-01 4.43272485e-01 5.26489273e-02 7.68446637e+01] [-4.42507339e-01 8.96386916e-01 -2.60336561e-02 -2.20524077e+01] [-5.87338131e-02 -1.59488871e-06 9.98273680e-01 -3.52879627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37863999999999 meters Centerline goodness [0,1] 0.9975933202357564 Centerline is valid? [True, True] Translation: X:76.87, Y:-22.07, Z:-3.53 [[ 8.95180190e-01 4.42499610e-01 5.33528175e-02 7.68735602e+01] [-4.41712002e-01 8.96768695e-01 -2.63896885e-02 -2.20653961e+01] [-5.95225634e-02 5.69465681e-05 9.98226959e-01 -3.53011614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40863999999999 meters Centerline goodness [0,1] 0.9977866312527667 Centerline is valid? [True, True] Translation: X:76.90, Y:-22.08, Z:-3.53 [[ 8.95230405e-01 4.42239600e-01 5.46503209e-02 7.69028110e+01] [-4.41412253e-01 8.96896945e-01 -2.70387493e-02 -2.20783047e+01] [-6.09733115e-02 8.25891871e-05 9.98139393e-01 -3.53158969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43863999999999 meters Centerline goodness [0,1] 0.9972946384653222 Centerline is valid? [True, True] Translation: X:76.93, Y:-22.09, Z:-3.53 [[ 8.95293803e-01 4.42174163e-01 5.41388640e-02 7.69326533e+01] [-4.41361610e-01 8.96929206e-01 -2.67941850e-02 -2.20913374e+01] [-6.04064247e-02 9.38516109e-05 9.98173860e-01 -3.53254499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46864 meters Centerline goodness [0,1] 0.9973465677362292 Centerline is valid? [True, True] Translation: X:76.96, Y:-22.10, Z:-3.53 [[ 8.95382896e-01 4.42062544e-01 5.35740303e-02 7.69623016e+01] [-4.41266243e-01 8.96984223e-01 -2.65218159e-02 -2.21016277e+01] [-5.97793613e-02 1.06769271e-04 9.98211609e-01 -3.53433525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49864 meters Centerline goodness [0,1] 0.9974891689641591 Centerline is valid? [True, True] Translation: X:76.99, Y:-22.11, Z:-3.54 [[ 8.95665503e-01 4.41490346e-01 5.35684733e-02 7.69905142e+01] [-4.40693007e-01 8.97265988e-01 -2.65220764e-02 -2.21135600e+01] [-5.97744098e-02 1.47657262e-04 9.98211900e-01 -3.53607554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52864 meters Centerline goodness [0,1] 0.9973463069438302 Centerline is valid? [True, True] Translation: X:77.02, Y:-22.13, Z:-3.54 [[ 8.96524385e-01 4.39818960e-01 5.29462853e-02 7.70187843e+01] [-4.39037137e-01 8.98086420e-01 -2.62140273e-02 -2.21258135e+01] [-5.90797660e-02 2.56129199e-04 9.98253232e-01 -3.53609941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55864 meters Centerline goodness [0,1] 0.9974433354638871 Centerline is valid? [True, True] Translation: X:77.05, Y:-22.14, Z:-3.54 [[ 8.97595625e-01 4.37714630e-01 5.22302228e-02 7.70462949e+01] [-4.36950266e-01 8.99113870e-01 -2.58595004e-02 -2.21380315e+01] [-5.82799994e-02 3.89364677e-04 9.98300200e-01 -3.53698501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58864 meters Centerline goodness [0,1] 0.9970504375184348 Centerline is valid? [True, True] Translation: X:77.07, Y:-22.15, Z:-3.54 [[ 8.99664984e-01 4.33339145e-01 5.31046263e-02 7.70733523e+01] [-4.32541352e-01 9.01230668e-01 -2.62918522e-02 -2.21510147e+01] [-5.92528066e-02 6.83911905e-04 9.98242775e-01 -3.53790938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61864 meters Centerline goodness [0,1] 0.997590598416679 Centerline is valid? [True, True] Translation: X:77.10, Y:-22.17, Z:-3.54 [[ 9.00686782e-01 4.31298278e-01 5.23938592e-02 7.71004255e+01] [-4.30518350e-01 9.02209037e-01 -2.59384833e-02 -2.21654192e+01] [-5.84574364e-02 8.05931275e-04 9.98289577e-01 -3.53873097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64864 meters Centerline goodness [0,1] 0.9980792908150702 Centerline is valid? [True, True] Translation: X:77.13, Y:-22.18, Z:-3.54 [[ 9.01505995e-01 4.29398702e-01 5.38859468e-02 7.71272280e+01] [-4.28570283e-01 9.03114523e-01 -2.66771670e-02 -2.21802369e+01] [-6.01203220e-02 9.55710566e-04 9.98190680e-01 -3.54107620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67864 meters Centerline goodness [0,1] 0.9988682773212616 Centerline is valid? [True, True] Translation: X:77.15, Y:-22.20, Z:-3.54 [[ 9.03306574e-01 4.25392742e-01 5.54819637e-02 7.71545374e+01] [-4.24506829e-01 9.05007971e-01 -2.74686250e-02 -2.21963092e+01] [-6.18965731e-02 1.26011706e-03 9.98081773e-01 -3.54341470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70864 meters Centerline goodness [0,1] 0.9982291307983668 Centerline is valid? [True, True] Translation: X:77.18, Y:-22.21, Z:-3.55 [[ 9.03962492e-01 4.23902193e-01 5.62027106e-02 7.71820562e+01] [-4.22989752e-01 9.05706911e-01 -2.78327419e-02 -2.22120529e+01] [-6.27015437e-02 1.38658415e-03 9.98031359e-01 -3.54588682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73864 meters Centerline goodness [0,1] 0.998524711089255 Centerline is valid? [True, True] Translation: X:77.21, Y:-22.23, Z:-3.55 [[ 9.05155683e-01 4.21531542e-01 5.48119362e-02 7.72074685e+01] [-4.20658699e-01 9.06812461e-01 -2.71554530e-02 -2.22323803e+01] [-6.11510268e-02 1.52279487e-03 9.98127363e-01 -3.54794080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76863999999999 meters Centerline goodness [0,1] 0.9986716520712388 Centerline is valid? [True, True] Translation: X:77.23, Y:-22.25, Z:-3.55 [[ 9.05189624e-01 4.21362538e-01 5.55459885e-02 7.72342284e+01] [-4.20465292e-01 9.06890936e-01 -2.75275844e-02 -2.22506258e+01] [-6.19732463e-02 1.56252347e-03 9.98076588e-01 -3.54980055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79863999999999 meters Centerline goodness [0,1] 0.9990655584517779 Centerline is valid? [True, True] Translation: X:77.26, Y:-22.27, Z:-3.55 [[ 9.05618490e-01 4.20445028e-01 5.55079198e-02 7.72613492e+01] [-4.19546770e-01 9.07316547e-01 -2.75171195e-02 -2.22691264e+01] [-6.19326902e-02 1.63184373e-03 9.98078994e-01 -3.55150827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82864 meters Centerline goodness [0,1] 0.9991635093244108 Centerline is valid? [True, True] Translation: X:77.29, Y:-22.29, Z:-3.55 [[ 9.05789666e-01 4.19985689e-01 5.61880905e-02 7.72866157e+01] [-4.19063842e-01 9.07529151e-01 -2.78628097e-02 -2.22907485e+01] [-6.26943114e-02 1.69144799e-03 9.98031343e-01 -3.55309789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85864 meters Centerline goodness [0,1] 0.9991628914713413 Centerline is valid? [True, True] Translation: X:77.31, Y:-22.31, Z:-3.55 [[ 9.05178228e-01 4.21338648e-01 5.59117127e-02 7.73134014e+01] [-4.20427908e-01 9.06901975e-01 -2.77341396e-02 -2.23086215e+01] [-6.23919075e-02 1.59749497e-03 9.98050449e-01 -3.55459449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88864 meters Centerline goodness [0,1] 0.9989164696611506 Centerline is valid? [True, True] Translation: X:77.34, Y:-22.33, Z:-3.56 [[ 9.04600127e-01 4.22541702e-01 5.61882560e-02 7.73406075e+01] [-4.21623703e-01 9.06342192e-01 -2.78798033e-02 -2.23263326e+01] [-6.27061667e-02 1.52977299e-03 9.98030859e-01 -3.55701748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91864 meters Centerline goodness [0,1] 0.9988674971687429 Centerline is valid? [True, True] Translation: X:77.37, Y:-22.35, Z:-3.56 [[ 9.02797249e-01 4.26326875e-01 5.65908303e-02 7.73668963e+01] [-4.25402088e-01 9.04568257e-01 -2.80950677e-02 -2.23461817e+01] [-6.31679511e-02 1.29029245e-03 9.98002077e-01 -3.55897124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94864 meters Centerline goodness [0,1] 0.9992129857353664 Centerline is valid? [True, True] Translation: X:77.39, Y:-22.36, Z:-3.56 [[ 9.01873235e-01 4.28135218e-01 5.76619828e-02 7.73947366e+01] [-4.27176641e-01 9.03713870e-01 -2.86593537e-02 -2.23634987e+01] [-6.43800122e-02 1.21525183e-03 9.97924715e-01 -3.56078659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97864 meters Centerline goodness [0,1] 0.9985708653656613 Centerline is valid? [True, True] Translation: X:77.42, Y:-22.38, Z:-3.56 [[ 9.00480976e-01 4.30826449e-01 5.93513531e-02 7.74208570e+01] [-4.29814187e-01 9.02434148e-01 -2.95359766e-02 -2.23840168e+01] [-6.62855676e-02 1.08653142e-03 9.97800102e-01 -3.56283509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00864 meters Centerline goodness [0,1] 0.9986204857860768 Centerline is valid? [True, True] Translation: X:77.45, Y:-22.40, Z:-3.56 [[ 8.99240304e-01 4.33240697e-01 6.05753642e-02 7.74488564e+01] [-4.32189091e-01 9.01277745e-01 -3.01830527e-02 -2.24008894e+01] [-6.76717544e-02 9.61805873e-04 9.97707176e-01 -3.56406200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03864 meters Centerline goodness [0,1] 0.9985233313644418 Centerline is valid? [True, True] Translation: X:77.48, Y:-22.42, Z:-3.57 [[ 8.98192837e-01 4.35306582e-01 6.13009571e-02 7.74774850e+01] [-4.34231752e-01 9.00281876e-01 -3.05831675e-02 -2.24178944e+01] [-6.85011947e-02 8.50759980e-04 9.97650672e-01 -3.56619106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06864 meters Centerline goodness [0,1] 0.9986701472688765 Centerline is valid? [True, True] Translation: X:77.50, Y:-22.44, Z:-3.57 [[ 8.95304571e-01 4.41071077e-01 6.23380258e-02 7.75040717e+01] [-4.39970795e-01 8.97472062e-01 -3.11383724e-02 -2.24375009e+01] [-6.96808720e-02 4.51416428e-04 9.97569232e-01 -3.57016356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09864 meters Centerline goodness [0,1] 0.9980295566502463 Centerline is valid? [True, True] Translation: X:77.53, Y:-22.45, Z:-3.57 [[ 8.93338553e-01 4.45089615e-01 6.19795518e-02 7.75318776e+01] [-4.44009224e-01 8.95486017e-01 -3.09935791e-02 -2.24546856e+01] [-6.92967421e-02 1.68266413e-04 9.97596077e-01 -3.57131904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12863999999999 meters Centerline goodness [0,1] 0.9986215723920642 Centerline is valid? [True, True] Translation: X:77.56, Y:-22.47, Z:-3.57 [[ 8.89380684e-01 4.52845301e-01 6.27146869e-02 7.75598618e+01] [-4.51756412e-01 8.91589008e-01 -3.13876443e-02 -2.24713985e+01] [-7.01294727e-02 -4.16197338e-04 9.97537811e-01 -3.57367317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15863999999999 meters Centerline goodness [0,1] 0.9990161353797717 Centerline is valid? [True, True] Translation: X:77.59, Y:-22.49, Z:-3.58 [[ 8.87295635e-01 4.56803728e-01 6.35358913e-02 7.75883819e+01] [-4.55694636e-01 8.89567219e-01 -3.18207652e-02 -2.24856271e+01] [-7.10552903e-02 -7.18538779e-04 9.97472120e-01 -3.57607316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18863999999999 meters Centerline goodness [0,1] 0.9990635781172992 Centerline is valid? [True, True] Translation: X:77.62, Y:-22.50, Z:-3.58 [[ 8.85191985e-01 4.60896590e-01 6.33204723e-02 7.76168414e+01] [-4.59802979e-01 8.87453271e-01 -3.17476296e-02 -2.24996546e+01] [-7.08263345e-02 -1.01219448e-03 9.97488148e-01 -3.57635616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21864 meters Centerline goodness [0,1] 0.9993562125489031 Centerline is valid? [True, True] Translation: X:77.65, Y:-22.51, Z:-3.58 [[ 8.82146752e-01 4.66293047e-01 6.62412421e-02 7.76457493e+01] [-4.65109330e-01 8.84629062e-01 -3.32375376e-02 -2.25137983e+01] [-7.40973605e-02 -1.48903393e-03 9.97249900e-01 -3.57770707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24864 meters Centerline goodness [0,1] 0.9996064541519087 Centerline is valid? [True, True] Translation: X:77.68, Y:-22.53, Z:-3.58 [[ 8.81102761e-01 4.68283066e-01 6.60976105e-02 7.76753889e+01] [-4.67108438e-01 8.83576993e-01 -3.31874196e-02 -2.25265513e+01] [-7.39434345e-02 -1.63322456e-03 9.97261100e-01 -3.57850243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:77.71, Y:-22.54, Z:-3.58 [[ 8.80296064e-01 4.69812707e-01 6.59913578e-02 7.77050577e+01] [-4.68643366e-01 8.82764432e-01 -3.31715723e-02 -2.25390513e+01] [-7.38392497e-02 -1.72560750e-03 9.97268664e-01 -3.57996300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:-22.55, Z:-3.58 [[ 8.78641355e-01 4.72877506e-01 6.61531107e-02 7.77358878e+01] [-4.71708281e-01 8.81126009e-01 -3.32904425e-02 -2.25492252e+01] [-7.40315278e-02 -1.95461066e-03 9.97253986e-01 -3.58283031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:-22.56, Z:-3.58 [[ 8.78253461e-01 4.73466593e-01 6.70838536e-02 7.77660968e+01] [-4.72263043e-01 8.80809508e-01 -3.37968739e-02 -2.25615384e+01] [-7.50897869e-02 -1.99900339e-03 9.97174773e-01 -3.58410996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-22.57, Z:-3.58 [[ 8.78371537e-01 4.73095863e-01 6.81450453e-02 7.77983722e+01] [-4.71849611e-01 8.81008771e-01 -3.43728105e-02 -2.25715358e+01] [-7.62980171e-02 -1.96211471e-03 9.97083127e-01 -3.58495372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:-22.58, Z:-3.59 [[ 8.78509561e-01 4.73005517e-01 6.69830725e-02 7.78282486e+01] [-4.71798121e-01 8.81057449e-01 -3.38275581e-02 -2.25844106e+01] [-7.50165566e-02 -1.88465448e-03 9.97180507e-01 -3.58664293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-22.60, Z:-3.59 [[ 8.79027367e-01 4.72311919e-01 6.50564387e-02 7.78572721e+01] [-4.71168500e-01 8.81429760e-01 -3.28910663e-02 -2.25976023e+01] [-7.28775238e-02 -1.74039725e-03 9.97339379e-01 -3.58812122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:-22.61, Z:-3.59 [[ 8.80572280e-01 4.69767110e-01 6.25405694e-02 7.78872051e+01] [-4.68702100e-01 8.82789202e-01 -3.16475374e-02 -2.26104323e+01] [-7.00771115e-02 -1.44495207e-03 9.97540531e-01 -3.58960901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-22.62, Z:-3.59 [[ 8.81466658e-01 4.68110596e-01 6.23618566e-02 7.79172340e+01] [-4.67046348e-01 8.83668939e-01 -3.15739546e-02 -2.26233141e+01] [-6.98873384e-02 -1.29448914e-03 9.97554051e-01 -3.59135201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.95, Y:-22.63, Z:-3.59 [[ 8.82482813e-01 4.66190200e-01 6.23761255e-02 7.79479123e+01] [-4.65119164e-01 8.84683805e-01 -3.16026652e-02 -2.26347059e+01] [-6.99160009e-02 -1.12352245e-03 9.97552250e-01 -3.59360287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:-22.65, Z:-3.60 [[ 8.82666785e-01 4.65805186e-01 6.26488242e-02 7.79779457e+01] [-4.64721123e-01 8.84886657e-01 -3.17786289e-02 -2.26491556e+01] [-7.02397587e-02 -1.06429178e-03 9.97529570e-01 -3.59648236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.01, Y:-22.66, Z:-3.60 [[ 8.83051879e-01 4.65034870e-01 6.29440049e-02 7.80080467e+01] [-4.63935686e-01 8.85291831e-01 -3.19695729e-02 -2.26636792e+01] [-7.05907795e-02 -9.71178639e-04 9.97504887e-01 -3.59739325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-22.68, Z:-3.60 [[ 8.84239773e-01 4.63056896e-01 6.08139386e-02 7.80372975e+01] [-4.62023731e-01 8.86328237e-01 -3.09245491e-02 -2.26763981e+01] [-6.82209368e-02 -7.52766519e-04 9.97669954e-01 -3.59902982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-22.69, Z:-3.60 [[ 8.84951978e-01 4.61945955e-01 5.88721602e-02 7.80664506e+01] [-4.60973655e-01 8.86907856e-01 -2.99623706e-02 -2.26911987e+01] [-6.60551773e-02 -6.23255741e-04 9.97815777e-01 -3.60018633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-22.71, Z:-3.60 [[ 8.86452806e-01 4.59119632e-01 5.84002319e-02 7.80935182e+01] [-4.58155475e-01 8.88374364e-01 -2.97413953e-02 -2.27081995e+01] [-6.55361273e-02 -3.92042640e-04 9.97850120e-01 -3.60345163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-22.72, Z:-3.60 [[ 8.86730541e-01 4.58625940e-01 5.80619839e-02 7.81228237e+01] [-4.57669612e-01 8.88629362e-01 -2.96037734e-02 -2.27234761e+01] [-6.51726421e-02 -3.22635623e-04 9.97873951e-01 -3.60434543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-22.74, Z:-3.61 [[ 8.86775356e-01 4.58437902e-01 5.88570976e-02 7.81523912e+01] [-4.57452195e-01 8.88726399e-01 -3.00479158e-02 -2.27373523e+01] [-6.60829599e-02 -2.78557244e-04 9.97814093e-01 -3.60520025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.18, Y:-22.75, Z:-3.61 [[ 8.86065981e-01 4.59975154e-01 5.75320355e-02 7.81819080e+01] [-4.59034325e-01 8.87931717e-01 -2.94067160e-02 -2.27514287e+01] [-6.46108778e-02 -3.52888426e-04 9.97910472e-01 -3.60500919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:-22.77, Z:-3.61 [[ 8.85131474e-01 4.61746109e-01 5.77304446e-02 7.82112893e+01] [-4.60800299e-01 8.87012021e-01 -2.95425051e-02 -2.27671844e+01] [-6.48487351e-02 -4.53205020e-04 9.97895003e-01 -3.60683692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-22.78, Z:-3.61 [[ 8.83814389e-01 4.64129328e-01 5.87885445e-02 7.82404177e+01] [-4.63151304e-01 8.85767237e-01 -3.01209320e-02 -2.27812534e+01] [-6.60529746e-02 -6.06677951e-04 9.97815933e-01 -3.60846904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-22.79, Z:-3.61 [[ 8.83207788e-01 4.65311371e-01 5.85604967e-02 7.82703616e+01] [-4.64341211e-01 8.85146819e-01 -3.00391110e-02 -2.27949953e+01] [-6.58121773e-02 -6.61275238e-04 9.97831809e-01 -3.60993150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:-22.81, Z:-3.61 [[ 8.82605814e-01 4.66424735e-01 5.87787729e-02 7.82995275e+01] [-4.65447289e-01 8.84560601e-01 -3.01887960e-02 -2.28095039e+01] [-6.60741879e-02 -7.13613617e-04 9.97814458e-01 -3.61098369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.33, Y:-22.82, Z:-3.61 [[ 8.83342343e-01 4.65041809e-01 5.86721505e-02 7.83280643e+01] [-4.64062529e-01 8.85288530e-01 -3.01693075e-02 -2.28247685e+01] [-6.59717712e-02 -5.77719780e-04 9.97821323e-01 -3.61228593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.36, Y:-22.84, Z:-3.61 [[ 8.83927140e-01 4.63961443e-01 5.84173869e-02 7.83576499e+01] [-4.62986094e-01 8.85855272e-01 -3.00717990e-02 -2.28380379e+01] [-6.57015054e-02 -4.65158505e-04 9.97839213e-01 -3.61307371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.39, Y:-22.85, Z:-3.61 [[ 8.84738937e-01 4.62455878e-01 5.80652663e-02 7.83881831e+01] [-4.61487399e-01 8.86642235e-01 -2.99153425e-02 -2.28485674e+01] [-6.53176435e-02 -3.29120426e-04 9.97864468e-01 -3.61391347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.42, Y:-22.86, Z:-3.62 [[ 8.85004024e-01 4.61841515e-01 5.89091805e-02 7.84172406e+01] [-4.60842641e-01 8.86962421e-01 -3.03599017e-02 -2.28624201e+01] [-6.62716923e-02 -2.79227161e-04 9.97801576e-01 -3.61677983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.45, Y:-22.88, Z:-3.62 [[ 8.85090973e-01 4.61671235e-01 5.89376017e-02 7.84465744e+01] [-4.60670259e-01 8.87051073e-01 -3.03859632e-02 -2.28773599e+01] [-6.63089879e-02 -2.56458564e-04 9.97799104e-01 -3.61727237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:-22.89, Z:-3.62 [[ 8.85557530e-01 4.60735572e-01 5.92502588e-02 7.84769015e+01] [-4.59720869e-01 8.87537437e-01 -3.05617594e-02 -2.28905792e+01] [-6.66677125e-02 -1.74384311e-04 9.97775218e-01 -3.61733567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.51, Y:-22.90, Z:-3.62 [[ 8.85918005e-01 4.60087862e-01 5.88935216e-02 7.85062664e+01] [-4.59083080e-01 8.87873384e-01 -3.03904547e-02 -2.29040963e+01] [-6.62722696e-02 -1.13568236e-04 9.97801570e-01 -3.61871289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.54, Y:-22.92, Z:-3.62 [[ 8.86296394e-01 4.59512716e-01 5.76781189e-02 7.85353439e+01] [-4.58547198e-01 8.88171188e-01 -2.97725901e-02 -2.29186392e+01] [-6.49089271e-02 -6.08005630e-05 9.97891190e-01 -3.62026040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.56, Y:-22.93, Z:-3.62 [[ 8.87282547e-01 4.57724055e-01 5.67306885e-02 7.85636761e+01] [-4.56785782e-01 8.89094305e-01 -2.92927613e-02 -2.29337583e+01] [-6.38469336e-02 7.71839013e-05 9.97959700e-01 -3.62142543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:-22.95, Z:-3.62 [[ 8.87902347e-01 4.56615384e-01 5.59626131e-02 7.85924108e+01] [-4.55699593e-01 8.89664186e-01 -2.89052979e-02 -2.29483318e+01] [-6.29865363e-02 1.62941827e-04 9.98014363e-01 -3.62260472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:-22.96, Z:-3.62 [[ 8.87813611e-01 4.56788422e-01 5.59582828e-02 7.86213241e+01] [-4.55872447e-01 8.89575355e-01 -2.89136789e-02 -2.29631973e+01] [-6.29865431e-02 1.60118358e-04 9.98014364e-01 -3.62399868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.65, Y:-22.98, Z:-3.63 [[ 8.88913731e-01 4.54591526e-01 5.63819359e-02 7.86504743e+01] [-4.53656403e-01 8.90699969e-01 -2.91450265e-02 -2.29776684e+01] [-6.34684706e-02 3.29387987e-04 9.97983790e-01 -3.62611694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:-22.99, Z:-3.63 [[ 8.88916419e-01 4.54527904e-01 5.68505412e-02 7.86792990e+01] [-4.53576430e-01 8.90732432e-01 -2.93965559e-02 -2.29928085e+01] [-6.40001757e-02 3.45015727e-04 9.97949828e-01 -3.62711913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29863999999999 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:78.71, Y:-23.01, Z:-3.63 [[ 8.88799182e-01 4.54705290e-01 5.72635497e-02 7.87085348e+01] [-4.53739588e-01 8.90641893e-01 -2.96210205e-02 -2.30082173e+01] [-6.44701510e-02 3.44399329e-04 9.97919576e-01 -3.62898237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:-23.03, Z:-3.63 [[ 8.88416225e-01 4.55695477e-01 5.53013870e-02 7.87358699e+01] [-4.54796024e-01 8.90135696e-01 -2.86185079e-02 -2.30265035e+01] [-6.22670633e-02 2.74295835e-04 9.98059486e-01 -3.63051319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35864 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:78.76, Y:-23.04, Z:-3.63 [[ 8.88564100e-01 4.55468925e-01 5.47895853e-02 7.87633472e+01] [-4.54584993e-01 8.90251633e-01 -2.83639599e-02 -2.30432633e+01] [-6.16954201e-02 2.96673302e-04 9.98094979e-01 -3.63101983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-23.06, Z:-3.63 [[ 8.88036635e-01 4.56341888e-01 5.60626181e-02 7.87910229e+01] [-4.55417508e-01 8.89804484e-01 -2.90322953e-02 -2.30595064e+01] [-6.31334213e-02 2.49843968e-04 9.98005064e-01 -3.63281811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.82, Y:-23.07, Z:-3.63 [[ 8.87474297e-01 4.57290362e-01 5.72267060e-02 7.88190007e+01] [-4.56328009e-01 8.89317426e-01 -2.96523869e-02 -2.30746824e+01] [-6.44524576e-02 2.01582386e-04 9.97920758e-01 -3.63475538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-23.09, Z:-3.64 [[ 8.87162107e-01 4.57935751e-01 5.69055629e-02 7.88480542e+01] [-4.56983329e-01 8.88985272e-01 -2.95198778e-02 -2.30908862e+01] [-6.41064147e-02 1.84023408e-04 9.97943051e-01 -3.63603839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:-23.11, Z:-3.64 [[ 8.86771015e-01 4.58565363e-01 5.79221467e-02 7.88761577e+01] [-4.57577516e-01 8.88660665e-01 -3.00838751e-02 -2.31071260e+01] [-6.52685565e-02 1.73636467e-04 9.97867719e-01 -3.63709258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.91, Y:-23.12, Z:-3.64 [[ 8.86386778e-01 4.59349059e-01 5.75927258e-02 7.89056153e+01] [-4.58371850e-01 8.88255831e-01 -2.99470663e-02 -2.31215432e+01] [-6.49132312e-02 1.45799348e-04 9.97890901e-01 -3.63852106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.93, Y:-23.14, Z:-3.64 [[ 8.84814925e-01 4.62330870e-01 5.79026425e-02 7.89346195e+01] [-4.61346984e-01 8.86707486e-01 -3.01462373e-02 -2.31369263e+01] [-6.52802427e-02 -3.93687742e-05 9.97866969e-01 -3.64004553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-23.15, Z:-3.64 [[ 8.83969276e-01 4.63901887e-01 5.82525424e-02 7.89638849e+01] [-4.62906945e-01 8.85886575e-01 -3.03666920e-02 -2.31531863e+01] [-6.56923110e-02 -1.22283778e-04 9.97839920e-01 -3.64209537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:-23.17, Z:-3.64 [[ 8.83260343e-01 4.65157604e-01 5.89878884e-02 7.89919392e+01] [-4.64138181e-01 8.85227861e-01 -3.07795816e-02 -2.31684441e+01] [-6.65350787e-02 -1.92147383e-04 9.97784068e-01 -3.64346211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62863999999999 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:79.02, Y:-23.18, Z:-3.64 [[ 8.82551143e-01 4.66698506e-01 5.74106627e-02 7.90219379e+01] [-4.65734958e-01 8.84416432e-01 -2.99753951e-02 -2.31810928e+01] [-6.47644055e-02 -2.83333404e-04 9.97900542e-01 -3.64413618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.05, Y:-23.19, Z:-3.65 [[ 8.82043070e-01 4.67621755e-01 5.77054253e-02 7.90523180e+01] [-4.66647956e-01 8.83928612e-01 -3.01644594e-02 -2.31947493e+01] [-6.51130339e-02 -3.21766340e-04 9.97877843e-01 -3.64575121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:-23.21, Z:-3.65 [[ 8.81821059e-01 4.68149894e-01 5.68093115e-02 7.90809634e+01] [-4.67204941e-01 8.83649010e-01 -2.97316397e-02 -2.32084711e+01] [-6.41183558e-02 -3.23605014e-04 9.97942249e-01 -3.64784772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:79.11, Y:-23.22, Z:-3.65 [[ 8.81474099e-01 4.68767780e-01 5.70979961e-02 7.91111277e+01] [-4.67812245e-01 8.83321376e-01 -2.99173955e-02 -2.32228939e+01] [-6.44601915e-02 -3.39732459e-04 9.97920221e-01 -3.64848875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:-23.23, Z:-3.65 [[ 8.81240465e-01 4.69115659e-01 5.78423906e-02 7.91415019e+01] [-4.68133889e-01 8.83136671e-01 -3.03361474e-02 -2.32344840e+01] [-6.53138981e-02 -3.44542677e-04 9.97864708e-01 -3.64996910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:-23.25, Z:-3.65 [[ 8.81392364e-01 4.68835699e-01 5.77978267e-02 7.91710248e+01] [-4.67854105e-01 8.83285338e-01 -3.03240322e-02 -2.32481683e+01] [-6.52689617e-02 -3.13580100e-04 9.97867659e-01 -3.65195790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-23.26, Z:-3.65 [[ 8.80691867e-01 4.70090645e-01 5.82805341e-02 7.92000926e+01] [-4.69094460e-01 8.82618053e-01 -3.05902098e-02 -2.32628009e+01] [-6.58196230e-02 -3.98526683e-04 9.97831458e-01 -3.65397635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.23, Y:-23.28, Z:-3.66 [[ 8.80713222e-01 4.69946114e-01 5.91174327e-02 7.92293739e+01] [-4.68920098e-01 8.82695022e-01 -3.10393227e-02 -2.32755084e+01] [-6.67694727e-02 -3.84610458e-04 9.97768355e-01 -3.65592827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.26, Y:-23.29, Z:-3.66 [[ 8.80493508e-01 4.70463169e-01 5.82716913e-02 7.92585330e+01] [-4.69466832e-01 8.82419537e-01 -3.06048082e-02 -2.32889022e+01] [-6.58185139e-02 -4.09291384e-04 9.97831527e-01 -3.65701469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:-23.30, Z:-3.66 [[ 8.80804900e-01 4.69971670e-01 5.75270185e-02 7.92875165e+01] [-4.68999005e-01 8.82681426e-01 -3.02230584e-02 -2.33022033e+01] [-6.49820120e-02 -3.59496470e-04 9.97886371e-01 -3.65760304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:-23.32, Z:-3.66 [[ 8.81103841e-01 4.69425878e-01 5.74052870e-02 7.93175105e+01] [-4.68455192e-01 8.82971830e-01 -3.01741739e-02 -2.33172168e+01] [-6.48517894e-02 -3.05224188e-04 9.97894860e-01 -3.65881517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-23.33, Z:-3.66 [[ 8.81416133e-01 4.68944796e-01 5.65365203e-02 7.93467463e+01] [-4.68000975e-01 8.83227443e-01 -2.97383656e-02 -2.33317983e+01] [-6.38802581e-02 -2.47271433e-04 9.97957540e-01 -3.66032580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:-23.34, Z:-3.66 [[ 8.82491944e-01 4.66878465e-01 5.68547899e-02 7.93781424e+01] [-4.65918879e-01 8.84321486e-01 -2.99183438e-02 -2.33440842e+01] [-6.42461427e-02 -8.70225670e-05 9.97934079e-01 -3.66164830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:-23.36, Z:-3.66 [[ 8.82634876e-01 4.66526860e-01 5.75183881e-02 7.94065890e+01] [-4.65543137e-01 8.84507030e-01 -3.02803752e-02 -2.33585096e+01] [-6.50020270e-02 -5.07756012e-05 9.97885131e-01 -3.66366621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:-23.37, Z:-3.66 [[ 8.83214580e-01 4.65492881e-01 5.69945956e-02 7.94354468e+01] [-4.64524253e-01 8.85051624e-01 -3.00140286e-02 -2.33733997e+01] [-6.44144760e-02 3.34557392e-05 9.97923231e-01 -3.66474949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:-23.39, Z:-3.67 [[ 8.84248364e-01 4.63652173e-01 5.59597512e-02 7.94639988e+01] [-4.62714175e-01 8.86017287e-01 -2.94781217e-02 -2.33889875e+01] [-6.32489021e-02 1.72610769e-04 9.97997769e-01 -3.66531749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:79.49, Y:-23.40, Z:-3.67 [[ 8.84950456e-01 4.62224943e-01 5.66638628e-02 7.94922325e+01] [-4.61259643e-01 8.86762663e-01 -2.98583552e-02 -2.34037817e+01] [-6.40486744e-02 2.86411930e-04 9.97946735e-01 -3.66739071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.52, Y:-23.42, Z:-3.67 [[ 8.86393672e-01 4.59550741e-01 5.58513657e-02 7.95214274e+01] [-4.58606977e-01 8.88151386e-01 -2.94407288e-02 -2.34198189e+01] [-6.31339766e-02 4.82249743e-04 9.98004944e-01 -3.66853421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.55, Y:-23.44, Z:-3.67 [[ 8.86822127e-01 4.58681259e-01 5.61962478e-02 7.95487810e+01] [-4.57723262e-01 8.88600693e-01 -2.96348560e-02 -2.34359999e+01] [-6.35289777e-02 5.58516223e-04 9.97979838e-01 -3.66991780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:-23.45, Z:-3.67 [[ 8.87434932e-01 4.57539069e-01 5.58322617e-02 7.95777730e+01] [-4.56590535e-01 8.89189285e-01 -2.94533358e-02 -2.34524311e+01] [-6.31215007e-02 6.45436819e-04 9.98005641e-01 -3.67116839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:-23.47, Z:-3.67 [[ 8.88246418e-01 4.55811149e-01 5.70482094e-02 7.96050812e+01] [-4.54816484e-01 8.90076156e-01 -3.01065113e-02 -2.34685040e+01] [-6.45001345e-02 7.95534818e-04 9.97917381e-01 -3.67234241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:-23.48, Z:-3.67 [[ 8.88672061e-01 4.55011116e-01 5.68053837e-02 7.96339077e+01] [-4.54022687e-01 8.90485344e-01 -2.99875265e-02 -2.34842284e+01] [-6.42290196e-02 8.58143992e-04 9.97934816e-01 -3.67401546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:-23.50, Z:-3.68 [[ 8.89690899e-01 4.53068678e-01 5.63815289e-02 7.96601325e+01] [-4.52090293e-01 8.91475053e-01 -2.97757769e-02 -2.35024377e+01] [-6.37531983e-02 1.00169583e-03 9.97965193e-01 -3.67588889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:-23.52, Z:-3.68 [[ 8.89957961e-01 4.52427413e-01 5.73084983e-02 7.96875199e+01] [-4.51414633e-01 8.91800586e-01 -3.02744973e-02 -2.35191054e+01] [-6.48047648e-02 1.07313522e-03 9.97897385e-01 -3.67654851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:-23.54, Z:-3.68 [[ 8.89814498e-01 4.52571686e-01 5.83868868e-02 7.97156413e+01] [-4.51519540e-01 8.91727348e-01 -3.08616605e-02 -2.35352968e+01] [-6.60322974e-02 1.09833265e-03 9.97816882e-01 -3.67806437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.74, Y:-23.55, Z:-3.68 [[ 8.90002315e-01 4.52363114e-01 5.71269933e-02 7.97424515e+01] [-4.51353931e-01 8.91833156e-01 -3.02200446e-02 -2.35530511e+01] [-6.46181802e-02 1.11141667e-03 9.97909443e-01 -3.67872601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.77, Y:-23.57, Z:-3.68 [[ 8.89328548e-01 4.53604841e-01 5.77700802e-02 7.97705993e+01] [-4.52574067e-01 8.91202302e-01 -3.05805648e-02 -2.35696529e+01] [-6.53563207e-02 1.05092910e-03 9.97861437e-01 -3.68027257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:-23.59, Z:-3.68 [[ 8.88380261e-01 4.55414516e-01 5.81216902e-02 7.97979376e+01] [-4.54372538e-01 8.90279003e-01 -3.08041068e-02 -2.35878430e+01] [-6.57731578e-02 9.56860516e-04 9.97834143e-01 -3.68195318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:-23.60, Z:-3.68 [[ 8.87489642e-01 4.57187011e-01 5.78115235e-02 7.98260413e+01] [-4.56157579e-01 8.89370176e-01 -3.06749619e-02 -2.36044163e+01] [-6.54400390e-02 8.52546404e-04 9.97856139e-01 -3.68268340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.85, Y:-23.62, Z:-3.69 [[ 8.86206208e-01 4.59622989e-01 5.81830295e-02 7.98527172e+01] [-4.58583346e-01 8.88113849e-01 -3.09047874e-02 -2.36233967e+01] [-6.58777051e-02 7.06246108e-04 9.97827455e-01 -3.68514220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:-23.64, Z:-3.69 [[ 8.85857113e-01 4.60431727e-01 5.70946666e-02 7.98795308e+01] [-4.59430269e-01 8.87694872e-01 -3.03585518e-02 -2.36408966e+01] [-6.46606832e-02 6.62321032e-04 9.97907089e-01 -3.68645424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55864 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:79.91, Y:-23.66, Z:-3.69 [[ 8.85901909e-01 4.60550537e-01 5.54166948e-02 7.99074523e+01] [-4.59605832e-01 8.87633242e-01 -2.94907850e-02 -2.36580227e+01] [-6.27716973e-02 6.56106568e-04 9.98027697e-01 -3.68703957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.93, Y:-23.68, Z:-3.69 [[ 8.85522041e-01 4.61067153e-01 5.71646257e-02 7.99333737e+01] [-4.60061743e-01 8.87365004e-01 -3.04391524e-02 -2.36767744e+01] [-6.47603816e-02 6.55283020e-04 9.97900628e-01 -3.68870114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.96, Y:-23.69, Z:-3.69 [[ 8.85223311e-01 4.61517626e-01 5.81478343e-02 7.99606983e+01] [-4.60476149e-01 8.87130793e-01 -3.09947222e-02 -2.36942692e+01] [-6.58893450e-02 6.61559754e-04 9.97826717e-01 -3.69052873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.99, Y:-23.71, Z:-3.69 [[ 8.85703857e-01 4.60642927e-01 5.77647929e-02 7.99871525e+01] [-4.59611030e-01 8.87585223e-01 -3.08248837e-02 -2.37145213e+01] [-6.54704412e-02 7.52382433e-04 9.97854225e-01 -3.69138083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:-23.73, Z:-3.69 [[ 8.85397629e-01 4.61142649e-01 5.84679102e-02 8.00156062e+01] [-4.60083998e-01 8.87325691e-01 -3.12383137e-02 -2.37317389e+01] [-6.62853976e-02 7.58178930e-04 9.97800417e-01 -3.69358518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.04, Y:-23.75, Z:-3.70 [[ 8.84950896e-01 4.62021788e-01 5.82904749e-02 8.00441502e+01] [-4.60968947e-01 8.86868278e-01 -3.11815198e-02 -2.37480380e+01] [-6.61025147e-02 7.24015078e-04 9.97812574e-01 -3.69617747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:-23.77, Z:-3.70 [[ 8.83518155e-01 4.64879271e-01 5.72968868e-02 8.00711639e+01] [-4.63865743e-01 8.85373920e-01 -3.06854015e-02 -2.37666202e+01] [-6.49941764e-02 5.33046413e-04 9.97885501e-01 -3.69598558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76863999999999 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:80.10, Y:-23.78, Z:-3.70 [[ 8.82819902e-01 4.66081481e-01 5.82844120e-02 8.00998880e+01] [-4.65032960e-01 8.84741668e-01 -3.12494259e-02 -2.37830917e+01] [-6.61314266e-02 4.83442486e-04 9.97810804e-01 -3.69805253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:-23.80, Z:-3.70 [[ 8.81526182e-01 4.68460753e-01 5.87887171e-02 8.01287050e+01] [-4.67396677e-01 8.83484242e-01 -3.15585244e-02 -2.38000050e+01] [-6.67228353e-02 3.42014460e-04 9.97771490e-01 -3.69973031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82864 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:80.16, Y:-23.82, Z:-3.70 [[ 8.81161214e-01 4.69113845e-01 5.90517967e-02 8.01579249e+01] [-4.68039059e-01 8.83137641e-01 -3.17387264e-02 -2.38153377e+01] [-6.70399404e-02 3.28387363e-04 9.97750239e-01 -3.70035030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-23.83, Z:-3.70 [[ 8.80176004e-01 4.70849013e-01 5.99283637e-02 8.01865457e+01] [-4.69743325e-01 8.82213779e-01 -3.22499193e-02 -2.38312343e+01] [-6.80544709e-02 2.34656313e-04 9.97681579e-01 -3.70249422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:-23.85, Z:-3.70 [[ 8.80018496e-01 4.71077033e-01 6.04472957e-02 8.02150316e+01] [-4.69949852e-01 8.82092039e-01 -3.25694946e-02 -2.38471419e+01] [-6.86628192e-02 2.54559945e-04 9.97639891e-01 -3.70460658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:-23.86, Z:-3.71 [[ 8.80231610e-01 4.70772493e-01 5.97124165e-02 8.02426080e+01] [-4.69669347e-01 8.82254592e-01 -3.22108516e-02 -2.38630047e+01] [-6.78455366e-02 3.07918061e-04 9.97695789e-01 -3.70592636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-23.88, Z:-3.71 [[ 8.80723870e-01 4.69979842e-01 5.86891185e-02 8.02706640e+01] [-4.68910211e-01 8.82677061e-01 -3.16925816e-02 -2.38778489e+01] [-6.66984131e-02 3.92486218e-04 9.97773104e-01 -3.70751395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.30, Y:-23.89, Z:-3.71 [[ 8.81045373e-01 4.69289907e-01 5.93804182e-02 8.02990689e+01] [-4.68190990e-01 8.83044026e-01 -3.21005354e-02 -2.38936697e+01] [-6.74999808e-02 4.80651317e-04 9.97719160e-01 -3.70933631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.33, Y:-23.91, Z:-3.71 [[ 8.81971987e-01 4.67675436e-01 5.83532362e-02 8.03256638e+01] [-4.66608403e-01 8.83900049e-01 -3.15800911e-02 -2.39138996e+01] [-6.63476612e-02 6.24645347e-04 9.97796371e-01 -3.71066795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03864 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:80.35, Y:-23.93, Z:-3.71 [[ 8.82737456e-01 4.66178807e-01 5.87529047e-02 8.03526068e+01] [-4.65091301e-01 8.84690183e-01 -3.18333598e-02 -2.39313189e+01] [-6.68181556e-02 7.75034146e-04 9.97764869e-01 -3.71314070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:-23.95, Z:-3.71 [[ 8.83277749e-01 4.65278305e-01 5.77625888e-02 8.03810600e+01] [-4.64222996e-01 8.85164030e-01 -3.13312906e-02 -2.39487261e+01] [-6.57071357e-02 8.59509819e-04 9.97838581e-01 -3.71355576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09864 meters Centerline goodness [0,1] 0.9997538158542589 Centerline is valid? [True, True] Translation: X:80.41, Y:-23.97, Z:-3.71 [[ 8.82688594e-01 4.66305508e-01 5.84809229e-02 8.04076375e+01] [-4.65223420e-01 8.84623360e-01 -3.17597448e-02 -2.39682364e+01] [-6.65433345e-02 8.27269518e-04 9.97783193e-01 -3.71492231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12863999999999 meters Centerline goodness [0,1] 0.9997538158542589 Centerline is valid? [True, True] Translation: X:80.44, Y:-23.98, Z:-3.72 [[ 8.82450047e-01 4.66758820e-01 5.84646750e-02 8.04363851e+01] [-4.65675745e-01 8.84384260e-01 -3.17896330e-02 -2.39834831e+01] [-6.65433300e-02 8.27182090e-04 9.97783193e-01 -3.71631665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15863999999999 meters Centerline goodness [0,1] 0.9996551044540796 Centerline is valid? [True, True] Translation: X:80.46, Y:-24.00, Z:-3.72 [[ 8.81769827e-01 4.68023164e-01 5.86198689e-02 8.04641210e+01] [-4.66934503e-01 8.83715863e-01 -3.19130405e-02 -2.40023532e+01] [-6.67393502e-02 7.68316886e-04 9.97770148e-01 -3.71881611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18863999999999 meters Centerline goodness [0,1] 0.9996063960639606 Centerline is valid? [True, True] Translation: X:80.49, Y:-24.02, Z:-3.72 [[ 8.80814686e-01 4.69815551e-01 5.86415960e-02 8.04909143e+01] [-4.68727441e-01 8.82764353e-01 -3.19637693e-02 -2.40211882e+01] [-6.67837864e-02 6.67232177e-04 9.97767248e-01 -3.72026179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21864 meters Centerline goodness [0,1] 0.9995564754583087 Centerline is valid? [True, True] Translation: X:80.52, Y:-24.04, Z:-3.72 [[ 8.78874745e-01 4.73553861e-01 5.76708135e-02 8.05170730e+01] [-4.72507167e-01 8.80764766e-01 -3.14706760e-02 -2.40413427e+01] [-6.56974807e-02 4.08909653e-04 9.97839503e-01 -3.72146653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24864 meters Centerline goodness [0,1] 0.9996061247599822 Centerline is valid? [True, True] Translation: X:80.54, Y:-24.06, Z:-3.72 [[ 8.76799071e-01 4.77328947e-01 5.81417654e-02 8.05439979e+01] [-4.76270964e-01 8.78724673e-01 -3.17634679e-02 -2.40601442e+01] [-6.62522264e-02 1.58944509e-04 9.97802895e-01 -3.72376996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27864 meters Centerline goodness [0,1] 0.9993601102579248 Centerline is valid? [True, True] Translation: X:80.57, Y:-24.08, Z:-3.72 [[ 8.75497640e-01 4.79889072e-01 5.66600476e-02 8.05716297e+01] [-4.78887406e-01 8.77329173e-01 -3.09899060e-02 -2.40772274e+01] [-6.45812300e-02 -2.19369749e-06 9.97912453e-01 -3.72487186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30864 meters Centerline goodness [0,1] 0.9989178021545575 Centerline is valid? [True, True] Translation: X:80.60, Y:-24.09, Z:-3.73 [[ 8.74496278e-01 4.81779868e-01 5.60751157e-02 8.06004216e+01] [-4.80800448e-01 8.76292273e-01 -3.07047622e-02 -2.40939651e+01] [-6.39311268e-02 -1.09740424e-04 9.97954307e-01 -3.72583788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33864 meters Centerline goodness [0,1] 0.9989183342347214 Centerline is valid? [True, True] Translation: X:80.63, Y:-24.11, Z:-3.73 [[ 8.73696154e-01 4.83263150e-01 5.57831338e-02 8.06292379e+01] [-4.82294511e-01 8.75475125e-01 -3.05828370e-02 -2.41101626e+01] [-6.36163042e-02 -1.83792129e-04 9.97974415e-01 -3.72661979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36864 meters Centerline goodness [0,1] 0.9989656700980151 Centerline is valid? [True, True] Translation: X:80.66, Y:-24.13, Z:-3.73 [[ 8.72210132e-01 4.85832099e-01 5.67155886e-02 8.06569145e+01] [-4.84833772e-01 8.74052088e-01 -3.11313329e-02 -2.41256075e+01] [-6.46969795e-02 -3.44568746e-04 9.97904896e-01 -3.72786833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39864 meters Centerline goodness [0,1] 0.9988196527811931 Centerline is valid? [True, True] Translation: X:80.69, Y:-24.14, Z:-3.73 [[ 8.71572046e-01 4.86954402e-01 5.68997284e-02 8.06862513e+01] [-4.85949640e-01 8.73427302e-01 -3.12681119e-02 -2.41409593e+01] [-6.49239210e-02 -3.97990327e-04 9.97890137e-01 -3.72943920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42864 meters Centerline goodness [0,1] 0.9987715591371431 Centerline is valid? [True, True] Translation: X:80.72, Y:-24.15, Z:-3.73 [[ 8.71256606e-01 4.87315251e-01 5.86154643e-02 8.07154402e+01] [-4.86247100e-01 8.73226021e-01 -3.22501856e-02 -2.41549461e+01] [-6.69005559e-02 -4.03412305e-04 9.97759567e-01 -3.73172659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45864 meters Centerline goodness [0,1] 0.9985250012291657 Centerline is valid? [True, True] Translation: X:80.74, Y:-24.17, Z:-3.73 [[ 8.70777060e-01 4.88288257e-01 5.76358380e-02 8.07443877e+01] [-4.87255447e-01 8.72682293e-01 -3.17450108e-02 -2.41691954e+01] [-6.57984913e-02 -4.40548826e-04 9.97832834e-01 -3.73192072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48864 meters Centerline goodness [0,1] 0.9985214391325776 Centerline is valid? [True, True] Translation: X:80.77, Y:-24.18, Z:-3.73 [[ 8.70870842e-01 4.87806623e-01 6.02384830e-02 8.07738139e+01] [-4.86674642e-01 8.72951629e-01 -3.32151535e-02 -2.41818897e+01] [-6.87878537e-02 -3.90433392e-04 9.97631234e-01 -3.73331161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51863999999999 meters Centerline goodness [0,1] 0.998672501106249 Centerline is valid? [True, True] Translation: X:80.80, Y:-24.20, Z:-3.73 [[ 8.70796417e-01 4.88067772e-01 5.91899403e-02 8.08026128e+01] [-4.86973149e-01 8.72805654e-01 -3.26717277e-02 -2.41962274e+01] [-6.76073319e-02 -3.73488262e-04 9.97711937e-01 -3.73413499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54863999999999 meters Centerline goodness [0,1] 0.9983763837638376 Centerline is valid? [True, True] Translation: X:80.83, Y:-24.21, Z:-3.73 [[ 8.71786084e-01 4.86385439e-01 5.84656175e-02 8.08337197e+01] [-4.85311377e-01 8.73744334e-01 -3.23064425e-02 -2.42072080e+01] [-6.67973852e-02 -2.09722353e-04 9.97766539e-01 -3.73438669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57864 meters Centerline goodness [0,1] 0.9987673191657216 Centerline is valid? [True, True] Translation: X:80.86, Y:-24.22, Z:-3.74 [[ 8.72240849e-01 4.85620634e-01 5.80387908e-02 8.08645019e+01] [-4.84558105e-01 8.74169655e-01 -3.21069696e-02 -2.42206371e+01] [-6.63275566e-02 -1.18156001e-04 9.97797896e-01 -3.73541285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60864 meters Centerline goodness [0,1] 0.9987223587223587 Centerline is valid? [True, True] Translation: X:80.89, Y:-24.23, Z:-3.74 [[ 8.73222173e-01 4.83929228e-01 5.74067865e-02 8.08947817e+01] [-4.82883499e-01 8.75107137e-01 -3.17966373e-02 -2.42344345e+01] [-6.56244107e-02 4.47388551e-05 9.97844394e-01 -3.73718880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63864 meters Centerline goodness [0,1] 0.9990172473097145 Centerline is valid? [True, True] Translation: X:80.93, Y:-24.25, Z:-3.74 [[ 8.75701690e-01 4.79545211e-01 5.64175610e-02 8.09257298e+01] [-4.78523668e-01 8.77517083e-01 -3.12868736e-02 -2.42460107e+01] [-6.45108440e-02 4.00829822e-04 9.97916926e-01 -3.73796530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66864 meters Centerline goodness [0,1] 0.9993601732453982 Centerline is valid? [True, True] Translation: X:80.96, Y:-24.26, Z:-3.74 [[ 8.76914904e-01 4.77424316e-01 5.55542387e-02 8.09557594e+01] [-4.76427213e-01 8.78672683e-01 -3.08451909e-02 -2.42600394e+01] [-6.35402362e-02 5.81056459e-04 9.97979108e-01 -3.73918937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69864 meters Centerline goodness [0,1] 0.999409070763776 Centerline is valid? [True, True] Translation: X:80.99, Y:-24.27, Z:-3.74 [[ 8.78914662e-01 4.73741291e-01 5.54815867e-02 8.09858692e+01] [-4.72737188e-01 8.80663624e-01 -3.08404339e-02 -2.42729760e+01] [-6.34710022e-02 8.77900186e-04 9.97983297e-01 -3.74102330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72864 meters Centerline goodness [0,1] 0.9995083095682958 Centerline is valid? [True, True] Translation: X:81.01, Y:-24.29, Z:-3.74 [[ 8.79921724e-01 4.71939308e-01 5.48730326e-02 8.10148375e+01] [-4.70951641e-01 8.81630444e-01 -3.05337990e-02 -2.42876182e+01] [-6.27878360e-02 1.02480830e-03 9.98026371e-01 -3.74284862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75864 meters Centerline goodness [0,1] 0.9995577612893716 Centerline is valid? [True, True] Translation: X:81.04, Y:-24.30, Z:-3.74 [[ 8.80851923e-01 4.70096009e-01 5.57640775e-02 8.10426594e+01] [-4.69070251e-01 8.82614465e-01 -3.10613049e-02 -2.43027544e+01] [-6.38199769e-02 1.20314029e-03 9.97960702e-01 -3.74432071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78864 meters Centerline goodness [0,1] 0.9995569339831635 Centerline is valid? [True, True] Translation: X:81.07, Y:-24.32, Z:-3.75 [[ 8.82724198e-01 4.66342435e-01 5.76430649e-02 8.10698230e+01] [-4.65236564e-01 8.84602926e-01 -3.21341312e-02 -2.43192097e+01] [-6.59767329e-02 1.54791379e-03 9.97819961e-01 -3.74609663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81864 meters Centerline goodness [0,1] 0.9995074376908679 Centerline is valid? [True, True] Translation: X:81.10, Y:-24.34, Z:-3.75 [[ 8.83686714e-01 4.64613991e-01 5.68474436e-02 8.10976603e+01] [-4.63533507e-01 8.85511740e-01 -3.17119285e-02 -2.43350104e+01] [-6.50728844e-02 1.67271501e-03 9.97879112e-01 -3.74780361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84864 meters Centerline goodness [0,1] 0.9993110236220473 Centerline is valid? [True, True] Translation: X:81.12, Y:-24.35, Z:-3.75 [[ 8.85134933e-01 4.62123847e-01 5.45683155e-02 8.11243074e+01] [-4.61121742e-01 8.86813555e-01 -3.04706070e-02 -2.43542324e+01] [-6.24731160e-02 1.80796204e-03 9.98045010e-01 -3.74884481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87863999999999 meters Centerline goodness [0,1] 0.999262028928466 Centerline is valid? [True, True] Translation: X:81.15, Y:-24.37, Z:-3.75 [[ 8.85239892e-01 4.62005162e-01 5.38661655e-02 8.11516163e+01] [-4.61026555e-01 8.86875366e-01 -3.01098019e-02 -2.43729264e+01] [-6.16834592e-02 1.82066505e-03 9.98094102e-01 -3.74951277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90863999999999 meters Centerline goodness [0,1] 0.9991151747529863 Centerline is valid? [True, True] Translation: X:81.18, Y:-24.39, Z:-3.75 [[ 8.85279058e-01 4.61855037e-01 5.45060928e-02 8.11762480e+01] [-4.60850660e-01 8.86953427e-01 -3.05006264e-02 -2.43938919e+01] [-6.24312337e-02 1.88239702e-03 9.98047493e-01 -3.75050656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93863999999999 meters Centerline goodness [0,1] 0.9991130383364542 Centerline is valid? [True, True] Translation: X:81.20, Y:-24.41, Z:-3.75 [[ 8.84627770e-01 4.63098738e-01 5.45276791e-02 8.12033110e+01] [-4.62094101e-01 8.86304825e-01 -3.05417611e-02 -2.44122988e+01] [-6.24719961e-02 1.82117118e-03 9.98045056e-01 -3.75137206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96864 meters Centerline goodness [0,1] 0.9992627905833784 Centerline is valid? [True, True] Translation: X:81.23, Y:-24.43, Z:-3.75 [[ 8.83752539e-01 4.64714534e-01 5.49713745e-02 8.12276699e+01] [-4.63694623e-01 8.85458833e-01 -3.08212933e-02 -2.44338781e+01] [-6.29979921e-02 1.74846541e-03 9.98012122e-01 -3.75312912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99864 meters Centerline goodness [0,1] 0.9992130244454281 Centerline is valid? [True, True] Translation: X:81.25, Y:-24.45, Z:-3.76 [[ 8.82785489e-01 4.66385901e-01 5.63380196e-02 8.12540747e+01] [-4.65315797e-01 8.84579732e-01 -3.16213080e-02 -2.44537744e+01] [-6.45832025e-02 1.69986133e-03 9.97910878e-01 -3.75532712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02864 meters Centerline goodness [0,1] 0.9992620652334334 Centerline is valid? [True, True] Translation: X:81.28, Y:-24.47, Z:-3.76 [[ 8.82115438e-01 4.67416443e-01 5.82599502e-02 8.12803142e+01] [-4.66271766e-01 8.84035596e-01 -3.27369115e-02 -2.44729324e+01] [-6.68056406e-02 1.71276517e-03 9.97764538e-01 -3.75702818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05864 meters Centerline goodness [0,1] 0.9991630151149623 Centerline is valid? [True, True] Translation: X:81.31, Y:-24.50, Z:-3.76 [[ 8.80975610e-01 4.69429803e-01 5.93096540e-02 8.13060869e+01] [-4.68245557e-01 8.82968309e-01 -3.33625984e-02 -2.44953250e+01] [-6.80299429e-02 1.62015355e-03 9.97681964e-01 -3.75865079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08864 meters Centerline goodness [0,1] 0.9993604879968516 Centerline is valid? [True, True] Translation: X:81.33, Y:-24.51, Z:-3.76 [[ 8.80785460e-01 4.69893102e-01 5.84589318e-02 8.13327418e+01] [-4.68741224e-01 8.82721889e-01 -3.29200757e-02 -2.45126696e+01] [-6.70718952e-02 1.59341278e-03 9.97746873e-01 -3.75977157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11864 meters Centerline goodness [0,1] 0.999409681227863 Centerline is valid? [True, True] Translation: X:81.36, Y:-24.53, Z:-3.76 [[ 8.80253955e-01 4.71059070e-01 5.70642376e-02 8.13573186e+01] [-4.69961893e-01 8.82100398e-01 -3.21668658e-02 -2.45337776e+01] [-6.54888806e-02 1.49699373e-03 9.97852176e-01 -3.76010977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14864 meters Centerline goodness [0,1] 0.9992130631516821 Centerline is valid? [True, True] Translation: X:81.38, Y:-24.55, Z:-3.76 [[ 8.79448514e-01 4.72449747e-01 5.79788540e-02 8.13842918e+01] [-4.71317728e-01 8.81356422e-01 -3.27178394e-02 -2.45532741e+01] [-6.65575702e-02 1.44719347e-03 9.97781537e-01 -3.76052049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17864 meters Centerline goodness [0,1] 0.9998031592933418 Centerline is valid? [True, True] Translation: X:81.41, Y:-24.57, Z:-3.76 [[ 8.77753768e-01 4.75346731e-01 5.99483823e-02 8.14109826e+01] [-4.74140323e-01 8.79797579e-01 -3.38699446e-02 -2.45737842e+01] [-6.88424091e-02 1.30552616e-03 9.97626693e-01 -3.76301922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20864 meters Centerline goodness [0,1] 0.9999507874015748 Centerline is valid? [True, True] Translation: X:81.44, Y:-24.59, Z:-3.77 [[ 8.76840206e-01 4.76930893e-01 6.07303555e-02 8.14385969e+01] [-4.75693688e-01 8.78939932e-01 -3.43527531e-02 -2.45911347e+01] [-6.97622237e-02 1.23282834e-03 9.97562886e-01 -3.76510864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23864 meters Centerline goodness [0,1] 0.9998525436225116 Centerline is valid? [True, True] Translation: X:81.47, Y:-24.61, Z:-3.77 [[ 8.75695109e-01 4.79171789e-01 5.96026261e-02 8.14661394e+01] [-4.77983331e-01 8.77720497e-01 -3.37440965e-02 -2.46086269e+01] [-6.84836658e-02 1.06047850e-03 9.97651674e-01 -3.76635534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:-24.63, Z:-3.77 [[ 8.73501219e-01 4.83185870e-01 5.93888520e-02 8.14924842e+01] [-4.82014152e-01 8.75517471e-01 -3.36379910e-02 -2.46277230e+01] [-6.82493794e-02 7.56558980e-04 9.97668006e-01 -3.76735134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:-24.64, Z:-3.77 [[ 8.72142253e-01 4.85595700e-01 5.97051640e-02 8.15209115e+01] [-4.84415201e-01 8.74183311e-01 -3.38445264e-02 -2.46441349e+01] [-6.86280144e-02 5.95152467e-04 9.97642141e-01 -3.76926479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:-24.66, Z:-3.77 [[ 8.69919752e-01 4.89507433e-01 6.01838637e-02 8.15495518e+01] [-4.88314354e-01 8.71999064e-01 -3.41573508e-02 -2.46596256e+01] [-6.92005499e-02 3.25509664e-04 9.97602715e-01 -3.77210676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35864 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:81.58, Y:-24.68, Z:-3.77 [[ 8.69066835e-01 4.91024953e-01 6.01442626e-02 8.15779742e+01] [-4.89834206e-01 8.71145475e-01 -3.41761962e-02 -2.46754397e+01] [-6.91757673e-02 2.40681493e-04 9.97604458e-01 -3.77382524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38864 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:81.61, Y:-24.69, Z:-3.78 [[ 8.68437703e-01 4.92240164e-01 5.92923006e-02 8.16058690e+01] [-4.91083145e-01 8.70459413e-01 -3.37306229e-02 -2.46907525e+01] [-6.82151085e-02 1.75495161e-04 9.97670621e-01 -3.77505918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.63, Y:-24.70, Z:-3.78 [[ 8.67449010e-01 4.94215246e-01 5.73018845e-02 8.16349848e+01] [-4.93136750e-01 8.69339570e-01 -3.26321517e-02 -2.47044229e+01] [-6.59421025e-02 4.90626031e-05 9.97823450e-01 -3.77514968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.66, Y:-24.72, Z:-3.78 [[ 8.67041325e-01 4.94917442e-01 5.74113842e-02 8.16648200e+01] [-4.93833916e-01 8.68940001e-01 -3.27313163e-02 -2.47187618e+01] [-6.60863476e-02 2.77151314e-05 9.97813907e-01 -3.77706780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:-24.73, Z:-3.78 [[ 8.67222193e-01 4.94576492e-01 5.76173689e-02 8.16951402e+01] [-4.93481740e-01 8.69134101e-01 -3.28890108e-02 -2.47319388e+01] [-6.63433517e-02 8.89606282e-05 9.97796849e-01 -3.77905710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-24.75, Z:-3.78 [[ 8.67534778e-01 4.94063516e-01 5.73118694e-02 8.17241343e+01] [-4.92976604e-01 8.69425797e-01 -3.27544235e-02 -2.47476720e+01] [-6.60111834e-02 1.62190796e-04 9.97818870e-01 -3.77985620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:-24.76, Z:-3.78 [[ 8.68340627e-01 4.92526184e-01 5.83310678e-02 8.17527810e+01] [-4.91394137e-01 8.70297568e-01 -3.33758088e-02 -2.47619106e+01] [-6.72038462e-02 3.18026050e-04 9.97739215e-01 -3.78191714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:-24.78, Z:-3.78 [[ 8.68873350e-01 4.91763677e-01 5.68118614e-02 8.17806684e+01] [-4.90686064e-01 8.70728620e-01 -3.25400963e-02 -2.47776993e+01] [-6.54697510e-02 3.96433817e-04 9.97854476e-01 -3.78309679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59864 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:81.81, Y:-24.80, Z:-3.78 [[ 8.69274414e-01 4.91074867e-01 5.66345160e-02 8.18089494e+01] [-4.90000180e-01 8.71117241e-01 -3.24742443e-02 -2.47953379e+01] [-6.52825885e-02 4.78106682e-04 9.97866702e-01 -3.78365082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:-24.81, Z:-3.79 [[ 8.68459691e-01 4.92282670e-01 5.86134593e-02 8.18364102e+01] [-4.91131541e-01 8.70435284e-01 -3.36485626e-02 -2.48111827e+01] [-6.75838273e-02 4.35501709e-04 9.97713504e-01 -3.78607513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65863999999999 meters Centerline goodness [0,1] 0.9999015796466709 Centerline is valid? [True, True] Translation: X:81.86, Y:-24.83, Z:-3.79 [[ 8.68188293e-01 4.92833211e-01 5.80044276e-02 8.18644176e+01] [-4.91704805e-01 8.70123699e-01 -3.33336818e-02 -2.48261525e+01] [-6.68989725e-02 4.18856541e-04 9.97759666e-01 -3.78695707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.89, Y:-24.84, Z:-3.79 [[ 8.66913059e-01 4.95216765e-01 5.67635835e-02 8.18922275e+01] [-4.94139045e-01 8.68769410e-01 -3.26544979e-02 -2.48426561e+01] [-6.54855198e-02 2.59507748e-04 9.97853486e-01 -3.78850107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:-24.86, Z:-3.79 [[ 8.66189061e-01 4.96528292e-01 5.63574847e-02 8.19207288e+01] [-4.95466385e-01 8.68020518e-01 -3.24567818e-02 -2.48596456e+01] [-6.50351634e-02 1.90470124e-04 9.97882955e-01 -3.79033674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:-24.88, Z:-3.79 [[ 8.64822543e-01 4.98974030e-01 5.57394574e-02 8.19482481e+01] [-4.97937981e-01 8.66616937e-01 -3.21380015e-02 -2.48769939e+01] [-6.43407860e-02 3.88753444e-05 9.97927984e-01 -3.79161780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.98, Y:-24.89, Z:-3.79 [[ 8.64201630e-01 4.99989525e-01 5.62673735e-02 8.19770531e+01] [-4.98933516e-01 8.66031451e-01 -3.24787961e-02 -2.48934370e+01] [-6.49683730e-02 -5.44997665e-06 9.97887324e-01 -3.79358819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-24.91, Z:-3.79 [[ 8.64037716e-01 5.00159868e-01 5.72619578e-02 8.20053511e+01] [-4.99063949e-01 8.65933084e-01 -3.30918135e-02 -2.49095833e+01] [-6.61362208e-02 1.51961301e-05 9.97810603e-01 -3.79441676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:-24.93, Z:-3.80 [[ 8.63801041e-01 5.00542996e-01 5.74845292e-02 8.20337324e+01] [-4.99436904e-01 8.65711678e-01 -3.32576326e-02 -2.49266674e+01] [-6.64119033e-02 1.80822889e-05 9.97792292e-01 -3.79729069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:-24.94, Z:-3.80 [[ 8.64339784e-01 4.99606355e-01 5.75345706e-02 8.20628423e+01] [-4.98493553e-01 8.66252546e-01 -3.33272223e-02 -2.49431558e+01] [-6.64899603e-02 1.25431623e-04 9.97787086e-01 -3.79920502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:-24.96, Z:-3.80 [[ 8.64795699e-01 4.98685588e-01 5.86607434e-02 8.20903628e+01] [-4.97523931e-01 8.66782919e-01 -3.40192455e-02 -2.49594089e+01] [-6.78110379e-02 2.34573537e-04 9.97698155e-01 -3.80095186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:-24.98, Z:-3.80 [[ 8.65232497e-01 4.97985980e-01 5.81609018e-02 8.21187675e+01] [-4.96839976e-01 8.67185022e-01 -3.37664945e-02 -2.49764071e+01] [-6.72515038e-02 3.19207245e-04 9.97736004e-01 -3.80218794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-24.99, Z:-3.80 [[ 8.65367573e-01 4.97777999e-01 5.79312246e-02 8.21478425e+01] [-4.96637859e-01 8.67304403e-01 -3.36735830e-02 -2.49925292e+01] [-6.70059750e-02 3.69187432e-04 9.97752506e-01 -3.80289467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:-25.01, Z:-3.80 [[ 8.64592665e-01 4.99152014e-01 5.76783310e-02 8.21761431e+01] [-4.98022183e-01 8.66514385e-01 -3.35667442e-02 -2.50088363e+01] [-6.67340115e-02 2.96472505e-04 9.97770757e-01 -3.80434503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-25.02, Z:-3.81 [[ 8.64331738e-01 4.99605719e-01 5.76608440e-02 8.22043994e+01] [-4.98474894e-01 8.66252872e-01 -3.35967630e-02 -2.50249081e+01] [-6.67340066e-02 2.96265426e-04 9.97770758e-01 -3.80573922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:-25.04, Z:-3.81 [[ 8.63511228e-01 5.01047493e-01 5.74436143e-02 8.22317840e+01] [-4.99925684e-01 8.65419761e-01 -3.35104186e-02 -2.50434365e+01] [-6.65031501e-02 2.19084506e-04 9.97786191e-01 -3.80764336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.26, Y:-25.06, Z:-3.81 [[ 8.62735814e-01 5.02232620e-01 5.87308314e-02 8.22592323e+01] [-5.01059932e-01 8.64732541e-01 -3.43012634e-02 -2.50598461e+01] [-6.80136745e-02 1.65262061e-04 9.97684375e-01 -3.80990490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:-25.08, Z:-3.81 [[ 8.62199586e-01 5.03049789e-01 5.96052351e-02 8.22871082e+01] [-5.01841278e-01 8.64257422e-01 -3.48488114e-02 -2.50758864e+01] [-6.90449540e-02 1.34263351e-04 9.97613541e-01 -3.81091147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.31, Y:-25.09, Z:-3.81 [[ 8.60764796e-01 5.05408643e-01 6.03826965e-02 8.23142910e+01] [-5.04172185e-01 8.62880121e-01 -3.53313603e-02 -2.50923848e+01] [-6.99598033e-02 -3.12849566e-05 9.97549811e-01 -3.81290062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.34, Y:-25.11, Z:-3.81 [[ 8.60215328e-01 5.06264260e-01 6.10417014e-02 8.23421651e+01] [-5.05000980e-01 8.62378393e-01 -3.57423739e-02 -2.51092998e+01] [-7.07361308e-02 -7.99811489e-05 9.97495059e-01 -3.81488834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:-25.13, Z:-3.82 [[ 8.59421375e-01 5.07703001e-01 6.02707444e-02 8.23700033e+01] [-5.06472812e-01 8.61532144e-01 -3.53221819e-02 -2.51259177e+01] [-6.98583614e-02 -1.68855206e-04 9.97556906e-01 -3.81503253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:-25.14, Z:-3.82 [[ 8.58566996e-01 5.09115002e-01 6.05361695e-02 8.23988328e+01] [-5.07875677e-01 8.60698464e-01 -3.55028400e-02 -2.51416765e+01] [-7.01784165e-02 -2.63281376e-04 9.97534421e-01 -3.81728057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:-25.16, Z:-3.82 [[ 8.57940926e-01 5.10241310e-01 5.99263965e-02 8.24275534e+01] [-5.09026633e-01 8.60031224e-01 -3.51877918e-02 -2.51569475e+01] [-6.94928371e-02 -3.15085081e-04 9.97582401e-01 -3.81915019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.46, Y:-25.17, Z:-3.82 [[ 8.56334144e-01 5.12892322e-01 6.02768518e-02 8.24563290e+01] [-5.11667066e-01 8.58452805e-01 -3.54343864e-02 -2.51711329e+01] [-6.99188572e-02 -4.98004949e-04 9.97552558e-01 -3.81985355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:-25.19, Z:-3.82 [[ 8.55040267e-01 5.15008508e-01 6.06001509e-02 8.24845028e+01] [-5.13772711e-01 8.57184825e-01 -3.56619838e-02 -2.51859495e+01] [-7.03117548e-02 -6.42271709e-04 9.97524859e-01 -3.82135823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.51, Y:-25.20, Z:-3.82 [[ 8.53619579e-01 5.17653994e-01 5.80341108e-02 8.25147794e+01] [-5.16524488e-01 8.55589687e-01 -3.41868384e-02 -2.51974218e+01] [-6.73503402e-02 -7.93484791e-04 9.97729072e-01 -3.82214698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:-25.21, Z:-3.82 [[ 8.53239543e-01 5.18246075e-01 5.83377045e-02 8.25444136e+01] [-5.17103500e-01 8.55231166e-01 -3.44038294e-02 -2.52116850e+01] [-6.77218726e-02 -8.11923499e-04 9.97703908e-01 -3.82376953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:-25.23, Z:-3.83 [[ 8.54402234e-01 5.16348047e-01 5.81508054e-02 8.25739191e+01] [-5.15205720e-01 8.56378598e-01 -3.43331207e-02 -2.52252947e+01] [-6.75269450e-02 -6.25332502e-04 9.97717255e-01 -3.82550456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:-25.24, Z:-3.83 [[ 8.54995144e-01 5.15338897e-01 5.83877197e-02 8.26031221e+01] [-5.14182250e-01 8.56986322e-01 -3.45116974e-02 -2.52400136e+01] [-6.78226973e-02 -5.14595399e-04 9.97697257e-01 -3.82721105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.63, Y:-25.25, Z:-3.83 [[ 8.55741886e-01 5.14116350e-01 5.82254483e-02 8.26332982e+01] [-5.12960474e-01 8.57720370e-01 -3.44574908e-02 -2.52536262e+01] [-6.76563125e-02 -3.80635356e-04 9.97708614e-01 -3.82856664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:-25.27, Z:-3.83 [[ 8.56316745e-01 5.13266163e-01 5.72667327e-02 8.26642842e+01] [-5.12143599e-01 8.58229439e-01 -3.39288093e-02 -2.52652356e+01] [-6.65625056e-02 -2.74983013e-04 9.97782219e-01 -3.83060785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:82.69, Y:-25.28, Z:-3.83 [[ 8.56211253e-01 5.13405620e-01 5.75930578e-02 8.26946196e+01] [-5.12267982e-01 8.58146028e-01 -3.41600675e-02 -2.52791156e+01] [-6.69612244e-02 -2.54845288e-04 9.97755546e-01 -3.83242573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55864 meters Centerline goodness [0,1] 0.9997531717431012 Centerline is valid? [True, True] Translation: X:82.72, Y:-25.29, Z:-3.83 [[ 8.55332735e-01 5.14808403e-01 5.81224671e-02 8.27241856e+01] [-5.13650148e-01 8.57305195e-01 -3.45156102e-02 -2.52940967e+01] [-6.75976192e-02 -3.32282583e-04 9.97712610e-01 -3.83373067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58864 meters Centerline goodness [0,1] 0.9997539854359379 Centerline is valid? [True, True] Translation: X:82.75, Y:-25.31, Z:-3.84 [[ 8.54721039e-01 5.15733538e-01 5.89140253e-02 8.27538576e+01] [-5.14542911e-01 8.56748957e-01 -3.50259467e-02 -2.53066579e+01] [-6.85385852e-02 -3.76380475e-04 9.97648395e-01 -3.83578688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61864 meters Centerline goodness [0,1] 0.9997050292512659 Centerline is valid? [True, True] Translation: X:82.78, Y:-25.32, Z:-3.84 [[ 8.54076054e-01 5.16798274e-01 5.89375733e-02 8.27826856e+01] [-5.15606576e-01 8.56107096e-01 -3.50784631e-02 -2.53226536e+01] [-6.85853640e-02 -4.28925037e-04 9.97645159e-01 -3.83692558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64864 meters Centerline goodness [0,1] 0.9995575003687497 Centerline is valid? [True, True] Translation: X:82.81, Y:-25.34, Z:-3.84 [[ 8.53125822e-01 5.18320104e-01 5.93346581e-02 8.28121649e+01] [-5.17113005e-01 8.55186530e-01 -3.53573141e-02 -2.53383906e+01] [-6.90686071e-02 -5.18485664e-04 9.97611778e-01 -3.83926718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67864 meters Centerline goodness [0,1] 0.9990649606299212 Centerline is valid? [True, True] Translation: X:82.84, Y:-25.35, Z:-3.84 [[ 8.52131743e-01 5.19909839e-01 5.97097391e-02 8.28415586e+01] [-5.18688315e-01 8.54220921e-01 -3.56237339e-02 -2.53529022e+01] [-6.95264381e-02 -6.14629490e-04 9.97579920e-01 -3.84010739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70864 meters Centerline goodness [0,1] 0.9986708019494904 Centerline is valid? [True, True] Translation: X:82.87, Y:-25.37, Z:-3.84 [[ 8.50848147e-01 5.21904665e-01 6.06048854e-02 8.28709333e+01] [-5.20648314e-01 8.53003489e-01 -3.61991807e-02 -2.53673235e+01] [-7.05887000e-02 -7.53825589e-04 9.97505222e-01 -3.84123363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73864 meters Centerline goodness [0,1] 0.9983759043260003 Centerline is valid? [True, True] Translation: X:82.90, Y:-25.38, Z:-3.84 [[ 8.48899054e-01 5.25065378e-01 6.06361684e-02 8.29017650e+01] [-5.23813095e-01 8.51061325e-01 -3.62555156e-02 -2.53791529e+01] [-7.06416139e-02 -9.84746151e-04 9.97501275e-01 -3.84242571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76863999999999 meters Centerline goodness [0,1] 0.9983765435135534 Centerline is valid? [True, True] Translation: X:82.93, Y:-25.39, Z:-3.84 [[ 8.47841624e-01 5.26843969e-01 6.00001014e-02 8.29314133e+01] [-5.25619561e-01 8.49961322e-01 -3.59141766e-02 -2.53939537e+01] [-6.99189329e-02 -1.08769317e-03 9.97552084e-01 -3.84376219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79863999999999 meters Centerline goodness [0,1] 0.9983779001179709 Centerline is valid? [True, True] Translation: X:82.96, Y:-25.41, Z:-3.85 [[ 8.46635829e-01 5.28428811e-01 6.30140118e-02 8.29613753e+01] [-5.27079389e-01 8.48976705e-01 -3.77607291e-02 -2.54054915e+01] [-7.34512852e-02 -1.24380071e-03 9.97298031e-01 -3.84573787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82864 meters Centerline goodness [0,1] 0.9980347843175789 Centerline is valid? [True, True] Translation: X:82.99, Y:-25.42, Z:-3.85 [[ 8.46206791e-01 5.29037509e-01 6.36661669e-02 8.29920635e+01] [-5.27658862e-01 8.48597479e-01 -3.81895744e-02 -2.54160563e+01] [-7.42306660e-02 -1.27773992e-03 9.97240280e-01 -3.84634369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85864 meters Centerline goodness [0,1] 0.9984243438869467 Centerline is valid? [True, True] Translation: X:83.02, Y:-25.43, Z:-3.85 [[ 8.45808290e-01 5.29664847e-01 6.37454901e-02 8.30218608e+01] [-5.28281406e-01 8.48206027e-01 -3.82791423e-02 -2.54301582e+01] [-7.43444249e-02 -1.29874128e-03 9.97231778e-01 -3.84844708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88864 meters Centerline goodness [0,1] 0.9981330451016999 Centerline is valid? [True, True] Translation: X:83.05, Y:-25.44, Z:-3.85 [[ 8.45868872e-01 5.29726198e-01 6.24179901e-02 8.30512276e+01] [-5.28396979e-01 8.48167798e-01 -3.75235824e-02 -2.54433407e+01] [-7.28181539e-02 -1.24144704e-03 9.97344462e-01 -3.84861383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91864 meters Centerline goodness [0,1] 0.9979361179361179 Centerline is valid? [True, True] Translation: X:83.08, Y:-25.45, Z:-3.85 [[ 8.46138022e-01 5.29349290e-01 6.19659399e-02 8.30839175e+01] [-5.28035492e-01 8.48403186e-01 -3.72901238e-02 -2.54516907e+01] [-7.23116014e-02 -1.16762396e-03 9.97381406e-01 -3.84891832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94864 meters Centerline goodness [0,1] 0.9981315763595241 Centerline is valid? [True, True] Translation: X:83.12, Y:-25.46, Z:-3.85 [[ 8.46012788e-01 5.29505024e-01 6.23441390e-02 8.31150982e+01] [-5.28172543e-01 8.48306018e-01 -3.75588253e-02 -2.54647505e+01] [-7.27744950e-02 -1.15321595e-03 9.97347754e-01 -3.85035310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97864 meters Centerline goodness [0,1] 0.9979833751414097 Centerline is valid? [True, True] Translation: X:83.15, Y:-25.48, Z:-3.85 [[ 8.47185499e-01 5.27645095e-01 6.21882886e-02 8.31463975e+01] [-5.26311217e-01 8.49464385e-01 -3.75068324e-02 -2.54757306e+01] [-7.26170325e-02 -9.55149360e-04 9.97359441e-01 -3.85215538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00864 meters Centerline goodness [0,1] 0.9977883717501351 Centerline is valid? [True, True] Translation: X:83.18, Y:-25.49, Z:-3.85 [[ 8.47932719e-01 5.26558096e-01 6.12100899e-02 8.31752499e+01] [-5.25260367e-01 8.50138756e-01 -3.69545927e-02 -2.54893687e+01] [-7.14958097e-02 -8.16225956e-04 9.97440566e-01 -3.85370079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03864 meters Centerline goodness [0,1] 0.9972493737413429 Centerline is valid? [True, True] Translation: X:83.21, Y:-25.50, Z:-3.86 [[ 8.51149942e-01 5.21509331e-01 5.97644818e-02 8.32071737e+01] [-5.20257861e-01 8.53245503e-01 -3.61091325e-02 -2.54997666e+01] [-6.98250249e-02 -3.58655420e-04 9.97559190e-01 -3.85530546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06864 meters Centerline goodness [0,1] 0.9968565815324165 Centerline is valid? [True, True] Translation: X:83.24, Y:-25.51, Z:-3.86 [[ 8.52463479e-01 5.19487698e-01 5.86391409e-02 8.32362437e+01] [-5.18276703e-01 8.54477912e-01 -3.54507706e-02 -2.55132503e+01] [-6.85220899e-02 -1.70813419e-04 9.97649585e-01 -3.85660013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09864 meters Centerline goodness [0,1] 0.9960714987232371 Centerline is valid? [True, True] Translation: X:83.27, Y:-25.53, Z:-3.86 [[ 8.55259920e-01 5.15087793e-01 5.67012746e-02 8.32668531e+01] [-5.13943641e-01 8.57137401e-01 -3.43134141e-02 -2.55255728e+01] [-6.62752039e-02 2.05628343e-04 9.97801361e-01 -3.85705292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12863999999999 meters Centerline goodness [0,1] 0.9968013385168053 Centerline is valid? [True, True] Translation: X:83.30, Y:-25.54, Z:-3.86 [[ 8.56368567e-01 5.13207092e-01 5.70206843e-02 8.32967197e+01] [-5.12043365e-01 8.58264721e-01 -3.45436028e-02 -2.55404931e+01] [-6.66668637e-02 3.84992596e-04 9.97775216e-01 -3.85826617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15863999999999 meters Centerline goodness [0,1] 0.9950307503075031 Centerline is valid? [True, True] Translation: X:83.33, Y:-25.55, Z:-3.86 [[ 8.58294512e-01 5.10199560e-01 5.50176388e-02 8.33275701e+01] [-5.09107728e-01 8.60055821e-01 -3.33662505e-02 -2.55526807e+01] [-6.43416868e-02 6.28164614e-04 9.97927729e-01 -3.85858022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18863999999999 meters Centerline goodness [0,1] 0.9946907875331826 Centerline is valid? [True, True] Translation: X:83.36, Y:-25.57, Z:-3.86 [[ 8.58739540e-01 5.09439832e-01 5.51131582e-02 8.33568743e+01] [-5.08340362e-01 8.60505981e-01 -3.34594234e-02 -2.55683096e+01] [-6.44707653e-02 7.16687072e-04 9.97919339e-01 -3.86002703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21864 meters Centerline goodness [0,1] 0.9946331856228459 Centerline is valid? [True, True] Translation: X:83.39, Y:-25.58, Z:-3.86 [[ 8.59312640e-01 5.08551903e-01 5.43759973e-02 8.33856781e+01] [-5.07477513e-01 8.61030960e-01 -3.30493563e-02 -2.55842175e+01] [-6.36267302e-02 8.05133757e-04 9.97973442e-01 -3.86161202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24864 meters Centerline goodness [0,1] 0.9941020347979946 Centerline is valid? [True, True] Translation: X:83.41, Y:-25.60, Z:-3.86 [[ 8.60170752e-01 5.07002292e-01 5.52716287e-02 8.34139136e+01] [-5.05886583e-01 8.61944163e-01 -3.36307049e-02 -2.56003863e+01] [-6.46919023e-02 9.66973294e-04 9.97904816e-01 -3.86360553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27864 meters Centerline goodness [0,1] 0.9938599076530111 Centerline is valid? [True, True] Translation: X:83.44, Y:-25.61, Z:-3.87 [[ 8.62014650e-01 5.03677957e-01 5.69144812e-02 8.34422488e+01] [-5.02485339e-01 8.63890543e-01 -3.46642836e-02 -2.56149999e+01] [-6.66275176e-02 1.28242789e-03 9.97777094e-01 -3.86526767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30864 meters Centerline goodness [0,1] 0.993664047151277 Centerline is valid? [True, True] Translation: X:83.47, Y:-25.63, Z:-3.87 [[ 8.63791761e-01 5.00722993e-01 5.60381807e-02 8.34696884e+01] [-4.99558567e-01 8.65606256e-01 -3.41620908e-02 -2.56318481e+01] [-6.56127441e-02 1.51457940e-03 9.97844013e-01 -3.86639763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33864 meters Centerline goodness [0,1] 0.992721550113111 Centerline is valid? [True, True] Translation: X:83.50, Y:-25.65, Z:-3.87 [[ 8.64452825e-01 4.99854458e-01 5.35428186e-02 8.34969151e+01] [-4.98787949e-01 8.66108053e-01 -3.26714144e-02 -2.56490485e+01] [-6.27048186e-02 1.53638378e-03 9.98030934e-01 -3.86650176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36864 meters Centerline goodness [0,1] 0.9926756132330531 Centerline is valid? [True, True] Translation: X:83.52, Y:-25.67, Z:-3.87 [[ 8.64239153e-01 5.00175000e-01 5.39968110e-02 8.35242700e+01] [-4.99088810e-01 8.65922947e-01 -3.29819543e-02 -2.56667299e+01] [-6.32538267e-02 1.55509212e-03 9.97996260e-01 -3.86863738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39864 meters Centerline goodness [0,1] 0.9934113482151637 Centerline is valid? [True, True] Translation: X:83.55, Y:-25.68, Z:-3.87 [[ 8.63751561e-01 5.01002457e-01 5.41274217e-02 8.35515387e+01] [-4.99910298e-01 8.65444508e-01 -3.30982821e-02 -2.56847762e+01] [-6.34266005e-02 1.52983728e-03 9.97985334e-01 -3.87032680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42864 meters Centerline goodness [0,1] 0.9938013479608403 Centerline is valid? [True, True] Translation: X:83.58, Y:-25.70, Z:-3.87 [[ 8.62511314e-01 5.03113373e-01 5.43246372e-02 8.35781137e+01] [-5.02015593e-01 8.64219278e-01 -3.32473044e-02 -2.57038377e+01] [-6.36755622e-02 1.40436132e-03 9.97969664e-01 -3.87210020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45864 meters Centerline goodness [0,1] 0.9937079093545691 Centerline is valid? [True, True] Translation: X:83.60, Y:-25.72, Z:-3.87 [[ 8.60873184e-01 5.06070317e-01 5.28222998e-02 8.36032466e+01] [-5.05036957e-01 8.62491432e-01 -3.23450383e-02 -2.57246229e+01] [-6.19276448e-02 1.16776254e-03 9.98079958e-01 -3.87241912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48863999999999 meters Centerline goodness [0,1] 0.9937518449276789 Centerline is valid? [True, True] Translation: X:83.63, Y:-25.74, Z:-3.87 [[ 8.59451936e-01 5.08418595e-01 5.34125732e-02 8.36297528e+01] [-5.07364497e-01 8.61109433e-01 -3.27385318e-02 -2.57425408e+01] [-6.26389490e-02 1.03755124e-03 9.98035714e-01 -3.87444146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51863999999999 meters Centerline goodness [0,1] 0.9941966261741996 Centerline is valid? [True, True] Translation: X:83.66, Y:-25.76, Z:-3.87 [[ 8.58569267e-01 5.09920632e-01 5.32894276e-02 8.36576988e+01] [-5.08872290e-01 8.60220926e-01 -3.26948324e-02 -2.57593427e+01] [-6.25124503e-02 9.53265280e-04 9.98043729e-01 -3.87488405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54863999999999 meters Centerline goodness [0,1] 0.9943335796994334 Centerline is valid? [True, True] Translation: X:83.68, Y:-25.78, Z:-3.88 [[ 8.56781334e-01 5.12940104e-01 5.30866760e-02 8.36844276e+01] [-5.11903806e-01 8.58424068e-01 -3.25977353e-02 -2.57782074e+01] [-6.22915662e-02 7.53859650e-04 9.98057710e-01 -3.87675672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57864 meters Centerline goodness [0,1] 0.9937103827821728 Centerline is valid? [True, True] Translation: X:83.71, Y:-25.80, Z:-3.88 [[ 8.56146044e-01 5.14002909e-01 5.30562052e-02 8.37114431e+01] [-5.12968368e-01 8.57788158e-01 -3.26025932e-02 -2.57974052e+01] [-6.22688123e-02 6.96426212e-04 9.98059172e-01 -3.87869239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60864 meters Centerline goodness [0,1] 0.9934618031658637 Centerline is valid? [True, True] Translation: X:83.74, Y:-25.82, Z:-3.88 [[ 8.55495911e-01 5.15231200e-01 5.16096576e-02 8.37363650e+01] [-5.14252517e-01 8.57051006e-01 -3.17477773e-02 -2.58177078e+01] [-6.05895543e-02 6.19697282e-04 9.98162573e-01 -3.87875385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63864 meters Centerline goodness [0,1] 0.9941511845080114 Centerline is valid? [True, True] Translation: X:83.76, Y:-25.84, Z:-3.88 [[ 8.55017687e-01 5.16025705e-01 5.15967739e-02 8.37637961e+01] [-5.15046960e-01 8.56572894e-01 -3.17727480e-02 -2.58353088e+01] [-6.05919526e-02 5.91500006e-04 9.98162444e-01 -3.88070214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66864 meters Centerline goodness [0,1] 0.9943447258421441 Centerline is valid? [True, True] Translation: X:83.79, Y:-25.86, Z:-3.88 [[ 8.54201748e-01 5.17380345e-01 5.15456269e-02 8.37902987e+01] [-5.16403805e-01 8.55755398e-01 -3.17774883e-02 -2.58558611e+01] [-6.05514963e-02 5.26028208e-04 9.98164936e-01 -3.88150842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69864 meters Centerline goodness [0,1] 0.9939295232454841 Centerline is valid? [True, True] Translation: X:83.82, Y:-25.88, Z:-3.88 [[ 8.53049543e-01 5.19232612e-01 5.19997309e-02 8.38167122e+01] [-5.18239947e-01 8.54632851e-01 -3.20943606e-02 -2.58753261e+01] [-6.11051169e-02 4.29741856e-04 9.98131244e-01 -3.88234463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72864 meters Centerline goodness [0,1] 0.9945430411484194 Centerline is valid? [True, True] Translation: X:83.84, Y:-25.89, Z:-3.88 [[ 8.52458368e-01 5.20065223e-01 5.33562894e-02 8.38428441e+01] [-5.19019396e-01 8.54126451e-01 -3.29677413e-02 -2.58934093e+01] [-6.27183939e-02 4.10677865e-04 9.98031179e-01 -3.88334616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75864 meters Centerline goodness [0,1] 0.9944919838693813 Centerline is valid? [True, True] Translation: X:83.87, Y:-25.91, Z:-3.88 [[ 8.50259437e-01 5.23717310e-01 5.27168778e-02 8.38687605e+01] [-5.22701494e-01 8.51892101e-01 -3.26036411e-02 -2.59136149e+01] [-6.19841830e-02 1.66362746e-04 9.98077118e-01 -3.88385976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78864 meters Centerline goodness [0,1] 0.9943408296835785 Centerline is valid? [True, True] Translation: X:83.89, Y:-25.93, Z:-3.89 [[ 8.48580282e-01 5.26520254e-01 5.18452132e-02 8.38946356e+01] [-5.25541045e-01 8.50162585e-01 -3.20965405e-02 -2.59331038e+01] [-6.09763392e-02 -1.02961234e-05 9.98139212e-01 -3.88501605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81864 meters Centerline goodness [0,1] 0.9954281781535739 Centerline is valid? [True, True] Translation: X:83.92, Y:-25.95, Z:-3.89 [[ 8.45387928e-01 5.31549363e-01 5.26737677e-02 8.39197028e+01] [-5.30546213e-01 8.47027244e-01 -3.26429734e-02 -2.59545490e+01] [-6.19674680e-02 -3.49892321e-04 9.98078108e-01 -3.88502697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84864 meters Centerline goodness [0,1] 0.9958740606120143 Centerline is valid? [True, True] Translation: X:83.95, Y:-25.97, Z:-3.89 [[ 8.43146310e-01 5.34938353e-01 5.42702438e-02 8.39466177e+01] [-5.33878166e-01 8.44890889e-01 -3.36673366e-02 -2.59718573e+01] [-6.38623841e-02 -5.87207629e-04 9.97958542e-01 -3.88594011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87863999999999 meters Centerline goodness [0,1] 0.9964173537495092 Centerline is valid? [True, True] Translation: X:83.97, Y:-25.99, Z:-3.89 [[ 8.41390966e-01 5.37688202e-01 5.43381914e-02 8.39746248e+01] [-5.36628869e-01 8.43143409e-01 -3.37438680e-02 -2.59883334e+01] [-6.39585676e-02 -7.67656547e-04 9.97952260e-01 -3.88692500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90863999999999 meters Centerline goodness [0,1] 0.9964173537495092 Centerline is valid? [True, True] Translation: X:84.00, Y:-26.01, Z:-3.89 [[ 8.41111007e-01 5.38127667e-01 5.43220706e-02 8.40024355e+01] [-5.37067575e-01 8.42862990e-01 -3.37698043e-02 -2.60052348e+01] [-6.39585289e-02 -7.70468626e-04 9.97952260e-01 -3.88831944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93863999999999 meters Centerline goodness [0,1] 0.9977387799242983 Centerline is valid? [True, True] Translation: X:84.03, Y:-26.02, Z:-3.89 [[ 8.37268033e-01 5.44034906e-01 5.48476309e-02 8.40300691e+01] [-5.42964792e-01 8.39061717e-01 -3.41272535e-02 -2.60214931e+01] [-6.45869645e-02 -1.20667414e-03 9.97911353e-01 -3.88974435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96864 meters Centerline goodness [0,1] 0.9982789142407553 Centerline is valid? [True, True] Translation: X:84.06, Y:-26.04, Z:-3.89 [[ 8.33149182e-01 5.50418778e-01 5.38665935e-02 8.40586650e+01] [-5.49399179e-01 8.34887065e-01 -3.35280610e-02 -2.60362630e+01] [-6.34269965e-02 -1.66038560e-03 9.97985100e-01 -3.88975433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99864 meters Centerline goodness [0,1] 0.9990181157641514 Centerline is valid? [True, True] Translation: X:84.09, Y:-26.05, Z:-3.89 [[ 8.30775017e-01 5.53905317e-01 5.47884182e-02 8.40874148e+01] [-5.52856844e-01 8.32577396e-01 -3.41202190e-02 -2.60506289e+01] [-6.45149693e-02 -1.94392647e-03 9.97914846e-01 -3.89139066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02864 meters Centerline goodness [0,1] 0.9991162608012569 Centerline is valid? [True, True] Translation: X:84.12, Y:-26.06, Z:-3.89 [[ 8.28883631e-01 5.56751967e-01 5.45818126e-02 8.41163410e+01] [-5.55715373e-01 8.30676059e-01 -3.40251340e-02 -2.60640467e+01] [-6.42833653e-02 -2.12907576e-03 9.97929414e-01 -3.89214620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05864 meters Centerline goodness [0,1] 0.9994595656873342 Centerline is valid? [True, True] Translation: X:84.15, Y:-26.07, Z:-3.89 [[ 8.26694976e-01 5.59942974e-01 5.51296936e-02 8.41473453e+01] [-5.58890346e-01 8.28527751e-01 -3.43998228e-02 -2.60744987e+01] [-6.49384201e-02 -2.37329288e-03 9.97886451e-01 -3.89417463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08864 meters Centerline goodness [0,1] 0.999607091989588 Centerline is valid? [True, True] Translation: X:84.18, Y:-26.09, Z:-3.90 [[ 8.25912888e-01 5.61102532e-01 5.50622475e-02 8.41769483e+01] [-5.60052810e-01 8.27742732e-01 -3.43921544e-02 -2.60886992e+01] [-6.48749001e-02 -2.43284285e-03 9.97890439e-01 -3.89522586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11864 meters Centerline goodness [0,1] 0.9998526088238184 Centerline is valid? [True, True] Translation: X:84.21, Y:-26.10, Z:-3.90 [[ 8.25239064e-01 5.61984803e-01 5.61566375e-02 8.42085305e+01] [-5.60892948e-01 8.27143696e-01 -3.51056558e-02 -2.60979788e+01] [-6.61784538e-02 -2.52730342e-03 9.97804603e-01 -3.89763351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:-26.11, Z:-3.90 [[ 8.24591528e-01 5.62809333e-01 5.73974403e-02 8.42392447e+01] [-5.61668889e-01 8.26582567e-01 -3.59071022e-02 -2.61103849e+01] [-6.76525757e-02 -2.62966417e-03 9.97705475e-01 -3.89846132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-26.12, Z:-3.90 [[ 8.23873084e-01 5.63839623e-01 5.76022590e-02 8.42695002e+01] [-5.62691078e-01 8.25879907e-01 -3.60711774e-02 -2.61223660e+01] [-6.79109074e-02 -2.69420505e-03 9.97687752e-01 -3.89963170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:-26.13, Z:-3.90 [[ 8.23119728e-01 5.65125941e-01 5.57367344e-02 8.43029070e+01] [-5.64051810e-01 8.25000274e-01 -3.49299905e-02 -2.61306923e+01] [-6.57226649e-02 -2.68684165e-03 9.97834311e-01 -3.90152603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.33, Y:-26.14, Z:-3.90 [[ 8.22564899e-01 5.65786553e-01 5.72063306e-02 8.43336538e+01] [-5.64655636e-01 8.24546986e-01 -3.58647472e-02 -2.61429768e+01] [-6.74610992e-02 -2.80079480e-03 9.97717974e-01 -3.90332203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26863999999999 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:84.37, Y:-26.15, Z:-3.90 [[ 8.23091563e-01 5.64985951e-01 5.75426328e-02 8.43666994e+01] [-5.63839032e-01 8.25095966e-01 -3.60859263e-02 -2.61508076e+01] [-6.78662356e-02 -2.74276087e-03 9.97690659e-01 -3.90380217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:-26.16, Z:-3.90 [[ 8.23440080e-01 5.64518327e-01 5.71444910e-02 8.43958837e+01] [-5.63385424e-01 8.25416194e-01 -3.58464938e-02 -2.61644007e+01] [-6.74039910e-02 -2.67693356e-03 9.97722174e-01 -3.90493764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:-26.18, Z:-3.91 [[ 8.25316543e-01 5.61674929e-01 5.80850931e-02 8.44272057e+01] [-5.60496622e-01 8.27354303e-01 -3.64471359e-02 -2.61755226e+01] [-6.85283941e-02 -2.47607428e-03 9.97646094e-01 -3.90598534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:-26.19, Z:-3.91 [[ 8.26298986e-01 5.60312413e-01 5.72711584e-02 8.44564843e+01] [-5.59162968e-01 8.28278100e-01 -3.59466804e-02 -2.61888356e+01] [-6.75778175e-02 -2.32120540e-03 9.97711306e-01 -3.90751273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:-26.20, Z:-3.91 [[ 8.26766319e-01 5.59609287e-01 5.74012130e-02 8.44854325e+01] [-5.58452346e-01 8.28753480e-01 -3.60367487e-02 -2.62019890e+01] [-6.77379543e-02 -2.26187200e-03 9.97700583e-01 -3.90912651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.52, Y:-26.21, Z:-3.91 [[ 8.28389230e-01 5.57163545e-01 5.77933209e-02 8.45156833e+01] [-5.55984556e-01 8.30400197e-01 -3.62861819e-02 -2.62113916e+01] [-6.82089227e-02 -2.07311156e-03 9.97668906e-01 -3.91092781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:-26.22, Z:-3.91 [[ 8.29556514e-01 5.55540841e-01 5.66600801e-02 8.45429860e+01] [-5.54403900e-01 8.31487077e-01 -3.55746640e-02 -2.62247228e+01] [-6.68753032e-02 -1.90137511e-03 9.97759529e-01 -3.91222722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:84.57, Y:-26.23, Z:-3.91 [[ 8.31852819e-01 5.52138436e-01 5.62497586e-02 8.45713283e+01] [-5.51010968e-01 8.33750864e-01 -3.53045329e-02 -2.62341962e+01] [-6.63912744e-02 -1.62605875e-03 9.97792340e-01 -3.91176902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:84.60, Y:-26.25, Z:-3.91 [[ 8.33587407e-01 5.49679076e-01 5.46346771e-02 8.45979318e+01] [-5.48612313e-01 8.35374711e-01 -3.42581690e-02 -2.62467908e+01] [-6.44714263e-02 -1.41607834e-03 9.97918549e-01 -3.91294105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:-26.26, Z:-3.92 [[ 8.34529265e-01 5.48196136e-01 5.51534479e-02 8.46224986e+01] [-5.47108015e-01 8.36348727e-01 -3.45489044e-02 -2.62596247e+01] [-6.50670918e-02 -1.34282155e-03 9.97879988e-01 -3.91502573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56864 meters Centerline goodness [0,1] 0.9999017343880509 Centerline is valid? [True, True] Translation: X:84.65, Y:-26.27, Z:-3.92 [[ 8.36389410e-01 5.45596466e-01 5.26996287e-02 8.46483532e+01] [-5.44600101e-01 8.38047281e-01 -3.29770237e-02 -2.62723566e+01] [-6.21569281e-02 -1.11858974e-03 9.98065762e-01 -3.91690116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:-26.29, Z:-3.92 [[ 8.37709326e-01 5.43624180e-01 5.21136804e-02 8.46735659e+01] [-5.42648025e-01 8.39328169e-01 -3.25783186e-02 -2.62856956e+01] [-6.14508416e-02 -9.88224430e-04 9.98109622e-01 -3.91789111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62863999999999 meters Centerline goodness [0,1] 0.9999018501251411 Centerline is valid? [True, True] Translation: X:84.70, Y:-26.30, Z:-3.92 [[ 8.39653601e-01 5.40665677e-01 5.15989955e-02 8.47011088e+01] [-5.39705075e-01 8.41237184e-01 -3.22247026e-02 -2.62953488e+01] [-6.08297844e-02 -7.90652194e-04 9.98147841e-01 -3.91833153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:-26.31, Z:-3.92 [[ 8.40769821e-01 5.38969352e-01 5.11678239e-02 8.47262081e+01] [-5.38023518e-01 8.42325093e-01 -3.19238253e-02 -2.63092165e+01] [-6.03059055e-02 -6.88903806e-04 9.98179705e-01 -3.91968602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68863999999999 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:84.75, Y:-26.32, Z:-3.92 [[ 8.42921682e-01 5.35662426e-01 5.04856805e-02 8.47512065e+01] [-5.34737569e-01 8.44432083e-01 -3.14672779e-02 -2.63237646e+01] [-5.94875668e-02 -4.72139253e-04 9.98228935e-01 -3.92008284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:-26.34, Z:-3.92 [[ 8.45001812e-01 5.32337212e-01 5.08825080e-02 8.47750473e+01] [-5.31393685e-01 8.46532351e-01 -3.16817153e-02 -2.63374312e+01] [-5.99390451e-02 -2.67536554e-04 9.98202003e-01 -3.92096322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:-26.35, Z:-3.92 [[ 8.48034839e-01 5.27486327e-01 5.09419996e-02 8.48000947e+01] [-5.26533985e-01 8.49563519e-01 -3.16826460e-02 -2.63507824e+01] [-5.99906270e-02 4.52935320e-05 9.98198939e-01 -3.92217998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.82, Y:-26.37, Z:-3.92 [[ 8.49531896e-01 5.25114612e-01 5.04995177e-02 8.48230785e+01] [-5.24176668e-01 8.51031498e-01 -3.13721134e-02 -2.63660017e+01] [-5.94506354e-02 1.80942076e-04 9.98231230e-01 -3.92313561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.85, Y:-26.38, Z:-3.92 [[ 8.50543539e-01 5.23443541e-01 5.08187805e-02 8.48456431e+01] [-5.22492839e-01 8.52060319e-01 -3.15348435e-02 -2.63816197e+01] [-5.98073764e-02 2.69308447e-04 9.98209900e-01 -3.92359016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.87, Y:-26.40, Z:-3.92 [[ 8.52108491e-01 5.20854419e-01 5.12034588e-02 8.48685354e+01] [-5.19886664e-01 8.53645414e-01 -3.17389919e-02 -2.63987067e+01] [-6.02409920e-02 4.25069119e-04 9.98183772e-01 -3.92475431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:84.89, Y:-26.42, Z:-3.93 [[ 8.51660703e-01 5.21636684e-01 5.06874512e-02 8.48916429e+01] [-5.20691569e-01 8.53167659e-01 -3.13884561e-02 -2.64162187e+01] [-5.96182643e-02 3.39786063e-04 9.98221191e-01 -3.92603296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:-26.43, Z:-3.93 [[ 8.50774787e-01 5.23075723e-01 5.07350877e-02 8.49144080e+01] [-5.22133299e-01 8.52286186e-01 -3.13859134e-02 -2.64327513e+01] [-5.96580237e-02 2.11865098e-04 9.98218851e-01 -3.92748256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.94, Y:-26.45, Z:-3.93 [[ 8.49594909e-01 5.25077971e-01 4.98158104e-02 8.49374814e+01] [-5.24174779e-01 8.51054124e-01 -3.07843850e-02 -2.64492273e+01] [-5.85601533e-02 4.20653428e-05 9.98283881e-01 -3.92781762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.96, Y:-26.47, Z:-3.93 [[ 8.46770777e-01 5.29672459e-01 4.92578571e-02 8.49592820e+01] [-5.28798935e-01 8.48202215e-01 -3.04087089e-02 -2.64675724e+01] [-5.78872791e-02 -2.98296297e-04 9.98323081e-01 -3.93040206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98863999999999 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:84.98, Y:-26.48, Z:-3.93 [[ 8.45891623e-01 5.30970569e-01 5.03747774e-02 8.49825939e+01] [-5.30061298e-01 8.47390155e-01 -3.10635844e-02 -2.64846671e+01] [-5.91809395e-02 -4.25294057e-04 9.98247182e-01 -3.93184208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01863999999999 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:85.01, Y:-26.50, Z:-3.93 [[ 8.44338562e-01 5.33238026e-01 5.24366398e-02 8.50055471e+01] [-5.32259126e-01 8.45965013e-01 -3.23019984e-02 -2.65020717e+01] [-6.15842165e-02 -6.36057268e-04 9.98101688e-01 -3.93373145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04863999999999 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:85.03, Y:-26.52, Z:-3.93 [[ 8.44222365e-01 5.33439838e-01 5.22545419e-02 8.50290365e+01] [-5.32470177e-01 8.45837739e-01 -3.21563367e-02 -2.65174667e+01] [-6.13523346e-02 -6.76886524e-04 9.98115942e-01 -3.93390395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:-26.53, Z:-3.93 [[ 8.44146465e-01 5.33672158e-01 5.10957193e-02 8.50526518e+01] [-5.32747616e-01 8.45691153e-01 -3.14078359e-02 -2.65321625e+01] [-5.99726854e-02 -7.08308951e-04 9.98199767e-01 -3.93401632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:-26.55, Z:-3.94 [[ 8.44196161e-01 5.33638710e-01 5.06218221e-02 8.50758193e+01] [-5.32733288e-01 8.45712242e-01 -3.10813141e-02 -2.65479903e+01] [-5.93976870e-02 -7.29203687e-04 9.98234132e-01 -3.93534863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.10, Y:-26.56, Z:-3.94 [[ 8.44175388e-01 5.33546447e-01 5.19240100e-02 8.51002090e+01] [-5.32595819e-01 8.45770414e-01 -3.18449428e-02 -2.65639409e+01] [-6.09065475e-02 -7.71793702e-04 9.98143175e-01 -3.93741857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:-26.58, Z:-3.94 [[ 8.44332853e-01 5.33220217e-01 5.27089492e-02 8.51252534e+01] [-5.32241996e-01 8.45976111e-01 -3.22936095e-02 -2.65786330e+01] [-6.18101174e-02 -7.87360863e-04 9.98087616e-01 -3.93852327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:-26.59, Z:-3.94 [[ 8.44580293e-01 5.32681798e-01 5.41685461e-02 8.51504759e+01] [-5.31649642e-01 8.46315229e-01 -3.31540641e-02 -2.65930063e+01] [-6.35042319e-02 -7.97418921e-04 9.97981251e-01 -3.94039085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:-26.61, Z:-3.94 [[ 8.45199437e-01 5.31874452e-01 5.24163978e-02 8.51753885e+01] [-5.30908420e-01 8.46822898e-01 -3.20504099e-02 -2.66075535e+01] [-6.14342001e-02 -7.39318462e-04 9.98110862e-01 -3.94140194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:-26.62, Z:-3.94 [[ 8.45369350e-01 5.31632172e-01 5.21334462e-02 8.51994375e+01] [-5.30678119e-01 8.46975016e-01 -3.18442630e-02 -2.66222864e+01] [-6.10851611e-02 -7.45915256e-04 9.98132279e-01 -3.94222238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:-26.63, Z:-3.94 [[ 8.45931027e-01 5.30817781e-01 5.13145175e-02 8.52260675e+01] [-5.29894029e-01 8.47485685e-01 -3.13102504e-02 -2.66346991e+01] [-6.01083566e-02 -7.04944139e-04 9.98191609e-01 -3.94377585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:-26.65, Z:-3.95 [[ 8.46890299e-01 5.29304842e-01 5.11195285e-02 8.52511209e+01] [-5.28387211e-01 8.48431493e-01 -3.11601989e-02 -2.66472567e+01] [-5.98646620e-02 -6.21634892e-04 9.98206309e-01 -3.94505423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:-26.66, Z:-3.95 [[ 8.47755256e-01 5.27735771e-01 5.29715246e-02 8.52765024e+01] [-5.26749583e-01 8.49408407e-01 -3.22526697e-02 -2.66606904e+01] [-6.20153459e-02 -5.60358211e-04 9.98075039e-01 -3.94718985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:-26.67, Z:-3.95 [[ 8.49034648e-01 5.25670749e-01 5.30134889e-02 8.53006952e+01] [-5.24681087e-01 8.50687999e-01 -3.22441618e-02 -2.66740665e+01] [-6.20477515e-02 -4.38764475e-04 9.98073086e-01 -3.94764883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:-26.69, Z:-3.95 [[ 8.49915935e-01 5.24313740e-01 5.23259590e-02 8.53266462e+01] [-5.23349177e-01 8.51525084e-01 -3.17910414e-02 -2.66873097e+01] [-6.12253464e-02 -3.65034875e-04 9.98123902e-01 -3.94818437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.35, Y:-26.70, Z:-3.95 [[ 8.50629399e-01 5.23015517e-01 5.37065672e-02 8.53542719e+01] [-5.21998854e-01 8.52323105e-01 -3.25963501e-02 -2.66967007e+01] [-6.28237449e-02 -3.07352829e-04 9.98024590e-01 -3.95000521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46864 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:85.38, Y:-26.71, Z:-3.95 [[ 8.50692994e-01 5.22971596e-01 5.31238135e-02 8.53794243e+01] [-5.21978843e-01 8.52350047e-01 -3.22100142e-02 -2.67089746e+01] [-6.21250074e-02 -3.28673276e-04 9.98068322e-01 -3.95146035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:-26.72, Z:-3.95 [[ 8.50476349e-01 5.23146074e-01 5.48467409e-02 8.54060036e+01] [-5.22090139e-01 8.52242947e-01 -3.32241719e-02 -2.67196039e+01] [-6.41238432e-02 -3.78570156e-04 9.97941877e-01 -3.95307033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:-26.73, Z:-3.95 [[ 8.50214311e-01 5.23418659e-01 5.62897148e-02 8.54322084e+01] [-5.22308501e-01 8.52075538e-01 -3.40750249e-02 -2.67322342e+01] [-6.57985929e-02 -4.29522699e-04 9.97832832e-01 -3.95445540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:-26.74, Z:-3.95 [[ 8.50803523e-01 5.22529175e-01 5.56473422e-02 8.54601172e+01] [-5.21444413e-01 8.52621319e-01 -3.36542858e-02 -2.67408762e+01] [-6.50314565e-02 -3.83810751e-04 9.97883141e-01 -3.95478589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.49, Y:-26.75, Z:-3.96 [[ 8.52152839e-01 5.20412071e-01 5.48344412e-02 8.54867901e+01] [-5.19356538e-01 8.53915227e-01 -3.31296025e-02 -2.67528290e+01] [-6.40650094e-02 -2.47140728e-04 9.97945697e-01 -3.95593902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:-26.76, Z:-3.96 [[ 8.54340228e-01 5.16847930e-01 5.45068094e-02 8.55125473e+01] [-5.15799907e-01 8.56077226e-01 -3.28974031e-02 -2.67643035e+01] [-6.36649929e-02 -9.03242746e-06 9.97971327e-01 -3.95700552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-26.77, Z:-3.96 [[ 8.59015057e-01 5.09298639e-01 5.20387212e-02 8.55401788e+01] [-5.08331565e-01 8.60589709e-01 -3.13747094e-02 -2.67741285e+01] [-6.07630848e-02 4.98423220e-04 9.98152092e-01 -3.95785630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.57, Y:-26.79, Z:-3.96 [[ 8.61561687e-01 5.05093674e-01 5.09101182e-02 8.55656537e+01] [-5.04162535e-01 8.63064200e-01 -3.06647018e-02 -2.67868238e+01] [-5.94272474e-02 7.52557976e-04 9.98232356e-01 -3.95852715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:-26.80, Z:-3.96 [[ 8.66513864e-01 4.96679574e-01 4.96298764e-02 8.55923559e+01] [-4.95782510e-01 8.67933051e-01 -2.98650619e-02 -2.67975618e+01] [-5.79087762e-02 1.27286552e-03 9.98321067e-01 -3.95902771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.62, Y:-26.81, Z:-3.96 [[ 8.68937426e-01 4.92433498e-01 4.95681394e-02 8.56178800e+01] [-4.91533399e-01 8.70348729e-01 -2.97994451e-02 -2.68113355e+01] [-5.78158121e-02 1.52945713e-03 9.98326095e-01 -3.96015823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:-26.83, Z:-3.96 [[ 8.72187216e-01 4.86685107e-01 4.92652671e-02 8.56436786e+01] [-4.85788058e-01 8.73575452e-01 -2.95954720e-02 -2.68255861e+01] [-5.74406034e-02 1.88031388e-03 9.98347155e-01 -3.96124582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.67, Y:-26.84, Z:-3.96 [[ 8.73131557e-01 4.84934528e-01 4.97974548e-02 8.56669875e+01] [-4.84015728e-01 8.74548152e-01 -2.99049218e-02 -2.68418009e+01] [-5.80522012e-02 2.00817955e-03 9.98311529e-01 -3.96292631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.69, Y:-26.86, Z:-3.96 [[ 8.73357983e-01 4.84525321e-01 4.98101152e-02 8.56902739e+01] [-4.83607058e-01 8.74774926e-01 -2.98838222e-02 -2.68561655e+01] [-5.80521083e-02 2.01075137e-03 9.98311529e-01 -3.96410447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.71, Y:-26.87, Z:-3.97 [[ 8.74867422e-01 4.81886169e-01 4.89153781e-02 8.57141539e+01] [-4.80998040e-01 8.76231255e-01 -2.93201825e-02 -2.68729007e+01] [-5.69901735e-02 2.12307147e-03 9.98372482e-01 -3.96511809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88864 meters Centerline goodness [0,1] 0.9998036809815951 Centerline is valid? [True, True] Translation: X:85.74, Y:-26.89, Z:-3.97 [[ 8.76244116e-01 4.79363514e-01 4.90598746e-02 8.57369747e+01] [-4.78467247e-01 8.77613488e-01 -2.93880859e-02 -2.68901668e+01] [-5.71431838e-02 2.27759422e-03 9.98363395e-01 -3.96651744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91864 meters Centerline goodness [0,1] 0.9996565428585448 Centerline is valid? [True, True] Translation: X:85.76, Y:-26.91, Z:-3.97 [[ 8.76904998e-01 4.78235446e-01 4.82543581e-02 8.57594153e+01] [-4.77368197e-01 8.78228683e-01 -2.88788041e-02 -2.69080193e+01] [-5.61892291e-02 2.28887169e-03 9.98417514e-01 -3.96719525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94864 meters Centerline goodness [0,1] 0.9992635868231136 Centerline is valid? [True, True] Translation: X:85.78, Y:-26.93, Z:-3.97 [[ 8.77446147e-01 4.77122920e-01 4.94163755e-02 8.57792514e+01] [-4.76213194e-01 8.78833314e-01 -2.95465632e-02 -2.69305513e+01] [-5.75260995e-02 2.39278808e-03 9.98341135e-01 -3.96862447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97864 meters Centerline goodness [0,1] 0.9996073234182496 Centerline is valid? [True, True] Translation: X:85.80, Y:-26.95, Z:-3.97 [[ 8.77481771e-01 4.76940770e-01 5.05296233e-02 8.58009689e+01] [-4.75990993e-01 8.78932069e-01 -3.01826620e-02 -2.69480060e+01] [-5.88074484e-02 2.43309019e-03 9.98266379e-01 -3.97075346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00864 meters Centerline goodness [0,1] 0.9992622829882457 Centerline is valid? [True, True] Translation: X:85.82, Y:-26.97, Z:-3.97 [[ 8.76541204e-01 4.78733048e-01 4.99017682e-02 8.58223047e+01] [-4.77811192e-01 8.77957606e-01 -2.97809720e-02 -2.69693020e+01] [-5.80687724e-02 2.26062568e-03 9.98310026e-01 -3.97092809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03864 meters Centerline goodness [0,1] 0.9989681603773585 Centerline is valid? [True, True] Translation: X:85.84, Y:-26.99, Z:-3.97 [[ 8.75845769e-01 4.79891801e-01 5.09710459e-02 8.58443349e+01] [-4.78933024e-01 8.77324885e-01 -3.04007194e-02 -2.69887528e+01] [-5.93072230e-02 2.21462432e-03 9.98237321e-01 -3.97317115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06864 meters Centerline goodness [0,1] 0.9988711656441718 Centerline is valid? [True, True] Translation: X:85.87, Y:-27.01, Z:-3.97 [[ 8.74950039e-01 4.81644842e-01 4.98063801e-02 8.58661338e+01] [-4.80733823e-01 8.76364165e-01 -2.96789856e-02 -2.70082692e+01] [-5.79432570e-02 2.02401807e-03 9.98317826e-01 -3.97429081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09864 meters Centerline goodness [0,1] 0.998772704958272 Centerline is valid? [True, True] Translation: X:85.89, Y:-27.03, Z:-3.98 [[ 8.72561100e-01 4.85823360e-01 5.11154667e-02 8.58862598e+01] [-4.84872608e-01 8.74055226e-01 -3.04305228e-02 -2.70315365e+01] [-5.94615996e-02 1.76800082e-03 9.98229028e-01 -3.97630326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12863999999999 meters Centerline goodness [0,1] 0.9986240786240786 Centerline is valid? [True, True] Translation: X:85.91, Y:-27.05, Z:-3.98 [[ 8.71452791e-01 4.87818177e-01 5.10240964e-02 8.59089606e+01] [-4.86875613e-01 8.72943777e-01 -3.03529096e-02 -2.70505133e+01] [-5.93478685e-02 1.60873958e-03 9.98236065e-01 -3.97668665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15863999999999 meters Centerline goodness [0,1] 0.9983303049648873 Centerline is valid? [True, True] Translation: X:85.93, Y:-27.07, Z:-3.98 [[ 8.68933447e-01 4.92251254e-01 5.14136971e-02 8.59303530e+01] [-4.91303088e-01 8.70452189e-01 -3.05657025e-02 -2.70708827e+01] [-5.97991706e-02 1.29985306e-03 9.98209582e-01 -3.97791382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18863999999999 meters Centerline goodness [0,1] 0.9982796755959695 Centerline is valid? [True, True] Translation: X:85.95, Y:-27.09, Z:-3.98 [[ 8.67183970e-01 4.95171001e-01 5.28927392e-02 8.59533069e+01] [-4.94174780e-01 8.68794834e-01 -3.14137599e-02 -2.70888360e+01] [-6.15081215e-02 1.10325129e-03 9.98105973e-01 -3.98023154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21864 meters Centerline goodness [0,1] 0.998281702587265 Centerline is valid? [True, True] Translation: X:85.98, Y:-27.11, Z:-3.98 [[ 8.64096567e-01 5.00499527e-01 5.32667432e-02 8.59756809e+01] [-4.99501111e-01 8.65736524e-01 -3.16055677e-02 -2.71083886e+01] [-6.19335368e-02 7.03465099e-04 9.98080028e-01 -3.98234045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24864 meters Centerline goodness [0,1] 0.9983759842519685 Centerline is valid? [True, True] Translation: X:86.00, Y:-27.12, Z:-3.98 [[ 8.62534073e-01 5.03253330e-01 5.26408416e-02 8.59994591e+01] [-5.02284893e-01 8.64138795e-01 -3.12094437e-02 -2.71248492e+01] [-6.11952499e-02 4.78509095e-04 9.98125700e-01 -3.98251682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27864 meters Centerline goodness [0,1] 0.9982827142927236 Centerline is valid? [True, True] Translation: X:86.02, Y:-27.14, Z:-3.98 [[ 8.61006517e-01 5.05815054e-01 5.30933932e-02 8.60230494e+01] [-5.04836064e-01 8.62641903e-01 -3.14562467e-02 -2.71411478e+01] [-6.17116288e-02 2.80573777e-04 9.98093982e-01 -3.98376181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30864 meters Centerline goodness [0,1] 0.9982320007857775 Centerline is valid? [True, True] Translation: X:86.05, Y:-27.16, Z:-3.98 [[ 8.58302739e-01 5.10312925e-01 5.38249678e-02 8.60467414e+01] [-5.09317586e-01 8.59988787e-01 -3.18572177e-02 -2.71570600e+01] [-6.25460187e-02 -7.08654341e-05 9.98042079e-01 -3.98472381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33864 meters Centerline goodness [0,1] 0.9981842273151101 Centerline is valid? [True, True] Translation: X:86.07, Y:-27.17, Z:-3.99 [[ 8.57502113e-01 5.11694755e-01 5.34659108e-02 8.60717301e+01] [-5.10717328e-01 8.59167294e-01 -3.16128429e-02 -2.71720688e+01] [-6.21122878e-02 -1.97887538e-04 9.98069148e-01 -3.98697659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36864 meters Centerline goodness [0,1] 0.9982333889488664 Centerline is valid? [True, True] Translation: X:86.10, Y:-27.19, Z:-3.99 [[ 8.57321914e-01 5.12024723e-01 5.31960422e-02 8.60963885e+01] [-5.11059852e-01 8.58970675e-01 -3.14198601e-02 -2.71856884e+01] [-6.17815855e-02 -2.49426899e-04 9.98089662e-01 -3.98816047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39864 meters Centerline goodness [0,1] 0.9980355564286416 Centerline is valid? [True, True] Translation: X:86.12, Y:-27.20, Z:-3.99 [[ 8.57263096e-01 5.12050510e-01 5.38911781e-02 8.61208027e+01] [-5.11062549e-01 8.58955292e-01 -3.17943004e-02 -2.72006524e+01] [-6.25704004e-02 -2.85682451e-04 9.98040512e-01 -3.98987746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42864 meters Centerline goodness [0,1] 0.9981336869505427 Centerline is valid? [True, True] Translation: X:86.15, Y:-27.21, Z:-3.99 [[ 8.58879591e-01 5.09418318e-01 5.30926083e-02 8.61455186e+01] [-5.08456367e-01 8.60519008e-01 -3.12915339e-02 -2.72144668e+01] [-6.16276792e-02 -1.19614931e-04 9.98099201e-01 -3.99061234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45864 meters Centerline goodness [0,1] 0.9982317402622919 Centerline is valid? [True, True] Translation: X:86.17, Y:-27.23, Z:-3.99 [[ 8.60157759e-01 5.07305107e-01 5.26322888e-02 8.61693727e+01] [-5.06357823e-01 8.61766516e-01 -3.09875243e-02 -2.72290197e+01] [-6.10768734e-02 3.38825475e-06 9.98133065e-01 -3.99287191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48863999999999 meters Centerline goodness [0,1] 0.9981343283582089 Centerline is valid? [True, True] Translation: X:86.19, Y:-27.24, Z:-3.99 [[ 8.60860028e-01 5.06218243e-01 5.16052461e-02 8.61943034e+01] [-5.05307662e-01 8.62405408e-01 -3.03492839e-02 -2.72441960e+01] [-5.98680045e-02 4.99591332e-05 9.98206301e-01 -3.99359272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51863999999999 meters Centerline goodness [0,1] 0.9981816394731668 Centerline is valid? [True, True] Translation: X:86.22, Y:-27.26, Z:-3.99 [[ 8.62283492e-01 5.03905471e-01 5.04624272e-02 8.62184469e+01] [-5.03032651e-01 8.63758788e-01 -2.96463755e-02 -2.72584229e+01] [-5.85263358e-02 1.79331687e-04 9.98285849e-01 -3.99457050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54863999999999 meters Centerline goodness [0,1] 0.9981836925040499 Centerline is valid? [True, True] Translation: X:86.24, Y:-27.27, Z:-4.00 [[ 8.63052791e-01 5.02432113e-01 5.19793437e-02 8.62423260e+01] [-5.01505425e-01 8.64616623e-01 -3.05025188e-02 -2.72737522e+01] [-6.02676496e-02 2.57361122e-04 9.98182220e-01 -3.99647944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57864 meters Centerline goodness [0,1] 0.9983314521273985 Centerline is valid? [True, True] Translation: X:86.27, Y:-27.29, Z:-4.00 [[ 8.62769356e-01 5.02891969e-01 5.22370131e-02 8.62659760e+01] [-5.01958879e-01 8.64349251e-01 -3.06211558e-02 -2.72880010e+01] [-6.05501565e-02 1.98162301e-04 9.98165136e-01 -3.99725265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60864 meters Centerline goodness [0,1] 0.9980872038844475 Centerline is valid? [True, True] Translation: X:86.29, Y:-27.30, Z:-4.00 [[ 8.62344865e-01 5.03649454e-01 5.19476736e-02 8.62902267e+01] [-5.02730168e-01 8.63908105e-01 -3.04165085e-02 -2.73018821e+01] [-6.01972741e-02 1.13857249e-04 9.98186493e-01 -3.99879406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63864 meters Centerline goodness [0,1] 0.9981844946025515 Centerline is valid? [True, True] Translation: X:86.32, Y:-27.31, Z:-4.00 [[ 8.62796709e-01 5.02962942e-01 5.10893076e-02 8.63151890e+01] [-5.02074652e-01 8.64307967e-01 -2.98794497e-02 -2.73147192e+01] [-5.91851515e-02 1.29244544e-04 9.98247014e-01 -3.99974507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66864 meters Centerline goodness [0,1] 0.9980362315283028 Centerline is valid? [True, True] Translation: X:86.34, Y:-27.33, Z:-4.00 [[ 8.63108786e-01 5.02368279e-01 5.16656165e-02 8.63384314e+01] [-5.01460887e-01 8.64653741e-01 -3.01808983e-02 -2.73297352e+01] [-5.98347946e-02 1.41112648e-04 9.98208284e-01 -4.00113618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69864 meters Centerline goodness [0,1] 0.9982813650871594 Centerline is valid? [True, True] Translation: X:86.36, Y:-27.34, Z:-4.00 [[ 8.65054851e-01 4.98993419e-01 5.18234721e-02 8.63626695e+01] [-4.98076117e-01 8.66605703e-01 -3.02446169e-02 -2.73442141e+01] [-6.00023813e-02 3.51218842e-04 9.98198172e-01 -4.00321310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72864 meters Centerline goodness [0,1] 0.9982327818958323 Centerline is valid? [True, True] Translation: X:86.39, Y:-27.36, Z:-4.00 [[ 8.65699457e-01 4.97834472e-01 5.22042926e-02 8.63864104e+01] [-4.96902616e-01 8.67271966e-01 -3.04487709e-02 -2.73584053e+01] [-6.04337673e-02 4.19034892e-04 9.98172122e-01 -4.00382075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75864 meters Centerline goodness [0,1] 0.9984761342968097 Centerline is valid? [True, True] Translation: X:86.41, Y:-27.37, Z:-4.00 [[ 8.66709889e-01 4.96061060e-01 5.23201051e-02 8.64098758e+01] [-4.95123969e-01 8.68287488e-01 -3.04810472e-02 -2.73730399e+01] [-6.05493532e-02 5.13286933e-04 9.98165073e-01 -4.00484421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78864 meters Centerline goodness [0,1] 0.9983291562238931 Centerline is valid? [True, True] Translation: X:86.43, Y:-27.39, Z:-4.01 [[ 8.68989955e-01 4.92116762e-01 5.17450569e-02 8.64339695e+01] [-4.91195177e-01 8.70528879e-01 -3.01126172e-02 -2.73896443e+01] [-5.98644901e-02 7.50639487e-04 9.98206231e-01 -4.00583269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81864 meters Centerline goodness [0,1] 0.9986753017368266 Centerline is valid? [True, True] Translation: X:86.46, Y:-27.40, Z:-4.01 [[ 8.70286119e-01 4.89772612e-01 5.22001925e-02 8.64579841e+01] [-4.88832138e-01 8.71849749e-01 -3.03505540e-02 -2.74045589e+01] [-6.03755949e-02 8.96534069e-04 9.98175327e-01 -4.00737328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84864 meters Centerline goodness [0,1] 0.998920563269712 Centerline is valid? [True, True] Translation: X:86.48, Y:-27.42, Z:-4.01 [[ 8.71707513e-01 4.87207257e-01 5.24890425e-02 8.64826637e+01] [-4.86252474e-01 8.73285718e-01 -3.05054992e-02 -2.74216512e+01] [-6.07004317e-02 1.06894608e-03 9.98155456e-01 -4.00913436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87863999999999 meters Centerline goodness [0,1] 0.9985766871165644 Centerline is valid? [True, True] Translation: X:86.51, Y:-27.44, Z:-4.01 [[ 8.72260499e-01 4.86223079e-01 5.24284260e-02 8.65077536e+01] [-4.85268910e-01 8.73833985e-01 -3.04672264e-02 -2.74390246e+01] [-6.06276090e-02 1.13347293e-03 9.98159811e-01 -4.01096671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90863999999999 meters Centerline goodness [0,1] 0.9991164776910617 Centerline is valid? [True, True] Translation: X:86.53, Y:-27.46, Z:-4.01 [[ 8.73318980e-01 4.84372355e-01 5.19363101e-02 8.65327904e+01] [-4.83432724e-01 8.74861050e-01 -3.01818515e-02 -2.74568047e+01] [-6.00563093e-02 1.25067189e-03 9.98194207e-01 -4.01148219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93863999999999 meters Centerline goodness [0,1] 0.9992137592137592 Centerline is valid? [True, True] Translation: X:86.56, Y:-27.47, Z:-4.01 [[ 8.74282821e-01 4.82631507e-01 5.19266545e-02 8.65589210e+01] [-4.81689066e-01 8.75822441e-01 -3.01777428e-02 -2.74733214e+01] [-6.00432588e-02 1.37138040e-03 9.98194834e-01 -4.01353499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96864 meters Centerline goodness [0,1] 0.9994598575988215 Centerline is valid? [True, True] Translation: X:86.58, Y:-27.49, Z:-4.01 [[ 8.76330978e-01 4.78901236e-01 5.19386414e-02 8.65841397e+01] [-4.77951768e-01 8.77867276e-01 -3.01853046e-02 -2.74915212e+01] [-6.00510134e-02 1.62815206e-03 9.98193982e-01 -4.01451623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99864 meters Centerline goodness [0,1] 0.9998524928704887 Centerline is valid? [True, True] Translation: X:86.61, Y:-27.51, Z:-4.02 [[ 8.77776155e-01 4.76230143e-01 5.20948446e-02 8.66085171e+01] [-4.75270012e-01 8.79318793e-01 -3.02799771e-02 -2.75141108e+01] [-6.02282137e-02 1.81992447e-03 9.98182974e-01 -4.01769317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:86.63, Y:-27.53, Z:-4.02 [[ 8.78348610e-01 4.75182719e-01 5.20106073e-02 8.66341377e+01] [-4.74223360e-01 8.79885100e-01 -3.02393089e-02 -2.75336962e+01] [-6.01325554e-02 1.89600996e-03 9.98188600e-01 -4.01917150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:-27.55, Z:-4.02 [[ 8.78196970e-01 4.75456321e-01 5.20708124e-02 8.66603579e+01] [-4.74494681e-01 8.79737305e-01 -3.02832052e-02 -2.75536570e+01] [-6.02069775e-02 1.88729548e-03 9.98184130e-01 -4.01983068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.68, Y:-27.58, Z:-4.02 [[ 8.78224167e-01 4.75574938e-01 5.05053444e-02 8.66837029e+01] [-4.74669956e-01 8.79673307e-01 -2.93820779e-02 -2.75766220e+01] [-5.84015831e-02 1.83068129e-03 9.98291492e-01 -4.02097354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:-27.60, Z:-4.02 [[ 8.77225406e-01 4.77144665e-01 5.29958137e-02 8.67090788e+01] [-4.76150370e-01 8.78822880e-01 -3.08410599e-02 -2.75981329e+01] [-6.12895808e-02 1.82058495e-03 9.98118366e-01 -4.02396234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:-27.62, Z:-4.03 [[ 8.76063507e-01 4.79141726e-01 5.41842935e-02 8.67319308e+01] [-4.78105341e-01 8.77735846e-01 -3.15446766e-02 -2.76219885e+01] [-6.26738675e-02 1.72933989e-03 9.98032562e-01 -4.02571839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:-27.64, Z:-4.03 [[ 8.75748245e-01 4.79751667e-01 5.38827288e-02 8.67576597e+01] [-4.78727407e-01 8.77402702e-01 -3.13778222e-02 -2.76413889e+01] [-6.23304144e-02 1.68393364e-03 9.98054149e-01 -4.02633485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-27.66, Z:-4.03 [[ 8.75453171e-01 4.80167674e-01 5.49613557e-02 8.67835102e+01] [-4.79102194e-01 8.77175085e-01 -3.20149638e-02 -2.76614393e+01] [-6.35832826e-02 1.69549544e-03 9.97975096e-01 -4.02828823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:-27.69, Z:-4.03 [[ 8.75380507e-01 4.80237201e-01 5.55085499e-02 8.68072319e+01] [-4.79149453e-01 8.77136971e-01 -3.23502025e-02 -2.76852880e+01] [-6.42243720e-02 1.72184537e-03 9.97933998e-01 -4.02977596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26863999999999 meters Centerline goodness [0,1] 0.9999506392220742 Centerline is valid? [True, True] Translation: X:86.83, Y:-27.71, Z:-4.03 [[ 8.74819570e-01 4.81278932e-01 5.53290999e-02 8.68317488e+01] [-4.80198716e-01 8.76565929e-01 -3.22701826e-02 -2.77073992e+01] [-6.40305629e-02 1.66162452e-03 9.97946555e-01 -4.03043604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29863999999999 meters Centerline goodness [0,1] 0.9998032948119007 Centerline is valid? [True, True] Translation: X:86.86, Y:-27.73, Z:-4.03 [[ 8.74122172e-01 4.82448949e-01 5.61555091e-02 8.68590869e+01] [-4.81337269e-01 8.75922597e-01 -3.27725129e-02 -2.77252979e+01] [-6.49989438e-02 1.61744070e-03 9.97884022e-01 -4.03260037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32864 meters Centerline goodness [0,1] 0.9996065702763843 Centerline is valid? [True, True] Translation: X:86.89, Y:-27.74, Z:-4.03 [[ 8.73503189e-01 4.83576214e-01 5.60912156e-02 8.68863692e+01] [-4.82467095e-01 8.75300864e-01 -3.27704084e-02 -2.77430301e+01] [-6.49436795e-02 1.56289039e-03 9.97887707e-01 -4.03319035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35864 meters Centerline goodness [0,1] 0.9993123096571372 Centerline is valid? [True, True] Translation: X:86.91, Y:-27.76, Z:-4.04 [[ 8.71719013e-01 4.86481283e-01 5.86679117e-02 8.69132338e+01] [-4.85271864e-01 8.73689811e-01 -3.43122847e-02 -2.77630193e+01] [-6.79498410e-02 1.44078408e-03 9.97687698e-01 -4.03608772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38864 meters Centerline goodness [0,1] 0.9995574133267765 Centerline is valid? [True, True] Translation: X:86.94, Y:-27.78, Z:-4.04 [[ 8.71018267e-01 4.87725524e-01 5.87451382e-02 8.69404979e+01] [-4.86513606e-01 8.72995950e-01 -3.43886954e-02 -2.77800808e+01] [-6.80565122e-02 1.37287278e-03 9.97680523e-01 -4.03685940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41864 meters Centerline goodness [0,1] 0.9994096521867467 Centerline is valid? [True, True] Translation: X:86.97, Y:-27.80, Z:-4.04 [[ 8.69229077e-01 4.90816822e-01 5.94950296e-02 8.69676699e+01] [-4.89579216e-01 8.71262007e-01 -3.48526515e-02 -2.77969988e+01] [-6.89420266e-02 1.16740815e-03 9.97619985e-01 -4.03906076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44864 meters Centerline goodness [0,1] 0.9994099424693907 Centerline is valid? [True, True] Translation: X:87.00, Y:-27.81, Z:-4.04 [[ 8.68169449e-01 4.92696780e-01 5.94280299e-02 8.69952000e+01] [-4.91463950e-01 8.70200428e-01 -3.48482423e-02 -2.78137849e+01] [-6.88839139e-02 1.04744497e-03 9.97624132e-01 -4.04116405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47864 meters Centerline goodness [0,1] 0.9995084545812033 Centerline is valid? [True, True] Translation: X:87.02, Y:-27.83, Z:-4.04 [[ 8.67352072e-01 4.94124122e-01 5.95124828e-02 8.70237659e+01] [-4.92888586e-01 8.69390830e-01 -3.49346008e-02 -2.78310925e+01] [-6.90016357e-02 9.67574853e-04 9.97616077e-01 -4.04309849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50864 meters Centerline goodness [0,1] 0.9995082612116444 Centerline is valid? [True, True] Translation: X:87.05, Y:-27.85, Z:-4.04 [[ 8.65949765e-01 4.96748573e-01 5.80677101e-02 8.70521052e+01] [-4.95575781e-01 8.67894152e-01 -3.41231091e-02 -2.78473288e+01] [-6.73472317e-02 7.71947536e-04 9.97729299e-01 -4.04317728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53864 meters Centerline goodness [0,1] 0.9993610851722613 Centerline is valid? [True, True] Translation: X:87.08, Y:-27.86, Z:-4.04 [[ 8.65226634e-01 4.98031410e-01 5.78583280e-02 8.70800800e+01] [-4.96867639e-01 8.67158708e-01 -3.40341636e-02 -2.78626927e+01] [-6.71224355e-02 6.99333965e-04 9.97744501e-01 -4.04478939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56864 meters Centerline goodness [0,1] 0.9994591139302749 Centerline is valid? [True, True] Translation: X:87.11, Y:-27.88, Z:-4.05 [[ 8.64086377e-01 4.99946527e-01 5.83798241e-02 8.71089388e+01] [-4.98763529e-01 8.66056075e-01 -3.43775583e-02 -2.78785478e+01] [-6.77471422e-02 5.87452636e-04 9.97702350e-01 -4.04672458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59864 meters Centerline goodness [0,1] 0.9994099424693907 Centerline is valid? [True, True] Translation: X:87.14, Y:-27.90, Z:-4.05 [[ 8.63594548e-01 5.00775839e-01 5.85492603e-02 8.71378160e+01] [-4.99585139e-01 8.65576829e-01 -3.45172676e-02 -2.78954582e+01] [-6.79642968e-02 5.58583763e-04 9.97687598e-01 -4.04821369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62863999999999 meters Centerline goodness [0,1] 0.9993606138107417 Centerline is valid? [True, True] Translation: X:87.17, Y:-27.91, Z:-4.05 [[ 8.62770468e-01 5.02077150e-01 5.95454051e-02 8.71665777e+01] [-5.00845775e-01 8.64822691e-01 -3.51457538e-02 -2.79120939e+01] [-6.91420973e-02 4.99653938e-04 9.97606696e-01 -4.05111351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65863999999999 meters Centerline goodness [0,1] 0.9993607710085066 Centerline is valid? [True, True] Translation: X:87.20, Y:-27.93, Z:-4.05 [[ 8.62947606e-01 5.01758940e-01 5.96606735e-02 8.71960254e+01] [-5.00519194e-01 8.65007313e-01 -3.52545853e-02 -2.79264675e+01] [-6.92962222e-02 5.61547770e-04 9.97595969e-01 -4.05172422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68863999999999 meters Centerline goodness [0,1] 0.999410087503687 Centerline is valid? [True, True] Translation: X:87.23, Y:-27.94, Z:-4.05 [[ 8.62085169e-01 5.03191595e-01 6.00614708e-02 8.72262036e+01] [-5.01935686e-01 8.64174741e-01 -3.55328483e-02 -2.79405281e+01] [-6.97834366e-02 4.85345913e-04 9.97562046e-01 -4.05313923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71864 meters Centerline goodness [0,1] 0.999410087503687 Centerline is valid? [True, True] Translation: X:87.25, Y:-27.96, Z:-4.05 [[ 8.61828951e-01 5.03632471e-01 6.00432584e-02 8.72543903e+01] [-5.02375488e-01 8.63917877e-01 -3.55636039e-02 -2.79568215e+01] [-6.97834300e-02 4.85482219e-04 9.97562047e-01 -4.05453354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74864 meters Centerline goodness [0,1] 0.9993610223642172 Centerline is valid? [True, True] Translation: X:87.28, Y:-27.97, Z:-4.06 [[ 8.61590868e-01 5.04137614e-01 5.92152171e-02 8.72829065e+01] [-5.02914234e-01 8.63623211e-01 -3.51030332e-02 -2.79727125e+01] [-6.88363953e-02 4.64277338e-04 9.97627854e-01 -4.05660540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77864 meters Centerline goodness [0,1] 0.9994109562144119 Centerline is valid? [True, True] Translation: X:87.31, Y:-27.99, Z:-4.06 [[ 8.60973270e-01 5.05175017e-01 5.93568107e-02 8.73120026e+01] [-5.03946609e-01 8.63016825e-01 -3.52104349e-02 -2.79891499e+01] [-6.90133584e-02 4.02579747e-04 9.97615655e-01 -4.05846308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80864 meters Centerline goodness [0,1] 0.9993597005368665 Centerline is valid? [True, True] Translation: X:87.34, Y:-28.01, Z:-4.06 [[ 8.61213103e-01 5.04862830e-01 5.85278960e-02 8.73400964e+01] [-5.03665224e-01 8.63199465e-01 -3.47566726e-02 -2.80050697e+01] [-6.80686006e-02 4.54436053e-04 9.97680540e-01 -4.05907415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83864 meters Centerline goodness [0,1] 0.9993114979836727 Centerline is valid? [True, True] Translation: X:87.37, Y:-28.02, Z:-4.06 [[ 8.60803191e-01 5.05387371e-01 6.00122704e-02 8.73679253e+01] [-5.04126894e-01 8.62892461e-01 -3.56745848e-02 -2.80220447e+01] [-6.98136203e-02 4.54996967e-04 9.97559949e-01 -4.06186436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86864 meters Centerline goodness [0,1] 0.999311802585656 Centerline is valid? [True, True] Translation: X:87.40, Y:-28.04, Z:-4.06 [[ 8.60729231e-01 5.05553522e-01 5.96726704e-02 8.73958261e+01] [-5.04305063e-01 8.62795117e-01 -3.55104213e-02 -2.80397487e+01] [-6.94377072e-02 4.71627869e-04 9.97586178e-01 -4.06303132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89864 meters Centerline goodness [0,1] 0.9993609595438234 Centerline is valid? [True, True] Translation: X:87.42, Y:-28.06, Z:-4.06 [[ 8.60533606e-01 5.05881665e-01 5.97130945e-02 8.74242837e+01] [-5.04629433e-01 8.62602753e-01 -3.55756377e-02 -2.80561216e+01] [-6.95057425e-02 4.81046830e-04 9.97581435e-01 -4.06404518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92864 meters Centerline goodness [0,1] 0.9993122420907841 Centerline is valid? [True, True] Translation: X:87.45, Y:-28.07, Z:-4.07 [[ 8.60405704e-01 5.06166361e-01 5.91408480e-02 8.74530471e+01] [-5.04935913e-01 8.62435723e-01 -3.52753152e-02 -2.80724599e+01] [-6.88603579e-02 4.88744294e-04 9.97626189e-01 -4.06511939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95864 meters Centerline goodness [0,1] 0.999508116084604 Centerline is valid? [True, True] Translation: X:87.48, Y:-28.09, Z:-4.07 [[ 8.59403936e-01 5.07630800e-01 6.11215713e-02 8.74803061e+01] [-5.06317219e-01 8.61574602e-01 -3.64976554e-02 -2.80904138e+01] [-7.11881274e-02 4.19324712e-04 9.97462819e-01 -4.06663168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98863999999999 meters Centerline goodness [0,1] 0.9994099134539732 Centerline is valid? [True, True] Translation: X:87.51, Y:-28.11, Z:-4.07 [[ 8.58535518e-01 5.09120160e-01 6.09379010e-02 8.75082708e+01] [-5.07815446e-01 8.60695390e-01 -3.64268811e-02 -2.81089483e+01] [-7.09946300e-02 3.28563889e-04 9.97476644e-01 -4.06822568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01863999999999 meters Centerline goodness [0,1] 0.9993607710085066 Centerline is valid? [True, True] Translation: X:87.54, Y:-28.13, Z:-4.07 [[ 8.57931031e-01 5.10169766e-01 6.06725373e-02 8.75363071e+01] [-5.08876052e-01 8.60073679e-01 -3.63101992e-02 -2.81269237e+01] [-7.07072182e-02 2.76845423e-04 9.97497074e-01 -4.06935050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04863999999999 meters Centerline goodness [0,1] 0.9994077583654131 Centerline is valid? [True, True] Translation: X:87.56, Y:-28.14, Z:-4.07 [[ 8.57441745e-01 5.11032842e-01 6.03248487e-02 8.75646398e+01] [-5.09753125e-01 8.59561153e-01 -3.61438113e-02 -2.81437378e+01] [-7.03235711e-02 2.40432521e-04 9.97524204e-01 -4.07131058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07864 meters Centerline goodness [0,1] 0.9993115656963021 Centerline is valid? [True, True] Translation: X:87.59, Y:-28.16, Z:-4.07 [[ 8.55798995e-01 5.13869624e-01 5.95490478e-02 8.75912699e+01] [-5.12626769e-01 8.57868293e-01 -3.57181810e-02 -2.81615773e+01] [-6.94397282e-02 4.11474517e-05 9.97586148e-01 -4.07121581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10864 meters Centerline goodness [0,1] 0.9994102034797995 Centerline is valid? [True, True] Translation: X:87.62, Y:-28.18, Z:-4.07 [[ 8.54354050e-01 5.16195566e-01 6.01772024e-02 8.76191629e+01] [-5.14929311e-01 8.56470738e-01 -3.61342031e-02 -2.81786823e+01] [-7.01923284e-02 -1.15602646e-04 9.97533470e-01 -4.07314656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13864 meters Centerline goodness [0,1] 0.9995082612116444 Centerline is valid? [True, True] Translation: X:87.65, Y:-28.20, Z:-4.07 [[ 8.53008774e-01 5.18448007e-01 5.98973742e-02 8.76477813e+01] [-5.17196116e-01 8.55109112e-01 -3.60081078e-02 -2.81955201e+01] [-6.98871223e-02 -2.63457436e-04 9.97554871e-01 -4.07445191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16864 meters Centerline goodness [0,1] 0.9992628630399528 Centerline is valid? [True, True] Translation: X:87.68, Y:-28.21, Z:-4.08 [[ 8.49800783e-01 5.23702285e-01 5.97875022e-02 8.76751111e+01] [-5.22465144e-01 8.51901098e-01 -3.59818311e-02 -2.82127769e+01] [-6.97768060e-02 -6.59497717e-04 9.97562410e-01 -4.07619689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19864 meters Centerline goodness [0,1] 0.999410145497444 Centerline is valid? [True, True] Translation: X:87.70, Y:-28.23, Z:-4.08 [[ 8.48120492e-01 5.26519395e-01 5.88978653e-02 8.77029380e+01] [-5.25323007e-01 8.50162697e-01 -3.54841644e-02 -2.82301193e+01] [-6.87558688e-02 -8.45556753e-04 9.97633157e-01 -4.07700909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22864 meters Centerline goodness [0,1] 0.9994102324667027 Centerline is valid? [True, True] Translation: X:87.73, Y:-28.25, Z:-4.08 [[ 8.47362437e-01 5.27825511e-01 5.81130896e-02 8.77317841e+01] [-5.26661131e-01 8.49352349e-01 -3.50519658e-02 -2.82472041e+01] [-6.78598109e-02 -9.04186331e-04 9.97694456e-01 -4.07777945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25864 meters Centerline goodness [0,1] 0.9993124785149536 Centerline is valid? [True, True] Translation: X:87.76, Y:-28.26, Z:-4.08 [[ 8.45648232e-01 5.30502450e-01 5.87044921e-02 8.77597036e+01] [-5.29317907e-01 8.47682693e-01 -3.54486314e-02 -2.82636545e+01] [-6.85683678e-02 -1.09626642e-03 9.97645817e-01 -4.07867354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28864 meters Centerline goodness [0,1] 0.9994591937069813 Centerline is valid? [True, True] Translation: X:87.79, Y:-28.28, Z:-4.08 [[ 8.44666635e-01 5.32060748e-01 5.87336098e-02 8.77883719e+01] [-5.30876150e-01 8.46705346e-01 -3.55045209e-02 -2.82800113e+01] [-6.86206233e-02 -1.19078844e-03 9.97642116e-01 -4.07961711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31864 meters Centerline goodness [0,1] 0.9993612421383647 Centerline is valid? [True, True] Translation: X:87.82, Y:-28.29, Z:-4.08 [[ 8.43834970e-01 5.33296907e-01 5.94722887e-02 8.78167966e+01] [-5.32082539e-01 8.45927176e-01 -3.59914335e-02 -2.82949094e+01] [-6.95033454e-02 -1.27333617e-03 9.97580906e-01 -4.08237360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34864 meters Centerline goodness [0,1] 0.9996062023135615 Centerline is valid? [True, True] Translation: X:87.85, Y:-28.31, Z:-4.08 [[ 8.43375955e-01 5.33934592e-01 6.02565353e-02 8.78455435e+01] [-5.32686915e-01 8.45524767e-01 -3.65036951e-02 -2.83092687e+01] [-7.04389785e-02 -1.31152920e-03 9.97515228e-01 -4.08313101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37863999999999 meters Centerline goodness [0,1] 0.9994583148667947 Centerline is valid? [True, True] Translation: X:87.87, Y:-28.32, Z:-4.08 [[ 8.43251083e-01 5.34201210e-01 5.96378973e-02 8.78749258e+01] [-5.32977149e-01 8.45356378e-01 -3.61656286e-02 -2.83230673e+01] [-6.97349994e-02 -1.28893097e-03 9.97564719e-01 -4.08479976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40863999999999 meters Centerline goodness [0,1] 0.9993611479679592 Centerline is valid? [True, True] Translation: X:87.90, Y:-28.34, Z:-4.09 [[ 8.42619375e-01 5.35386129e-01 5.79161612e-02 8.79047151e+01] [-5.34232191e-01 8.44606393e-01 -3.51568917e-02 -2.83358428e+01] [-6.77388721e-02 -1.31679961e-03 9.97702216e-01 -4.08630014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43863999999999 meters Centerline goodness [0,1] 0.9994584215449757 Centerline is valid? [True, True] Translation: X:87.93, Y:-28.35, Z:-4.09 [[ 8.42574255e-01 5.35355429e-01 5.88488723e-02 8.79345160e+01] [-5.34161211e-01 8.44625874e-01 -3.57621750e-02 -2.83512643e+01] [-6.88507548e-02 -1.30249693e-03 9.97626121e-01 -4.08781965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46864 meters Centerline goodness [0,1] 0.9996061635405897 Centerline is valid? [True, True] Translation: X:87.97, Y:-28.36, Z:-4.09 [[ 8.42657617e-01 5.35184181e-01 5.92117686e-02 8.79653926e+01] [-5.33971823e-01 8.44734457e-01 -3.60248433e-02 -2.83642673e+01] [-6.92981475e-02 -1.26080742e-03 9.97595197e-01 -4.08930968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49864 meters Centerline goodness [0,1] 0.9996068602879749 Centerline is valid? [True, True] Translation: X:88.00, Y:-28.38, Z:-4.09 [[ 8.42556622e-01 5.35246582e-01 6.00785805e-02 8.79952213e+01] [-5.33995548e-01 8.44694938e-01 -3.65952909e-02 -2.83781438e+01] [-7.03355772e-02 -1.24808990e-03 9.97522606e-01 -4.09154725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52864 meters Centerline goodness [0,1] 0.9998032851381922 Centerline is valid? [True, True] Translation: X:88.03, Y:-28.39, Z:-4.09 [[ 8.43220070e-01 5.34058419e-01 6.13312119e-02 8.80264132e+01] [-5.32748274e-01 8.45446814e-01 -3.74026843e-02 -2.83900102e+01] [-7.18274962e-02 -1.13540321e-03 9.97416423e-01 -4.09387579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:-28.40, Z:-4.10 [[ 8.44251503e-01 5.32417914e-01 6.14049318e-02 8.80555520e+01] [-5.31097257e-01 8.46481093e-01 -3.74894980e-02 -2.84039848e+01] [-7.19381941e-02 -9.61425805e-04 9.97408628e-01 -4.09567863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:-28.42, Z:-4.10 [[ 8.45202055e-01 5.30880805e-01 6.16364943e-02 8.80845636e+01] [-5.29543297e-01 8.47446121e-01 -3.76691890e-02 -2.84179335e+01] [-7.22314575e-02 -8.01116469e-04 9.97387575e-01 -4.09706683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:-28.43, Z:-4.10 [[ 8.49477794e-01 5.24224134e-01 5.98041410e-02 8.81155011e+01] [-5.22945958e-01 8.51580307e-01 -3.65855931e-02 -2.84292023e+01] [-7.01070796e-02 -1.95684921e-04 9.97539452e-01 -4.09791890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:-28.44, Z:-4.10 [[ 8.51107712e-01 5.21615724e-01 5.94365127e-02 8.81448525e+01] [-5.20344171e-01 8.53180540e-01 -3.63993137e-02 -2.84443793e+01] [-6.96965304e-02 5.22937169e-05 9.97568239e-01 -4.09945236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:-28.46, Z:-4.10 [[ 8.55087941e-01 5.15131151e-01 5.88600897e-02 8.81743199e+01] [-5.13866722e-01 8.57111157e-01 -3.60757074e-02 -2.84586231e+01] [-6.90333602e-02 6.01661078e-04 9.97614170e-01 -4.10243951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:88.20, Y:-28.47, Z:-4.10 [[ 8.56408638e-01 5.12785693e-01 6.01255208e-02 8.82027148e+01] [-5.11459710e-01 8.58516258e-01 -3.68618975e-02 -2.84739870e+01] [-7.05209908e-02 8.17065889e-04 9.97509961e-01 -4.10394345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:-28.49, Z:-4.10 [[ 8.57770249e-01 5.10577380e-01 5.95057959e-02 8.82312358e+01] [-5.09272602e-01 8.59831230e-01 -3.64920788e-02 -2.84897744e+01] [-6.97969717e-02 9.97147941e-04 9.97560719e-01 -4.10416110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76863999999999 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:88.26, Y:-28.51, Z:-4.11 [[ 8.59950101e-01 5.06955159e-01 5.90109319e-02 8.82588027e+01] [-5.05662788e-01 8.61971463e-01 -3.61986332e-02 -2.85071765e+01] [-6.92168232e-02 1.28938594e-03 9.97600806e-01 -4.10579390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79863999999999 meters Centerline goodness [0,1] 0.999901463270434 Centerline is valid? [True, True] Translation: X:88.29, Y:-28.53, Z:-4.11 [[ 8.61815939e-01 5.03906093e-01 5.78959067e-02 8.82855813e+01] [-5.02654616e-01 8.63757117e-01 -3.55243495e-02 -2.85257501e+01] [-6.79089377e-02 1.51380589e-03 9.97690375e-01 -4.10722812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:88.31, Y:-28.54, Z:-4.11 [[ 8.62543718e-01 5.02663361e-01 5.78608634e-02 8.83114533e+01] [-5.01409946e-01 8.64480725e-01 -3.55125669e-02 -2.85448752e+01] [-6.78704674e-02 1.61912917e-03 9.97692828e-01 -4.10898284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85864 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:88.34, Y:-28.57, Z:-4.11 [[ 8.64358632e-01 4.99734097e-01 5.61247507e-02 8.83365991e+01] [-4.98547534e-01 8.66176980e-01 -3.44644078e-02 -2.85656567e+01] [-6.58370068e-02 1.80875227e-03 9.97828751e-01 -4.10977750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88864 meters Centerline goodness [0,1] 0.999754480726737 Centerline is valid? [True, True] Translation: X:88.36, Y:-28.59, Z:-4.11 [[ 8.64634602e-01 4.99235700e-01 5.63091644e-02 8.83627405e+01] [-4.98038082e-01 8.66464181e-01 -3.46105873e-02 -2.85850291e+01] [-6.60687147e-02 1.88140313e-03 9.97813302e-01 -4.11145927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91864 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:88.39, Y:-28.61, Z:-4.11 [[ 8.64743807e-01 4.98926395e-01 5.73637480e-02 8.83857730e+01] [-4.97680479e-01 8.66642123e-01 -3.52926496e-02 -2.86095110e+01] [-6.73222748e-02 1.97028266e-03 9.97729337e-01 -4.11233038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94864 meters Centerline goodness [0,1] 0.9998519907247521 Centerline is valid? [True, True] Translation: X:88.41, Y:-28.63, Z:-4.11 [[ 8.65126144e-01 4.98244741e-01 5.75233227e-02 8.84110897e+01] [-4.96988108e-01 8.67033992e-01 -3.54242505e-02 -2.86292314e+01] [-6.75246226e-02 2.05803793e-03 9.97715485e-01 -4.11412570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97864 meters Centerline goodness [0,1] 0.999704535381888 Centerline is valid? [True, True] Translation: X:88.44, Y:-28.65, Z:-4.12 [[ 8.64624632e-01 4.99014550e-01 5.83842777e-02 8.84369919e+01] [-4.97719236e-01 8.66591160e-01 -3.59906138e-02 -2.86495885e+01] [-6.85551389e-02 2.05939317e-03 9.97645203e-01 -4.11516528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00864 meters Centerline goodness [0,1] 0.9997540822349007 Centerline is valid? [True, True] Translation: X:88.46, Y:-28.67, Z:-4.12 [[ 8.64407319e-01 4.99586809e-01 5.66833922e-02 8.84597657e+01] [-4.98364815e-01 8.66261552e-01 -3.49776348e-02 -2.86735592e+01] [-6.65770082e-02 1.98591523e-03 9.97779313e-01 -4.11611400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03864 meters Centerline goodness [0,1] 0.9994591937069813 Centerline is valid? [True, True] Translation: X:88.49, Y:-28.69, Z:-4.12 [[ 8.63959906e-01 5.00314774e-01 5.70824705e-02 8.84850307e+01] [-4.99074711e-01 8.65841343e-01 -3.52590788e-02 -2.86946595e+01] [-6.70650009e-02 1.97401296e-03 9.97746656e-01 -4.11801519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06864 meters Centerline goodness [0,1] 0.9995573915609324 Centerline is valid? [True, True] Translation: X:88.51, Y:-28.71, Z:-4.12 [[ 8.63765219e-01 5.00621193e-01 5.73416678e-02 8.85117189e+01] [-4.99367899e-01 8.65664167e-01 -3.54577353e-02 -2.87145034e+01] [-6.73895209e-02 1.99257033e-03 9.97724753e-01 -4.11904294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09864 meters Centerline goodness [0,1] 0.999753961224289 Centerline is valid? [True, True] Translation: X:88.54, Y:-28.73, Z:-4.12 [[ 8.63421454e-01 5.01212994e-01 5.73491734e-02 8.85378094e+01] [-4.99958063e-01 8.65321682e-01 -3.55010123e-02 -2.87344076e+01] [-6.74190518e-02 1.98015409e-03 9.97722782e-01 -4.12041766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12863999999999 meters Centerline goodness [0,1] 0.9997538400945254 Centerline is valid? [True, True] Translation: X:88.56, Y:-28.76, Z:-4.12 [[ 8.62523595e-01 5.02804066e-01 5.69308323e-02 8.85607494e+01] [-5.01568417e-01 8.64398381e-01 -3.52783538e-02 -2.87577487e+01] [-6.69490190e-02 1.87370514e-03 9.97754638e-01 -4.12111343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15863999999999 meters Centerline goodness [0,1] 0.9998523549387273 Centerline is valid? [True, True] Translation: X:88.59, Y:-28.78, Z:-4.12 [[ 8.61565830e-01 5.04510533e-01 5.63333181e-02 8.85864006e+01] [-5.03302670e-01 8.63403774e-01 -3.49334294e-02 -2.87783447e+01] [-6.62626826e-02 1.74473967e-03 9.97800688e-01 -4.12224258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18863999999999 meters Centerline goodness [0,1] 0.9996055810284474 Centerline is valid? [True, True] Translation: X:88.61, Y:-28.80, Z:-4.12 [[ 8.59282113e-01 5.08428692e-01 5.59867446e-02 8.86109898e+01] [-5.07243158e-01 8.61102886e-01 -3.47303822e-02 -2.88008099e+01] [-6.58682701e-02 1.44430309e-03 9.97827282e-01 -4.12362596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21864 meters Centerline goodness [0,1] 0.9997542635277928 Centerline is valid? [True, True] Translation: X:88.64, Y:-28.82, Z:-4.13 [[ 8.58116746e-01 5.10281068e-01 5.69989663e-02 8.86371228e+01] [-5.09055467e-01 8.60006654e-01 -3.53706938e-02 -2.88205176e+01] [-6.70684857e-02 1.33654929e-03 9.97747479e-01 -4.12629409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:88.66, Y:-28.84, Z:-4.13 [[ 8.57141009e-01 5.11990398e-01 5.63482314e-02 8.86630161e+01] [-5.10795017e-01 8.58990325e-01 -3.49867424e-02 -2.88402305e+01] [-6.63154617e-02 1.20617590e-03 9.97797978e-01 -4.12634350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.69, Y:-28.86, Z:-4.13 [[ 8.55034813e-01 5.15570047e-01 5.57045311e-02 8.86869544e+01] [-5.14407216e-01 8.56846911e-01 -3.46206120e-02 -2.88626697e+01] [-6.55796060e-02 9.47015754e-04 9.97846891e-01 -4.12670895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30864 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:88.71, Y:-28.88, Z:-4.13 [[ 8.54324522e-01 5.16887894e-01 5.43738462e-02 8.87127781e+01] [-5.15780576e-01 8.56052671e-01 -3.38263380e-02 -2.88819861e+01] [-6.40313009e-02 8.53696303e-04 9.97947526e-01 -4.12763194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33864 meters Centerline goodness [0,1] 0.9998523912615627 Centerline is valid? [True, True] Translation: X:88.74, Y:-28.91, Z:-4.13 [[ 8.52834061e-01 5.19332569e-01 5.44770315e-02 8.87360616e+01] [-5.18223848e-01 8.54571935e-01 -3.39241955e-02 -2.89055508e+01] [-6.41724819e-02 7.00412494e-04 9.97938576e-01 -4.13047165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36864 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:88.76, Y:-28.93, Z:-4.13 [[ 8.51555722e-01 5.21406799e-01 5.46607964e-02 8.87617647e+01] [-5.20292534e-01 8.53308044e-01 -3.40743526e-02 -2.89271052e+01] [-6.44090964e-02 5.76605646e-04 9.97923412e-01 -4.13145108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.79, Y:-28.95, Z:-4.13 [[ 8.50754414e-01 5.22835668e-01 5.34770195e-02 8.87863892e+01] [-5.21769731e-01 8.52433355e-01 -3.33724743e-02 -2.89476669e+01] [-6.30339151e-02 4.89089752e-04 9.98011266e-01 -4.13243493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42864 meters Centerline goodness [0,1] 0.9999016425690961 Centerline is valid? [True, True] Translation: X:88.81, Y:-28.97, Z:-4.13 [[ 8.49079695e-01 5.25578376e-01 5.32075425e-02 8.88118339e+01] [-5.24526444e-01 8.50745128e-01 -3.32375784e-02 -2.89681478e+01] [-6.27350100e-02 3.12589863e-04 9.98030170e-01 -4.13285710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45864 meters Centerline goodness [0,1] 0.9997542152091629 Centerline is valid? [True, True] Translation: X:88.84, Y:-28.99, Z:-4.13 [[ 8.47526833e-01 5.28145383e-01 5.25425741e-02 8.88375832e+01] [-5.27122476e-01 8.49153951e-01 -3.28551874e-02 -2.89871923e+01] [-6.19690499e-02 1.49281153e-04 9.98078060e-01 -4.13379248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48863999999999 meters Centerline goodness [0,1] 0.9996060859717366 Centerline is valid? [True, True] Translation: X:88.86, Y:-29.01, Z:-4.13 [[ 8.43139590e-01 5.35035908e-01 5.34060793e-02 8.88617223e+01] [-5.33990639e-01 8.44829253e-01 -3.34294890e-02 -2.90088586e+01] [-6.30049951e-02 -3.32620732e-04 9.98013156e-01 -4.13474171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51863999999999 meters Centerline goodness [0,1] 0.9994102904319623 Centerline is valid? [True, True] Translation: X:88.89, Y:-29.03, Z:-4.14 [[ 8.40627676e-01 5.38938823e-01 5.37592254e-02 8.88876735e+01] [-5.37885439e-01 8.42344695e-01 -3.36848556e-02 -2.90276529e+01] [-6.34378748e-02 -5.99882636e-04 9.97985609e-01 -4.13626672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54863999999999 meters Centerline goodness [0,1] 0.9992621741269061 Centerline is valid? [True, True] Translation: X:88.91, Y:-29.05, Z:-4.14 [[ 8.35989244e-01 5.46152710e-01 5.32841588e-02 8.89139870e+01] [-5.45130739e-01 8.37684892e-01 -3.34140626e-02 -2.90467246e+01] [-6.28845157e-02 -1.11303591e-03 9.98020190e-01 -4.13716286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57864 meters Centerline goodness [0,1] 0.9989162027686093 Centerline is valid? [True, True] Translation: X:88.94, Y:-29.06, Z:-4.14 [[ 8.33732686e-01 5.49563925e-01 5.35658548e-02 8.89411867e+01] [-5.48536936e-01 8.35450560e-01 -3.36093911e-02 -2.90630965e+01] [-6.32221323e-02 -1.36160196e-03 9.97998551e-01 -4.13816773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60864 meters Centerline goodness [0,1] 0.9985749385749386 Centerline is valid? [True, True] Translation: X:88.97, Y:-29.08, Z:-4.14 [[ 8.31515253e-01 5.52831515e-01 5.44031256e-02 8.89687576e+01] [-5.51776933e-01 8.33291506e-01 -3.41684395e-02 -2.90799153e+01] [-6.42230526e-02 -1.60681118e-03 9.97934275e-01 -4.13912573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63864 meters Centerline goodness [0,1] 0.9985749385749386 Centerline is valid? [True, True] Translation: X:89.00, Y:-29.10, Z:-4.14 [[ 8.31224833e-01 5.53269708e-01 5.43866426e-02 8.89964536e+01] [-5.52214347e-01 8.33000624e-01 -3.41946603e-02 -2.90969584e+01] [-6.42229770e-02 -1.60963353e-03 9.97934276e-01 -4.14052030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66864 meters Centerline goodness [0,1] 0.9985255811667567 Centerline is valid? [True, True] Translation: X:89.02, Y:-29.11, Z:-4.14 [[ 8.28349878e-01 5.57470326e-01 5.53472290e-02 8.90244859e+01] [-5.56384641e-01 8.30194590e-01 -3.48292068e-02 -2.91132631e+01] [-6.53652194e-02 -1.94357891e-03 9.97859514e-01 -4.14290020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69864 meters Centerline goodness [0,1] 0.9988206967716574 Centerline is valid? [True, True] Translation: X:89.05, Y:-29.13, Z:-4.14 [[ 8.26843667e-01 5.59569927e-01 5.66661008e-02 8.90521446e+01] [-5.58435842e-01 8.28780357e-01 -3.56725548e-02 -2.91288803e+01] [-6.69250401e-02 -2.14875566e-03 9.97755692e-01 -4.14395692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72864 meters Centerline goodness [0,1] 0.9984259714707329 Centerline is valid? [True, True] Translation: X:89.08, Y:-29.14, Z:-4.15 [[ 8.26427125e-01 5.60185448e-01 5.66610186e-02 8.90820334e+01] [-5.59051244e-01 8.28364368e-01 -3.56956625e-02 -2.91438048e+01] [-6.69321595e-02 -2.17654923e-03 9.97755155e-01 -4.14536441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75864 meters Centerline goodness [0,1] 0.9985752186302447 Centerline is valid? [True, True] Translation: X:89.11, Y:-29.16, Z:-4.15 [[ 8.27987371e-01 5.57864368e-01 5.67825762e-02 8.91123521e+01] [-5.56717222e-01 8.29929818e-01 -3.58110630e-02 -2.91559858e+01] [-6.71032692e-02 -1.96073021e-03 9.97744109e-01 -4.14730530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78864 meters Centerline goodness [0,1] 0.9985246385364415 Centerline is valid? [True, True] Translation: X:89.14, Y:-29.17, Z:-4.15 [[ 8.29320039e-01 5.55806489e-01 5.75101751e-02 8.91410098e+01] [-5.54622301e-01 8.31309782e-01 -3.63063239e-02 -2.91705154e+01] [-6.79880615e-02 -1.78686371e-03 9.97684535e-01 -4.14788946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81864 meters Centerline goodness [0,1] 0.9989177489177489 Centerline is valid? [True, True] Translation: X:89.17, Y:-29.19, Z:-4.15 [[ 8.30229307e-01 5.54427625e-01 5.77001412e-02 8.91698856e+01] [-5.53230194e-01 8.32230300e-01 -3.64565506e-02 -2.91859031e+01] [-6.82323246e-02 -1.65416357e-03 9.97668088e-01 -4.14957559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84864 meters Centerline goodness [0,1] 0.9989143308330043 Centerline is valid? [True, True] Translation: X:89.20, Y:-29.20, Z:-4.15 [[ 8.31655475e-01 5.52304290e-01 5.75251468e-02 8.92016130e+01] [-5.51107256e-01 8.33641325e-01 -3.63721442e-02 -2.91965194e+01] [-6.80438308e-02 -1.45343299e-03 9.97681274e-01 -4.15066115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87863999999999 meters Centerline goodness [0,1] 0.999262028928466 Centerline is valid? [True, True] Translation: X:89.23, Y:-29.21, Z:-4.15 [[ 8.31874733e-01 5.51986288e-01 5.74070257e-02 8.92304101e+01] [-5.50790918e-01 8.33852022e-01 -3.63341321e-02 -2.92106321e+01] [-6.79249072e-02 -1.39382199e-03 9.97689463e-01 -4.15293225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90863999999999 meters Centerline goodness [0,1] 0.9991632622926613 Centerline is valid? [True, True] Translation: X:89.26, Y:-29.23, Z:-4.15 [[ 8.31557833e-01 5.52451432e-01 5.75237808e-02 8.92595088e+01] [-5.51249637e-01 8.33543910e-01 -3.64470645e-02 -2.92259975e+01] [-6.80838301e-02 -1.40212134e-03 9.97678619e-01 -4.15394448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93863999999999 meters Centerline goodness [0,1] 0.9992122495199646 Centerline is valid? [True, True] Translation: X:89.29, Y:-29.24, Z:-4.16 [[ 8.31623315e-01 5.52502818e-01 5.60651307e-02 8.92890176e+01] [-5.51358800e-01 8.33509955e-01 -3.55615994e-02 -2.92394105e+01] [-6.63787285e-02 -1.33814802e-03 9.97793603e-01 -4.15522144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96864 meters Centerline goodness [0,1] 0.9988688339153101 Centerline is valid? [True, True] Translation: X:89.32, Y:-29.25, Z:-4.16 [[ 8.31742746e-01 5.52307735e-01 5.62153928e-02 8.93187336e+01] [-5.51154577e-01 8.33639305e-01 -3.56951192e-02 -2.92544724e+01] [-6.65780514e-02 -1.29421460e-03 9.97780381e-01 -4.15629774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99864 meters Centerline goodness [0,1] 0.999065742243202 Centerline is valid? [True, True] Translation: X:89.35, Y:-29.27, Z:-4.16 [[ 8.32233015e-01 5.51670567e-01 5.52068309e-02 8.93472756e+01] [-5.50554525e-01 8.34061252e-01 -3.50933335e-02 -2.92690477e+01] [-6.54058377e-02 -1.18853987e-03 9.97858038e-01 -4.15726406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02864 meters Centerline goodness [0,1] 0.9991153921761352 Centerline is valid? [True, True] Translation: X:89.38, Y:-29.28, Z:-4.16 [[ 8.33542053e-01 5.49666127e-01 5.54508325e-02 8.93761931e+01] [-5.48533376e-01 8.35383826e-01 -3.52845317e-02 -2.92827562e+01] [-6.57174405e-02 -1.00549141e-03 9.97837766e-01 -4.15910351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05864 meters Centerline goodness [0,1] 0.9992115119258821 Centerline is valid? [True, True] Translation: X:89.41, Y:-29.30, Z:-4.16 [[ 8.34369459e-01 5.48365583e-01 5.58819563e-02 8.94058410e+01] [-5.47209671e-01 8.36238254e-01 -3.55971852e-02 -2.92985770e+01] [-6.62509007e-02 -8.77942770e-04 9.97802609e-01 -4.16028834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08864 meters Centerline goodness [0,1] 0.9993604565356422 Centerline is valid? [True, True] Translation: X:89.43, Y:-29.31, Z:-4.16 [[ 8.35111265e-01 5.47158435e-01 5.66288111e-02 8.94349302e+01] [-5.45965749e-01 8.37028717e-01 -3.61154673e-02 -2.93142437e+01] [-6.71608237e-02 -7.56957755e-04 9.97741876e-01 -4.16190984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11864 meters Centerline goodness [0,1] 0.9991633034747515 Centerline is valid? [True, True] Translation: X:89.46, Y:-29.33, Z:-4.16 [[ 8.36527113e-01 5.45042866e-01 5.61307753e-02 8.94635486e+01] [-5.43863664e-01 8.38408000e-01 -3.58376950e-02 -2.93284115e+01] [-6.65935710e-02 -5.48285641e-04 9.97780034e-01 -4.16423330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14864 meters Centerline goodness [0,1] 0.9990163773176609 Centerline is valid? [True, True] Translation: X:89.49, Y:-29.34, Z:-4.17 [[ 8.37467619e-01 5.43701078e-01 5.51101170e-02 8.94912396e+01] [-5.42559203e-01 8.39278842e-01 -3.52212510e-02 -2.93447460e+01] [-6.54025874e-02 -4.03843917e-04 9.97858877e-01 -4.16575454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17864 meters Centerline goodness [0,1] 0.9989647522800098 Centerline is valid? [True, True] Translation: X:89.52, Y:-29.36, Z:-4.17 [[ 8.38247462e-01 5.42649990e-01 5.35927325e-02 8.95190541e+01] [-5.41565870e-01 8.39958872e-01 -3.42855751e-02 -2.93615037e+01] [-6.36207581e-02 -2.84198510e-04 9.97974107e-01 -4.16635023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20864 meters Centerline goodness [0,1] 0.9989663319551093 Centerline is valid? [True, True] Translation: X:89.55, Y:-29.38, Z:-4.17 [[ 8.40452297e-01 5.39038346e-01 5.54760961e-02 8.95469365e+01] [-5.37866356e-01 8.42281224e-01 -3.55263538e-02 -2.93766105e+01] [-6.58765411e-02 1.94799951e-05 9.97827781e-01 -4.16836317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23863999999999 meters Centerline goodness [0,1] 0.9991128634795465 Centerline is valid? [True, True] Translation: X:89.57, Y:-29.39, Z:-4.17 [[ 8.41914307e-01 5.36673141e-01 5.62337931e-02 8.95749342e+01] [-5.35461262e-01 8.43790190e-01 -3.60465381e-02 -2.93932372e+01] [-6.67947317e-02 2.37078275e-04 9.97766710e-01 -4.16972035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26863999999999 meters Centerline goodness [0,1] 0.9994589010772787 Centerline is valid? [True, True] Translation: X:89.60, Y:-29.41, Z:-4.17 [[ 8.45194277e-01 5.31589856e-01 5.53069498e-02 8.96019543e+01] [-5.30404297e-01 8.47001646e-01 -3.54893322e-02 -2.94119676e+01] [-6.57108465e-02 6.60336639e-04 9.97838488e-01 -4.17105873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29863999999999 meters Centerline goodness [0,1] 0.9995080676898859 Centerline is valid? [True, True] Translation: X:89.63, Y:-29.43, Z:-4.17 [[ 8.46433526e-01 5.29696918e-01 5.45111041e-02 8.96289438e+01] [-5.28538803e-01 8.48186588e-01 -3.50177941e-02 -2.94305355e+01] [-6.47844050e-02 8.29001180e-04 9.97898940e-01 -4.17288182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32864 meters Centerline goodness [0,1] 0.9993108540487324 Centerline is valid? [True, True] Translation: X:89.65, Y:-29.45, Z:-4.17 [[ 8.47465592e-01 5.28066246e-01 5.42965053e-02 8.96547486e+01] [-5.26911487e-01 8.49202612e-01 -3.49171771e-02 -2.94491387e+01] [-6.45473167e-02 9.81653785e-04 9.97914165e-01 -4.17469071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35864 meters Centerline goodness [0,1] 0.9994095650462508 Centerline is valid? [True, True] Translation: X:89.68, Y:-29.47, Z:-4.18 [[ 8.48912714e-01 5.25559144e-01 5.59892042e-02 8.96808425e+01] [-5.24323337e-01 8.50756163e-01 -3.60414870e-02 -2.94687558e+01] [-6.65750936e-02 1.23963015e-03 9.97780647e-01 -4.17656187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38864 meters Centerline goodness [0,1] 0.9993607710085066 Centerline is valid? [True, True] Translation: X:89.71, Y:-29.49, Z:-4.18 [[ 8.49173179e-01 5.25065720e-01 5.66648150e-02 8.97072684e+01] [-5.23796379e-01 8.51060654e-01 -3.65118762e-02 -2.94871529e+01] [-6.73963290e-02 1.32408106e-03 9.97725404e-01 -4.17789035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41864 meters Centerline goodness [0,1] 0.9998028099580971 Centerline is valid? [True, True] Translation: X:89.73, Y:-29.51, Z:-4.18 [[ 8.49225441e-01 5.25068339e-01 5.58515061e-02 8.97341553e+01] [-5.23832834e-01 8.51059021e-01 -3.60236830e-02 -2.95059876e+01] [-6.64478235e-02 1.33537539e-03 9.97789008e-01 -4.17895536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44864 meters Centerline goodness [0,1] 0.9995575003687497 Centerline is valid? [True, True] Translation: X:89.76, Y:-29.53, Z:-4.18 [[ 8.48004525e-01 5.27111652e-01 5.51509843e-02 8.97591218e+01] [-5.25908861e-01 8.49795202e-01 -3.56087768e-02 -2.95270504e+01] [-6.56368430e-02 1.19201250e-03 9.97842865e-01 -4.18083267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47864 meters Centerline goodness [0,1] 0.9995557968510932 Centerline is valid? [True, True] Translation: X:89.79, Y:-29.55, Z:-4.18 [[ 8.47319103e-01 5.28237405e-01 5.49143145e-02 8.97854867e+01] [-5.27045066e-01 8.49095972e-01 -3.54898279e-02 -2.95462864e+01] [-6.53745778e-02 1.12889066e-03 9.97860156e-01 -4.18194818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50864 meters Centerline goodness [0,1] 0.9994092453108847 Centerline is valid? [True, True] Translation: X:89.81, Y:-29.57, Z:-4.18 [[ 8.46144019e-01 5.30033470e-01 5.57209108e-02 8.98111874e+01] [-5.28807248e-01 8.47976089e-01 -3.60478383e-02 -2.95670870e+01] [-6.63565608e-02 1.03604132e-03 9.97795437e-01 -4.18414731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53864 meters Centerline goodness [0,1] 0.9995079950799508 Centerline is valid? [True, True] Translation: X:89.84, Y:-29.59, Z:-4.19 [[ 8.45869896e-01 5.30509802e-01 5.53486175e-02 8.98373369e+01] [-5.29298343e-01 8.47678181e-01 -3.58464237e-02 -2.95867906e+01] [-6.59346945e-02 1.02547912e-03 9.97823413e-01 -4.18543310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56864 meters Centerline goodness [0,1] 0.9995569994093325 Centerline is valid? [True, True] Translation: X:89.86, Y:-29.61, Z:-4.19 [[ 8.45813146e-01 5.30549274e-01 5.58353848e-02 8.98642725e+01] [-5.29313784e-01 8.47653427e-01 -3.62020151e-02 -2.96060863e+01] [-6.65360081e-02 1.06570145e-03 9.97783455e-01 -4.18690233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59864 meters Centerline goodness [0,1] 0.999262246704702 Centerline is valid? [True, True] Translation: X:89.89, Y:-29.63, Z:-4.19 [[ 8.45659676e-01 5.30910131e-01 5.47187770e-02 8.98900774e+01] [-5.29721942e-01 8.47427480e-01 -3.55152010e-02 -2.96252362e+01] [-6.52255753e-02 1.04803656e-03 9.97869995e-01 -4.18687798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62863999999999 meters Centerline goodness [0,1] 0.9993110575266965 Centerline is valid? [True, True] Translation: X:89.92, Y:-29.64, Z:-4.19 [[ 8.45070050e-01 5.31883374e-01 5.43754219e-02 8.99166457e+01] [-5.30709868e-01 8.46817031e-01 -3.53263478e-02 -2.96430806e+01] [-6.48355305e-02 9.95665527e-04 9.97895467e-01 -4.18842971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65863999999999 meters Centerline goodness [0,1] 0.9993604565356422 Centerline is valid? [True, True] Translation: X:89.94, Y:-29.66, Z:-4.19 [[ 8.43809691e-01 5.33877204e-01 5.44089655e-02 8.99423526e+01] [-5.32704148e-01 8.45561571e-01 -3.53824954e-02 -2.96621186e+01] [-6.48960380e-02 8.72210956e-04 9.97891649e-01 -4.18967756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68863999999999 meters Centerline goodness [0,1] 0.9992619563078134 Centerline is valid? [True, True] Translation: X:89.97, Y:-29.68, Z:-4.19 [[ 8.41200502e-01 5.38046751e-01 5.37346140e-02 8.99668956e+01] [-5.36908927e-01 8.42914804e-01 -3.49776798e-02 -2.96832814e+01] [-6.41133286e-02 5.72647838e-04 9.97942460e-01 -4.19146048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71864 meters Centerline goodness [0,1] 0.9991614048934491 Centerline is valid? [True, True] Translation: X:89.99, Y:-29.70, Z:-4.19 [[ 8.39580810e-01 5.40568721e-01 5.37542641e-02 8.99932692e+01] [-5.39433006e-01 8.41299762e-01 -3.50248817e-02 -2.97009760e+01] [-6.41568051e-02 4.09394323e-04 9.97939746e-01 -4.19196898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74864 meters Centerline goodness [0,1] 0.9994591139302749 Centerline is valid? [True, True] Translation: X:90.02, Y:-29.72, Z:-4.19 [[ 8.36650980e-01 5.45052009e-01 5.41612882e-02 9.00198182e+01] [-5.43906582e-01 8.38402230e-01 -3.53175651e-02 -2.97196329e+01] [-6.46588546e-02 8.97942727e-05 9.97907423e-01 -4.19304119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77864 meters Centerline goodness [0,1] 0.9994102034797995 Centerline is valid? [True, True] Translation: X:90.05, Y:-29.74, Z:-4.20 [[ 8.35242514e-01 5.47219458e-01 5.40444971e-02 9.00471149e+01] [-5.46082079e-01 8.36989165e-01 -3.52633185e-02 -2.97390110e+01] [-6.45314325e-02 -5.93085426e-05 9.97915673e-01 -4.19506863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80864 meters Centerline goodness [0,1] 0.9994593000393236 Centerline is valid? [True, True] Translation: X:90.07, Y:-29.76, Z:-4.20 [[ 8.34580908e-01 5.48350006e-01 5.27918457e-02 9.00741113e+01] [-5.47264687e-01 8.36248921e-01 -3.44833871e-02 -2.97572169e+01] [-6.30560896e-02 -1.11936354e-04 9.98009978e-01 -4.19651869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83864 meters Centerline goodness [0,1] 0.9998523040567152 Centerline is valid? [True, True] Translation: X:90.10, Y:-29.78, Z:-4.20 [[ 8.33882687e-01 5.49277277e-01 5.41676849e-02 9.01011622e+01] [-5.48134197e-01 8.35640143e-01 -3.54182560e-02 -2.97752915e+01] [-6.47191351e-02 -1.56489960e-04 9.97903507e-01 -4.19857569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.13, Y:-29.79, Z:-4.20 [[ 8.33063686e-01 5.50531716e-01 5.40344739e-02 9.01293628e+01] [-5.49394478e-01 8.34814219e-01 -3.53684486e-02 -2.97931015e+01] [-6.45801998e-02 -2.22071422e-04 9.97912495e-01 -4.20035362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:-29.81, Z:-4.20 [[ 8.32437061e-01 5.51471596e-01 5.41074766e-02 9.01567760e+01] [-5.50330621e-01 8.34193629e-01 -3.54569807e-02 -2.98106088e+01] [-6.46896300e-02 -2.61296390e-04 9.97905398e-01 -4.20211251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92864 meters Centerline goodness [0,1] 0.9998523767345734 Centerline is valid? [True, True] Translation: X:90.18, Y:-29.83, Z:-4.20 [[ 8.30291464e-01 5.54553761e-01 5.55536699e-02 9.01842611e+01] [-5.53355077e-01 8.32147760e-01 -3.64453491e-02 -2.98276237e+01] [-6.64397674e-02 -4.80642968e-04 9.97790322e-01 -4.20313787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95864 meters Centerline goodness [0,1] 0.9998032173955822 Centerline is valid? [True, True] Translation: X:90.21, Y:-29.84, Z:-4.20 [[ 8.28954944e-01 5.56616767e-01 5.48769199e-02 9.02126175e+01] [-5.55449175e-01 8.30769166e-01 -3.60389720e-02 -2.98443319e+01] [-6.56499490e-02 -6.06655899e-04 9.97842531e-01 -4.20399516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98863999999999 meters Centerline goodness [0,1] 0.999803139918303 Centerline is valid? [True, True] Translation: X:90.24, Y:-29.86, Z:-4.21 [[ 8.27678615e-01 5.58484010e-01 5.51699250e-02 9.02406538e+01] [-5.57305405e-01 8.29514969e-01 -3.62712163e-02 -2.98599956e+01] [-6.60211730e-02 -7.25587260e-04 9.97817958e-01 -4.20522799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01863999999999 meters Centerline goodness [0,1] 0.9997537552327013 Centerline is valid? [True, True] Translation: X:90.27, Y:-29.87, Z:-4.21 [[ 8.26002605e-01 5.60898050e-01 5.57949343e-02 9.02696881e+01] [-5.59695590e-01 8.27884395e-01 -3.67188684e-02 -2.98746567e+01] [-6.67872971e-02 -8.98297684e-04 9.97766831e-01 -4.20758444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04863999999999 meters Centerline goodness [0,1] 0.9997043752463539 Centerline is valid? [True, True] Translation: X:90.30, Y:-29.89, Z:-4.21 [[ 8.25042583e-01 5.62348735e-01 5.53952785e-02 9.02987685e+01] [-5.61164192e-01 8.26899599e-01 -3.64938758e-02 -2.98903448e+01] [-6.63286184e-02 -9.76845128e-04 9.97797354e-01 -4.20881862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07864 meters Centerline goodness [0,1] 0.9997538522128686 Centerline is valid? [True, True] Translation: X:90.33, Y:-29.91, Z:-4.21 [[ 8.23782089e-01 5.64179054e-01 5.55433668e-02 9.03275345e+01] [-5.62989644e-01 8.25651742e-01 -3.66314425e-02 -2.99053665e+01] [-6.65261701e-02 -1.09401405e-03 9.97784081e-01 -4.21051621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10864 meters Centerline goodness [0,1] 0.9995571084100192 Centerline is valid? [True, True] Translation: X:90.36, Y:-29.92, Z:-4.21 [[ 8.23248139e-01 5.65004380e-01 5.50686177e-02 9.03592337e+01] [-5.63834571e-01 8.25087145e-01 -3.63562890e-02 -2.99174470e+01] [-6.59778711e-02 -1.11934318e-03 9.97820459e-01 -4.21255432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13864 meters Centerline goodness [0,1] 0.9994590341300286 Centerline is valid? [True, True] Translation: X:90.39, Y:-29.93, Z:-4.21 [[ 8.22632231e-01 5.65818025e-01 5.59122153e-02 9.03877648e+01] [-5.64611213e-01 8.24529318e-01 -3.69537823e-02 -2.99322649e+01] [-6.70103768e-02 -1.16929130e-03 9.97751593e-01 -4.21372991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16864 meters Centerline goodness [0,1] 0.9997047679968508 Centerline is valid? [True, True] Translation: X:90.42, Y:-29.94, Z:-4.21 [[ 8.23946930e-01 5.64029682e-01 5.46074608e-02 9.04193471e+01] [-5.62872342e-01 8.25753944e-01 -3.61268623e-02 -2.99436576e+01] [-6.54689488e-02 -9.70412093e-04 9.97854135e-01 -4.21392819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19864 meters Centerline goodness [0,1] 0.9998033141564636 Centerline is valid? [True, True] Translation: X:90.45, Y:-29.96, Z:-4.22 [[ 8.24058688e-01 5.63873009e-01 5.45390547e-02 9.04485384e+01] [-5.62715760e-01 8.25860989e-01 -3.61192511e-02 -2.99588285e+01] [-6.54083485e-02 -9.25602890e-04 9.97858152e-01 -4.21556389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22864 meters Centerline goodness [0,1] 0.9998033141564636 Centerline is valid? [True, True] Translation: X:90.48, Y:-29.97, Z:-4.22 [[ 8.25001338e-01 5.62507667e-01 5.43867331e-02 9.04773654e+01] [-5.61351353e-01 8.26791698e-01 -3.60575459e-02 -2.99741522e+01] [-6.52491454e-02 -7.82542569e-04 9.97868697e-01 -4.21779603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25864 meters Centerline goodness [0,1] 0.9995577830188679 Centerline is valid? [True, True] Translation: X:90.51, Y:-29.99, Z:-4.22 [[ 8.26284315e-01 5.60568820e-01 5.49256635e-02 9.05088068e+01] [-5.59382630e-01 8.28107622e-01 -3.64532580e-02 -2.99860163e+01] [-6.59189204e-02 -6.03706755e-04 9.97824800e-01 -4.21969618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28864 meters Centerline goodness [0,1] 0.9995080918884353 Centerline is valid? [True, True] Translation: X:90.54, Y:-30.00, Z:-4.22 [[ 8.26866963e-01 5.59695351e-01 5.50648635e-02 9.05393380e+01] [-5.58498449e-01 8.28698295e-01 -3.65871498e-02 -3.00002642e+01] [-6.61098161e-02 -5.00935363e-04 9.97812227e-01 -4.22106692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31864 meters Centerline goodness [0,1] 0.9997049277072882 Centerline is valid? [True, True] Translation: X:90.57, Y:-30.01, Z:-4.22 [[ 8.27483840e-01 5.58695295e-01 5.59469516e-02 9.05688828e+01] [-5.57454550e-01 8.29372903e-01 -3.72157435e-02 -3.00146416e+01] [-6.71931465e-02 -3.92456420e-04 9.97739910e-01 -4.22373184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34864 meters Centerline goodness [0,1] 0.9996070147860687 Centerline is valid? [True, True] Translation: X:90.60, Y:-30.03, Z:-4.22 [[ 8.27303741e-01 5.58986093e-01 5.57051879e-02 9.05982831e+01] [-5.57753924e-01 8.29176944e-01 -3.70965879e-02 -3.00308587e+01] [-6.69259342e-02 -3.79641200e-04 9.97757874e-01 -4.22483259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37863999999999 meters Centerline goodness [0,1] 0.9998028585510104 Centerline is valid? [True, True] Translation: X:90.63, Y:-30.05, Z:-4.23 [[ 8.26477803e-01 5.60031977e-01 5.74336628e-02 9.06272516e+01] [-5.58721697e-01 8.28470873e-01 -3.82894022e-02 -3.00460324e+01] [-6.90254064e-02 -4.44092560e-04 9.97614803e-01 -4.22650777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40863999999999 meters Centerline goodness [0,1] 0.9997542514499165 Centerline is valid? [True, True] Translation: X:90.66, Y:-30.06, Z:-4.23 [[ 8.25338073e-01 5.61777578e-01 5.67716346e-02 9.06570520e+01] [-5.60498826e-01 8.27288130e-01 -3.78868918e-02 -3.00611171e+01] [-6.82505057e-02 -5.50940266e-04 9.97668064e-01 -4.22664692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43863999999999 meters Centerline goodness [0,1] 0.9996548153261995 Centerline is valid? [True, True] Translation: X:90.69, Y:-30.07, Z:-4.23 [[ 8.23726027e-01 5.64246798e-01 5.56864760e-02 9.06906188e+01] [-5.63019693e-01 8.25605866e-01 -3.71991979e-02 -3.00709248e+01] [-6.69646095e-02 -7.10635129e-04 9.97755098e-01 -4.22698471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46864 meters Centerline goodness [0,1] 0.9998034108222342 Centerline is valid? [True, True] Translation: X:90.72, Y:-30.08, Z:-4.23 [[ 8.22845568e-01 5.65406347e-01 5.69283235e-02 9.07199463e+01] [-5.64124340e-01 8.24812117e-01 -3.80617894e-02 -3.00844945e+01] [-6.84755484e-02 -7.95678265e-04 9.97652478e-01 -4.22944025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49864 meters Centerline goodness [0,1] 0.9996555965559656 Centerline is valid? [True, True] Translation: X:90.75, Y:-30.10, Z:-4.23 [[ 8.23013709e-01 5.65221213e-01 5.63330723e-02 9.07496208e+01] [-5.63963558e-01 8.24939040e-01 -3.76919921e-02 -3.00988950e+01] [-6.77756641e-02 -7.48773708e-04 9.97700305e-01 -4.23042779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52864 meters Centerline goodness [0,1] 0.9996555965559656 Centerline is valid? [True, True] Translation: X:90.78, Y:-30.12, Z:-4.23 [[ 8.22719187e-01 5.65650929e-01 5.63219771e-02 9.07768563e+01] [-5.64393145e-01 8.24644434e-01 -3.77085648e-02 -3.01167461e+01] [-6.77754897e-02 -7.64178008e-04 9.97700305e-01 -4.23182388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55864 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:90.81, Y:-30.13, Z:-4.23 [[ 8.24271012e-01 5.63095103e-01 5.91709768e-02 9.08089136e+01] [-5.61696967e-01 8.26391921e-01 -3.96599258e-02 -3.01272404e+01] [-7.12307272e-02 -5.45631050e-04 9.97459716e-01 -4.23381930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58864 meters Centerline goodness [0,1] 0.9997049857409774 Centerline is valid? [True, True] Translation: X:90.84, Y:-30.14, Z:-4.24 [[ 8.26040236e-01 5.60384267e-01 6.02245913e-02 9.08392457e+01] [-5.58925531e-01 8.28232693e-01 -4.04086279e-02 -3.01407061e+01] [-7.25243348e-02 -2.81909171e-04 9.97366603e-01 -4.23629645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61864 meters Centerline goodness [0,1] 0.9997541547841479 Centerline is valid? [True, True] Translation: X:90.87, Y:-30.15, Z:-4.24 [[ 8.28051444e-01 5.57407298e-01 6.02321371e-02 9.08696565e+01] [-5.55937446e-01 8.30239185e-01 -4.04530832e-02 -3.01546766e+01] [-7.25559242e-02 1.19335252e-05 9.97364346e-01 -4.23766291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64864 meters Centerline goodness [0,1] 0.999457780844876 Centerline is valid? [True, True] Translation: X:90.90, Y:-30.17, Z:-4.24 [[ 8.32283891e-01 5.51238026e-01 5.86529105e-02 9.09015892e+01] [-5.49827388e-01 8.34347847e-01 -3.94146315e-02 -3.01656018e+01] [-7.06637733e-02 5.55186247e-04 9.97500037e-01 -4.23964180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67864 meters Centerline goodness [0,1] 0.9989189189189189 Centerline is valid? [True, True] Translation: X:90.93, Y:-30.18, Z:-4.24 [[ 8.33760783e-01 5.48886971e-01 5.97164165e-02 9.09301002e+01] [-5.47417803e-01 8.35896219e-01 -4.01405006e-02 -3.01806551e+01] [-7.19493245e-02 7.77745626e-04 9.97407986e-01 -4.24210156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70864 meters Centerline goodness [0,1] 0.9984750098386462 Centerline is valid? [True, True] Translation: X:90.96, Y:-30.19, Z:-4.24 [[ 8.36529825e-01 5.44800724e-01 5.83954004e-02 9.09611901e+01] [-5.43385211e-01 8.38564804e-01 -3.92629702e-02 -3.01927483e+01] [-7.03588221e-02 1.11344859e-03 9.97521126e-01 -4.24324371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73863999999999 meters Centerline goodness [0,1] 0.9985752886268731 Centerline is valid? [True, True] Translation: X:90.99, Y:-30.21, Z:-4.24 [[ 8.37244157e-01 5.43711169e-01 5.83128312e-02 9.09894620e+01] [-5.42296283e-01 8.39271527e-01 -3.92179202e-02 -3.02080760e+01] [-7.02635201e-02 1.21214296e-03 9.97527728e-01 -4.24442129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76863999999999 meters Centerline goodness [0,1] 0.9979860497101877 Centerline is valid? [True, True] Translation: X:91.02, Y:-30.22, Z:-4.25 [[ 8.37888599e-01 5.42701300e-01 5.84636105e-02 9.10175937e+01] [-5.41275885e-01 8.39924750e-01 -3.93297841e-02 -3.02243619e+01] [-7.04493584e-02 1.30903522e-03 9.97514498e-01 -4.24691450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79863999999999 meters Centerline goodness [0,1] 0.9981828004518443 Centerline is valid? [True, True] Translation: X:91.05, Y:-30.24, Z:-4.25 [[ 8.39481672e-01 5.40286575e-01 5.79736078e-02 9.10451740e+01] [-5.38878507e-01 8.41479735e-01 -3.90103920e-02 -3.02409551e+01] [-6.98604072e-02 1.50777791e-03 9.97555638e-01 -4.24857999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82864 meters Centerline goodness [0,1] 0.9980841029671841 Centerline is valid? [True, True] Translation: X:91.07, Y:-30.26, Z:-4.25 [[ 8.40911313e-01 5.38007006e-01 5.84519081e-02 9.10726492e+01] [-5.36569340e-01 8.42938611e-01 -3.93426045e-02 -3.02577871e+01] [-7.04379671e-02 1.72013947e-03 9.97514679e-01 -4.25079918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85864 meters Centerline goodness [0,1] 0.9978855232100708 Centerline is valid? [True, True] Translation: X:91.10, Y:-30.28, Z:-4.25 [[ 8.42306032e-01 5.35971761e-01 5.70510224e-02 9.10998137e+01] [-5.34596923e-01 8.44233875e-01 -3.84095432e-02 -3.02750588e+01] [-6.87508363e-02 1.85328888e-03 9.97632141e-01 -4.25164078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88864 meters Centerline goodness [0,1] 0.9973450022124981 Centerline is valid? [True, True] Translation: X:91.13, Y:-30.29, Z:-4.25 [[ 8.45979871e-01 5.30132511e-01 5.72501390e-02 9.11257504e+01] [-5.28734157e-01 8.47911570e-01 -3.85507524e-02 -3.02913826e+01] [-6.89800624e-02 2.34305657e-03 9.97615287e-01 -4.25306871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91864 meters Centerline goodness [0,1] 0.9965057335498794 Centerline is valid? [True, True] Translation: X:91.15, Y:-30.31, Z:-4.25 [[ 8.47575244e-01 5.27456828e-01 5.83566578e-02 9.11521368e+01] [-5.25997103e-01 8.49577809e-01 -3.93013205e-02 -3.03101790e+01] [-7.03082714e-02 2.61539341e-03 9.97521883e-01 -4.25393723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94864 meters Centerline goodness [0,1] 0.9960678299336446 Centerline is valid? [True, True] Translation: X:91.18, Y:-30.33, Z:-4.26 [[ 8.50933721e-01 5.22274360e-01 5.60472586e-02 9.11781492e+01] [-5.20916147e-01 8.52772479e-01 -3.77553604e-02 -3.03296816e+01] [-6.75142163e-02 2.93138731e-03 9.97714006e-01 -4.25517740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97864 meters Centerline goodness [0,1] 0.9955678124692209 Centerline is valid? [True, True] Translation: X:91.20, Y:-30.35, Z:-4.26 [[ 8.51396923e-01 5.21570993e-01 5.55605850e-02 9.12033724e+01] [-5.20234173e-01 8.53202721e-01 -3.74369100e-02 -3.03503554e+01] [-6.69304486e-02 2.96915504e-03 9.97753226e-01 -4.25645798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00864 meters Centerline goodness [0,1] 0.9957248157248157 Centerline is valid? [True, True] Translation: X:91.23, Y:-30.37, Z:-4.26 [[ 8.51631479e-01 5.21249474e-01 5.49800893e-02 9.12291422e+01] [-5.19939088e-01 8.53399175e-01 -3.70566257e-02 -3.03719878e+01] [-6.62357095e-02 2.97229151e-03 9.97799577e-01 -4.25810921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03864 meters Centerline goodness [0,1] 0.9953284815106216 Centerline is valid? [True, True] Translation: X:91.25, Y:-30.39, Z:-4.26 [[ 8.51434870e-01 5.21519616e-01 5.54612646e-02 9.12537972e+01] [-5.20185785e-01 8.53234056e-01 -3.73951114e-02 -3.03941750e+01] [-6.68237239e-02 2.98934035e-03 9.97760319e-01 -4.25922129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06864 meters Centerline goodness [0,1] 0.9959237795894313 Centerline is valid? [True, True] Translation: X:91.28, Y:-30.42, Z:-4.26 [[ 8.50128981e-01 5.23523167e-01 5.66057392e-02 9.12759348e+01] [-5.22137190e-01 8.52006499e-01 -3.81795740e-02 -3.04186907e+01] [-6.82163491e-02 2.90160071e-03 9.97666332e-01 -4.26128079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09864 meters Centerline goodness [0,1] 0.9953307775484125 Centerline is valid? [True, True] Translation: X:91.30, Y:-30.44, Z:-4.26 [[ 8.48781729e-01 5.25749621e-01 5.61864010e-02 9.13004838e+01] [-5.24387743e-01 8.50635026e-01 -3.79149973e-02 -3.04404224e+01] [-6.77279162e-02 2.71809695e-03 9.97700126e-01 -4.26265401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12863999999999 meters Centerline goodness [0,1] 0.9964131289308176 Centerline is valid? [True, True] Translation: X:91.32, Y:-30.47, Z:-4.27 [[ 8.44995213e-01 5.31663091e-01 5.75972887e-02 9.13190688e+01] [-5.30243799e-01 8.46952752e-01 -3.88915121e-02 -3.04682579e+01] [-6.94593637e-02 2.32253634e-03 9.97582078e-01 -4.26519318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15863999999999 meters Centerline goodness [0,1] 0.996502290753239 Centerline is valid? [True, True] Translation: X:91.34, Y:-30.49, Z:-4.27 [[ 8.42332991e-01 5.35668588e-01 5.94499467e-02 9.13428190e+01] [-5.34164928e-01 8.44425761e-01 -4.01617352e-02 -3.04903936e+01] [-7.17144464e-02 2.07347810e-03 9.97423049e-01 -4.26758787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18863999999999 meters Centerline goodness [0,1] 0.9969489690467989 Centerline is valid? [True, True] Translation: X:91.37, Y:-30.51, Z:-4.27 [[ 8.39864231e-01 5.39523333e-01 5.95201361e-02 9.13678288e+01] [-5.38023811e-01 8.41968789e-01 -4.02360238e-02 -3.05117182e+01] [-7.18223705e-02 1.76954673e-03 9.97415869e-01 -4.26859678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21864 meters Centerline goodness [0,1] 0.997885211232971 Centerline is valid? [True, True] Translation: X:91.39, Y:-30.53, Z:-4.27 [[ 8.34198210e-01 5.48232104e-01 5.96230336e-02 9.13900045e+01] [-5.46748715e-01 8.36325591e-01 -4.03156096e-02 -3.05344468e+01] [-7.19665803e-02 1.03239244e-03 9.97406510e-01 -4.26954331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24864 meters Centerline goodness [0,1] 0.9982299144458648 Centerline is valid? [True, True] Translation: X:91.42, Y:-30.55, Z:-4.27 [[ 8.31391831e-01 5.52499272e-01 5.94321308e-02 9.14155239e+01] [-5.51034902e-01 8.33513105e-01 -4.02049853e-02 -3.05547397e+01] [-7.17506850e-02 6.76917954e-04 9.97422368e-01 -4.27105473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27864 meters Centerline goodness [0,1] 0.9983786174028398 Centerline is valid? [True, True] Translation: X:91.44, Y:-30.58, Z:-4.27 [[ 8.26284553e-01 5.60109405e-01 5.94246750e-02 9.14405906e+01] [-5.58662195e-01 8.28418645e-01 -4.02380377e-02 -3.05751767e+01] [-7.17662121e-02 4.97495693e-05 9.97421480e-01 -4.27148644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30864 meters Centerline goodness [0,1] 0.9984284451429133 Centerline is valid? [True, True] Translation: X:91.47, Y:-30.59, Z:-4.27 [[ 8.24171176e-01 5.63293443e-01 5.86717024e-02 9.14665985e+01] [-5.61888070e-01 8.26256897e-01 -3.97660283e-02 -3.05934054e+01] [-7.08778417e-02 -1.92915336e-04 9.97484985e-01 -4.27298234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33864 meters Centerline goodness [0,1] 0.998623469839241 Centerline is valid? [True, True] Translation: X:91.49, Y:-30.61, Z:-4.27 [[ 8.22131706e-01 5.66248556e-01 5.88390212e-02 9.14940462e+01] [-5.64839770e-01 8.24234433e-01 -3.99203363e-02 -3.06123083e+01] [-7.11019801e-02 -4.14845064e-04 9.97468965e-01 -4.27346120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36864 meters Centerline goodness [0,1] 0.9984688333497975 Centerline is valid? [True, True] Translation: X:91.52, Y:-30.63, Z:-4.27 [[ 8.19916045e-01 5.69527369e-01 5.81055590e-02 9.15212067e+01] [-5.68158670e-01 8.21972109e-01 -3.94661525e-02 -3.06307577e+01] [-7.02382029e-02 -6.54245502e-04 9.97530033e-01 -4.27376292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39864 meters Centerline goodness [0,1] 0.9985718506845267 Centerline is valid? [True, True] Translation: X:91.55, Y:-30.65, Z:-4.28 [[ 8.19035712e-01 5.70736064e-01 5.86587355e-02 9.15484502e+01] [-5.69341233e-01 8.21133248e-01 -3.98841909e-02 -3.06481254e+01] [-7.09299842e-02 -7.30260097e-04 9.97481029e-01 -4.27533773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42864 meters Centerline goodness [0,1] 0.9984231792648073 Centerline is valid? [True, True] Translation: X:91.58, Y:-30.66, Z:-4.27 [[ 8.17444412e-01 5.73163239e-01 5.71710982e-02 9.15762778e+01] [-5.71841676e-01 8.19440734e-01 -3.89099062e-02 -3.06637776e+01] [-6.91500545e-02 -8.86131187e-04 9.97605876e-01 -4.27492496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45864 meters Centerline goodness [0,1] 0.9982300884955753 Centerline is valid? [True, True] Translation: X:91.60, Y:-30.68, Z:-4.28 [[ 8.16749805e-01 5.74137697e-01 5.73206867e-02 9.16043588e+01] [-5.72808820e-01 8.18758221e-01 -3.90516441e-02 -3.06811363e+01] [-6.93528045e-02 -9.38372212e-04 9.97591754e-01 -4.27615292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48863999999999 meters Centerline goodness [0,1] 0.9982305234701401 Centerline is valid? [True, True] Translation: X:91.63, Y:-30.70, Z:-4.28 [[ 8.16173849e-01 5.74996510e-01 5.69145143e-02 9.16327501e+01] [-5.73685538e-01 8.18155288e-01 -3.88178898e-02 -3.06984731e+01] [-6.88850620e-02 -9.68887259e-04 9.97624132e-01 -4.27739968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51863999999999 meters Centerline goodness [0,1] 0.9980800472603751 Centerline is valid? [True, True] Translation: X:91.66, Y:-30.72, Z:-4.28 [[ 8.14676590e-01 5.77125335e-01 5.68190214e-02 9.16606299e+01] [-5.75821086e-01 8.16654829e-01 -3.87939123e-02 -3.07153663e+01] [-6.87904778e-02 -1.11309841e-03 9.97630508e-01 -4.27808616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54863999999999 meters Centerline goodness [0,1] 0.9982797601494151 Centerline is valid? [True, True] Translation: X:91.69, Y:-30.73, Z:-4.28 [[ 8.12813370e-01 5.79853410e-01 5.57175780e-02 9.16911050e+01] [-5.78603072e-01 8.14719810e-01 -3.80803910e-02 -3.07292728e+01] [-6.74752591e-02 -1.28611085e-03 9.97720119e-01 -4.27769014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57864 meters Centerline goodness [0,1] 0.9981291847183931 Centerline is valid? [True, True] Translation: X:91.72, Y:-30.74, Z:-4.28 [[ 8.11698675e-01 5.81441411e-01 5.54179351e-02 9.17202531e+01] [-5.80205356e-01 8.13587114e-01 -3.79177055e-02 -3.07446016e+01] [-6.71342421e-02 -1.37603148e-03 9.97743003e-01 -4.27897923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60864 meters Centerline goodness [0,1] 0.9984289852226422 Centerline is valid? [True, True] Translation: X:91.75, Y:-30.76, Z:-4.28 [[ 8.11119608e-01 5.82207762e-01 5.58489390e-02 9.17509339e+01] [-5.80951437e-01 8.13038814e-01 -3.82533034e-02 -3.07563907e+01] [-6.76787252e-02 -1.41751697e-03 9.97706160e-01 -4.28078159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63864 meters Centerline goodness [0,1] 0.9979338842975206 Centerline is valid? [True, True] Translation: X:91.78, Y:-30.77, Z:-4.28 [[ 8.12113229e-01 5.80910680e-01 5.49079731e-02 9.17795341e+01] [-5.79691008e-01 8.13966339e-01 -3.76448536e-02 -3.07709996e+01] [-6.65615392e-02 -1.25777466e-03 9.97781529e-01 -4.28202835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66864 meters Centerline goodness [0,1] 0.9981330451016999 Centerline is valid? [True, True] Translation: X:91.81, Y:-30.79, Z:-4.28 [[ 8.13129097e-01 5.79469066e-01 5.51060157e-02 9.18085798e+01] [-5.78235366e-01 8.14993463e-01 -3.78089390e-02 -3.07863653e+01] [-6.68201532e-02 -1.12069877e-03 9.97764407e-01 -4.28349612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69864 meters Centerline goodness [0,1] 0.9971488964262891 Centerline is valid? [True, True] Translation: X:91.84, Y:-30.80, Z:-4.29 [[ 8.16629084e-01 5.74508590e-01 5.52885164e-02 9.18393917e+01] [-5.73254469e-01 8.18498248e-01 -3.79464425e-02 -3.07976431e+01] [-6.70541110e-02 -7.06220548e-04 9.97749090e-01 -4.28500964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72864 meters Centerline goodness [0,1] 0.9971999803507393 Centerline is valid? [True, True] Translation: X:91.87, Y:-30.81, Z:-4.29 [[ 8.17926209e-01 5.72683229e-01 5.50512183e-02 9.18682734e+01] [-5.71435023e-01 8.19776568e-01 -3.77940792e-02 -3.08132166e+01] [-6.67737341e-02 -5.45426320e-04 9.97767995e-01 -4.28604655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75864 meters Centerline goodness [0,1] 0.9970527556734453 Centerline is valid? [True, True] Translation: X:91.90, Y:-30.83, Z:-4.29 [[ 8.19453973e-01 5.70419124e-01 5.58319634e-02 9.18976239e+01] [-5.69129101e-01 8.21353697e-01 -3.83427913e-02 -3.08289155e+01] [-6.77292511e-02 -3.55442477e-04 9.97703675e-01 -4.28749343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78864 meters Centerline goodness [0,1] 0.9964664310954063 Centerline is valid? [True, True] Translation: X:91.93, Y:-30.84, Z:-4.29 [[ 8.22013440e-01 5.66921347e-01 5.37967571e-02 9.19273160e+01] [-5.65715383e-01 8.23771924e-01 -3.69583904e-02 -3.08427031e+01] [-6.52687587e-02 -5.33594170e-05 9.97867720e-01 -4.28785560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81864 meters Centerline goodness [0,1] 0.9962684735110718 Centerline is valid? [True, True] Translation: X:91.96, Y:-30.86, Z:-4.29 [[ 8.22949741e-01 5.65645457e-01 5.29050251e-02 9.19554735e+01] [-5.64475909e-01 8.24648540e-01 -3.63556632e-02 -3.08591645e+01] [-6.41924674e-02 5.52714675e-05 9.97937535e-01 -4.28853170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84864 meters Centerline goodness [0,1] 0.9960626045870656 Centerline is valid? [True, True] Translation: X:91.98, Y:-30.87, Z:-4.29 [[ 8.24249167e-01 5.63775698e-01 5.26333780e-02 9.19839949e+01] [-5.62613695e-01 8.25927914e-01 -3.61788739e-02 -3.08746149e+01] [-6.38681459e-02 2.08147383e-04 9.97958324e-01 -4.28904383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87863999999999 meters Centerline goodness [0,1] 0.996418759811617 Centerline is valid? [True, True] Translation: X:92.01, Y:-30.89, Z:-4.29 [[ 8.24597988e-01 5.63196377e-01 5.33666485e-02 9.20105710e+01] [-5.61999869e-01 8.26323043e-01 -3.66930005e-02 -3.08923696e+01] [-6.47634564e-02 2.64924894e-04 9.97900609e-01 -4.29115988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90863999999999 meters Centerline goodness [0,1] 0.9967624840576866 Centerline is valid? [True, True] Translation: X:92.04, Y:-30.91, Z:-4.29 [[ 8.24667321e-01 5.62966860e-01 5.47003050e-02 9.20365964e+01] [-5.61708538e-01 8.26479416e-01 -3.76203817e-02 -3.09111573e+01] [-6.63877043e-02 2.98671058e-04 9.97793858e-01 -4.29274880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93863999999999 meters Centerline goodness [0,1] 0.9974938574938574 Centerline is valid? [True, True] Translation: X:92.06, Y:-30.93, Z:-4.29 [[ 8.25439781e-01 5.61909342e-01 5.39171491e-02 9.20624045e+01] [-5.60683926e-01 8.27198732e-01 -3.70916980e-02 -3.09301951e+01] [-6.54423690e-02 3.86484266e-04 9.97856276e-01 -4.29255279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96864 meters Centerline goodness [0,1] 0.9977896753278648 Centerline is valid? [True, True] Translation: X:92.09, Y:-30.95, Z:-4.29 [[ 8.25256352e-01 5.62241492e-01 5.32584033e-02 9.20893163e+01] [-5.61045919e-01 8.26973018e-01 -3.66483900e-02 -3.09484074e+01] [-6.46485080e-02 3.63906781e-04 9.97908031e-01 -4.29315006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99864 meters Centerline goodness [0,1] 0.9975945017182131 Centerline is valid? [True, True] Translation: X:92.12, Y:-30.97, Z:-4.29 [[ 8.25388132e-01 5.62034591e-01 5.33999072e-02 9.21171329e+01] [-5.60831453e-01 8.27113635e-01 -3.67575160e-02 -3.09669943e+01] [-6.48267868e-02 3.90869920e-04 9.97896455e-01 -4.29493219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02864 meters Centerline goodness [0,1] 0.9982306974001082 Centerline is valid? [True, True] Translation: X:92.14, Y:-30.99, Z:-4.30 [[ 8.24639590e-01 5.63147601e-01 5.32383829e-02 9.21428366e+01] [-5.61953143e-01 8.26356267e-01 -3.66603916e-02 -3.09872749e+01] [-6.46390830e-02 3.14133748e-04 9.97908658e-01 -4.29599092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05864 meters Centerline goodness [0,1] 0.9980834439038774 Centerline is valid? [True, True] Translation: X:92.17, Y:-31.01, Z:-4.30 [[ 8.24337798e-01 5.63608829e-01 5.30309683e-02 9.21687566e+01] [-5.62423877e-01 8.26041770e-01 -3.65291140e-02 -3.10059357e+01] [-6.43939261e-02 2.86446566e-04 9.97924516e-01 -4.29744295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08864 meters Centerline goodness [0,1] 0.9983790156203949 Centerline is valid? [True, True] Translation: X:92.20, Y:-31.02, Z:-4.30 [[ 8.24107906e-01 5.63992220e-01 5.25255630e-02 9.21956334e+01] [-5.62829918e-01 8.25780060e-01 -3.61908272e-02 -3.10244641e+01] [-6.37859075e-02 2.62188488e-04 9.97963571e-01 -4.29836171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11864 meters Centerline goodness [0,1] 0.9989695274547328 Centerline is valid? [True, True] Translation: X:92.22, Y:-31.04, Z:-4.30 [[ 8.23876622e-01 5.64273657e-01 5.31277004e-02 9.22220523e+01] [-5.63084460e-01 8.25587777e-01 -3.66157524e-02 -3.10433922e+01] [-6.45228846e-02 2.51479841e-04 9.97916196e-01 -4.30010322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14864 meters Centerline goodness [0,1] 0.9987725844461901 Centerline is valid? [True, True] Translation: X:92.25, Y:-31.06, Z:-4.30 [[ 8.24120593e-01 5.63855987e-01 5.37742883e-02 9.22477723e+01] [-5.62636085e-01 8.25873077e-01 -3.70715192e-02 -3.10619690e+01] [-6.53137350e-02 2.96047308e-04 9.97864735e-01 -4.30132977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17864 meters Centerline goodness [0,1] 0.9990649146119396 Centerline is valid? [True, True] Translation: X:92.27, Y:-31.08, Z:-4.30 [[ 8.23894078e-01 5.64135865e-01 5.43072217e-02 9.22744327e+01] [-5.62891568e-01 8.25681927e-01 -3.74491455e-02 -3.10807159e+01] [-6.59668975e-02 2.85052058e-04 9.97821771e-01 -4.30258563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20864 meters Centerline goodness [0,1] 0.9995091542728121 Centerline is valid? [True, True] Translation: X:92.30, Y:-31.10, Z:-4.30 [[ 8.21813567e-01 5.67246618e-01 5.34203594e-02 9.23023979e+01] [-5.66048523e-01 8.23547978e-01 -3.68483080e-02 -3.10977507e+01] [-6.48963071e-02 4.39239327e-05 9.97892012e-01 -4.30313500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23863999999999 meters Centerline goodness [0,1] 0.9997546373540093 Centerline is valid? [True, True] Translation: X:92.33, Y:-31.12, Z:-4.30 [[ 8.19794866e-01 5.70253071e-01 5.24195755e-02 9.23297488e+01] [-5.69104896e-01 8.21469051e-01 -3.61692640e-02 -3.11152773e+01] [-6.36866928e-02 -1.80860172e-04 9.97969926e-01 -4.30344014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26863999999999 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:92.36, Y:-31.13, Z:-4.31 [[ 8.16198117e-01 5.75465407e-01 5.15771250e-02 9.23576084e+01] [-5.74363623e-01 8.17825924e-01 -3.55975773e-02 -3.11314912e+01] [-6.26662842e-02 -5.69348774e-04 9.98034374e-01 -4.30521847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:-31.15, Z:-4.31 [[ 8.14329982e-01 5.78086037e-01 5.17997500e-02 9.23848039e+01] [-5.76979376e-01 8.15975457e-01 -3.57610527e-02 -3.11481022e+01] [-6.29402900e-02 -7.66090018e-04 9.98017000e-01 -4.30714417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:-31.16, Z:-4.31 [[ 8.12481408e-01 5.80587026e-01 5.28456816e-02 9.24128018e+01] [-5.79439795e-01 8.14197619e-01 -3.64933034e-02 -3.11645694e+01] [-6.42143666e-02 -9.70760454e-04 9.97935656e-01 -4.30876308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:-31.18, Z:-4.31 [[ 8.10573303e-01 5.83294680e-01 5.23281664e-02 9.24422297e+01] [-5.82174929e-01 8.12259783e-01 -3.61441134e-02 -3.11779221e+01] [-6.35867341e-02 -1.16669320e-03 9.97975634e-01 -4.30938556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:-31.19, Z:-4.31 [[ 8.10805878e-01 5.82887979e-01 5.32487729e-02 9.24685164e+01] [-5.81727348e-01 8.12551707e-01 -3.67833592e-02 -3.11929517e+01] [-6.47079592e-02 -1.15210359e-03 9.97903579e-01 -4.31101108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:-31.20, Z:-4.31 [[ 8.13414776e-01 5.79221781e-01 5.34652238e-02 9.24972219e+01] [-5.78043865e-01 8.15169541e-01 -3.69311557e-02 -3.12036307e+01] [-6.49745517e-02 -8.64896844e-04 9.97886546e-01 -4.31059804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.52, Y:-31.22, Z:-4.31 [[ 8.13451736e-01 5.79169656e-01 5.34675889e-02 9.25211842e+01] [-5.77991852e-01 8.15206576e-01 -3.69277313e-02 -3.12202056e+01] [-6.49745515e-02 -8.64903540e-04 9.97886546e-01 -4.31184844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:-31.23, Z:-4.31 [[ 8.15452278e-01 5.76320836e-01 5.37761688e-02 9.25465928e+01] [-5.75124207e-01 8.17223265e-01 -3.71252000e-02 -3.12340601e+01] [-6.53431625e-02 -6.54147583e-04 9.97862637e-01 -4.31288281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:-31.25, Z:-4.31 [[ 8.17281661e-01 5.73595811e-01 5.51228894e-02 9.25711786e+01] [-5.72334720e-01 8.19138338e-01 -3.80177715e-02 -3.12486220e+01] [-6.69601066e-02 -4.77516024e-04 9.97755539e-01 -4.31483475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:-31.26, Z:-4.32 [[ 8.21706352e-01 5.67311492e-01 5.43722443e-02 9.25967819e+01] [-5.66073095e-01 8.23503291e-01 -3.74643866e-02 -3.12627266e+01] [-6.60296992e-02 6.05986048e-06 9.97817658e-01 -4.31678612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56864 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:92.62, Y:-31.28, Z:-4.32 [[ 8.23746500e-01 5.64483266e-01 5.29182895e-02 9.26218617e+01] [-5.63306321e-01 8.25444487e-01 -3.64333271e-02 -3.12778946e+01] [-6.42471138e-02 2.02618667e-04 9.97933999e-01 -4.31764237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:-31.29, Z:-4.32 [[ 8.26750626e-01 5.59973902e-01 5.39688047e-02 9.26471136e+01] [-5.58741747e-01 8.28510068e-01 -3.71312182e-02 -3.12922618e+01] [-6.55062112e-02 5.43633695e-04 9.97852013e-01 -4.31850404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:-31.31, Z:-4.32 [[ 8.28316650e-01 5.57747375e-01 5.30037076e-02 9.26700614e+01] [-5.56556655e-01 8.30010486e-01 -3.64318915e-02 -3.13088719e+01] [-6.43134250e-02 6.77576069e-04 9.97929519e-01 -4.31945555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.69, Y:-31.33, Z:-4.32 [[ 8.29369071e-01 5.56252361e-01 5.22518442e-02 9.26921082e+01] [-5.55094640e-01 8.31013084e-01 -3.58774849e-02 -3.13253283e+01] [-6.33789019e-02 7.50957701e-04 9.97989254e-01 -4.31968741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:-31.34, Z:-4.32 [[ 8.30583212e-01 5.54460823e-01 5.20069555e-02 9.27154182e+01] [-5.53312717e-01 8.32209390e-01 -3.56730840e-02 -3.13420925e+01] [-6.30600042e-02 8.53354822e-04 9.98009373e-01 -4.32113459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.74, Y:-31.36, Z:-4.32 [[ 8.32107295e-01 5.52221250e-01 5.14697951e-02 9.27378100e+01] [-5.51094509e-01 8.33697019e-01 -3.52721188e-02 -3.13602103e+01] [-6.23882283e-02 9.85465900e-04 9.98051471e-01 -4.32327051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.76, Y:-31.38, Z:-4.32 [[ 8.32744093e-01 5.51270904e-01 5.13582096e-02 9.27603096e+01] [-5.50149272e-01 8.34325677e-01 -3.51630950e-02 -3.13787559e+01] [-6.22338642e-02 1.02717804e-03 9.98061066e-01 -4.32424705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:-31.40, Z:-4.33 [[ 8.33242808e-01 5.50461963e-01 5.19427569e-02 9.27815115e+01] [-5.49314564e-01 8.34859545e-01 -3.55393996e-02 -3.13996009e+01] [-6.29279941e-02 1.08003619e-03 9.98017485e-01 -4.32765416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:-31.42, Z:-4.33 [[ 8.33163405e-01 5.50652976e-01 5.11863269e-02 9.28056846e+01] [-5.49539342e-01 8.34733612e-01 -3.50186963e-02 -3.14189928e+01] [-6.20100968e-02 1.04739591e-03 9.98074973e-01 -4.32898918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:-31.44, Z:-4.33 [[ 8.32612500e-01 5.51423820e-01 5.18478183e-02 9.28298636e+01] [-5.50282677e-01 8.34224649e-01 -3.54712501e-02 -3.14377932e+01] [-6.28124202e-02 1.00284998e-03 9.98024846e-01 -4.33061929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:-31.46, Z:-4.33 [[ 8.31644790e-01 5.52873306e-01 5.19427630e-02 9.28543485e+01] [-5.51730702e-01 8.33264847e-01 -3.55376976e-02 -3.14575915e+01] [-6.29299228e-02 8.96324030e-04 9.98017546e-01 -4.33115307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89864 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:92.88, Y:-31.48, Z:-4.33 [[ 8.28817988e-01 5.57064014e-01 5.23490904e-02 9.28779536e+01] [-5.55911365e-01 8.30469348e-01 -3.58220070e-02 -3.14808143e+01] [-6.34294660e-02 5.88469522e-04 9.97986150e-01 -4.33215186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:-31.50, Z:-4.33 [[ 8.27649940e-01 5.58829052e-01 5.20160336e-02 9.29037328e+01] [-5.57693916e-01 8.29282751e-01 -3.56035884e-02 -3.15008713e+01] [-6.30323189e-02 4.58282314e-04 9.98011381e-01 -4.33363229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:-31.52, Z:-4.33 [[ 8.25134588e-01 5.62478362e-01 5.26403242e-02 9.29287668e+01] [-5.61322556e-01 8.26811984e-01 -3.60407008e-02 -3.15213589e+01] [-6.37957652e-02 1.90227521e-04 9.97962957e-01 -4.33461510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:-31.54, Z:-4.34 [[ 8.23384838e-01 5.65014019e-01 5.28825866e-02 9.29549728e+01] [-5.63852116e-01 8.25081304e-01 -3.62164589e-02 -3.15406405e+01] [-6.40952405e-02 2.12477176e-06 9.97943786e-01 -4.33604265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:-31.56, Z:-4.34 [[ 8.22158790e-01 5.66870498e-01 5.20841837e-02 9.29814552e+01] [-5.65746503e-01 8.23806908e-01 -3.56801419e-02 -3.15597957e+01] [-6.31333302e-02 -1.31702524e-04 9.98005093e-01 -4.33727688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04863999999999 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:93.01, Y:-31.58, Z:-4.34 [[ 8.19215922e-01 5.71166744e-01 5.15152650e-02 9.30083332e+01] [-5.70074946e-01 8.20833935e-01 -3.53016497e-02 -3.15783744e+01] [-6.24486060e-02 -4.47888409e-04 9.98048081e-01 -4.33722135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07864 meters Centerline goodness [0,1] 0.9998525581166757 Centerline is valid? [True, True] Translation: X:93.04, Y:-31.60, Z:-4.34 [[ 8.17406391e-01 5.73837058e-01 5.05749223e-02 9.30355738e+01] [-5.72789312e-01 8.18969249e-01 -3.46665880e-02 -3.15960197e+01] [-6.13122790e-02 -6.32084364e-04 9.98118432e-01 -4.33779149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10864 meters Centerline goodness [0,1] 0.9998525798525798 Centerline is valid? [True, True] Translation: X:93.06, Y:-31.61, Z:-4.34 [[ 8.14015693e-01 5.78547221e-01 5.15903458e-02 9.30629075e+01] [-5.77465735e-01 8.15648280e-01 -3.53724165e-02 -3.16134332e+01] [-6.25441900e-02 -9.97954860e-04 9.98041697e-01 -4.33912696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13864 meters Centerline goodness [0,1] 0.9998030332873744 Centerline is valid? [True, True] Translation: X:93.09, Y:-31.63, Z:-4.34 [[ 8.12524774e-01 5.80701916e-01 5.08800214e-02 9.30891444e+01] [-5.79653702e-01 8.14115461e-01 -3.48941435e-02 -3.16302372e+01] [-6.16853081e-02 -1.14043675e-03 9.98094997e-01 -4.33934606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16864 meters Centerline goodness [0,1] 0.999656374257523 Centerline is valid? [True, True] Translation: X:93.12, Y:-31.65, Z:-4.34 [[ 8.09612417e-01 5.84647983e-01 5.21005843e-02 9.31157351e+01] [-5.83556632e-01 8.11285752e-01 -3.57363269e-02 -3.16458562e+01] [-6.31616332e-02 -1.47106745e-03 9.98002226e-01 -4.34071995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19864 meters Centerline goodness [0,1] 0.9996072077380076 Centerline is valid? [True, True] Translation: X:93.14, Y:-31.66, Z:-4.34 [[ 8.08736603e-01 5.85920354e-01 5.14047310e-02 9.31426588e+01] [-5.84860455e-01 8.10367165e-01 -3.52605391e-02 -3.16619405e+01] [-6.23165737e-02 -1.54810578e-03 9.98055233e-01 -4.34183529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22864 meters Centerline goodness [0,1] 0.9996057559629411 Centerline is valid? [True, True] Translation: X:93.17, Y:-31.68, Z:-4.34 [[ 8.08144337e-01 5.86724068e-01 5.15519073e-02 9.31693108e+01] [-5.85659557e-01 8.09785322e-01 -3.53640538e-02 -3.16763298e+01] [-6.24949194e-02 -1.61260741e-03 9.98043979e-01 -4.34279927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25864 meters Centerline goodness [0,1] 0.9997536581760851 Centerline is valid? [True, True] Translation: X:93.20, Y:-31.69, Z:-4.34 [[ 8.07850941e-01 5.87247869e-01 5.01676926e-02 9.31956663e+01] [-5.86241599e-01 8.09405534e-01 -3.44015855e-02 -3.16876256e+01] [-6.08082658e-02 -1.61903514e-03 9.98148152e-01 -4.34387925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28864 meters Centerline goodness [0,1] 0.9997541789577188 Centerline is valid? [True, True] Translation: X:93.22, Y:-31.70, Z:-4.34 [[ 8.08309230e-01 5.86636154e-01 4.99420928e-02 9.32200838e+01] [-5.85640053e-01 8.09849044e-01 -3.42089778e-02 -3.17009772e+01] [-6.05137793e-02 -1.59665737e-03 9.98166085e-01 -4.34426379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31864 meters Centerline goodness [0,1] 0.999558282208589 Centerline is valid? [True, True] Translation: X:93.25, Y:-31.71, Z:-4.34 [[ 8.09441041e-01 5.85069338e-01 4.99907152e-02 9.32454270e+01] [-5.84070537e-01 8.10981866e-01 -3.42055675e-02 -3.17148070e+01] [-6.05541922e-02 -1.51071372e-03 9.98163768e-01 -4.34479354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34864 meters Centerline goodness [0,1] 0.9997055359246172 Centerline is valid? [True, True] Translation: X:93.27, Y:-31.73, Z:-4.35 [[ 8.11679887e-01 5.81922937e-01 5.04128550e-02 9.32728863e+01] [-5.80903181e-01 8.13242872e-01 -3.44605037e-02 -3.17261580e+01] [-6.10512525e-02 -1.31409002e-03 9.98133767e-01 -4.34596549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37863999999999 meters Centerline goodness [0,1] 0.99965596893891 Centerline is valid? [True, True] Translation: X:93.30, Y:-31.74, Z:-4.35 [[ 8.13447621e-01 5.79462957e-01 5.02558349e-02 9.32983356e+01] [-5.78446834e-01 8.14997763e-01 -3.43206460e-02 -3.17406446e+01] [-6.08459360e-02 -1.15228069e-03 9.98146504e-01 -4.34770249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40863999999999 meters Centerline goodness [0,1] 0.999754577136406 Centerline is valid? [True, True] Translation: X:93.32, Y:-31.75, Z:-4.35 [[ 8.16759657e-01 5.74732034e-01 5.08601258e-02 9.33237056e+01] [-5.73684087e-01 8.18341244e-01 -3.47012409e-02 -3.17548777e+01] [-6.15648534e-02 -8.35071215e-04 9.98102736e-01 -4.34799868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43863999999999 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:93.35, Y:-31.77, Z:-4.35 [[ 8.18316831e-01 5.72555016e-01 5.03817103e-02 9.33483285e+01] [-5.71524592e-01 8.19866010e-01 -3.43419057e-02 -3.17700230e+01] [-6.09688822e-02 -6.91826919e-04 9.98139428e-01 -4.34780377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46864 meters Centerline goodness [0,1] 0.9997545048362547 Centerline is valid? [True, True] Translation: X:93.37, Y:-31.78, Z:-4.35 [[ 8.20107722e-01 5.69997023e-01 5.02664787e-02 9.33728363e+01] [-5.68968498e-01 8.21646588e-01 -3.42305742e-02 -3.17849987e+01] [-6.08126061e-02 -5.27284673e-04 9.98149061e-01 -4.34875974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49864 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:93.40, Y:-31.80, Z:-4.35 [[ 8.23808205e-01 5.64670186e-01 4.98760646e-02 9.33974755e+01] [-5.63649711e-01 8.25316640e-01 -3.39329847e-02 -3.18006819e+01] [-6.03244908e-02 -1.58358123e-04 9.98178807e-01 -4.34979684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:-31.82, Z:-4.35 [[ 8.25885333e-01 5.61572835e-01 5.04912693e-02 9.34198335e+01] [-5.60523228e-01 8.27427308e-01 -3.43185273e-02 -3.18165184e+01] [-6.10502077e-02 4.16390579e-05 9.98134696e-01 -4.35168634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:-31.83, Z:-4.35 [[ 8.28103414e-01 5.58337398e-01 5.00408308e-02 9.34418276e+01] [-5.57302785e-01 8.29613939e-01 -3.39752541e-02 -3.18329125e+01] [-6.04842257e-02 2.47129592e-04 9.98169123e-01 -4.35239373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.47, Y:-31.85, Z:-4.35 [[ 8.29999996e-01 5.55474544e-01 5.04780873e-02 9.34652774e+01] [-5.54418665e-01 8.31533431e-01 -3.42359020e-02 -3.18501913e+01] [-6.09913892e-02 4.29804726e-04 9.98138200e-01 -4.35346052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61864 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:93.49, Y:-31.87, Z:-4.36 [[ 8.33093781e-01 5.50759321e-01 5.11754135e-02 9.34869621e+01] [-5.49667164e-01 8.34663762e-01 -3.46758399e-02 -3.18695984e+01] [-6.18123052e-02 7.58782190e-04 9.98087503e-01 -4.35534756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.51, Y:-31.89, Z:-4.36 [[ 8.34158846e-01 5.49133373e-01 5.12987072e-02 9.35090346e+01] [-5.48034896e-01 8.35734293e-01 -3.47267089e-02 -3.18877993e+01] [-6.19416836e-02 8.54109798e-04 9.98079405e-01 -4.35707519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67864 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:93.53, Y:-31.91, Z:-4.36 [[ 8.35221963e-01 5.47454985e-01 5.19356462e-02 9.35302206e+01] [-5.46327866e-01 8.36834578e-01 -3.51248020e-02 -3.19080871e+01] [-6.26907925e-02 9.63115311e-04 9.98032533e-01 -4.35807604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:-31.93, Z:-4.36 [[ 8.36041016e-01 5.46200920e-01 5.19612701e-02 9.35522601e+01] [-5.45071903e-01 8.37653557e-01 -3.51160714e-02 -3.19260457e+01] [-6.27059733e-02 1.03584757e-03 9.98031506e-01 -4.35865244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:-31.95, Z:-4.36 [[ 8.36358669e-01 5.45687552e-01 5.22424421e-02 9.35749013e+01] [-5.44545869e-01 8.37988034e-01 -3.52966189e-02 -3.19456005e+01] [-6.30394669e-02 1.07222714e-03 9.98010459e-01 -4.36052830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:-31.97, Z:-4.36 [[ 8.36820689e-01 5.44955463e-01 5.24850230e-02 9.35953467e+01] [-5.43801809e-01 8.38464229e-01 -3.54588404e-02 -3.19706926e+01] [-6.33303031e-02 1.13124082e-03 9.97991980e-01 -4.36200097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:-31.99, Z:-4.36 [[ 8.36726388e-01 5.45166404e-01 5.17932687e-02 9.36190477e+01] [-5.44043015e-01 8.38327125e-01 -3.49975460e-02 -3.19926722e+01] [-6.24991884e-02 1.10560415e-03 9.98044402e-01 -4.36344190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:-32.01, Z:-4.37 [[ 8.36405423e-01 5.45532220e-01 5.31089998e-02 9.36431459e+01] [-5.44351079e-01 8.38089110e-01 -3.58963304e-02 -3.20145905e+01] [-6.40926792e-02 1.11394402e-03 9.97943329e-01 -4.36605567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:-32.04, Z:-4.37 [[ 8.34669362e-01 5.48130376e-01 5.36670097e-02 9.36660245e+01] [-5.46928975e-01 8.36392385e-01 -3.62832503e-02 -3.20389158e+01] [-6.47746299e-02 9.32474762e-04 9.97899483e-01 -4.36683085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88864 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:93.69, Y:-32.06, Z:-4.37 [[ 8.33153406e-01 5.50395988e-01 5.40338664e-02 9.36906726e+01] [-5.49182193e-01 8.34903386e-01 -3.65411405e-02 -3.20598546e+01] [-6.52251551e-02 7.69938416e-04 9.97870275e-01 -4.36748284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:-32.08, Z:-4.37 [[ 8.29108448e-01 5.56408853e-01 5.46659931e-02 9.37133716e+01] [-5.55178726e-01 8.30908594e-01 -3.69795885e-02 -3.20845704e+01] [-6.59982139e-02 3.10692838e-04 9.97819693e-01 -4.36873779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:-32.11, Z:-4.37 [[ 8.26902580e-01 5.59641372e-01 5.50786515e-02 9.37389436e+01] [-5.58398810e-01 8.28734898e-01 -3.72724846e-02 -3.21058600e+01] [-6.65048250e-02 6.48602398e-05 9.97786101e-01 -4.37095629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-32.13, Z:-4.37 [[ 8.24591844e-01 5.63041762e-01 5.50660072e-02 9.37648223e+01] [-5.61806287e-01 8.26428422e-01 -3.72794784e-02 -3.21266506e+01] [-6.64980165e-02 -1.96075209e-04 9.97786538e-01 -4.37190181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-32.15, Z:-4.37 [[ 8.21128754e-01 5.67843558e-01 5.74566241e-02 9.37892345e+01] [-5.66509024e-01 8.23136281e-01 -3.89125875e-02 -3.21472881e+01] [-6.93908940e-02 -5.97451549e-04 9.97589368e-01 -4.37459308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-32.17, Z:-4.37 [[ 8.19522275e-01 5.70168901e-01 5.73643265e-02 9.38156948e+01] [-5.68843580e-01 8.21527121e-01 -3.88609179e-02 -3.21651258e+01] [-6.92836368e-02 -7.83941048e-04 9.97596694e-01 -4.37493660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:-32.18, Z:-4.38 [[ 8.16620589e-01 5.74294329e-01 5.75919889e-02 9.38435761e+01] [-5.72967905e-01 8.18648123e-01 -3.90260364e-02 -3.21819531e+01] [-6.95600050e-02 -1.12889641e-03 9.97577131e-01 -4.37661613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-32.20, Z:-4.38 [[ 8.15116376e-01 5.76393426e-01 5.79302341e-02 9.38709058e+01] [-5.75055868e-01 8.17171286e-01 -3.92662372e-02 -3.21991260e+01] [-6.99717250e-02 -1.30656812e-03 9.97548119e-01 -4.37904599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-32.22, Z:-4.38 [[ 8.13672259e-01 5.78446052e-01 5.77721365e-02 9.38989959e+01] [-5.77120114e-01 8.15719318e-01 -3.91710106e-02 -3.22154530e+01] [-6.97841642e-02 -1.46909728e-03 9.97561032e-01 -4.38078196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:-32.23, Z:-4.38 [[ 8.11998423e-01 5.80970922e-01 5.59584612e-02 9.39292839e+01] [-5.79732173e-01 8.13922696e-01 -3.79532947e-02 -3.22275484e+01] [-6.75956222e-02 -1.62290492e-03 9.97711480e-01 -4.38224528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18863999999999 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:93.96, Y:-32.24, Z:-4.38 [[ 8.11229326e-01 5.81972862e-01 5.66971596e-02 9.39573457e+01] [-5.80702849e-01 8.13206388e-01 -3.84652100e-02 -3.22437130e+01] [-6.84922007e-02 -1.72009576e-03 9.97650169e-01 -4.38397076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21864 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:93.99, Y:-32.26, Z:-4.39 [[ 8.11303090e-01 5.81848297e-01 5.69197215e-02 9.39858589e+01] [-5.80567090e-01 8.13295548e-01 -3.86290745e-02 -3.22601864e+01] [-6.87688173e-02 -1.70582956e-03 9.97631164e-01 -4.38610846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:-32.27, Z:-4.39 [[ 8.12131005e-01 5.80651534e-01 5.73325922e-02 9.40154158e+01] [-5.79347683e-01 8.14150614e-01 -3.89235263e-02 -3.22733928e+01] [-6.92783704e-02 -1.60450191e-03 9.97596077e-01 -4.38780235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:-32.29, Z:-4.39 [[ 8.13036203e-01 5.79389183e-01 5.72739760e-02 9.40439505e+01] [-5.78084119e-01 8.15049671e-01 -3.88945447e-02 -3.22884639e+01] [-6.92162138e-02 -1.48650303e-03 9.97600574e-01 -4.39006212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:-32.30, Z:-4.39 [[ 8.14672255e-01 5.77055367e-01 5.75866247e-02 9.40733787e+01] [-5.75729404e-01 8.16704016e-01 -3.91178233e-02 -3.23016438e+01] [-6.96043775e-02 -1.28610774e-03 9.97573845e-01 -4.39192047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.10, Y:-32.32, Z:-4.39 [[ 8.14598338e-01 5.77160211e-01 5.75815821e-02 9.40996054e+01] [-5.75833985e-01 8.16629927e-01 -3.91252450e-02 -3.23194147e+01] [-6.96043778e-02 -1.28607236e-03 9.97573845e-01 -4.39327858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:-32.34, Z:-4.40 [[ 8.15290008e-01 5.76140089e-01 5.80068931e-02 9.41266637e+01] [-5.74790827e-01 8.17350084e-01 -3.94251751e-02 -3.23365518e+01] [-7.01263629e-02 -1.19887870e-03 9.97537396e-01 -4.39540275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:-32.35, Z:-4.40 [[ 8.16107247e-01 5.74990663e-01 5.79197674e-02 9.41538838e+01] [-5.73641801e-01 8.18159245e-01 -3.93768064e-02 -3.23537486e+01] [-7.00288892e-02 -1.08950268e-03 9.97544369e-01 -4.39705266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:-32.37, Z:-4.40 [[ 8.16902839e-01 5.73794317e-01 5.85647744e-02 9.41816784e+01] [-5.72411356e-01 8.18998842e-01 -3.98263230e-02 -3.23707996e+01] [-7.08166003e-02 -9.88905636e-04 9.97488863e-01 -4.39984045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.21, Y:-32.39, Z:-4.40 [[ 8.18118978e-01 5.72151038e-01 5.76587139e-02 9.42083712e+01] [-5.70805761e-01 8.20147858e-01 -3.92208389e-02 -3.23883438e+01] [-6.97289144e-02 -8.24613404e-04 9.97565636e-01 -4.40153956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:-32.41, Z:-4.40 [[ 8.18518407e-01 5.71555532e-01 5.78955115e-02 9.42350256e+01] [-5.70196920e-01 8.20563028e-01 -3.93927479e-02 -3.24071398e+01] [-7.00220592e-02 -7.68153055e-04 9.97545147e-01 -4.40293111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:-32.43, Z:-4.40 [[ 8.20914846e-01 5.68071447e-01 5.82550172e-02 9.42612368e+01] [-5.66686334e-01 8.22979110e-01 -3.96482482e-02 -3.24255916e+01] [-7.04656999e-02 -4.64486634e-04 9.97514095e-01 -4.40433632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.29, Y:-32.44, Z:-4.41 [[ 8.21698469e-01 5.66883194e-01 5.87798470e-02 9.42872646e+01] [-5.65469155e-01 8.23798105e-01 -4.00164621e-02 -3.24444732e+01] [-7.11073864e-02 -3.56724819e-04 9.97468602e-01 -4.40603943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.31, Y:-32.46, Z:-4.41 [[ 8.22471809e-01 5.65673268e-01 5.96144135e-02 9.43134048e+01] [-5.64214752e-01 8.24629428e-01 -4.05958182e-02 -3.24635015e+01] [-7.21237688e-02 -2.46415438e-04 9.97395659e-01 -4.40744519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.34, Y:-32.48, Z:-4.41 [[ 8.23944286e-01 5.63404868e-01 6.07517018e-02 9.43388576e+01] [-5.61883084e-01 8.26180945e-01 -4.13817139e-02 -3.24840140e+01] [-7.35065575e-02 -3.91268374e-05 9.97294733e-01 -4.40905486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.36, Y:-32.50, Z:-4.41 [[ 8.24164637e-01 5.63176815e-01 5.98709096e-02 9.43647212e+01] [-5.61697493e-01 8.26336418e-01 -4.07927832e-02 -3.25026267e+01] [-7.24470627e-02 -9.37044907e-06 9.97372259e-01 -4.41014174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66864 meters Centerline goodness [0,1] 0.9999016570782318 Centerline is valid? [True, True] Translation: X:94.39, Y:-32.52, Z:-4.41 [[ 8.24194915e-01 5.63088588e-01 6.02825360e-02 9.43906525e+01] [-5.61587772e-01 8.26396540e-01 -4.10844537e-02 -3.25223737e+01] [-7.29514662e-02 7.66271526e-06 9.97335492e-01 -4.41194915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.42, Y:-32.54, Z:-4.41 [[ 8.24358309e-01 5.62858066e-01 6.02011254e-02 9.44169062e+01] [-5.61359703e-01 8.26553565e-01 -4.10425126e-02 -3.25420420e+01] [-7.28605641e-02 3.92503558e-05 9.97342136e-01 -4.41419969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:-32.56, Z:-4.41 [[ 8.24535768e-01 5.62699832e-01 5.92424308e-02 9.44423157e+01] [-5.61247441e-01 8.26661294e-01 -4.04031538e-02 -3.25619852e+01] [-7.17082723e-02 6.41827285e-05 9.97425646e-01 -4.41434738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75864 meters Centerline goodness [0,1] 0.9999015360378102 Centerline is valid? [True, True] Translation: X:94.47, Y:-32.58, Z:-4.42 [[ 8.23740884e-01 5.63963536e-01 5.82759507e-02 9.44686723e+01] [-5.62560597e-01 8.25799691e-01 -3.97548281e-02 -3.25811153e+01] [-7.05445354e-02 -3.60763395e-05 9.97508630e-01 -4.41558857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:-32.60, Z:-4.42 [[ 8.23336792e-01 5.64545859e-01 5.83481035e-02 9.44950822e+01] [-5.63139965e-01 8.25401701e-01 -3.98172339e-02 -3.26003308e+01] [-7.06392783e-02 -7.51553500e-05 9.97501923e-01 -4.41691558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81864 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:94.52, Y:-32.62, Z:-4.42 [[ 8.22216745e-01 5.66185466e-01 5.82549753e-02 9.45211364e+01] [-5.64787005e-01 8.24277852e-01 -3.97701046e-02 -3.26202040e+01] [-7.05355412e-02 -2.02007026e-04 9.97509246e-01 -4.41879427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.55, Y:-32.64, Z:-4.42 [[ 8.20429619e-01 5.68768814e-01 5.82861626e-02 9.45465391e+01] [-5.67374342e-01 8.22497335e-01 -3.98056439e-02 -3.26396071e+01] [-7.05804223e-02 -4.12343940e-04 9.97506007e-01 -4.42094355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:-32.66, Z:-4.42 [[ 8.19405708e-01 5.70314663e-01 5.75801332e-02 9.45729165e+01] [-5.68956866e-01 8.21426141e-01 -3.93342096e-02 -3.26574641e+01] [-6.97307031e-02 -5.29936279e-04 9.97565711e-01 -4.42187537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.60, Y:-32.68, Z:-4.42 [[ 8.17616134e-01 5.72861547e-01 5.77365111e-02 9.45989361e+01] [-5.71501849e-01 8.19651817e-01 -3.94529537e-02 -3.26758828e+01] [-6.99249163e-02 -7.39151417e-04 9.97551983e-01 -4.42311162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.63, Y:-32.69, Z:-4.42 [[ 8.16822398e-01 5.74019965e-01 5.74651977e-02 9.46257121e+01] [-5.72674875e-01 8.18840890e-01 -3.92821138e-02 -3.26948468e+01] [-6.96035712e-02 -8.22364496e-04 9.97574392e-01 -4.42357485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.65, Y:-32.71, Z:-4.42 [[ 8.16148088e-01 5.75119282e-01 5.60366749e-02 9.46531512e+01] [-5.73841892e-01 8.18069089e-01 -3.83203399e-02 -3.27125246e+01] [-6.78806380e-02 -8.81119319e-04 9.97693060e-01 -4.42466896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99864 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:94.68, Y:-32.73, Z:-4.43 [[ 8.16084888e-01 5.75294296e-01 5.51536831e-02 9.46803569e+01] [-5.74056486e-01 8.17946033e-01 -3.77284695e-02 -3.27304541e+01] [-6.68177096e-02 -8.71695737e-04 9.97764819e-01 -4.42582078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02864 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:94.71, Y:-32.75, Z:-4.43 [[ 8.16185712e-01 5.75223320e-01 5.43968259e-02 9.47070424e+01] [-5.74018449e-01 8.17995976e-01 -3.72210054e-02 -3.27491484e+01] [-6.59067750e-02 -8.45528815e-04 9.97825427e-01 -4.42733574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05864 meters Centerline goodness [0,1] 0.9999017874680809 Centerline is valid? [True, True] Translation: X:94.73, Y:-32.77, Z:-4.43 [[ 8.16623055e-01 5.74605342e-01 5.43643983e-02 9.47331794e+01] [-5.73399859e-01 8.18430255e-01 -3.72091351e-02 -3.27681598e+01] [-6.58740361e-02 -7.86700741e-04 9.97827637e-01 -4.42839966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08864 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:94.76, Y:-32.79, Z:-4.43 [[ 8.18150306e-01 5.72390299e-01 5.47669816e-02 9.47590518e+01] [-5.71161213e-01 8.19981086e-01 -3.74951693e-02 -3.27864618e+01] [-6.63697602e-02 -6.04091432e-04 9.97794914e-01 -4.42973907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11864 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:94.79, Y:-32.80, Z:-4.43 [[ 8.18692314e-01 5.71590582e-01 5.50191047e-02 9.47862841e+01] [-5.70347505e-01 8.20538801e-01 -3.76802247e-02 -3.28045631e+01] [-6.66829718e-02 -5.31498784e-04 9.97774072e-01 -4.43104985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:-32.82, Z:-4.43 [[ 8.20475504e-01 5.68958851e-01 5.57294624e-02 9.48136287e+01] [-5.67676258e-01 8.22365935e-01 -3.81829124e-02 -3.28237078e+01] [-6.75545175e-02 -3.08148357e-04 9.97715537e-01 -4.43313039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17864 meters Centerline goodness [0,1] 0.9998525943396226 Centerline is valid? [True, True] Translation: X:94.84, Y:-32.84, Z:-4.44 [[ 8.20630734e-01 5.68787787e-01 5.51874192e-02 9.48390181e+01] [-5.67528736e-01 8.22484270e-01 -3.78253816e-02 -3.28435684e+01] [-6.69053993e-02 -2.79775549e-04 9.97759284e-01 -4.43511661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20864 meters Centerline goodness [0,1] 0.9997542031265362 Centerline is valid? [True, True] Translation: X:94.87, Y:-32.86, Z:-4.44 [[ 8.21379609e-01 5.67661516e-01 5.56411830e-02 9.48650719e+01] [-5.66378220e-01 8.23262031e-01 -3.81489285e-02 -3.28631087e+01] [-6.74629519e-02 -1.79202233e-04 9.97721764e-01 -4.43655258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23863999999999 meters Centerline goodness [0,1] 0.9996066863323501 Centerline is valid? [True, True] Translation: X:94.89, Y:-32.88, Z:-4.44 [[ 8.21308345e-01 5.67781700e-01 5.54666050e-02 9.48912113e+01] [-5.66505598e-01 8.23179149e-01 -3.80459768e-02 -3.28825992e+01] [-6.72607621e-02 -1.74664031e-04 9.97735416e-01 -4.43758294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26863999999999 meters Centerline goodness [0,1] 0.9996562054908894 Centerline is valid? [True, True] Translation: X:94.92, Y:-32.90, Z:-4.44 [[ 8.22617589e-01 5.65889694e-01 5.53999739e-02 9.49178934e+01] [-5.64611186e-01 8.24480960e-01 -3.80178185e-02 -3.29023112e+01] [-6.71901154e-02 -5.31880754e-06 9.97740191e-01 -4.44017915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29863999999999 meters Centerline goodness [0,1] 0.9996560703581782 Centerline is valid? [True, True] Translation: X:94.95, Y:-32.92, Z:-4.44 [[ 8.23363257e-01 5.64798435e-01 5.54587734e-02 9.49451711e+01] [-5.63513653e-01 8.25228889e-01 -3.80741885e-02 -3.29216644e+01] [-6.72704240e-02 9.71117896e-05 9.97734775e-01 -4.44140200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32864 meters Centerline goodness [0,1] 0.9995563224057185 Centerline is valid? [True, True] Translation: X:94.97, Y:-32.94, Z:-4.44 [[ 8.24882896e-01 5.62598639e-01 5.52356695e-02 9.49710661e+01] [-5.61318197e-01 8.26730118e-01 -3.79367016e-02 -3.29415240e+01] [-6.70081283e-02 2.88549875e-04 9.97752388e-01 -4.44354368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35864 meters Centerline goodness [0,1] 0.9995083820854432 Centerline is valid? [True, True] Translation: X:95.00, Y:-32.96, Z:-4.45 [[ 8.25543433e-01 5.61584493e-01 5.56856978e-02 9.49964806e+01] [-5.60279828e-01 8.27419306e-01 -3.82597162e-02 -3.29605157e+01] [-6.75614848e-02 3.85484286e-04 9.97715038e-01 -4.44583544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38864 meters Centerline goodness [0,1] 0.9993604879968516 Centerline is valid? [True, True] Translation: X:95.02, Y:-32.98, Z:-4.45 [[ 8.26224737e-01 5.60596955e-01 5.55314065e-02 9.50212692e+01] [-5.59295895e-01 8.28088655e-01 -3.81743408e-02 -3.29818856e+01] [-6.73853470e-02 4.82096984e-04 9.97726908e-01 -4.44778725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41864 meters Centerline goodness [0,1] 0.999016570782318 Centerline is valid? [True, True] Translation: X:95.05, Y:-33.00, Z:-4.45 [[ 8.27115664e-01 5.59306757e-01 5.52777541e-02 9.50478259e+01] [-5.58012672e-01 8.28960542e-01 -3.80299620e-02 -3.30019139e+01] [-6.70934917e-02 6.09490006e-04 9.97746507e-01 -4.44900330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44864 meters Centerline goodness [0,1] 0.9995568248965925 Centerline is valid? [True, True] Translation: X:95.07, Y:-33.02, Z:-4.45 [[ 8.27781467e-01 5.58304710e-01 5.54408953e-02 9.50741772e+01] [-5.56999053e-01 8.29635668e-01 -3.81669115e-02 -3.30214414e+01] [-6.73045107e-02 7.13335820e-04 9.97732226e-01 -4.45006234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47864 meters Centerline goodness [0,1] 0.9986734142386872 Centerline is valid? [True, True] Translation: X:95.10, Y:-33.04, Z:-4.45 [[ 8.30074213e-01 5.54850865e-01 5.58329576e-02 9.50988949e+01] [-5.53516160e-01 8.31949187e-01 -3.84761109e-02 -3.30429553e+01] [-6.77986871e-02 1.03358313e-03 9.97698486e-01 -4.45089934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50864 meters Centerline goodness [0,1] 0.998917216261443 Centerline is valid? [True, True] Translation: X:95.12, Y:-33.06, Z:-4.45 [[ 8.31047506e-01 5.53295132e-01 5.67850236e-02 9.51241830e+01] [-5.51908350e-01 8.32984413e-01 -3.91681121e-02 -3.30621590e+01] [-6.89725652e-02 1.21043316e-03 9.97617823e-01 -4.45292040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53864 meters Centerline goodness [0,1] 0.9983233060459611 Centerline is valid? [True, True] Translation: X:95.15, Y:-33.08, Z:-4.45 [[ 8.31848091e-01 5.52052337e-01 5.71574166e-02 9.51498546e+01] [-5.50641907e-01 8.33808366e-01 -3.94600925e-02 -3.30820860e+01] [-6.94423684e-02 1.35153379e-03 9.97585049e-01 -4.45400509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56864 meters Centerline goodness [0,1] 0.9985714285714286 Centerline is valid? [True, True] Translation: X:95.17, Y:-33.10, Z:-4.46 [[ 8.33119905e-01 5.50107968e-01 5.73798636e-02 9.51726441e+01] [-5.48679422e-01 8.35092105e-01 -3.96493231e-02 -3.31048827e+01] [-6.97288797e-02 1.54948991e-03 9.97564776e-01 -4.45573963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59864 meters Centerline goodness [0,1] 0.9987698666535453 Centerline is valid? [True, True] Translation: X:95.20, Y:-33.13, Z:-4.46 [[ 8.33264085e-01 5.49981024e-01 5.64963530e-02 9.51978544e+01] [-5.48593414e-01 8.35175683e-01 -3.90748649e-02 -3.31263561e+01] [-6.86748144e-02 1.56615439e-03 9.97637869e-01 -4.45736085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62863999999999 meters Centerline goodness [0,1] 0.9981813713443106 Centerline is valid? [True, True] Translation: X:95.22, Y:-33.15, Z:-4.46 [[ 8.33238665e-01 5.50166635e-01 5.50454391e-02 9.52220682e+01] [-5.48847347e-01 8.35053468e-01 -3.81089897e-02 -3.31488593e+01] [-6.69321795e-02 1.54234048e-03 9.97756335e-01 -4.45676744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65863999999999 meters Centerline goodness [0,1] 0.9982272122913282 Centerline is valid? [True, True] Translation: X:95.25, Y:-33.17, Z:-4.46 [[ 8.32360853e-01 5.51465632e-01 5.53269180e-02 9.52474029e+01] [-5.50133284e-01 8.34196309e-01 -3.83391244e-02 -3.31693638e+01] [-6.72962202e-02 1.47480718e-03 9.97731950e-01 -4.45838577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68863999999999 meters Centerline goodness [0,1] 0.9985745883509461 Centerline is valid? [True, True] Translation: X:95.27, Y:-33.19, Z:-4.46 [[ 8.31094266e-01 5.53344576e-01 5.56066591e-02 9.52716704e+01] [-5.52000492e-01 8.32951339e-01 -3.85684293e-02 -3.31906664e+01] [-6.76592723e-02 1.35909729e-03 9.97707560e-01 -4.46041361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71864 meters Centerline goodness [0,1] 0.998867274070426 Centerline is valid? [True, True] Translation: X:95.29, Y:-33.21, Z:-4.46 [[ 8.28931789e-01 5.56664002e-01 5.47474011e-02 9.52942128e+01] [-5.55366088e-01 8.30737009e-01 -3.80069832e-02 -3.32146768e+01] [-6.66378116e-02 1.10034661e-03 9.97776624e-01 -4.46057075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74864 meters Centerline goodness [0,1] 0.9992124821577989 Centerline is valid? [True, True] Translation: X:95.32, Y:-33.23, Z:-4.46 [[ 8.27356022e-01 5.58979749e-01 5.49877423e-02 9.53193599e+01] [-5.57673115e-01 8.29180766e-01 -3.82093531e-02 -3.32343860e+01] [-6.69530329e-02 9.47552824e-04 9.97755678e-01 -4.46187355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77864 meters Centerline goodness [0,1] 0.9994589543062319 Centerline is valid? [True, True] Translation: X:95.34, Y:-33.26, Z:-4.46 [[ 8.25376238e-01 5.61813372e-01 5.58551755e-02 9.53440745e+01] [-5.60468971e-01 8.27263656e-01 -3.88506902e-02 -3.32566848e+01] [-6.80337939e-02 7.61343755e-04 9.97682727e-01 -4.46323495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80864 meters Centerline goodness [0,1] 0.9995074376908679 Centerline is valid? [True, True] Translation: X:95.37, Y:-33.28, Z:-4.46 [[ 8.24103800e-01 5.63603365e-01 5.66054247e-02 9.53704242e+01] [-5.62223836e-01 8.26045286e-01 -3.94150132e-02 -3.32771431e+01] [-6.89730783e-02 6.57143073e-04 9.97618305e-01 -4.46479127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83864 meters Centerline goodness [0,1] 0.9996069568635157 Centerline is valid? [True, True] Translation: X:95.40, Y:-33.30, Z:-4.47 [[ 8.22683253e-01 5.65657860e-01 5.67754466e-02 9.53969635e+01] [-5.64271937e-01 8.24639869e-01 -3.95761040e-02 -3.32975053e+01] [-6.92058311e-02 5.21806689e-04 9.97602266e-01 -4.46652700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86864 meters Centerline goodness [0,1] 0.999655189399537 Centerline is valid? [True, True] Translation: X:95.42, Y:-33.32, Z:-4.47 [[ 8.20446468e-01 5.69017973e-01 5.55530327e-02 9.54226033e+01] [-5.67696153e-01 8.22325043e-01 -3.87634085e-02 -3.33176496e+01] [-6.77397261e-02 2.66058654e-04 9.97702991e-01 -4.46546684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89864 meters Centerline goodness [0,1] 0.9999016038571288 Centerline is valid? [True, True] Translation: X:95.45, Y:-33.34, Z:-4.47 [[ 8.19291166e-01 5.70607060e-01 5.62989208e-02 9.54492383e+01] [-5.69250462e-01 8.21223206e-01 -3.93237590e-02 -3.33374872e+01] [-6.86723948e-02 1.69421701e-04 9.97639250e-01 -4.46813818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.47, Y:-33.36, Z:-4.47 [[ 8.16951953e-01 5.73940206e-01 5.64105161e-02 9.54748955e+01] [-5.72583126e-01 8.18897206e-01 -3.94452790e-02 -3.33579643e+01] [-6.88336456e-02 -7.48119718e-05 9.97628149e-01 -4.46930456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95864 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:95.50, Y:-33.38, Z:-4.47 [[ 8.16391830e-01 5.74879431e-01 5.49365055e-02 9.55016534e+01] [-5.73591868e-01 8.18238123e-01 -3.84544281e-02 -3.33762296e+01] [-6.70578029e-02 -1.17251918e-04 9.97749085e-01 -4.47012845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98863999999999 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:95.53, Y:-33.39, Z:-4.47 [[ 8.15769585e-01 5.75733264e-01 5.52376040e-02 9.55292367e+01] [-5.74430801e-01 8.17637563e-01 -3.87049118e-02 -3.33945551e+01] [-6.74480451e-02 -1.55891343e-04 9.97722776e-01 -4.47089282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01863999999999 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:95.56, Y:-33.41, Z:-4.47 [[ 8.14678394e-01 5.77369859e-01 5.42508958e-02 9.55560011e+01] [-5.76114515e-01 8.16482689e-01 -3.80536886e-02 -3.34130122e+01] [-6.62659701e-02 -2.53210578e-04 9.97801963e-01 -4.47326356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:-33.43, Z:-4.47 [[ 8.14801805e-01 5.77259032e-01 5.35726478e-02 9.55827682e+01] [-5.76032298e-01 8.16561060e-01 -3.76141847e-02 -3.34310168e+01] [-6.54584659e-02 -2.11469816e-04 9.97855272e-01 -4.47427212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07864 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:95.61, Y:-33.45, Z:-4.48 [[ 8.14920828e-01 5.77088290e-01 5.36017714e-02 9.56101833e+01] [-5.75857340e-01 8.16681748e-01 -3.76728851e-02 -3.34493399e+01] [-6.55161692e-02 -1.66554767e-04 9.97851494e-01 -4.47657382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:95.64, Y:-33.47, Z:-4.48 [[ 8.15547933e-01 5.76126826e-01 5.44008260e-02 9.56377566e+01] [-5.74853867e-01 8.17360311e-01 -3.82773291e-02 -3.34677278e+01] [-6.65176722e-02 -5.55285574e-05 9.97785246e-01 -4.47880745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:-33.49, Z:-4.48 [[ 8.15904938e-01 5.75610247e-01 5.45158216e-02 9.56652739e+01] [-5.74327904e-01 8.17724185e-01 -3.84007328e-02 -3.34867703e+01] [-6.66827611e-02 2.13900198e-05 9.97774227e-01 -4.48039584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:-33.50, Z:-4.48 [[ 8.17335564e-01 5.73824026e-01 5.18513625e-02 9.56924112e+01] [-5.72658131e-01 8.18978602e-01 -3.65611023e-02 -3.35044089e+01] [-6.34447953e-02 1.89584855e-04 9.97985332e-01 -4.47907025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19864 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:95.72, Y:-33.52, Z:-4.48 [[ 8.17231710e-01 5.74033740e-01 5.11624601e-02 9.57200017e+01] [-5.72896800e-01 8.18831622e-01 -3.61113699e-02 -3.35226827e+01] [-6.26225849e-02 2.00546864e-04 9.98037260e-01 -4.47997239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22864 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:95.75, Y:-33.54, Z:-4.48 [[ 8.17542054e-01 5.73678958e-01 5.01741278e-02 9.57466709e+01] [-5.72582614e-01 8.19080209e-01 -3.54508379e-02 -3.35412354e+01] [-6.14340349e-02 2.53717592e-04 9.98111114e-01 -4.48154063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25864 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:95.77, Y:-33.56, Z:-4.48 [[ 8.17247023e-01 5.74100640e-01 5.01573397e-02 9.57734340e+01] [-5.73003632e-01 8.18784705e-01 -3.54745781e-02 -3.35597466e+01] [-6.14340406e-02 2.51155568e-04 9.98111114e-01 -4.48293487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:-33.58, Z:-4.48 [[ 8.17030096e-01 5.74392856e-01 5.03455026e-02 9.58003547e+01] [-5.73285736e-01 8.18579733e-01 -3.56466847e-02 -3.35785106e+01] [-6.16870091e-02 2.62055674e-04 9.98095509e-01 -4.48433201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31864 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:95.83, Y:-33.60, Z:-4.49 [[ 8.16405818e-01 5.75170775e-01 5.15763547e-02 9.58263289e+01] [-5.74007884e-01 8.18033326e-01 -3.65571672e-02 -3.35977459e+01] [-6.32177912e-02 2.40249750e-04 9.97999726e-01 -4.48678289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-33.62, Z:-4.49 [[ 8.16445981e-01 5.75270068e-01 4.98027007e-02 9.58530405e+01] [-5.74184023e-01 8.17963499e-01 -3.53330268e-02 -3.36163283e+01] [-6.10628240e-02 2.51592695e-04 9.98133893e-01 -4.48737477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:-33.64, Z:-4.49 [[ 8.15742582e-01 5.76330027e-01 4.90687220e-02 9.58795151e+01] [-5.75275710e-01 8.17217022e-01 -3.48453245e-02 -3.36350041e+01] [-6.01822017e-02 1.96771149e-04 9.98187389e-01 -4.48828615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40863999999999 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:95.91, Y:-33.65, Z:-4.49 [[ 8.14862811e-01 5.77519254e-01 4.97002106e-02 9.59062178e+01] [-5.76437631e-01 8.16377052e-01 -3.53293952e-02 -3.36543890e+01] [-6.09775173e-02 1.39538607e-04 9.98139130e-01 -4.48921670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43863999999999 meters Centerline goodness [0,1] 0.9997538885607403 Centerline is valid? [True, True] Translation: X:95.93, Y:-33.67, Z:-4.49 [[ 8.14589427e-01 5.77921530e-01 4.95052575e-02 9.59333732e+01] [-5.76846767e-01 8.16092326e-01 -3.52295758e-02 -3.36737980e+01] [-6.07607912e-02 1.40692257e-04 9.98152346e-01 -4.48978242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46864 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:95.96, Y:-33.69, Z:-4.49 [[ 8.14156579e-01 5.78463506e-01 5.02895302e-02 9.59592913e+01] [-5.77352947e-01 8.15708253e-01 -3.58276466e-02 -3.36937431e+01] [-6.17465709e-02 1.34505710e-04 9.98091851e-01 -4.49116987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49864 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:95.99, Y:-33.71, Z:-4.49 [[ 8.13099429e-01 5.79991657e-01 4.97895331e-02 9.59864213e+01] [-5.78903583e-01 8.14622413e-01 -3.55100800e-02 -3.37131138e+01] [-6.11552197e-02 4.98866401e-05 9.98128267e-01 -4.49191760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52864 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:96.01, Y:-33.73, Z:-4.49 [[ 8.11354220e-01 5.82520035e-01 4.87312819e-02 9.60129709e+01] [-5.81480125e-01 8.12816337e-01 -3.47917725e-02 -3.37313982e+01] [-5.98764865e-02 -1.07820449e-04 9.98205788e-01 -4.49282888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55864 meters Centerline goodness [0,1] 0.9998033528341773 Centerline is valid? [True, True] Translation: X:96.04, Y:-33.75, Z:-4.49 [[ 8.10032041e-01 5.84390105e-01 4.83352740e-02 9.60396805e+01] [-5.83368307e-01 8.11472833e-01 -3.45435941e-02 -3.37511552e+01] [-5.94096963e-02 -2.15848929e-04 9.98233661e-01 -4.49399224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58864 meters Centerline goodness [0,1] 0.9999015311899956 Centerline is valid? [True, True] Translation: X:96.07, Y:-33.77, Z:-4.50 [[ 8.08910260e-01 5.85933425e-01 4.84377227e-02 9.60658598e+01] [-5.84907747e-01 8.10359138e-01 -3.46553812e-02 -3.37710283e+01] [-5.95576974e-02 -2.98505839e-04 9.98224820e-01 -4.49524188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61864 meters Centerline goodness [0,1] 0.9999016715830875 Centerline is valid? [True, True] Translation: X:96.09, Y:-33.79, Z:-4.50 [[ 8.08188072e-01 5.86855733e-01 4.93192497e-02 9.60936920e+01] [-5.85791645e-01 8.09691443e-01 -3.53258540e-02 -3.37892159e+01] [-6.06645544e-02 -3.40870588e-04 9.98158152e-01 -4.49744795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:-33.81, Z:-4.50 [[ 8.07803998e-01 5.87324340e-01 5.00281895e-02 9.61222397e+01] [-5.86227831e-01 8.09351591e-01 -3.58738482e-02 -3.38066554e+01] [-6.15599790e-02 -3.48878967e-04 9.98103325e-01 -4.49923805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:-33.82, Z:-4.50 [[ 8.07428818e-01 5.87809898e-01 5.03808174e-02 9.61499910e+01] [-5.86696324e-01 8.08999009e-01 -3.61666602e-02 -3.38241834e+01] [-6.20171523e-02 -3.56236647e-04 9.98075020e-01 -4.50115134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:-33.84, Z:-4.50 [[ 8.07507040e-01 5.87728809e-01 5.00722161e-02 9.61772501e+01] [-5.86626246e-01 8.09057938e-01 -3.59847304e-02 -3.38423713e+01] [-6.16605867e-02 -3.15753025e-04 9.98097126e-01 -4.50155725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73863999999999 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:96.21, Y:-33.86, Z:-4.50 [[ 8.06848158e-01 5.88648331e-01 4.98918003e-02 9.62051076e+01] [-5.87553017e-01 8.08389150e-01 -3.58947686e-02 -3.38610210e+01] [-6.14613857e-02 -3.52449867e-04 9.98109400e-01 -4.50346635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:-33.88, Z:-4.51 [[ 8.06663453e-01 5.88868937e-01 5.02737335e-02 9.62335228e+01] [-5.87754697e-01 8.08228470e-01 -3.62099036e-02 -3.38774187e+01] [-6.19555501e-02 -3.39417131e-04 9.98078852e-01 -4.50559363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.26, Y:-33.90, Z:-4.51 [[ 8.06408679e-01 5.89181479e-01 5.06974105e-02 9.62611795e+01] [-5.88046426e-01 8.08000665e-01 -3.65557955e-02 -3.38963899e+01] [-6.25015390e-02 -3.33520301e-04 9.98044812e-01 -4.50697335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.29, Y:-33.91, Z:-4.51 [[ 8.06524587e-01 5.88944453e-01 5.15996337e-02 9.62896247e+01] [-5.87765453e-01 8.08173465e-01 -3.72481355e-02 -3.39138300e+01] [-6.36385375e-02 -2.86944998e-04 9.97972973e-01 -4.50706384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:-33.93, Z:-4.51 [[ 8.06729941e-01 5.88728160e-01 5.08522952e-02 9.63167717e+01] [-5.87580249e-01 8.08331058e-01 -3.67471365e-02 -3.39304530e+01] [-6.27395636e-02 -2.34789002e-04 9.98029905e-01 -4.50856387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88864 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:96.34, Y:-33.95, Z:-4.51 [[ 8.06768812e-01 5.88617277e-01 5.15148993e-02 9.63446478e+01] [-5.87436571e-01 8.08411814e-01 -3.72641043e-02 -3.39484760e+01] [-6.35795488e-02 -1.98218701e-04 9.97976754e-01 -4.51094296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.37, Y:-33.97, Z:-4.51 [[ 8.06679526e-01 5.88868246e-01 5.00232979e-02 9.63716755e+01] [-5.87753139e-01 8.08229024e-01 -3.62228066e-02 -3.39664336e+01] [-6.17607418e-02 -1.81153876e-04 9.98090967e-01 -4.51195565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:96.40, Y:-33.98, Z:-4.51 [[ 8.06831177e-01 5.88642956e-01 5.02287006e-02 9.64010454e+01] [-5.87515952e-01 8.08393130e-01 -3.64081578e-02 -3.39816629e+01] [-6.20359422e-02 -1.34926000e-04 9.98073907e-01 -4.51288103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97864 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:96.43, Y:-33.99, Z:-4.51 [[ 8.06967431e-01 5.88426240e-01 5.05779048e-02 9.64329902e+01] [-5.87280528e-01 8.08550897e-01 -3.67019009e-02 -3.39947004e+01] [-6.24911719e-02 -8.61798891e-05 9.98045513e-01 -4.51463895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00864 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:96.46, Y:-34.01, Z:-4.52 [[ 8.06811155e-01 5.88637313e-01 5.06149534e-02 9.64618545e+01] [-5.87487815e-01 8.08397247e-01 -3.67689873e-02 -3.40116083e+01] [-6.25605869e-02 -7.00393282e-05 9.98041166e-01 -4.51707096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:-34.03, Z:-4.52 [[ 8.07517818e-01 5.87722387e-01 4.99736835e-02 9.64899708e+01] [-5.86597681e-01 8.09062664e-01 -3.63423487e-02 -3.40286306e+01] [-6.17910534e-02 3.26472810e-05 9.98089107e-01 -4.51927202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06864 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:96.52, Y:-34.05, Z:-4.52 [[ 8.07859779e-01 5.87326869e-01 4.90889664e-02 9.65176933e+01] [-5.86238693e-01 8.09349826e-01 -3.57359027e-02 -3.40461186e+01] [-6.07188023e-02 9.17470226e-05 9.98154907e-01 -4.51899671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09864 meters Centerline goodness [0,1] 0.9998033914966822 Centerline is valid? [True, True] Translation: X:96.55, Y:-34.06, Z:-4.52 [[ 8.09515262e-01 5.84877554e-01 5.10224247e-02 9.65480171e+01] [-5.83694739e-01 8.11121537e-01 -3.71793574e-02 -3.40592598e+01] [-6.31307591e-02 3.15736395e-04 9.98005214e-01 -4.52147251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12863999999999 meters Centerline goodness [0,1] 0.9998524783634933 Centerline is valid? [True, True] Translation: X:96.58, Y:-34.08, Z:-4.52 [[ 8.10607187e-01 5.83333822e-01 5.13579518e-02 9.65758607e+01] [-5.82130046e-01 8.12232376e-01 -3.74589949e-02 -3.40762631e+01] [-6.35656899e-02 4.67523630e-04 9.97977547e-01 -4.52349579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15863999999999 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:96.60, Y:-34.09, Z:-4.53 [[ 8.13585999e-01 5.79006515e-01 5.31909656e-02 9.66027786e+01] [-5.77703478e-01 8.15322456e-01 -3.88327730e-02 -3.40940287e+01] [-6.58522173e-02 8.65194610e-04 9.97829012e-01 -4.52535830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18863999999999 meters Centerline goodness [0,1] 0.9996558336201387 Centerline is valid? [True, True] Translation: X:96.63, Y:-34.11, Z:-4.53 [[ 8.14943610e-01 5.77061169e-01 5.35473669e-02 9.66296840e+01] [-5.75733990e-01 8.16700243e-01 -3.91291056e-02 -3.41116809e+01] [-6.63120350e-02 1.05897536e-03 9.97798373e-01 -4.52765665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21864 meters Centerline goodness [0,1] 0.9995080918884353 Centerline is valid? [True, True] Translation: X:96.66, Y:-34.13, Z:-4.53 [[ 8.15722905e-01 5.76106022e-01 5.19422180e-02 9.66567094e+01] [-5.74853179e-01 8.17374195e-01 -3.79901079e-02 -3.41301150e+01] [-6.43425585e-02 1.13025201e-03 9.97927231e-01 -4.52735518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24864 meters Centerline goodness [0,1] 0.9998031883487503 Centerline is valid? [True, True] Translation: X:96.68, Y:-34.15, Z:-4.53 [[ 8.15795325e-01 5.76007735e-01 5.18948606e-02 9.66842842e+01] [-5.74754647e-01 8.17443410e-01 -3.79916771e-02 -3.41481029e+01] [-6.43046117e-02 1.16662030e-03 9.97929635e-01 -4.52919145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27864 meters Centerline goodness [0,1] 0.9999016522423289 Centerline is valid? [True, True] Translation: X:96.71, Y:-34.17, Z:-4.53 [[ 8.15014888e-01 5.77116646e-01 5.18373346e-02 9.67099497e+01] [-5.75866124e-01 8.16660974e-01 -3.79876466e-02 -3.41670389e+01] [-6.42568314e-02 1.10913252e-03 9.97932778e-01 -4.52990076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30864 meters Centerline goodness [0,1] 0.9999016377317661 Centerline is valid? [True, True] Translation: X:96.74, Y:-34.19, Z:-4.53 [[ 8.12782387e-01 5.80115352e-01 5.33944777e-02 9.67375338e+01] [-5.78792380e-01 8.14533801e-01 -3.91671780e-02 -3.41852028e+01] [-6.62130881e-02 9.30075647e-04 9.97805072e-01 -4.53221757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:96.76, Y:-34.20, Z:-4.53 [[ 8.11659732e-01 5.81758505e-01 5.25882155e-02 9.67638301e+01] [-5.80476671e-01 8.13361166e-01 -3.86063129e-02 -3.42038400e+01] [-6.52327632e-02 8.08957357e-04 9.97869747e-01 -4.53303216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:-34.22, Z:-4.53 [[ 8.08806782e-01 5.85616564e-01 5.37105960e-02 9.67907727e+01] [-5.84286267e-01 8.10588034e-01 -3.94537466e-02 -3.42224090e+01] [-6.66419339e-02 5.28094286e-04 9.97776816e-01 -4.53424518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:-34.24, Z:-4.54 [[ 8.08088934e-01 5.86543400e-01 5.43977432e-02 9.68185399e+01] [-5.85177997e-01 8.09917648e-01 -4.00014413e-02 -3.42409094e+01] [-6.75202736e-02 4.92359637e-04 9.97717781e-01 -4.53607765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42864 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:96.85, Y:-34.26, Z:-4.54 [[ 8.07034006e-01 5.88047810e-01 5.38134510e-02 9.68455173e+01] [-5.86712270e-01 8.08826074e-01 -3.96118066e-02 -3.42587417e+01] [-6.68193584e-02 3.95063014e-04 9.97765011e-01 -4.53698004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.87, Y:-34.28, Z:-4.54 [[ 8.05947610e-01 5.89608607e-01 5.30107503e-02 9.68727464e+01] [-5.88313649e-01 8.07689053e-01 -3.90569464e-02 -3.42759407e+01] [-6.58445144e-02 2.90904679e-04 9.97829853e-01 -4.53798152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:-34.29, Z:-4.54 [[ 8.04426091e-01 5.91591121e-01 5.40241645e-02 9.69010135e+01] [-5.90248641e-01 8.06238130e-01 -3.98324026e-02 -3.42912859e+01] [-6.71208370e-02 1.54534244e-04 9.97744842e-01 -4.53739686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:-34.31, Z:-4.54 [[ 8.03848367e-01 5.92406193e-01 5.36908411e-02 9.69288472e+01] [-5.91081240e-01 8.05639432e-01 -3.95989176e-02 -3.43084212e+01] [-6.67141027e-02 9.58763235e-05 9.97772128e-01 -4.53902756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54863999999999 meters Centerline goodness [0,1] 0.9997543480396973 Centerline is valid? [True, True] Translation: X:96.96, Y:-34.32, Z:-4.54 [[ 8.02489442e-01 5.94099427e-01 5.52862318e-02 9.69588948e+01] [-5.92697701e-01 8.04391615e-01 -4.07868300e-02 -3.43224652e+01] [-6.87032136e-02 -3.70219840e-05 9.97637142e-01 -4.54209584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57864 meters Centerline goodness [0,1] 0.9996066283129271 Centerline is valid? [True, True] Translation: X:96.99, Y:-34.34, Z:-4.54 [[ 8.02015250e-01 5.94666096e-01 5.60693667e-02 9.69863704e+01] [-5.93224930e-01 8.03972778e-01 -4.13757650e-02 -3.43387702e+01] [-6.96830092e-02 -7.77516510e-05 9.97569182e-01 -4.54431451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60864 meters Centerline goodness [0,1] 0.9993608967110762 Centerline is valid? [True, True] Translation: X:97.01, Y:-34.35, Z:-4.55 [[ 8.02144813e-01 5.94556665e-01 5.53721161e-02 9.70139398e+01] [-5.93150152e-01 8.04053710e-01 -4.08721004e-02 -3.43549908e+01] [-6.88229351e-02 -5.86357550e-05 9.97628889e-01 -4.54541596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63864 meters Centerline goodness [0,1] 0.9988684443569812 Centerline is valid? [True, True] Translation: X:97.04, Y:-34.37, Z:-4.55 [[ 8.02821742e-01 5.93602388e-01 5.57983547e-02 9.70440201e+01] [-5.92171033e-01 8.04758476e-01 -4.11978567e-02 -3.43689722e+01] [-6.93593450e-02 3.23657443e-05 9.97591740e-01 -4.54763184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66864 meters Centerline goodness [0,1] 0.9987216677319436 Centerline is valid? [True, True] Translation: X:97.07, Y:-34.39, Z:-4.55 [[ 8.03446028e-01 5.92810583e-01 5.52276482e-02 9.70716476e+01] [-5.91405777e-01 8.05341915e-01 -4.07873303e-02 -3.43853969e+01] [-6.86563011e-02 1.08468300e-04 9.97640366e-01 -4.54879143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69864 meters Centerline goodness [0,1] 0.9984772570979468 Centerline is valid? [True, True] Translation: X:97.10, Y:-34.40, Z:-4.55 [[ 8.05372988e-01 5.90227713e-01 5.48233241e-02 9.71007142e+01] [-5.88836699e-01 8.07236728e-01 -4.04994610e-02 -3.43994706e+01] [-6.81593050e-02 3.35186724e-04 9.97674394e-01 -4.54956900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72864 meters Centerline goodness [0,1] 0.9985752186302447 Centerline is valid? [True, True] Translation: X:97.13, Y:-34.42, Z:-4.55 [[ 8.06383978e-01 5.88911533e-01 5.41117891e-02 9.71282204e+01] [-5.87552761e-01 8.08197380e-01 -3.99843596e-02 -3.44164017e+01] [-6.72802567e-02 4.49215896e-04 9.97734015e-01 -4.55176958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75864 meters Centerline goodness [0,1] 0.9983307967990573 Centerline is valid? [True, True] Translation: X:97.16, Y:-34.43, Z:-4.55 [[ 8.07565622e-01 5.87280121e-01 5.42201558e-02 9.71551730e+01] [-5.85911499e-01 8.09383534e-01 -4.00750496e-02 -3.44333427e+01] [-6.74201813e-02 5.95019609e-04 9.97724494e-01 -4.55369595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78864 meters Centerline goodness [0,1] 0.9983255355823689 Centerline is valid? [True, True] Translation: X:97.18, Y:-34.45, Z:-4.56 [[ 8.11072322e-01 5.82521697e-01 5.31992560e-02 9.71831943e+01] [-5.81193366e-01 8.12814562e-01 -3.93288478e-02 -3.44486177e+01] [-6.61510371e-02 9.79485213e-04 9.97809141e-01 -4.55507178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81864 meters Centerline goodness [0,1] 0.9979341891692489 Centerline is valid? [True, True] Translation: X:97.21, Y:-34.47, Z:-4.56 [[ 8.12276119e-01 5.80909373e-01 5.24576718e-02 9.72086890e+01] [-5.79614173e-01 8.13967500e-01 -3.87855546e-02 -3.44665710e+01] [-6.52297322e-02 1.09936966e-03 9.97869668e-01 -4.55584851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84864 meters Centerline goodness [0,1] 0.998034687761018 Centerline is valid? [True, True] Translation: X:97.23, Y:-34.49, Z:-4.56 [[ 8.13868512e-01 5.78669471e-01 5.25327354e-02 9.72341803e+01] [-5.77365565e-01 8.15561152e-01 -3.88459997e-02 -3.44855274e+01] [-6.53226523e-02 1.28494355e-03 9.97863367e-01 -4.55719555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87863999999999 meters Centerline goodness [0,1] 0.9981828004518443 Centerline is valid? [True, True] Translation: X:97.26, Y:-34.51, Z:-4.56 [[ 8.15942935e-01 5.75823075e-01 5.16228029e-02 9.72581966e+01] [-5.74557988e-01 8.17572972e-01 -3.81779339e-02 -3.45051868e+01] [-6.41891437e-02 1.49072164e-03 9.97936637e-01 -4.55877274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90863999999999 meters Centerline goodness [0,1] 0.9979274611398964 Centerline is valid? [True, True] Translation: X:97.28, Y:-34.52, Z:-4.56 [[ 8.17009894e-01 5.74333599e-01 5.13395498e-02 9.72829592e+01] [-5.73079127e-01 8.18619782e-01 -3.79732410e-02 -3.45248272e+01] [-6.38368792e-02 1.60288924e-03 9.97959059e-01 -4.55934946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93863999999999 meters Centerline goodness [0,1] 0.9975311080387123 Centerline is valid? [True, True] Translation: X:97.31, Y:-34.55, Z:-4.56 [[ 8.17438672e-01 5.73766899e-01 5.08484381e-02 9.73065570e+01] [-5.72534847e-01 8.19017013e-01 -3.76162339e-02 -3.45475764e+01] [-6.32286858e-02 1.63646153e-03 9.97997723e-01 -4.56079520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96864 meters Centerline goodness [0,1] 0.9978843788437884 Centerline is valid? [True, True] Translation: X:97.33, Y:-34.57, Z:-4.56 [[ 8.17394164e-01 5.73813906e-01 5.10331379e-02 9.73311508e+01] [-5.72572358e-01 8.18984059e-01 -3.77624880e-02 -3.45687005e+01] [-6.34639672e-02 1.64667323e-03 9.97982772e-01 -4.56238315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99864 meters Centerline goodness [0,1] 0.9975856122197586 Centerline is valid? [True, True] Translation: X:97.36, Y:-34.59, Z:-4.56 [[ 8.16939865e-01 5.74458244e-01 5.10586180e-02 9.73559961e+01] [-5.73216096e-01 8.18532314e-01 -3.77909895e-02 -3.45898474e+01] [-6.35024742e-02 1.60534414e-03 9.97980390e-01 -4.56389281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02864 meters Centerline goodness [0,1] 0.9975911906400551 Centerline is valid? [True, True] Translation: X:97.38, Y:-34.61, Z:-4.57 [[ 8.16387825e-01 5.75282688e-01 5.06038303e-02 9.73792970e+01] [-5.74063573e-01 8.17953221e-01 -3.74638753e-02 -3.46130170e+01] [-6.29438849e-02 1.53523609e-03 9.98015887e-01 -4.56511622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05864 meters Centerline goodness [0,1] 0.9974870657797487 Centerline is valid? [True, True] Translation: X:97.40, Y:-34.63, Z:-4.57 [[ 8.15948897e-01 5.75980700e-01 4.97356043e-02 9.74035074e+01] [-5.74803824e-01 8.17461982e-01 -3.68303201e-02 -3.46343366e+01] [-6.18705193e-02 1.46344354e-03 9.98083111e-01 -4.56681923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08864 meters Centerline goodness [0,1] 0.9979777054355332 Centerline is valid? [True, True] Translation: X:97.43, Y:-34.66, Z:-4.57 [[ 8.14558521e-01 5.77869181e-01 5.06125074e-02 9.74258959e+01] [-5.76653420e-01 8.16128288e-01 -3.74893389e-02 -3.46581630e+01] [-6.29702326e-02 1.35138492e-03 9.98014491e-01 -4.56792139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11864 meters Centerline goodness [0,1] 0.9979814887751083 Centerline is valid? [True, True] Translation: X:97.45, Y:-34.68, Z:-4.57 [[ 8.13358233e-01 5.79441266e-01 5.19249871e-02 9.74510180e+01] [-5.78163997e-01 8.15013008e-01 -3.84732250e-02 -3.46794645e+01] [-6.46125141e-02 1.27135620e-03 9.97909618e-01 -4.57020040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14864 meters Centerline goodness [0,1] 0.9979814887751083 Centerline is valid? [True, True] Translation: X:97.48, Y:-34.70, Z:-4.57 [[ 8.13251230e-01 5.79592075e-01 5.19178560e-02 9.74771838e+01] [-5.78314500e-01 8.14905767e-01 -3.84828463e-02 -3.46987754e+01] [-6.46125130e-02 1.27137315e-03 9.97909619e-01 -4.57159423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17864 meters Centerline goodness [0,1] 0.99808231302552 Centerline is valid? [True, True] Translation: X:97.50, Y:-34.72, Z:-4.57 [[ 8.11750264e-01 5.81748336e-01 5.12872493e-02 9.75021653e+01] [-5.80505100e-01 8.13368102e-01 -3.80283865e-02 -3.47194037e+01] [-6.38383632e-02 1.09704301e-03 9.97959648e-01 -4.57171169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20864 meters Centerline goodness [0,1] 0.9980834439038774 Centerline is valid? [True, True] Translation: X:97.53, Y:-34.74, Z:-4.57 [[ 8.09680077e-01 5.84518117e-01 5.25047037e-02 9.75271538e+01] [-5.83220225e-01 8.11380149e-01 -3.89412829e-02 -3.47402176e+01] [-6.53631597e-02 9.08175809e-04 9.97861129e-01 -4.57306437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23863999999999 meters Centerline goodness [0,1] 0.9984269773386423 Centerline is valid? [True, True] Translation: X:97.55, Y:-34.76, Z:-4.57 [[ 8.09154794e-01 5.85246287e-01 5.24909816e-02 9.75523117e+01] [-5.83949944e-01 8.10855134e-01 -3.89411730e-02 -3.47595841e+01] [-6.53527589e-02 8.57331035e-04 9.97861855e-01 -4.57449077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26863999999999 meters Centerline goodness [0,1] 0.9980817470857312 Centerline is valid? [True, True] Translation: X:97.58, Y:-34.78, Z:-4.58 [[ 8.07989380e-01 5.86855125e-01 5.24806962e-02 9.75782334e+01] [-5.85562014e-01 8.09691621e-01 -3.89436390e-02 -3.47789664e+01] [-6.53474542e-02 7.35344592e-04 9.97862300e-01 -4.57569222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29863999999999 meters Centerline goodness [0,1] 0.9981803875282778 Centerline is valid? [True, True] Translation: X:97.60, Y:-34.80, Z:-4.58 [[ 8.05998180e-01 5.89502709e-01 5.34180638e-02 9.76041501e+01] [-5.88167909e-01 8.07766219e-01 -3.96515699e-02 -3.47989228e+01] [-6.65240153e-02 5.40302326e-04 9.97784678e-01 -4.57644387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32864 meters Centerline goodness [0,1] 0.9983789359925332 Centerline is valid? [True, True] Translation: X:97.63, Y:-34.82, Z:-4.58 [[ 8.04831542e-01 5.91061081e-01 5.37864991e-02 9.76307034e+01] [-5.89710190e-01 8.06626689e-01 -3.99409154e-02 -3.48191274e+01] [-6.69931463e-02 4.27261941e-04 9.97753344e-01 -4.57798653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35864 meters Centerline goodness [0,1] 0.9982789142407553 Centerline is valid? [True, True] Translation: X:97.66, Y:-34.84, Z:-4.58 [[ 8.03196493e-01 5.93226361e-01 5.43863783e-02 9.76568830e+01] [-5.91848981e-01 8.05035661e-01 -4.04025754e-02 -3.48389236e+01] [-6.77508468e-02 2.62684269e-04 9.97702237e-01 -4.57952148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38864 meters Centerline goodness [0,1] 0.9982773895068412 Centerline is valid? [True, True] Translation: X:97.68, Y:-34.86, Z:-4.58 [[ 8.01901553e-01 5.94999995e-01 5.41193656e-02 9.76829101e+01] [-5.93639136e-01 8.03725694e-01 -4.02192192e-02 -3.48572564e+01] [-6.74275599e-02 1.24480960e-04 9.97724165e-01 -4.57999086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41864 meters Centerline goodness [0,1] 0.9983792544570502 Centerline is valid? [True, True] Translation: X:97.71, Y:-34.88, Z:-4.58 [[ 8.00767429e-01 5.96556513e-01 5.37759368e-02 9.77092505e+01] [-5.95215565e-01 8.02571073e-01 -3.99763011e-02 -3.48754743e+01] [-6.70071341e-02 3.44522014e-06 9.97752496e-01 -4.58121809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44864 meters Centerline goodness [0,1] 0.9983293204265147 Centerline is valid? [True, True] Translation: X:97.74, Y:-34.89, Z:-4.58 [[ 7.98359046e-01 5.99802718e-01 5.34746079e-02 9.77365580e+01] [-5.98483179e-01 8.00147882e-01 -3.97649417e-02 -3.48933108e+01] [-6.66387144e-02 -2.56952392e-04 9.97777137e-01 -4.58233082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47864 meters Centerline goodness [0,1] 0.9984773318925291 Centerline is valid? [True, True] Translation: X:97.76, Y:-34.91, Z:-4.59 [[ 7.97593496e-01 6.00682900e-01 5.49969878e-02 9.77630845e+01] [-5.99288136e-01 7.99487302e-01 -4.09119073e-02 -3.49118475e+01] [-6.85444765e-02 -3.27971174e-04 9.97648008e-01 -4.58508904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50864 meters Centerline goodness [0,1] 0.9982328686432358 Centerline is valid? [True, True] Translation: X:97.79, Y:-34.93, Z:-4.59 [[ 7.95850431e-01 6.02978502e-01 5.51272898e-02 9.77906411e+01] [-6.01581836e-01 7.97757267e-01 -4.10199583e-02 -3.49289409e+01] [-6.87123491e-02 -5.17824776e-04 9.97636379e-01 -4.58526888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53864 meters Centerline goodness [0,1] 0.998575148626738 Centerline is valid? [True, True] Translation: X:97.82, Y:-34.95, Z:-4.59 [[ 7.95272896e-01 6.03800022e-01 5.44660909e-02 9.78174879e+01] [-6.02437881e-01 7.97135625e-01 -4.05388053e-02 -3.49459791e+01] [-6.78941929e-02 -5.73023297e-04 9.97692363e-01 -4.58648888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56864 meters Centerline goodness [0,1] 0.9983303869573757 Centerline is valid? [True, True] Translation: X:97.85, Y:-34.96, Z:-4.59 [[ 7.94993172e-01 6.04260132e-01 5.34373362e-02 9.78455592e+01] [-6.02949343e-01 7.96786886e-01 -3.97837603e-02 -3.49628388e+01] [-6.66179089e-02 -5.92188980e-04 9.97778384e-01 -4.58860868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59863999999999 meters Centerline goodness [0,1] 0.9980824073163537 Centerline is valid? [True, True] Translation: X:97.87, Y:-34.98, Z:-4.59 [[ 7.94320054e-01 6.05168778e-01 5.31639081e-02 9.78744112e+01] [-6.03872706e-01 7.96096928e-01 -3.95908503e-02 -3.49773356e+01] [-6.62827705e-02 -6.56426686e-04 9.97800663e-01 -4.59044261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62863999999999 meters Centerline goodness [0,1] 0.9982810274544472 Centerline is valid? [True, True] Translation: X:97.90, Y:-34.99, Z:-4.59 [[ 7.94396793e-01 6.05002326e-01 5.39065990e-02 9.79013166e+01] [-6.03668697e-01 7.96223443e-01 -4.01538551e-02 -3.49941772e+01] [-6.72148736e-02 -6.43632656e-04 9.97738316e-01 -4.59200754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65863999999999 meters Centerline goodness [0,1] 0.998478676939687 Centerline is valid? [True, True] Translation: X:97.93, Y:-35.01, Z:-4.59 [[ 7.93635256e-01 6.05935484e-01 5.46376273e-02 9.79310374e+01] [-6.04566972e-01 7.95513459e-01 -4.07076419e-02 -3.50088585e+01] [-6.81311726e-02 -7.25085133e-04 9.97676109e-01 -4.59347517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68863999999999 meters Centerline goodness [0,1] 0.9983804475853946 Centerline is valid? [True, True] Translation: X:97.96, Y:-35.02, Z:-4.59 [[ 7.93542040e-01 6.06067065e-01 5.45320360e-02 9.79578064e+01] [-6.04703556e-01 7.95413215e-01 -4.06377442e-02 -3.50248154e+01] [-6.80047005e-02 -7.27957716e-04 9.97684735e-01 -4.59488665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71864 meters Centerline goodness [0,1] 0.9987679873841908 Centerline is valid? [True, True] Translation: X:97.98, Y:-35.04, Z:-4.60 [[ 7.93547581e-01 6.06097818e-01 5.41079683e-02 9.79840968e+01] [-6.04755301e-01 7.95389787e-01 -4.03250862e-02 -3.50398573e+01] [-6.74778721e-02 -7.22206063e-04 9.97720510e-01 -4.59698121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74864 meters Centerline goodness [0,1] 0.9992130244454281 Centerline is valid? [True, True] Translation: X:98.01, Y:-35.05, Z:-4.60 [[ 7.93565219e-01 6.06036373e-01 5.45358411e-02 9.80110349e+01] [-6.04672506e-01 7.95436603e-01 -4.06419843e-02 -3.50526646e+01] [-6.80103249e-02 -7.24258534e-04 9.97684354e-01 -4.59867346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77864 meters Centerline goodness [0,1] 0.9993614617613832 Centerline is valid? [True, True] Translation: X:98.04, Y:-35.07, Z:-4.60 [[ 7.94166587e-01 6.05322689e-01 5.37017218e-02 9.80357815e+01] [-6.03999761e-01 7.95979898e-01 -4.00036249e-02 -3.50680377e+01] [-6.69605928e-02 -6.66284937e-04 9.97755398e-01 -4.60066836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80864 meters Centerline goodness [0,1] 0.9994598841205932 Centerline is valid? [True, True] Translation: X:98.06, Y:-35.08, Z:-4.60 [[ 7.95227547e-01 6.03922642e-01 5.37642119e-02 9.80596758e+01] [-6.02596059e-01 7.97042725e-01 -4.00110515e-02 -3.50824509e+01] [-6.70159538e-02 -5.80211860e-04 9.97751735e-01 -4.60115565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83864 meters Centerline goodness [0,1] 0.9990165224232888 Centerline is valid? [True, True] Translation: X:98.09, Y:-35.10, Z:-4.60 [[ 7.97813657e-01 6.00475782e-01 5.40574136e-02 9.80857113e+01] [-5.99129501e-01 7.99642876e-01 -4.01884542e-02 -3.50951210e+01] [-6.73588192e-02 -3.24493624e-04 9.97728763e-01 -4.60362009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86864 meters Centerline goodness [0,1] 0.9992144926113211 Centerline is valid? [True, True] Translation: X:98.11, Y:-35.11, Z:-4.61 [[ 7.99838011e-01 5.97695107e-01 5.49519316e-02 9.81104310e+01] [-5.96299908e-01 8.01723484e-01 -4.08151353e-02 -3.51105068e+01] [-6.84512607e-02 -1.22335079e-04 9.97654454e-01 -4.60566392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89864 meters Centerline goodness [0,1] 0.999213217938631 Centerline is valid? [True, True] Translation: X:98.13, Y:-35.12, Z:-4.61 [[ 8.03425566e-01 5.92890170e-01 5.46681472e-02 9.81343778e+01] [-5.91500887e-01 8.05283293e-01 -4.05650014e-02 -3.51242751e+01] [-6.80739362e-02 2.54701668e-04 9.97680247e-01 -4.60689181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92864 meters Centerline goodness [0,1] 0.9988218545972215 Centerline is valid? [True, True] Translation: X:98.16, Y:-35.14, Z:-4.61 [[ 8.05036813e-01 5.90734520e-01 5.42996980e-02 9.81571550e+01] [-5.89361858e-01 8.06865892e-01 -4.02496445e-02 -3.51406027e+01] [-6.75894286e-02 4.00274690e-04 9.97713140e-01 -4.60853742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95864 meters Centerline goodness [0,1] 0.9989191313746684 Centerline is valid? [True, True] Translation: X:98.18, Y:-35.16, Z:-4.61 [[ 8.07056346e-01 5.88007399e-01 5.39198854e-02 9.81805426e+01] [-5.86650581e-01 8.08855333e-01 -3.99267597e-02 -3.51563171e+01] [-6.70906169e-02 5.91012709e-04 9.97746711e-01 -4.60961762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98863999999999 meters Centerline goodness [0,1] 0.9986739354648593 Centerline is valid? [True, True] Translation: X:98.21, Y:-35.17, Z:-4.61 [[ 8.09777420e-01 5.84256719e-01 5.38944871e-02 9.82051463e+01] [-5.82895508e-01 8.11568438e-01 -3.98684922e-02 -3.51719371e+01] [-6.70324992e-02 8.69750329e-04 9.97750413e-01 -4.61051635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01863999999999 meters Centerline goodness [0,1] 0.9984767333300575 Centerline is valid? [True, True] Translation: X:98.23, Y:-35.19, Z:-4.61 [[ 8.11707218e-01 5.81701044e-01 5.24908372e-02 9.82275604e+01] [-5.80406914e-01 8.13402021e-01 -3.87938821e-02 -3.51878876e+01] [-6.52625948e-02 1.02322927e-03 9.97867600e-01 -4.61086910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04863999999999 meters Centerline goodness [0,1] 0.9980357493616185 Centerline is valid? [True, True] Translation: X:98.25, Y:-35.21, Z:-4.61 [[ 8.15050437e-01 5.76927829e-01 5.33578999e-02 9.82499722e+01] [-5.75582891e-01 8.16793932e-01 -3.93955324e-02 -3.52062866e+01] [-6.63107879e-02 1.39745154e-03 9.97798039e-01 -4.61317033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07864 meters Centerline goodness [0,1] 0.9977372226868021 Centerline is valid? [True, True] Translation: X:98.27, Y:-35.22, Z:-4.61 [[ 8.17419588e-01 5.73628937e-01 5.26788275e-02 9.82725276e+01] [-5.72313440e-01 8.19113686e-01 -3.88599551e-02 -3.52237287e+01] [-6.54411433e-02 1.61608751e-03 9.97855122e-01 -4.61406083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10864 meters Centerline goodness [0,1] 0.9974457215836526 Centerline is valid? [True, True] Translation: X:98.29, Y:-35.24, Z:-4.62 [[ 8.19642989e-01 5.70371170e-01 5.34985903e-02 9.82946160e+01] [-5.69009760e-01 8.21384931e-01 -3.94295360e-02 -3.52420466e+01] [-6.64324065e-02 1.87692271e-03 9.97789162e-01 -4.61703534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13864 meters Centerline goodness [0,1] 0.9958691910499139 Centerline is valid? [True, True] Translation: X:98.32, Y:-35.26, Z:-4.62 [[ 8.23014456e-01 5.65567827e-01 5.27279719e-02 9.83153046e+01] [-5.64237124e-01 8.24698816e-01 -3.88372179e-02 -3.52631864e+01] [-6.54497770e-02 2.21251245e-03 9.97853412e-01 -4.61743095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16864 meters Centerline goodness [0,1] 0.9958235062893082 Centerline is valid? [True, True] Translation: X:98.34, Y:-35.28, Z:-4.62 [[ 8.24375939e-01 5.63563119e-01 5.29237497e-02 9.83366822e+01] [-5.62219459e-01 8.26069615e-01 -3.89649974e-02 -3.52827077e+01] [-6.56779370e-02 2.36704434e-03 9.97838066e-01 -4.61877620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19864 meters Centerline goodness [0,1] 0.9950375865965705 Centerline is valid? [True, True] Translation: X:98.36, Y:-35.31, Z:-4.62 [[ 8.24036035e-01 5.64107990e-01 5.24098116e-02 9.83554131e+01] [-5.62793070e-01 8.25697873e-01 -3.85614223e-02 -3.53067671e+01] [-6.50274763e-02 2.28012282e-03 9.97880869e-01 -4.61890258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22864 meters Centerline goodness [0,1] 0.9949721496524868 Centerline is valid? [True, True] Translation: X:98.38, Y:-35.33, Z:-4.62 [[ 8.23834696e-01 5.64500921e-01 5.13332718e-02 9.83771745e+01] [-5.63240804e-01 8.25429517e-01 -3.77612103e-02 -3.53278812e+01] [-6.36882357e-02 2.19600189e-03 9.97967427e-01 -4.61963205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25864 meters Centerline goodness [0,1] 0.9952310717797443 Centerline is valid? [True, True] Translation: X:98.40, Y:-35.35, Z:-4.62 [[ 8.23034984e-01 5.65657611e-01 5.14284252e-02 9.83986508e+01] [-5.64395264e-01 8.24637511e-01 -3.78280595e-02 -3.53494743e+01] [-6.38075383e-02 2.10785671e-03 9.97959997e-01 -4.62175868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28864 meters Centerline goodness [0,1] 0.9950864779874213 Centerline is valid? [True, True] Translation: X:98.42, Y:-35.38, Z:-4.62 [[ 8.21161139e-01 5.68324187e-01 5.19807932e-02 9.84190045e+01] [-5.67039656e-01 8.22802477e-01 -3.82375683e-02 -3.53762035e+01] [-6.45012603e-02 1.92403403e-03 9.97915771e-01 -4.62325998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31864 meters Centerline goodness [0,1] 0.9944917129789013 Centerline is valid? [True, True] Translation: X:98.44, Y:-35.40, Z:-4.62 [[ 8.20028949e-01 5.69937391e-01 5.21909241e-02 9.84423928e+01] [-5.68645073e-01 8.21686123e-01 -3.84017778e-02 -3.53992639e+01] [-6.47711671e-02 1.81245772e-03 9.97898497e-01 -4.62432346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34863999999999 meters Centerline goodness [0,1] 0.9951286719480392 Centerline is valid? [True, True] Translation: X:98.46, Y:-35.42, Z:-4.63 [[ 8.17443213e-01 5.73590231e-01 5.27336824e-02 9.84636243e+01] [-5.72277780e-01 8.19140924e-01 -3.88109525e-02 -3.54245792e+01] [-6.54579005e-02 1.54743506e-03 9.97854132e-01 -4.62544574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37863999999999 meters Centerline goodness [0,1] 0.9945898091678143 Centerline is valid? [True, True] Translation: X:98.49, Y:-35.45, Z:-4.63 [[ 8.16300725e-01 5.75238592e-01 5.24756045e-02 9.84875465e+01] [-5.73941728e-01 8.17984447e-01 -3.86307853e-02 -3.54458762e+01] [-6.51461469e-02 1.41639896e-03 9.97874728e-01 -4.62639317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40863999999999 meters Centerline goodness [0,1] 0.9956737623519001 Centerline is valid? [True, True] Translation: X:98.51, Y:-35.47, Z:-4.63 [[ 8.14866690e-01 5.77289759e-01 5.22380352e-02 9.85122669e+01] [-5.76008133e-01 8.16538399e-01 -3.84665227e-02 -3.54673194e+01] [-6.48606912e-02 1.25555494e-03 9.97893539e-01 -4.62818511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43863999999999 meters Centerline goodness [0,1] 0.9954254795868175 Centerline is valid? [True, True] Translation: X:98.54, Y:-35.49, Z:-4.63 [[ 8.12355335e-01 5.80808016e-01 5.23532033e-02 9.85364486e+01] [-5.79527243e-01 8.14039971e-01 -3.85629290e-02 -3.54893766e+01] [-6.50152584e-02 9.86693518e-04 9.97883782e-01 -4.62875355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46864 meters Centerline goodness [0,1] 0.9960693755220361 Centerline is valid? [True, True] Translation: X:98.56, Y:-35.51, Z:-4.63 [[ 8.11544049e-01 5.81946619e-01 5.22913912e-02 9.85616310e+01] [-5.80670576e-01 8.13226486e-01 -3.85274505e-02 -3.55096564e+01] [-6.49456639e-02 9.02650945e-04 9.97888394e-01 -4.63051211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49864 meters Centerline goodness [0,1] 0.9960169158143194 Centerline is valid? [True, True] Translation: X:98.59, Y:-35.53, Z:-4.63 [[ 8.10018001e-01 5.84048612e-01 5.25172033e-02 9.85867007e+01] [-5.82765252e-01 8.11718340e-01 -3.87039892e-02 -3.55297378e+01] [-6.52341883e-02 7.45726765e-04 9.97869703e-01 -4.63073671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52864 meters Centerline goodness [0,1] 0.9956737623519001 Centerline is valid? [True, True] Translation: X:98.61, Y:-35.55, Z:-4.63 [[ 8.09772751e-01 5.84333750e-01 5.31240129e-02 9.86129414e+01] [-5.83020453e-01 8.11513106e-01 -3.91615834e-02 -3.55488534e+01] [-6.59942676e-02 7.39597078e-04 9.97819728e-01 -4.63184050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55864 meters Centerline goodness [0,1] 0.9955662840534016 Centerline is valid? [True, True] Translation: X:98.64, Y:-35.57, Z:-4.63 [[ 8.09839622e-01 5.84272480e-01 5.27774181e-02 9.86402143e+01] [-5.82975364e-01 8.11557212e-01 -3.89180834e-02 -3.55680746e+01] [-6.55706594e-02 7.49471438e-04 9.97847647e-01 -4.63302362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58864 meters Centerline goodness [0,1] 0.9955284752592011 Centerline is valid? [True, True] Translation: X:98.67, Y:-35.59, Z:-4.63 [[ 8.10720408e-01 5.83137272e-01 5.18009825e-02 9.86666944e+01] [-5.81884584e-01 8.12373204e-01 -3.82113749e-02 -3.55856421e+01] [-6.43642070e-02 8.36548283e-04 9.97926124e-01 -4.63493487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61864 meters Centerline goodness [0,1] 0.9952809320159268 Centerline is valid? [True, True] Translation: X:98.69, Y:-35.60, Z:-4.64 [[ 8.11375116e-01 5.82250353e-01 5.15261728e-02 9.86932808e+01] [-5.81008513e-01 8.13009039e-01 -3.80185440e-02 -3.56033965e+01] [-6.40275549e-02 9.10155539e-04 9.97947716e-01 -4.63542785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64864 meters Centerline goodness [0,1] 0.9948347107438017 Centerline is valid? [True, True] Translation: X:98.72, Y:-35.62, Z:-4.64 [[ 8.13434692e-01 5.79349489e-01 5.17510449e-02 9.87198269e+01] [-5.78090258e-01 8.15078427e-01 -3.81943890e-02 -3.56210715e+01] [-6.43090600e-02 1.15186619e-03 9.97929365e-01 -4.63534650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67864 meters Centerline goodness [0,1] 0.9944460827681116 Centerline is valid? [True, True] Translation: X:98.75, Y:-35.64, Z:-4.64 [[ 8.14936722e-01 5.77271904e-01 5.13350510e-02 9.87459859e+01] [-5.76028114e-01 8.16550932e-01 -3.78970749e-02 -3.56405510e+01] [-6.37946003e-02 1.31328542e-03 9.97962186e-01 -4.63645152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70864 meters Centerline goodness [0,1] 0.9936624907885041 Centerline is valid? [True, True] Translation: X:98.77, Y:-35.66, Z:-4.64 [[ 8.17628335e-01 5.73454067e-01 5.13258226e-02 9.87703656e+01] [-5.72202569e-01 8.19236114e-01 -3.78999904e-02 -3.56613031e+01] [-6.37818711e-02 1.61933846e-03 9.97962550e-01 -4.63811366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73863999999999 meters Centerline goodness [0,1] 0.9935585386241825 Centerline is valid? [True, True] Translation: X:98.80, Y:-35.68, Z:-4.64 [[ 8.19076759e-01 5.71441676e-01 5.06722158e-02 9.87956730e+01] [-5.70217439e-01 8.20640792e-01 -3.74267664e-02 -3.56807441e+01] [-6.29709014e-02 1.76121345e-03 9.98013809e-01 -4.63928951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76863999999999 meters Centerline goodness [0,1] 0.993565815324165 Centerline is valid? [True, True] Translation: X:98.82, Y:-35.70, Z:-4.64 [[ 8.20223653e-01 5.69845919e-01 5.00878049e-02 9.88214641e+01] [-5.68646237e-01 8.21749435e-01 -3.70043792e-02 -3.57004954e+01] [-6.22464198e-02 1.86962529e-03 9.98059060e-01 -4.64100081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79863999999999 meters Centerline goodness [0,1] 0.9929172200088535 Centerline is valid? [True, True] Translation: X:98.85, Y:-35.72, Z:-4.64 [[ 8.21591932e-01 5.67959267e-01 4.90812436e-02 9.88450581e+01] [-5.66803413e-01 8.23054282e-01 -3.62703842e-02 -3.57232415e+01] [-6.09966285e-02 1.98003867e-03 9.98136008e-01 -4.64219742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82864 meters Centerline goodness [0,1] 0.9927176105889879 Centerline is valid? [True, True] Translation: X:98.87, Y:-35.74, Z:-4.64 [[ 8.22387772e-01 5.66731848e-01 4.99335991e-02 9.88693941e+01] [-5.65532518e-01 8.23899590e-01 -3.69111999e-02 -3.57449596e+01] [-6.20590244e-02 2.11624543e-03 9.98070238e-01 -4.64420024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85864 meters Centerline goodness [0,1] 0.9929608663549102 Centerline is valid? [True, True] Translation: X:98.89, Y:-35.77, Z:-4.64 [[ 8.24370283e-01 5.63845751e-01 4.99159807e-02 9.88916807e+01] [-5.62641404e-01 8.25876801e-01 -3.69074481e-02 -3.57695482e+01] [-6.20345583e-02 2.34060594e-03 9.98071258e-01 -4.64474706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88864 meters Centerline goodness [0,1] 0.9930000985901607 Centerline is valid? [True, True] Translation: X:98.92, Y:-35.79, Z:-4.65 [[ 8.24872846e-01 5.63102647e-01 5.00019757e-02 9.89153511e+01] [-5.61891811e-01 8.26383437e-01 -3.69865944e-02 -3.57908907e+01] [-6.21480537e-02 2.41353666e-03 9.98064023e-01 -4.64565727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91864 meters Centerline goodness [0,1] 0.9930162789553927 Centerline is valid? [True, True] Translation: X:98.94, Y:-35.81, Z:-4.65 [[ 8.25931453e-01 5.61450851e-01 5.10898869e-02 9.89398534e+01] [-5.60181560e-01 8.27505941e-01 -3.78224525e-02 -3.58123374e+01] [-6.35126331e-02 2.61914067e-03 9.97977598e-01 -4.64834756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94864 meters Centerline goodness [0,1] 0.99304870834155 Centerline is valid? [True, True] Translation: X:98.96, Y:-35.83, Z:-4.65 [[ 8.26743247e-01 5.60301435e-01 5.05757341e-02 9.89631900e+01] [-5.59053473e-01 8.28284359e-01 -3.74731245e-02 -3.58342729e+01] [-6.28873349e-02 2.70611280e-03 9.98016964e-01 -4.64942214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97864 meters Centerline goodness [0,1] 0.9931082012405238 Centerline is valid? [True, True] Translation: X:98.98, Y:-35.86, Z:-4.65 [[ 8.28507504e-01 5.57840594e-01 4.88793105e-02 9.89843369e+01] [-5.56668922e-01 8.29943320e-01 -3.62463378e-02 -3.58596450e+01] [-6.07867358e-02 2.82076982e-03 9.98146791e-01 -4.65095094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00864 meters Centerline goodness [0,1] 0.9937558385368013 Centerline is valid? [True, True] Translation: X:99.01, Y:-35.89, Z:-4.65 [[ 8.29016688e-01 5.57193490e-01 4.76103497e-02 9.90050257e+01] [-5.56079106e-01 8.30377910e-01 -3.53348898e-02 -3.58856955e+01] [-5.92229532e-02 2.81809261e-03 9.98240803e-01 -4.65138358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03864 meters Centerline goodness [0,1] 0.9941800246609125 Centerline is valid? [True, True] Translation: X:99.03, Y:-35.91, Z:-4.65 [[ 8.28854543e-01 5.57538572e-01 4.63776648e-02 9.90283031e+01] [-5.56480080e-01 8.30146497e-01 -3.44487109e-02 -3.59085966e+01] [-5.77067411e-02 2.74472388e-03 9.98329804e-01 -4.65196799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06864 meters Centerline goodness [0,1] 0.9941800246609125 Centerline is valid? [True, True] Translation: X:99.05, Y:-35.93, Z:-4.65 [[ 8.28592775e-01 5.57928740e-01 4.63630739e-02 9.90546399e+01] [-5.56869761e-01 8.29884331e-01 -3.44683392e-02 -3.59277773e+01] [-5.77068656e-02 2.74202293e-03 9.98329805e-01 -4.65336376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09863999999999 meters Centerline goodness [0,1] 0.9941949131696758 Centerline is valid? [True, True] Translation: X:99.08, Y:-35.95, Z:-4.65 [[ 8.27489886e-01 5.59608935e-01 4.58075176e-02 9.90768998e+01] [-5.58575932e-01 8.28752663e-01 -3.40874270e-02 -3.59510964e+01] [-5.70387309e-02 2.62002432e-03 9.98368528e-01 -4.65482493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12863999999999 meters Centerline goodness [0,1] 0.9957172393423255 Centerline is valid? [True, True] Translation: X:99.09, Y:-35.98, Z:-4.66 [[ 8.24833793e-01 5.63377847e-01 4.74827914e-02 9.90942982e+01] [-5.62272574e-01 8.26195689e-01 -3.53586718e-02 -3.59810932e+01] [-5.91503699e-02 2.46675606e-03 9.98246036e-01 -4.65792040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15863999999999 meters Centerline goodness [0,1] 0.9961125873437654 Centerline is valid? [True, True] Translation: X:99.12, Y:-36.01, Z:-4.66 [[ 8.22852268e-01 5.66266352e-01 4.75033057e-02 9.91159911e+01] [-5.65164119e-01 8.24219182e-01 -3.53872725e-02 -3.60058143e+01] [-5.91917575e-02 2.27133352e-03 9.98244047e-01 -4.65903179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18863999999999 meters Centerline goodness [0,1] 0.9965535916498449 Centerline is valid? [True, True] Translation: X:99.13, Y:-36.03, Z:-4.66 [[ 8.17694694e-01 5.73528177e-01 4.94046413e-02 9.91338680e+01] [-5.72347360e-01 8.19183770e-01 -3.68300246e-02 -3.60346293e+01] [-6.15945372e-02 1.83909966e-03 9.98099560e-01 -4.65979600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21864 meters Centerline goodness [0,1] 0.997194191484125 Centerline is valid? [True, True] Translation: X:99.16, Y:-36.06, Z:-4.66 [[ 8.14861976e-01 5.77508430e-01 4.98394655e-02 9.91571604e+01] [-5.76313435e-01 8.16383228e-01 -3.71651627e-02 -3.60580234e+01] [-6.21512985e-02 1.56132442e-03 9.98065518e-01 -4.66153985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24864 meters Centerline goodness [0,1] 0.997294106071042 Centerline is valid? [True, True] Translation: X:99.18, Y:-36.08, Z:-4.66 [[ 8.12094829e-01 5.81432234e-01 4.93816336e-02 9.91800019e+01] [-5.80265199e-01 8.13593853e-01 -3.68421153e-02 -3.60815631e+01] [-6.15977869e-02 1.26484789e-03 9.98100252e-01 -4.66186746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27864 meters Centerline goodness [0,1] 0.9977370000491956 Centerline is valid? [True, True] Translation: X:99.20, Y:-36.11, Z:-4.66 [[ 8.06504322e-01 5.89084665e-01 5.02994567e-02 9.91994073e+01] [-5.87886829e-01 8.08071001e-01 -3.75544059e-02 -3.61088335e+01] [-6.27682569e-02 7.17402628e-04 9.98027871e-01 -4.66360575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30864 meters Centerline goodness [0,1] 0.998227386872815 Centerline is valid? [True, True] Translation: X:99.22, Y:-36.13, Z:-4.67 [[ 8.03707235e-01 5.92824448e-01 5.11258617e-02 9.92233906e+01] [-5.91593113e-01 8.05331591e-01 -3.81918476e-02 -3.61307113e+01] [-6.38143325e-02 4.49356603e-04 9.97961687e-01 -4.66566258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33864 meters Centerline goodness [0,1] 0.9989674500934211 Centerline is valid? [True, True] Translation: X:99.25, Y:-36.15, Z:-4.67 [[ 7.98743422e-01 5.99308814e-01 5.32718637e-02 9.92466118e+01] [-5.97983572e-01 8.00517922e-01 -3.98334598e-02 -3.61527151e+01] [-6.65176252e-02 -3.89852929e-05 9.97785249e-01 -4.66710728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36864 meters Centerline goodness [0,1] 0.9989658738366081 Centerline is valid? [True, True] Translation: X:99.27, Y:-36.17, Z:-4.67 [[ 7.96257307e-01 6.02577125e-01 5.36200425e-02 9.92731906e+01] [-6.01239168e-01 7.98060605e-01 -4.01339406e-02 -3.61720992e+01] [-6.69758380e-02 -2.81526294e-04 9.97754558e-01 -4.66736492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39864 meters Centerline goodness [0,1] 0.9990633473009612 Centerline is valid? [True, True] Translation: X:99.30, Y:-36.19, Z:-4.67 [[ 7.93572367e-01 6.06157631e-01 5.30643482e-02 9.92995876e+01] [-6.04852396e-01 7.95344348e-01 -3.97611350e-02 -3.61917950e+01] [-6.63059449e-02 -5.42760121e-04 9.97799192e-01 -4.66938688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42864 meters Centerline goodness [0,1] 0.9990156995915154 Centerline is valid? [True, True] Translation: X:99.33, Y:-36.21, Z:-4.67 [[ 7.90865590e-01 6.09778205e-01 5.19823023e-02 9.93261012e+01] [-6.08530756e-01 7.92571706e-01 -3.89924350e-02 -3.62110859e+01] [-6.49764390e-02 -7.95054586e-04 9.97886482e-01 -4.67051167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45864 meters Centerline goodness [0,1] 0.9991632622926613 Centerline is valid? [True, True] Translation: X:99.35, Y:-36.23, Z:-4.67 [[ 7.89216071e-01 6.11758641e-01 5.37527603e-02 9.93521224e+01] [-6.10426358e-01 7.91043899e-01 -4.03634902e-02 -3.62300397e+01] [-6.72135070e-02 -9.56586507e-04 9.97738157e-01 -4.67215594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48863999999999 meters Centerline goodness [0,1] 0.9996555457140045 Centerline is valid? [True, True] Translation: X:99.38, Y:-36.25, Z:-4.67 [[ 7.88048532e-01 6.13151621e-01 5.49963653e-02 9.93791620e+01] [-6.11757523e-01 7.89964523e-01 -4.13374571e-02 -3.62473812e+01] [-6.87913063e-02 -1.06851777e-03 9.97630500e-01 -4.67412802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51863999999999 meters Centerline goodness [0,1] 0.9998029265408681 Centerline is valid? [True, True] Translation: X:99.41, Y:-36.27, Z:-4.68 [[ 7.88145257e-01 6.13046175e-01 5.47854101e-02 9.94056595e+01] [-6.11660449e-01 7.90046406e-01 -4.12088780e-02 -3.62664612e+01] [-6.85459614e-02 -1.03148673e-03 9.97647426e-01 -4.67563494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54863999999999 meters Centerline goodness [0,1] 0.9997538158542589 Centerline is valid? [True, True] Translation: X:99.43, Y:-36.29, Z:-4.68 [[ 7.88177568e-01 6.13003954e-01 5.47930107e-02 9.94325727e+01] [-6.11616621e-01 7.90079187e-01 -4.12308888e-02 -3.62858205e+01] [-6.85655152e-02 -1.01505442e-03 9.97646099e-01 -4.67736534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.46, Y:-36.30, Z:-4.68 [[ 7.88591986e-01 6.12418139e-01 5.53778260e-02 9.94610982e+01] [-6.10997461e-01 7.90533440e-01 -4.17011173e-02 -3.63034267e+01] [-6.93165439e-02 -9.50544228e-04 9.97594263e-01 -4.67876605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60864 meters Centerline goodness [0,1] 0.9998521803399852 Centerline is valid? [True, True] Translation: X:99.49, Y:-36.32, Z:-4.68 [[ 7.89019850e-01 6.11907603e-01 5.49250587e-02 9.94891941e+01] [-6.10505869e-01 7.90928782e-01 -4.14034426e-02 -3.63196015e+01] [-6.87768911e-02 -8.63932668e-04 9.97631692e-01 -4.68007595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63864 meters Centerline goodness [0,1] 0.9999017054111171 Centerline is valid? [True, True] Translation: X:99.52, Y:-36.34, Z:-4.68 [[ 7.88609383e-01 6.12425353e-01 5.50493247e-02 9.95157214e+01] [-6.11015619e-01 7.90527935e-01 -4.15390971e-02 -3.63389319e+01] [-6.89576251e-02 -8.77875507e-04 9.97619204e-01 -4.68104401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66864 meters Centerline goodness [0,1] 0.9998031592933418 Centerline is valid? [True, True] Translation: X:99.54, Y:-36.36, Z:-4.68 [[ 7.88146499e-01 6.12953595e-01 5.57941410e-02 9.95416489e+01] [-6.11503635e-01 7.90118395e-01 -4.21453086e-02 -3.63575879e+01] [-6.99170955e-02 -9.01642562e-04 9.97552398e-01 -4.68239205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69864 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:99.57, Y:-36.38, Z:-4.68 [[ 7.87307929e-01 6.14014436e-01 5.59687258e-02 9.95682531e+01] [-6.12555060e-01 7.89294204e-01 -4.23197150e-02 -3.63763687e+01] [-7.01607068e-02 -9.65279013e-04 9.97535234e-01 -4.68391061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72864 meters Centerline goodness [0,1] 0.9999016764170886 Centerline is valid? [True, True] Translation: X:99.60, Y:-36.39, Z:-4.68 [[ 7.86392149e-01 6.15130736e-01 5.65823738e-02 9.95957363e+01] [-6.13638853e-01 7.88424437e-01 -4.28283145e-02 -3.63934390e+01] [-7.09559389e-02 -1.04129272e-03 9.97478907e-01 -4.68472742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75864 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:99.62, Y:-36.41, Z:-4.69 [[ 7.85324679e-01 6.16563176e-01 5.58121705e-02 9.96224256e+01] [-6.15112326e-01 7.87304638e-01 -4.22875094e-02 -3.64121340e+01] [-7.00141018e-02 -1.12132926e-03 9.97545371e-01 -4.68624650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78864 meters Centerline goodness [0,1] 0.9997538400945254 Centerline is valid? [True, True] Translation: X:99.65, Y:-36.43, Z:-4.69 [[ 7.85234440e-01 6.16713777e-01 5.54165213e-02 9.96495892e+01] [-6.15280644e-01 7.87186717e-01 -4.20333340e-02 -3.64315911e+01] [-6.95456857e-02 -1.09069145e-03 9.97578171e-01 -4.68684188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81864 meters Centerline goodness [0,1] 0.9998032754635322 Centerline is valid? [True, True] Translation: X:99.68, Y:-36.45, Z:-4.69 [[ 7.85319259e-01 6.16661444e-01 5.47934808e-02 9.96759271e+01] [-6.15257315e-01 7.87227783e-01 -4.16035396e-02 -3.64508583e+01] [-6.87902492e-02 -1.04002897e-03 9.97630603e-01 -4.68820805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:-36.47, Z:-4.69 [[ 7.85742829e-01 6.16227326e-01 5.35918853e-02 9.97016217e+01] [-6.14880588e-01 7.87567763e-01 -4.07293780e-02 -3.64701345e+01] [-6.73057969e-02 -9.49793245e-04 9.97731942e-01 -4.68928012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:-36.49, Z:-4.69 [[ 7.87442504e-01 6.13955911e-01 5.47032209e-02 9.97273017e+01] [-6.12544287e-01 7.89339974e-01 -4.16161237e-02 -3.64915316e+01] [-6.87299041e-02 -7.37840819e-04 9.97635031e-01 -4.69132023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:-36.51, Z:-4.69 [[ 7.88717064e-01 6.12466563e-01 5.30103890e-02 9.97522070e+01] [-6.11134929e-01 7.90496299e-01 -4.03695349e-02 -3.65115266e+01] [-6.66295066e-02 -5.56359259e-04 9.97777630e-01 -4.69182798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.78, Y:-36.53, Z:-4.69 [[ 7.88504215e-01 6.12771464e-01 5.26520201e-02 9.97781050e+01] [-6.11455824e-01 7.90259979e-01 -4.01365316e-02 -3.65315826e+01] [-6.62033055e-02 -5.46559972e-04 9.97806005e-01 -4.69214653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.80, Y:-36.55, Z:-4.69 [[ 7.87309479e-01 6.14272304e-01 5.30407443e-02 9.98031583e+01] [-6.12937718e-01 7.89093861e-01 -4.04750847e-02 -3.65518886e+01] [-6.67168492e-02 -6.44254900e-04 9.97771741e-01 -4.69290298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99864 meters Centerline goodness [0,1] 0.9998523622047244 Centerline is valid? [True, True] Translation: X:99.83, Y:-36.57, Z:-4.69 [[ 7.86048151e-01 6.15808399e-01 5.39288514e-02 9.98287613e+01] [-6.14429599e-01 7.87895580e-01 -4.11925248e-02 -3.65719403e+01] [-6.78570064e-02 -7.56174579e-04 9.97694770e-01 -4.69490176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02864 meters Centerline goodness [0,1] 0.9997538764459759 Centerline is valid? [True, True] Translation: X:99.85, Y:-36.59, Z:-4.70 [[ 7.84676922e-01 6.17691637e-01 5.23370770e-02 9.98539308e+01] [-6.16395392e-01 7.86419917e-01 -4.00054230e-02 -3.65920115e+01] [-6.58699350e-02 -8.69000890e-04 9.97827839e-01 -4.69541868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05864 meters Centerline goodness [0,1] 0.9997536824474113 Centerline is valid? [True, True] Translation: X:99.88, Y:-36.61, Z:-4.70 [[ 7.83737100e-01 6.18961397e-01 5.14096002e-02 9.98786806e+01] [-6.17711954e-01 7.85420846e-01 -3.93196781e-02 -3.66137278e+01] [-6.47155346e-02 -9.40034126e-04 9.97903310e-01 -4.69727220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08864 meters Centerline goodness [0,1] 0.9998523040567152 Centerline is valid? [True, True] Translation: X:99.90, Y:-36.63, Z:-4.70 [[ 7.83175929e-01 6.19688978e-01 5.11960346e-02 9.99049274e+01] [-6.18448694e-01 7.84846892e-01 -3.91990970e-02 -3.66345187e+01] [-6.44722970e-02 -9.62331517e-04 9.97919033e-01 -4.69788003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:99.93, Y:-36.65, Z:-4.70 [[ 7.82572409e-01 6.20445732e-01 5.12593272e-02 9.99310909e+01] [-6.19201226e-01 7.84248755e-01 -3.92903542e-02 -3.66544465e+01] [-6.45775961e-02 -9.92291141e-04 9.97912195e-01 -4.69885865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:-36.67, Z:-4.70 [[ 7.82016500e-01 6.21173509e-01 5.09280468e-02 9.99574595e+01] [-6.19943873e-01 7.83672410e-01 -3.90787310e-02 -3.66738750e+01] [-6.41855777e-02 -1.01231817e-03 9.97937466e-01 -4.69974508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.98, Y:-36.69, Z:-4.70 [[ 7.81316568e-01 6.22020254e-01 5.13344423e-02 9.99836998e+01] [-6.20769915e-01 7.83000439e-01 -3.94338062e-02 -3.66931145e+01] [-6.47235170e-02 -1.05659124e-03 9.97902676e-01 -4.70161623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:100.01, Y:-36.71, Z:-4.70 [[ 7.79704035e-01 6.23927838e-01 5.26846357e-02 1.00009408e+02] [-6.22612278e-01 7.81481017e-01 -4.05138411e-02 -3.67126379e+01] [-6.64497560e-02 -1.21329562e-03 9.97789035e-01 -4.70373410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23863999999999 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:100.04, Y:-36.73, Z:-4.71 [[ 7.79037185e-01 6.24705756e-01 5.33271295e-02 1.00035092e+02] [-6.23357048e-01 7.80859219e-01 -4.10471756e-02 -3.67317963e+01] [-6.72833875e-02 -1.26456594e-03 9.97733104e-01 -4.70515512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26863999999999 meters Centerline goodness [0,1] 0.9999016377317661 Centerline is valid? [True, True] Translation: X:100.06, Y:-36.75, Z:-4.71 [[ 7.78663145e-01 6.25157859e-01 5.34916611e-02 1.00061292e+02] [-6.23799072e-01 7.80497293e-01 -4.12152119e-02 -3.67521192e+01] [-6.75161103e-02 -1.27528204e-03 9.97717369e-01 -4.70616097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:-36.77, Z:-4.71 [[ 7.78673477e-01 6.25050466e-01 5.45850838e-02 1.00088137e+02] [-6.23632014e-01 7.80583333e-01 -4.21042996e-02 -3.67719446e+01] [-6.89255188e-02 -1.25550438e-03 9.97621019e-01 -4.70724218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:-36.79, Z:-4.71 [[ 7.78443355e-01 6.25438795e-01 5.34065161e-02 1.00114088e+02] [-6.24079061e-01 7.80272262e-01 -4.12373880e-02 -3.67913780e+01] [-6.74630854e-02 -1.22891777e-03 9.97721014e-01 -4.70825420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:-36.81, Z:-4.71 [[ 7.79282427e-01 6.24551523e-01 5.15198418e-02 1.00141593e+02] [-6.23281911e-01 7.80982858e-01 -3.98175362e-02 -3.68090110e+01] [-6.51042161e-02 -1.08227914e-03 9.97877883e-01 -4.70928570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38864 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:100.17, Y:-36.83, Z:-4.71 [[ 7.79039868e-01 6.24883552e-01 5.11608211e-02 1.00168358e+02] [-6.23629760e-01 7.80717233e-01 -3.95793466e-02 -3.68277113e+01] [-6.46746174e-02 -1.07152157e-03 9.97905830e-01 -4.71066078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-36.85, Z:-4.71 [[ 7.79207187e-01 6.24644506e-01 5.15305904e-02 1.00195514e+02] [-6.23369127e-01 7.80908567e-01 -3.99091614e-02 -3.68467878e+01] [-6.51697179e-02 -1.02507373e-03 9.97873668e-01 -4.71249567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:-36.87, Z:-4.71 [[ 7.79910118e-01 6.23834732e-01 5.06994612e-02 1.00222269e+02] [-6.22595884e-01 7.81555756e-01 -3.93060500e-02 -3.68654381e+01] [-6.41449349e-02 -9.10089735e-04 9.97940178e-01 -4.71441503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:-36.89, Z:-4.72 [[ 7.80169981e-01 6.23492793e-01 5.09071580e-02 1.00248459e+02] [-6.22240477e-01 7.81828630e-01 -3.95067235e-02 -3.68850916e+01] [-6.44328310e-02 -8.54534545e-04 9.97921680e-01 -4.71586509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.28, Y:-36.90, Z:-4.72 [[ 7.80408743e-01 6.23116444e-01 5.18468003e-02 1.00276088e+02] [-6.21813660e-01 7.82128667e-01 -4.02805346e-02 -3.69031682e+01] [-6.56503323e-02 -8.03767272e-04 9.97842366e-01 -4.71727360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53864 meters Centerline goodness [0,1] 0.9999014875381735 Centerline is valid? [True, True] Translation: X:100.30, Y:-36.92, Z:-4.72 [[ 7.80296817e-01 6.23216218e-01 5.23299467e-02 1.00303068e+02] [-6.21886277e-01 7.82049187e-01 -4.07004779e-02 -3.69216347e+01] [-6.62897901e-02 -7.84822306e-04 9.97800104e-01 -4.71838005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:-36.94, Z:-4.72 [[ 7.79831373e-01 6.23770744e-01 5.26601204e-02 1.00329778e+02] [-6.22422222e-01 7.81606944e-01 -4.10019740e-02 -3.69415355e+01] [-6.67353476e-02 -8.02203499e-04 9.97770389e-01 -4.72034974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59863999999999 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:100.36, Y:-36.96, Z:-4.72 [[ 7.79263567e-01 6.24604838e-01 5.11574959e-02 1.00356442e+02] [-6.23331405e-01 7.80940541e-01 -3.98726842e-02 -3.69599556e+01] [-6.48556340e-02 -8.16743682e-04 9.97894323e-01 -4.72180302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:-36.98, Z:-4.72 [[ 7.77968628e-01 6.26227591e-01 5.10276209e-02 1.00384768e+02] [-6.24961539e-01 7.79639763e-01 -3.98109774e-02 -3.69777611e+01] [-6.47138947e-02 -9.18609025e-04 9.97903436e-01 -4.72422724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:-37.00, Z:-4.73 [[ 7.77535016e-01 6.26678473e-01 5.20902140e-02 1.00410483e+02] [-6.25357263e-01 7.79277359e-01 -4.06828081e-02 -3.69963217e+01] [-6.60877644e-02 -9.42685830e-04 9.97813369e-01 -4.72682521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:-37.02, Z:-4.73 [[ 7.77272357e-01 6.26876565e-01 5.36046232e-02 1.00436268e+02] [-6.25475051e-01 7.79118000e-01 -4.19058837e-02 -3.70156717e+01] [-6.80341433e-02 -9.56069452e-04 9.97682535e-01 -4.72873401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:-37.03, Z:-4.73 [[ 7.78139513e-01 6.25696705e-01 5.47953712e-02 1.00463979e+02] [-6.24226198e-01 7.80065979e-01 -4.28803265e-02 -3.70342379e+01] [-6.95740839e-02 -8.37829900e-04 9.97576436e-01 -4.72966595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:-37.05, Z:-4.73 [[ 7.78607244e-01 6.25072954e-01 5.52680880e-02 1.00491485e+02] [-6.23572031e-01 7.80565972e-01 -4.32976446e-02 -3.70532015e+01] [-7.02045755e-02 -7.51774154e-04 9.97532332e-01 -4.73143812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77864 meters Centerline goodness [0,1] 0.999852224028373 Centerline is valid? [True, True] Translation: X:100.52, Y:-37.07, Z:-4.73 [[ 7.79413951e-01 6.24256960e-01 5.30767445e-02 1.00518498e+02] [-6.22868732e-01 7.81218828e-01 -4.16135263e-02 -3.70718092e+01] [-6.74420856e-02 -6.25681608e-04 9.97722994e-01 -4.73156278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80864 meters Centerline goodness [0,1] 0.9995081402783926 Centerline is valid? [True, True] Translation: X:100.54, Y:-37.09, Z:-4.73 [[ 7.79463557e-01 6.24161111e-01 5.34740180e-02 1.00544819e+02] [-6.22750020e-01 7.81295427e-01 -4.19507742e-02 -3.70916612e+01] [-6.79630476e-02 -6.01846088e-04 9.97687658e-01 -4.73416739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83864 meters Centerline goodness [0,1] 0.9992624643524437 Centerline is valid? [True, True] Translation: X:100.57, Y:-37.11, Z:-4.74 [[ 7.79655925e-01 6.23867984e-01 5.40867572e-02 1.00571948e+02] [-6.22420444e-01 7.81529551e-01 -4.24776566e-02 -3.71109502e+01] [-6.87708491e-02 -5.46746796e-04 9.97632333e-01 -4.73596709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86864 meters Centerline goodness [0,1] 0.9991638384732674 Centerline is valid? [True, True] Translation: X:100.60, Y:-37.13, Z:-4.74 [[ 7.80304560e-01 6.23043128e-01 5.42407084e-02 1.00598607e+02] [-6.21582162e-01 7.82187361e-01 -4.26444476e-02 -3.71296983e+01] [-6.89957266e-02 -4.39399822e-04 9.97616859e-01 -4.73820983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89864 meters Centerline goodness [0,1] 0.9996065509270644 Centerline is valid? [True, True] Translation: X:100.62, Y:-37.15, Z:-4.74 [[ 7.81284471e-01 6.21822927e-01 5.41370820e-02 1.00624168e+02] [-6.20361450e-01 7.83157813e-01 -4.26088132e-02 -3.71498841e+01] [-6.88930157e-02 -2.94954670e-04 9.97624010e-01 -4.73883822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92864 meters Centerline goodness [0,1] 0.9992628630399528 Centerline is valid? [True, True] Translation: X:100.65, Y:-37.17, Z:-4.74 [[ 7.82232999e-01 6.20718647e-01 5.31026911e-02 1.00649489e+02] [-6.19307140e-01 7.84033376e-01 -4.18369615e-02 -3.71691763e+01] [-6.76032643e-02 -1.60623852e-04 9.97712270e-01 -4.73960873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95864 meters Centerline goodness [0,1] 0.9992628630399528 Centerline is valid? [True, True] Translation: X:100.68, Y:-37.19, Z:-4.74 [[ 7.81910942e-01 6.21126003e-01 5.30826425e-02 1.00675247e+02] [-6.19713707e-01 7.83710700e-01 -4.18623882e-02 -3.71890550e+01] [-6.76032528e-02 -1.63381801e-04 9.97712270e-01 -4.74100306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98863999999999 meters Centerline goodness [0,1] 0.9991144347141592 Centerline is valid? [True, True] Translation: X:100.70, Y:-37.21, Z:-4.74 [[ 7.81889492e-01 6.21073781e-01 5.40016701e-02 1.00700217e+02] [-6.19608951e-01 7.83752092e-01 -4.26310456e-02 -3.72086044e+01] [-6.88009466e-02 -1.27151538e-04 9.97630399e-01 -4.74336564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01863999999999 meters Centerline goodness [0,1] 0.9991133004926108 Centerline is valid? [True, True] Translation: X:100.73, Y:-37.23, Z:-4.74 [[ 7.82069846e-01 6.20849570e-01 5.39682032e-02 1.00726013e+02] [-6.19383121e-01 7.83929720e-01 -4.26467250e-02 -3.72295613e+01] [-6.87844793e-02 -7.42764492e-05 9.97631540e-01 -4.74463255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04863999999999 meters Centerline goodness [0,1] 0.9991642495452534 Centerline is valid? [True, True] Translation: X:100.75, Y:-37.25, Z:-4.75 [[ 7.81691656e-01 6.21209572e-01 5.52885398e-02 1.00750743e+02] [-6.19668177e-01 7.83644475e-01 -4.37342921e-02 -3.72492432e+01] [-7.04947196e-02 -7.38174473e-05 9.97512150e-01 -4.74709955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07864 meters Centerline goodness [0,1] 0.9992616656822209 Centerline is valid? [True, True] Translation: X:100.78, Y:-37.27, Z:-4.75 [[ 7.81808256e-01 6.21136261e-01 5.44572859e-02 1.00775520e+02] [-6.19638084e-01 7.83702587e-01 -4.31149754e-02 -3.72690877e+01] [-6.94585904e-02 -3.61645583e-05 9.97584835e-01 -4.74904685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10864 meters Centerline goodness [0,1] 0.9995570430160449 Centerline is valid? [True, True] Translation: X:100.80, Y:-37.29, Z:-4.75 [[ 7.82272655e-01 6.20646147e-01 5.33652746e-02 1.00800778e+02] [-6.19203720e-01 7.84090785e-01 -4.22894138e-02 -3.72895741e+01] [-6.80899818e-02 3.78754733e-05 9.97679183e-01 -4.74990544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13864 meters Centerline goodness [0,1] 0.9990137094388006 Centerline is valid? [True, True] Translation: X:100.83, Y:-37.31, Z:-4.75 [[ 7.82141262e-01 6.20836866e-01 5.30719529e-02 1.00826232e+02] [-6.19407906e-01 7.83939782e-01 -4.20982570e-02 -3.73112180e+01] [-6.77413651e-02 5.35966356e-05 9.97702914e-01 -4.75137630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16864 meters Centerline goodness [0,1] 0.9991143911439114 Centerline is valid? [True, True] Translation: X:100.85, Y:-37.33, Z:-4.75 [[ 7.82379898e-01 6.20457038e-01 5.39885087e-02 1.00849871e+02] [-6.18974275e-01 7.84240428e-01 -4.28695476e-02 -3.73332561e+01] [-6.89386837e-02 1.22774224e-04 9.97620891e-01 -4.75339154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19864 meters Centerline goodness [0,1] 0.9989149733675281 Centerline is valid? [True, True] Translation: X:100.87, Y:-37.35, Z:-4.75 [[ 7.82207547e-01 6.20735980e-01 5.32747166e-02 1.00874334e+02] [-6.19290180e-01 7.84019659e-01 -4.23420142e-02 -3.73534945e+01] [-6.80516369e-02 1.27734237e-04 9.97681792e-01 -4.75462790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22864 meters Centerline goodness [0,1] 0.9989673485444532 Centerline is valid? [True, True] Translation: X:100.90, Y:-37.37, Z:-4.76 [[ 7.81508749e-01 6.21538636e-01 5.41645556e-02 1.00898552e+02] [-6.20043192e-01 7.83383505e-01 -4.30897218e-02 -3.73740680e+01] [-6.92135463e-02 9.06306606e-05 9.97601863e-01 -4.75741630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25864 meters Centerline goodness [0,1] 0.9997537916092181 Centerline is valid? [True, True] Translation: X:100.92, Y:-37.40, Z:-4.76 [[ 7.80192631e-01 6.23252610e-01 5.34382214e-02 1.00921581e+02] [-6.21798381e-01 7.82020577e-01 -4.25510188e-02 -3.73961424e+01] [-6.83098223e-02 -2.98082608e-05 9.97664156e-01 -4.75776279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28864 meters Centerline goodness [0,1] 0.9995079224485779 Centerline is valid? [True, True] Translation: X:100.95, Y:-37.42, Z:-4.76 [[ 7.77344939e-01 6.26691856e-01 5.47006674e-02 1.00945848e+02] [-6.25173626e-01 7.79267107e-01 -4.35971748e-02 -3.74167584e+01] [-6.99484252e-02 -3.07371339e-04 9.97550562e-01 -4.75861606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31864 meters Centerline goodness [0,1] 0.9994585548336287 Centerline is valid? [True, True] Translation: X:100.97, Y:-37.44, Z:-4.76 [[ 7.75782189e-01 6.28753086e-01 5.32123358e-02 1.00970726e+02] [-6.27318624e-01 7.77604884e-01 -4.24498431e-02 -3.74365913e+01] [-6.80686421e-02 -4.49257041e-04 9.97680539e-01 -4.75994683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34863999999999 meters Centerline goodness [0,1] 0.999261847350032 Centerline is valid? [True, True] Translation: X:101.00, Y:-37.46, Z:-4.76 [[ 7.73966033e-01 6.30930316e-01 5.38842903e-02 1.00995907e+02] [-6.29461801e-01 7.75839259e-01 -4.30265592e-02 -3.74572483e+01] [-6.89523085e-02 -6.17007070e-04 9.97619766e-01 -4.76291658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37863999999999 meters Centerline goodness [0,1] 0.9992622104175889 Centerline is valid? [True, True] Translation: X:101.02, Y:-37.48, Z:-4.76 [[ 7.72631116e-01 6.32711877e-01 5.21233107e-02 1.01020342e+02] [-6.31339368e-01 7.74386958e-01 -4.16586273e-02 -3.74779878e+01] [-6.67215203e-02 -7.20746329e-04 9.97771376e-01 -4.76308189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40863999999999 meters Centerline goodness [0,1] 0.999359416576328 Centerline is valid? [True, True] Translation: X:101.05, Y:-37.50, Z:-4.76 [[ 7.72055386e-01 6.33414531e-01 5.21201708e-02 1.01046510e+02] [-6.32041030e-01 7.73812296e-01 -4.16973147e-02 -3.74978571e+01] [-6.67429141e-02 -7.49450066e-04 9.97769924e-01 -4.76415511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43863999999999 meters Centerline goodness [0,1] 0.9992124046271228 Centerline is valid? [True, True] Translation: X:101.07, Y:-37.52, Z:-4.76 [[ 7.70572942e-01 6.35120231e-01 5.32882068e-02 1.01072677e+02] [-6.33685423e-01 7.72412787e-01 -4.26763631e-02 -3.75170113e+01] [-6.82651139e-02 -8.82709166e-04 9.97666826e-01 -4.76476828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46864 meters Centerline goodness [0,1] 0.9991640851649702 Centerline is valid? [True, True] Translation: X:101.10, Y:-37.54, Z:-4.77 [[ 7.69418652e-01 6.36394146e-01 5.47487801e-02 1.01098259e+02] [-6.34879775e-01 7.71363410e-01 -4.38880522e-02 -3.75372460e+01] [-7.01613052e-02 -9.90607224e-04 9.97535167e-01 -4.76618543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49864 meters Centerline goodness [0,1] 0.9992605373428641 Centerline is valid? [True, True] Translation: X:101.13, Y:-37.56, Z:-4.77 [[ 7.68384695e-01 6.37730280e-01 5.37126785e-02 1.01125284e+02] [-6.36273096e-01 7.70259028e-01 -4.30996334e-02 -3.75570923e+01] [-6.88586168e-02 -1.05883355e-03 9.97625867e-01 -4.76690159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52864 meters Centerline goodness [0,1] 0.999163179916318 Centerline is valid? [True, True] Translation: X:101.15, Y:-37.57, Z:-4.77 [[ 7.65685817e-01 6.40933566e-01 5.41238701e-02 1.01153112e+02] [-6.39458828e-01 7.67595216e-01 -4.34740365e-02 -3.75742035e+01] [-6.94091929e-02 -1.32253341e-03 9.97587397e-01 -4.76745922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55864 meters Centerline goodness [0,1] 0.9992619926199262 Centerline is valid? [True, True] Translation: X:101.18, Y:-37.59, Z:-4.77 [[ 7.63952262e-01 6.43067953e-01 5.32968053e-02 1.01180754e+02] [-6.41640289e-01 7.65807727e-01 -4.28516622e-02 -3.75924825e+01] [-6.83716360e-02 -1.46075325e-03 9.97658852e-01 -4.76924080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58864 meters Centerline goodness [0,1] 0.9996065509270644 Centerline is valid? [True, True] Translation: X:101.21, Y:-37.61, Z:-4.77 [[ 7.60863792e-01 6.46667758e-01 5.39175309e-02 1.01208521e+02] [-6.45212583e-01 7.62769738e-01 -4.33941214e-02 -3.76085419e+01] [-6.91882402e-02 -1.77125361e-03 9.97602050e-01 -4.77171330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61864 meters Centerline goodness [0,1] 0.9997536581760851 Centerline is valid? [True, True] Translation: X:101.24, Y:-37.63, Z:-4.77 [[ 7.59247845e-01 6.48558207e-01 5.39903806e-02 1.01235863e+02] [-6.47101163e-01 7.61162650e-01 -4.34914366e-02 -3.76261118e+01] [-6.93021893e-02 -1.91645862e-03 9.97593872e-01 -4.77252496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64864 meters Centerline goodness [0,1] 0.9996560703581782 Centerline is valid? [True, True] Translation: X:101.26, Y:-37.64, Z:-4.77 [[ 7.58003878e-01 6.50019640e-01 5.38942261e-02 1.01263443e+02] [-6.48568678e-01 7.59914735e-01 -4.34541785e-02 -3.76424794e+01] [-6.92010860e-02 -2.01567116e-03 9.97600695e-01 -4.77418720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67864 meters Centerline goodness [0,1] 0.9991642906302232 Centerline is valid? [True, True] Translation: X:101.29, Y:-37.65, Z:-4.77 [[ 7.56385345e-01 6.51946485e-01 5.33572086e-02 1.01294763e+02] [-6.50526372e-01 7.58261962e-01 -4.30608482e-02 -3.76548394e+01] [-6.85321103e-02 -2.13967681e-03 9.97646617e-01 -4.77470342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70864 meters Centerline goodness [0,1] 0.9992125209174131 Centerline is valid? [True, True] Translation: X:101.32, Y:-37.67, Z:-4.78 [[ 7.55829127e-01 6.52579441e-01 5.35014361e-02 1.01323730e+02] [-6.51150305e-01 7.57717203e-01 -4.32194538e-02 -3.76721586e+01] [-6.87430855e-02 -2.17095442e-03 9.97632034e-01 -4.77590641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73863999999999 meters Centerline goodness [0,1] 0.9993117687543015 Centerline is valid? [True, True] Translation: X:101.35, Y:-37.69, Z:-4.78 [[ 7.56371198e-01 6.51785372e-01 5.54836906e-02 1.01353660e+02] [-6.50242808e-01 7.58400450e-01 -4.48670093e-02 -3.76869681e+01] [-7.13225162e-02 -2.14175726e-03 9.97451007e-01 -4.77849772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76863999999999 meters Centerline goodness [0,1] 0.9997043461121514 Centerline is valid? [True, True] Translation: X:101.38, Y:-37.70, Z:-4.78 [[ 7.57772895e-01 6.50143265e-01 5.56235075e-02 1.01382079e+02] [-6.48585483e-01 7.59809116e-01 -4.50219675e-02 -3.77035710e+01] [-7.15339770e-02 -1.96017279e-03 9.97436237e-01 -4.78001090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79863999999999 meters Centerline goodness [0,1] 0.999164783334971 Centerline is valid? [True, True] Translation: X:101.41, Y:-37.72, Z:-4.78 [[ 7.60518540e-01 6.47044201e-01 5.42711020e-02 1.01412522e+02] [-6.45551492e-01 7.62450800e-01 -4.39550798e-02 -3.77166471e+01] [-6.98199246e-02 -1.60613785e-03 9.97558318e-01 -4.78118129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82864 meters Centerline goodness [0,1] 0.9990150694376047 Centerline is valid? [True, True] Translation: X:101.44, Y:-37.73, Z:-4.78 [[ 7.61590478e-01 6.45769700e-01 5.44190969e-02 1.01440324e+02] [-6.44264089e-01 7.63530820e-01 -4.40961501e-02 -3.77332737e+01] [-7.00266153e-02 -1.47706192e-03 9.97544030e-01 -4.78316097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85864 meters Centerline goodness [0,1] 0.9987223587223587 Centerline is valid? [True, True] Translation: X:101.47, Y:-37.75, Z:-4.78 [[ 7.62878310e-01 6.44289082e-01 5.39283184e-02 1.01467433e+02] [-6.42804043e-01 7.64780945e-01 -4.37386304e-02 -3.77503830e+01] [-6.94236724e-02 -1.29808869e-03 9.97586422e-01 -4.78488387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88864 meters Centerline goodness [0,1] 0.9984760593845247 Centerline is valid? [True, True] Translation: X:101.50, Y:-37.76, Z:-4.79 [[ 7.65041573e-01 6.41655407e-01 5.46784284e-02 1.01497720e+02] [-6.40119056e-01 7.66992343e-01 -4.43885118e-02 -3.77644206e+01] [-7.04200645e-02 -1.04164711e-03 9.97516882e-01 -4.78685915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91864 meters Centerline goodness [0,1] 0.9986741308190925 Centerline is valid? [True, True] Translation: X:101.52, Y:-37.78, Z:-4.79 [[ 7.66253280e-01 6.40191166e-01 5.48742465e-02 1.01524909e+02] [-6.38637090e-01 7.68215139e-01 -4.45888627e-02 -3.77815614e+01] [-7.07006229e-02 -8.78366819e-04 9.97497193e-01 -4.78888147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94864 meters Centerline goodness [0,1] 0.9984244214672575 Centerline is valid? [True, True] Translation: X:101.55, Y:-37.80, Z:-4.79 [[ 7.67626939e-01 6.38711373e-01 5.28834997e-02 1.01552855e+02] [-6.37261981e-01 7.69446107e-01 -4.30099443e-02 -3.77979794e+01] [-6.81619436e-02 -6.85051897e-04 9.97674035e-01 -4.78883993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97864 meters Centerline goodness [0,1] 0.9979362193504004 Centerline is valid? [True, True] Translation: X:101.58, Y:-37.82, Z:-4.79 [[ 7.67756336e-01 6.38439142e-01 5.42740343e-02 1.01579563e+02] [-6.36908861e-01 7.69672037e-01 -4.41821068e-02 -3.78163470e+01] [-6.99807929e-02 -6.46520919e-04 9.97548129e-01 -4.79073589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00864 meters Centerline goodness [0,1] 0.9980348808646524 Centerline is valid? [True, True] Translation: X:101.61, Y:-37.83, Z:-4.79 [[ 7.68481487e-01 6.37549529e-01 5.44683580e-02 1.01609706e+02] [-6.36003784e-01 7.70409179e-01 -4.43720962e-02 -3.78321753e+01] [-7.02523320e-02 -5.42947354e-04 9.97529105e-01 -4.79150755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03864 meters Centerline goodness [0,1] 0.9982789988690564 Centerline is valid? [True, True] Translation: X:101.64, Y:-37.85, Z:-4.79 [[ 7.69261237e-01 6.36630879e-01 5.42058412e-02 1.01636386e+02] [-6.35096668e-01 7.71168546e-01 -4.41734821e-02 -3.78497369e+01] [-6.99240425e-02 -4.45001664e-04 9.97552219e-01 -4.79241922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06864 meters Centerline goodness [0,1] 0.9983265245853227 Centerline is valid? [True, True] Translation: X:101.67, Y:-37.87, Z:-4.79 [[ 7.69737343e-01 6.36059974e-01 5.41491600e-02 1.01665218e+02] [-6.34526595e-01 7.71639529e-01 -4.41410965e-02 -3.78672464e+01] [-6.98600171e-02 -3.82031790e-04 9.97556731e-01 -4.79414029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09863999999999 meters Centerline goodness [0,1] 0.9985263054477576 Centerline is valid? [True, True] Translation: X:101.69, Y:-37.89, Z:-4.80 [[ 7.70849741e-01 6.34695736e-01 5.43323111e-02 1.01692593e+02] [-6.33147324e-01 7.72762100e-01 -4.43080550e-02 -3.78863308e+01] [-7.01080844e-02 -2.45504710e-04 9.97539371e-01 -4.79579012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12863999999999 meters Centerline goodness [0,1] 0.9986261040235525 Centerline is valid? [True, True] Translation: X:101.72, Y:-37.91, Z:-4.80 [[ 7.72134813e-01 6.33129887e-01 5.43541826e-02 1.01720329e+02] [-6.31575097e-01 7.74045566e-01 -4.43436328e-02 -3.79051721e+01] [-7.01478932e-02 -8.94855684e-05 9.97536598e-01 -4.79757914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15863999999999 meters Centerline goodness [0,1] 0.9984762092017302 Centerline is valid? [True, True] Translation: X:101.75, Y:-37.92, Z:-4.80 [[ 7.75223701e-01 6.29380334e-01 5.39315183e-02 1.01748133e+02] [-6.27839511e-01 7.77097374e-01 -4.40138721e-02 -3.79224945e+01] [-6.96115068e-02 2.60258797e-04 9.97574143e-01 -4.79772857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18863999999999 meters Centerline goodness [0,1] 0.998231566537309 Centerline is valid? [True, True] Translation: X:101.77, Y:-37.94, Z:-4.80 [[ 7.76363707e-01 6.27995187e-01 5.36790353e-02 1.01773908e+02] [-6.26464523e-01 7.78217123e-01 -4.38213482e-02 -3.79424072e+01] [-6.92935401e-02 3.93293084e-04 9.97596236e-01 -4.79939445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21864 meters Centerline goodness [0,1] 0.9988194786030496 Centerline is valid? [True, True] Translation: X:101.80, Y:-37.96, Z:-4.80 [[ 7.77294645e-01 6.26997574e-01 5.18370150e-02 1.01800011e+02] [-6.25567041e-01 7.79021061e-01 -4.23327747e-02 -3.79616231e+01] [-6.69246735e-02 4.77510999e-04 9.97757917e-01 -4.80051202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24864 meters Centerline goodness [0,1] 0.9989686164726683 Centerline is valid? [True, True] Translation: X:101.83, Y:-37.98, Z:-4.80 [[ 7.77435402e-01 6.26761215e-01 5.25792242e-02 1.01825942e+02] [-6.25287945e-01 7.79211213e-01 -4.29519716e-02 -3.79809134e+01] [-6.78909510e-02 5.15228233e-04 9.97692615e-01 -4.80288366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27864 meters Centerline goodness [0,1] 0.9991159569765728 Centerline is valid? [True, True] Translation: X:101.85, Y:-38.00, Z:-4.80 [[ 7.77114422e-01 6.27208852e-01 5.19829894e-02 1.01850639e+02] [-6.25769105e-01 7.78850965e-01 -4.24758993e-02 -3.80011603e+01] [-6.71282615e-02 4.79285145e-04 9.97744239e-01 -4.80432826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30864 meters Centerline goodness [0,1] 0.9994108116070114 Centerline is valid? [True, True] Translation: X:101.87, Y:-38.02, Z:-4.81 [[ 7.77240165e-01 6.26951510e-01 5.31933276e-02 1.01874523e+02] [-6.25442472e-01 7.79058105e-01 -4.34762433e-02 -3.80233342e+01] [-6.86981894e-02 5.22116179e-04 9.97637352e-01 -4.80706017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33864 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:101.90, Y:-38.05, Z:-4.81 [[ 7.77194887e-01 6.27144159e-01 5.15588133e-02 1.01897916e+02] [-6.25726250e-01 7.78903046e-01 -4.21509694e-02 -3.80455374e+01] [-6.65940510e-02 4.97814967e-04 9.97780028e-01 -4.80851412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36864 meters Centerline goodness [0,1] 0.9999017102417928 Centerline is valid? [True, True] Translation: X:101.92, Y:-38.07, Z:-4.81 [[ 7.76619558e-01 6.27891800e-01 5.11268033e-02 1.01922484e+02] [-6.26498278e-01 7.78300516e-01 -4.18116569e-02 -3.80670083e+01] [-6.60452139e-02 4.40896319e-04 9.97816534e-01 -4.80888086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.95, Y:-38.09, Z:-4.81 [[ 7.76450758e-01 6.28167150e-01 5.03016077e-02 1.01946588e+02] [-6.26817807e-01 7.78078307e-01 -4.11531890e-02 -3.80879805e+01] [-6.49896712e-02 4.23481428e-04 9.97885847e-01 -4.80983841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.97, Y:-38.11, Z:-4.81 [[ 7.73979304e-01 6.30995627e-01 5.29202819e-02 1.01968941e+02] [-6.29507751e-01 7.75786360e-01 -4.33072150e-02 -3.81109907e+01] [-6.83814961e-02 2.05160488e-04 9.97659225e-01 -4.81216797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.99, Y:-38.13, Z:-4.81 [[ 7.72349961e-01 6.33017092e-01 5.25823120e-02 1.01993500e+02] [-6.31552091e-01 7.74137818e-01 -4.30417894e-02 -3.81314880e+01] [-6.79521446e-02 3.48553039e-05 9.97688581e-01 -4.81216356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:-38.15, Z:-4.81 [[ 7.68341806e-01 6.37714684e-01 5.45055085e-02 1.02018561e+02] [-6.36151321e-01 7.70272571e-01 -4.46280439e-02 -3.81518436e+01] [-7.04440571e-02 -3.84159392e-04 9.97515658e-01 -4.81433884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:-38.17, Z:-4.82 [[ 7.66769447e-01 6.39586401e-01 5.47161028e-02 1.02043075e+02] [-6.38014829e-01 7.68719022e-01 -4.48123184e-02 -3.81723432e+01] [-7.07226584e-02 -5.48968336e-04 9.97495867e-01 -4.81555480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:-38.19, Z:-4.82 [[ 7.64621564e-01 6.42048708e-01 5.59224522e-02 1.02067949e+02] [-6.40412658e-01 7.66663448e-01 -4.58125081e-02 -3.81931580e+01] [-7.22875616e-02 -7.84214601e-04 9.97383524e-01 -4.81714511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:-38.21, Z:-4.82 [[ 7.64255407e-01 6.42561169e-01 5.50346928e-02 1.02093178e+02] [-6.40977206e-01 7.66233964e-01 -4.50969459e-02 -3.82133108e+01] [-7.11469971e-02 -8.10398908e-04 9.97465512e-01 -4.81769889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.12, Y:-38.23, Z:-4.82 [[ 7.63509953e-01 6.43348253e-01 5.61745210e-02 1.02118842e+02] [-6.41699151e-01 7.65573137e-01 -4.60431432e-02 -3.82332181e+01] [-7.26274800e-02 -8.92744281e-04 9.97358738e-01 -4.81944820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:-38.25, Z:-4.82 [[ 7.63343305e-01 6.43608244e-01 5.54565231e-02 1.02144886e+02] [-6.42000921e-01 7.65354574e-01 -4.54664062e-02 -3.82523696e+01] [-7.17064575e-02 -8.96662109e-04 9.97425376e-01 -4.82112077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:-38.27, Z:-4.82 [[ 7.63095170e-01 6.44040526e-01 5.38290023e-02 1.02170618e+02] [-6.42526477e-01 7.64990843e-01 -4.41444927e-02 -3.82725334e+01] [-6.96095362e-02 -9.00110102e-04 9.97573908e-01 -4.82205713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69864 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:102.20, Y:-38.29, Z:-4.82 [[ 7.61832899e-01 6.45514201e-01 5.40559985e-02 1.02196736e+02] [-6.43990097e-01 7.63747575e-01 -4.43440725e-02 -3.82920709e+01] [-6.99098663e-02 -1.02875444e-03 9.97552782e-01 -4.82379417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:-38.31, Z:-4.82 [[ 7.61077104e-01 6.46433207e-01 5.37191782e-02 1.02222764e+02] [-6.44929384e-01 7.62969795e-01 -4.40815394e-02 -3.83124579e+01] [-6.94818813e-02 -1.09562615e-03 9.97582612e-01 -4.82419690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:102.25, Y:-38.33, Z:-4.83 [[ 7.59023628e-01 6.48950448e-01 5.24065575e-02 1.02249084e+02] [-6.47524134e-01 7.60829597e-01 -4.30211532e-02 -3.83331154e+01] [-6.77910567e-02 -1.28043891e-03 9.97698719e-01 -4.82526125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78864 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:102.27, Y:-38.35, Z:-4.83 [[ 7.57990172e-01 6.50078877e-01 5.33699613e-02 1.02273698e+02] [-6.48601385e-01 7.59865452e-01 -4.38262244e-02 -3.83529521e+01] [-6.90444925e-02 -1.39598343e-03 9.97612605e-01 -4.82696034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.30, Y:-38.37, Z:-4.83 [[ 7.56375439e-01 6.52041601e-01 5.23253825e-02 1.02299999e+02] [-6.50625477e-01 7.58181633e-01 -4.29778993e-02 -3.83708394e+01] [-6.76955223e-02 -1.53679952e-03 9.97704843e-01 -4.82777860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84863999999999 meters Centerline goodness [0,1] 0.9999017054111171 Centerline is valid? [True, True] Translation: X:102.33, Y:-38.39, Z:-4.83 [[ 7.56103638e-01 6.52339243e-01 5.25433166e-02 1.02325622e+02] [-6.50911215e-01 7.57925507e-01 -4.31684599e-02 -3.83903683e+01] [-6.79844004e-02 -1.56120448e-03 9.97685163e-01 -4.82996452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87863999999999 meters Centerline goodness [0,1] 0.9999017054111171 Centerline is valid? [True, True] Translation: X:102.35, Y:-38.41, Z:-4.83 [[ 7.55977399e-01 6.52486073e-01 5.25366230e-02 1.02350789e+02] [-6.51057833e-01 7.57799102e-01 -4.31766051e-02 -3.84109766e+01] [-6.79843392e-02 -1.56384229e-03 9.97685163e-01 -4.83135896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.38, Y:-38.43, Z:-4.83 [[ 7.56192083e-01 6.52142121e-01 5.37046247e-02 1.02377025e+02] [-6.50647655e-01 7.58095135e-01 -4.41519486e-02 -3.84303019e+01] [-6.95065602e-02 -1.55543415e-03 9.97580282e-01 -4.83256579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.40, Y:-38.45, Z:-4.83 [[ 7.58035634e-01 6.49979131e-01 5.39361309e-02 1.02403621e+02] [-6.48465445e-01 7.59950851e-01 -4.43539279e-02 -3.84480907e+01] [-6.98179361e-02 -1.35385923e-03 9.97558832e-01 -4.83257981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.43, Y:-38.47, Z:-4.84 [[ 7.58787603e-01 6.49140599e-01 5.34589215e-02 1.02429264e+02] [-6.47650733e-01 7.60667407e-01 -4.39729945e-02 -3.84679474e+01] [-6.92091152e-02 -1.25654663e-03 9.97601383e-01 -4.83506327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.46, Y:-38.49, Z:-4.84 [[ 7.59761747e-01 6.47993147e-01 5.35440853e-02 1.02455915e+02] [-6.46494869e-01 7.61645305e-01 -4.40546614e-02 -3.84865327e+01] [-6.93287199e-02 -1.14492983e-03 9.97593213e-01 -4.83570908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.48, Y:-38.50, Z:-4.84 [[ 7.59784130e-01 6.48016082e-01 5.29455694e-02 1.02482266e+02] [-6.46550429e-01 7.61625820e-01 -4.35735267e-02 -3.85045441e+01] [-6.85610588e-02 -1.12550659e-03 9.97646287e-01 -4.83596611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.51, Y:-38.52, Z:-4.84 [[ 7.60174887e-01 6.47560004e-01 5.29167546e-02 1.02509588e+02] [-6.46094207e-01 7.62013702e-01 -4.35590838e-02 -3.85202073e+01] [-6.85304125e-02 -1.07668700e-03 9.97648447e-01 -4.83630474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:-38.54, Z:-4.84 [[ 7.60782468e-01 6.46917833e-01 5.20322337e-02 1.02534863e+02] [-6.45498807e-01 7.62559061e-01 -4.28365265e-02 -3.85394652e+01] [-6.73893642e-02 -9.97466427e-04 9.97726254e-01 -4.83758081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:-38.56, Z:-4.84 [[ 7.61121839e-01 6.46457014e-01 5.27908564e-02 1.02558584e+02] [-6.44994906e-01 7.62949797e-01 -4.34646841e-02 -3.85588419e+01] [-6.83748230e-02 -9.67913198e-04 9.97659234e-01 -4.84000077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.58, Y:-38.58, Z:-4.84 [[ 7.62859168e-01 6.44354117e-01 5.34196714e-02 1.02583792e+02] [-6.42851619e-01 7.64726848e-01 -4.39845798e-02 -3.85773300e+01] [-6.91931021e-02 -7.86882330e-04 9.97602975e-01 -4.84187192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:-38.60, Z:-4.84 [[ 7.63199186e-01 6.44051968e-01 5.21925803e-02 1.02609011e+02] [-6.42616705e-01 7.64981384e-01 -4.29796789e-02 -3.85964491e+01] [-6.76074992e-02 -7.37768042e-04 9.97711723e-01 -4.84167175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:-38.61, Z:-4.84 [[ 7.63260661e-01 6.43946490e-01 5.25935494e-02 1.02633093e+02] [-6.42488717e-01 7.65070180e-01 -4.33112948e-02 -3.86136978e+01] [-6.81279126e-02 -7.32954630e-04 9.97676325e-01 -4.84178717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.66, Y:-38.63, Z:-4.84 [[ 7.63259529e-01 6.43946714e-01 5.26072273e-02 1.02656260e+02] [-6.42488565e-01 7.65069987e-01 -4.33169479e-02 -3.86316108e+01] [-6.81420170e-02 -7.37468704e-04 9.97675359e-01 -4.84275915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.68, Y:-38.65, Z:-4.84 [[ 7.61909956e-01 6.45511006e-01 5.29977401e-02 1.02679210e+02] [-6.44036143e-01 7.63750440e-01 -4.36200826e-02 -3.86487053e+01] [-6.86342907e-02 -8.97884858e-04 9.97641483e-01 -4.84440220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29863999999999 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:102.70, Y:-38.67, Z:-4.85 [[ 7.61704986e-01 6.45711262e-01 5.35021593e-02 1.02701608e+02] [-6.44211445e-01 7.63581072e-01 -4.39950061e-02 -3.86661171e+01] [-6.92613071e-02 -9.55487914e-04 9.97598095e-01 -4.84621710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:-38.68, Z:-4.85 [[ 7.61428310e-01 6.46059276e-01 5.32385252e-02 1.02724841e+02] [-6.44577808e-01 7.63286569e-01 -4.37385777e-02 -3.86836913e+01] [-6.88939651e-02 -1.01258058e-03 9.97623474e-01 -4.84715524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:-38.70, Z:-4.85 [[ 7.60082009e-01 6.47614515e-01 5.35796534e-02 1.02749715e+02] [-6.46120598e-01 7.61967204e-01 -4.39790078e-02 -3.86984730e+01] [-6.93073825e-02 -1.19126509e-03 9.97594641e-01 -4.84834780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.77, Y:-38.71, Z:-4.85 [[ 7.60140770e-01 6.47620011e-01 5.26719145e-02 1.02773227e+02] [-6.46178986e-01 7.61962518e-01 -4.31953708e-02 -3.87147670e+01] [-6.81082111e-02 -1.20092182e-03 9.97677217e-01 -4.84839168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.80, Y:-38.73, Z:-4.85 [[ 7.59823666e-01 6.48032268e-01 5.21744844e-02 1.02798864e+02] [-6.46622071e-01 7.61611843e-01 -4.27468984e-02 -3.87276418e+01] [-6.74380747e-02 -1.25706818e-03 9.97722670e-01 -4.85008071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.82, Y:-38.74, Z:-4.85 [[ 7.60696433e-01 6.47017259e-01 5.20538496e-02 1.02823341e+02] [-6.45614053e-01 7.62474416e-01 -4.26058651e-02 -3.87432874e+01] [-6.72564586e-02 -1.19656716e-03 9.97735003e-01 -4.85109358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47864 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:102.85, Y:-38.76, Z:-4.85 [[ 7.60901018e-01 6.46728663e-01 5.26467187e-02 1.02847634e+02] [-6.45295286e-01 7.62719188e-01 -4.30515243e-02 -3.87592223e+01] [-6.79973173e-02 -1.21473072e-03 9.97684764e-01 -4.85223809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.87, Y:-38.77, Z:-4.85 [[ 7.62389201e-01 6.44996577e-01 5.23652716e-02 1.02873905e+02] [-6.43577038e-01 7.64184690e-01 -4.27826548e-02 -3.87718055e+01] [-6.76114048e-02 -1.08405240e-03 9.97711142e-01 -4.85279993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:-38.79, Z:-4.85 [[ 7.63159493e-01 6.44089968e-01 5.23039335e-02 1.02898490e+02] [-6.42674384e-01 7.64949047e-01 -4.26918222e-02 -3.87861606e+01] [-6.75072185e-02 -1.03372882e-03 9.97718250e-01 -4.85430881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:-38.80, Z:-4.85 [[ 7.64293485e-01 6.42870309e-01 5.07270539e-02 1.02922850e+02] [-6.41538767e-01 7.65974480e-01 -4.13655121e-02 -3.88026154e+01] [-6.54482883e-02 -9.27980256e-04 9.97855531e-01 -4.85456572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:-38.82, Z:-4.86 [[ 7.64888040e-01 6.42183775e-01 5.04607358e-02 1.02945586e+02] [-6.40867114e-01 7.66550195e-01 -4.11113235e-02 -3.88189740e+01] [-6.50817118e-02 -8.93066526e-04 9.97879538e-01 -4.85646500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:-38.83, Z:-4.86 [[ 7.65327016e-01 6.41756737e-01 4.92224407e-02 1.02969921e+02] [-6.40505557e-01 7.66907779e-01 -4.00635784e-02 -3.88343168e+01] [-6.34601440e-02 -8.65507926e-04 9.97983998e-01 -4.85733773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.99, Y:-38.85, Z:-4.86 [[ 7.65465507e-01 6.41597280e-01 4.91476006e-02 1.02992375e+02] [-6.40351971e-01 7.67041169e-01 -3.99649557e-02 -3.88508345e+01] [-6.33396400e-02 -8.79967794e-04 9.97991641e-01 -4.85830570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.02, Y:-38.87, Z:-4.86 [[ 7.64824254e-01 6.42415093e-01 4.84428439e-02 1.03015722e+02] [-6.41209431e-01 7.66356260e-01 -3.93516003e-02 -3.88662009e+01] [-6.24045386e-02 -9.64950089e-04 9.98050471e-01 -4.85830575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:-38.88, Z:-4.86 [[ 7.64882501e-01 6.42254579e-01 4.96368421e-02 1.03038766e+02] [-6.40990947e-01 7.66490732e-01 -4.02810488e-02 -3.88832170e+01] [-6.39168675e-02 -1.00649710e-03 9.97954719e-01 -4.85948038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:-38.90, Z:-4.86 [[ 7.64679687e-01 6.42462212e-01 5.00727702e-02 1.03061317e+02] [-6.41179094e-01 7.66316632e-01 -4.05978981e-02 -3.89005667e+01] [-6.44542120e-02 -1.06122539e-03 9.97920101e-01 -4.86044458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:-38.92, Z:-4.86 [[ 7.65089536e-01 6.41957113e-01 5.02898287e-02 1.03085527e+02] [-6.40664257e-01 7.66739823e-01 -4.07351573e-02 -3.89156391e+01] [-6.47094383e-02 -1.05285314e-03 9.97903593e-01 -4.86186960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.11, Y:-38.93, Z:-4.86 [[ 7.65953088e-01 6.40992499e-01 4.94417099e-02 1.03109989e+02] [-6.39743362e-01 7.67546511e-01 -4.00097976e-02 -3.89317929e+01] [-6.35947921e-02 -9.84377713e-04 9.97975317e-01 -4.86305906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:-38.94, Z:-4.86 [[ 7.66321322e-01 6.40471576e-01 5.04756564e-02 1.03136791e+02] [-6.39170772e-01 7.67981240e-01 -4.08110326e-02 -3.89445191e+01] [-6.49026635e-02 -9.88199801e-04 9.97891110e-01 -4.86470198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86864 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:103.16, Y:-38.96, Z:-4.86 [[ 7.66725528e-01 6.39967465e-01 5.07307461e-02 1.03159720e+02] [-6.38654905e-01 7.68401381e-01 -4.09784090e-02 -3.89600856e+01] [-6.52064239e-02 -9.80247542e-04 9.97871315e-01 -4.86475421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89864 meters Centerline goodness [0,1] 0.9999020568070519 Centerline is valid? [True, True] Translation: X:103.18, Y:-38.97, Z:-4.87 [[ 7.69071747e-01 6.37286674e-01 4.89320220e-02 1.03184301e+02] [-6.36062604e-01 7.70626449e-01 -3.94872102e-02 -3.89748603e+01] [-6.28729832e-02 -7.55331527e-04 9.98021251e-01 -4.86511693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.21, Y:-38.99, Z:-4.87 [[ 7.70713125e-01 6.35267945e-01 4.93550127e-02 1.03207377e+02] [-6.34020878e-01 7.72291556e-01 -3.97904401e-02 -3.89908938e+01] [-6.33940507e-02 -6.25094042e-04 9.97988378e-01 -4.86739183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:-39.01, Z:-4.87 [[ 7.72410491e-01 6.33258700e-01 4.86359181e-02 1.03231044e+02] [-6.32046161e-01 7.73940040e-01 -3.91722462e-02 -3.90076642e+01] [-6.24474501e-02 -4.83091404e-04 9.98048136e-01 -4.86835921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98863999999999 meters Centerline goodness [0,1] 0.999901941557168 Centerline is valid? [True, True] Translation: X:103.25, Y:-39.02, Z:-4.87 [[ 7.75511221e-01 6.29449414e-01 4.87419816e-02 1.03254433e+02] [-6.28226250e-01 7.77041436e-01 -3.92222560e-02 -3.90235027e+01] [-6.25629655e-02 -2.03692639e-04 9.98040998e-01 -4.87087202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:-39.04, Z:-4.87 [[ 7.78455352e-01 6.25751305e-01 4.94223523e-02 1.03277753e+02] [-6.24488651e-01 7.80022628e-01 -3.97319139e-02 -3.90385357e+01] [-6.34128501e-02 6.58229595e-05 9.97987378e-01 -4.87188788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:-39.06, Z:-4.87 [[ 7.79632101e-01 6.24244285e-01 4.99285437e-02 1.03300651e+02] [-6.22955065e-01 7.81229190e-01 -4.00991154e-02 -3.90550770e+01] [-6.40372794e-02 1.59318331e-04 9.97947494e-01 -4.87341428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:103.32, Y:-39.07, Z:-4.87 [[ 7.81223268e-01 6.22428810e-01 4.76716107e-02 1.03323667e+02] [-6.21252256e-01 7.82676373e-01 -3.82535006e-02 -3.90724450e+01] [-6.11215242e-02 2.68429070e-04 9.98130296e-01 -4.87292522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.35, Y:-39.09, Z:-4.88 [[ 7.81963213e-01 6.21491665e-01 4.77665657e-02 1.03345929e+02] [-6.20310832e-01 7.83420712e-01 -3.82943921e-02 -3.90895173e+01] [-6.12209624e-02 3.14687759e-04 9.98124188e-01 -4.87514900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13864 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:103.37, Y:-39.10, Z:-4.88 [[ 7.84163760e-01 6.18830451e-01 4.62176390e-02 1.03369165e+02] [-6.17722570e-01 7.85524440e-01 -3.70159553e-02 -3.91043819e+01] [-5.92116853e-02 4.76891955e-04 9.98245335e-01 -4.87704000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.39, Y:-39.12, Z:-4.88 [[ 7.86150735e-01 6.16260958e-01 4.67916037e-02 1.03393708e+02] [-6.15123029e-01 7.87541751e-01 -3.74386070e-02 -3.91195957e+01] [-5.99222934e-02 6.49795366e-04 9.98202833e-01 -4.87898254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.42, Y:-39.14, Z:-4.88 [[ 7.87961980e-01 6.14022816e-01 4.57372843e-02 1.03415858e+02] [-6.12933786e-01 7.89287894e-01 -3.65621990e-02 -3.91359148e+01] [-5.85499092e-02 7.75695889e-04 9.98284181e-01 -4.87996039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.44, Y:-39.15, Z:-4.88 [[ 7.89354279e-01 6.12269621e-01 4.52297838e-02 1.03438295e+02] [-6.11203772e-01 7.90648568e-01 -3.61219061e-02 -3.91536153e+01] [-5.78772095e-02 8.68366672e-04 9.98323332e-01 -4.88095690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:-39.17, Z:-4.88 [[ 7.93601952e-01 6.06889337e-01 4.33736612e-02 1.03460799e+02] [-6.05902791e-01 7.94785458e-01 -3.46104507e-02 -3.91710225e+01] [-5.54774687e-02 1.18669884e-03 9.98459234e-01 -4.88139307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:103.48, Y:-39.19, Z:-4.88 [[ 7.95634577e-01 6.04153612e-01 4.43174141e-02 1.03483090e+02] [-6.03121132e-01 7.96866677e-01 -3.53326977e-02 -3.91891209e+01] [-5.66614475e-02 1.38314701e-03 9.98392492e-01 -4.88312087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31864 meters Centerline goodness [0,1] 0.9997546855068198 Centerline is valid? [True, True] Translation: X:103.51, Y:-39.21, Z:-4.88 [[ 7.99276679e-01 5.99291812e-01 4.47896673e-02 1.03505282e+02] [-5.98230921e-01 8.00528787e-01 -3.56850985e-02 -3.92091871e+01] [-5.72412054e-02 1.72770312e-03 9.98358883e-01 -4.88405080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34863999999999 meters Centerline goodness [0,1] 0.9995587370072563 Centerline is valid? [True, True] Translation: X:103.53, Y:-39.23, Z:-4.89 [[ 8.00899023e-01 5.97072608e-01 4.54428830e-02 1.03526362e+02] [-5.95977606e-01 8.02184936e-01 -3.61942190e-02 -3.92288578e+01] [-5.80641729e-02 1.90497399e-03 9.98311035e-01 -4.88615307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37863999999999 meters Centerline goodness [0,1] 0.9997548178296475 Centerline is valid? [True, True] Translation: X:103.55, Y:-39.25, Z:-4.89 [[ 8.02601371e-01 5.94728157e-01 4.61460710e-02 1.03546986e+02] [-5.93596952e-01 8.03924180e-01 -3.67229028e-02 -3.92493740e+01] [-5.89380866e-02 2.08168502e-03 9.98259470e-01 -4.88759668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40863999999999 meters Centerline goodness [0,1] 0.9996074005005644 Centerline is valid? [True, True] Translation: X:103.57, Y:-39.27, Z:-4.89 [[ 8.05535709e-01 5.90793329e-01 4.55572594e-02 1.03567133e+02] [-5.89685890e-01 8.06819592e-01 -3.62311596e-02 -3.92718248e+01] [-5.81616169e-02 2.32101982e-03 9.98304482e-01 -4.88817369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43863999999999 meters Centerline goodness [0,1] 0.9993105146515636 Centerline is valid? [True, True] Translation: X:103.59, Y:-39.29, Z:-4.89 [[ 8.06466374e-01 5.89615684e-01 4.43320723e-02 1.03587307e+02] [-5.88565866e-01 8.07680570e-01 -3.52465352e-02 -3.92925953e+01] [-5.65880634e-02 2.33280090e-03 9.98394886e-01 -4.88822661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46864 meters Centerline goodness [0,1] 0.9994598575988215 Centerline is valid? [True, True] Translation: X:103.60, Y:-39.32, Z:-4.89 [[ 8.08418280e-01 5.86880033e-01 4.50745100e-02 1.03604133e+02] [-5.85792218e-01 8.09669910e-01 -3.58066187e-02 -3.93176332e+01] [-5.75096640e-02 2.54242788e-03 9.98341712e-01 -4.89095684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49864 meters Centerline goodness [0,1] 0.9992623918174666 Centerline is valid? [True, True] Translation: X:103.62, Y:-39.34, Z:-4.89 [[ 8.08755126e-01 5.86415074e-01 4.50833409e-02 1.03621795e+02] [-5.85327878e-01 8.10006699e-01 -3.57829882e-02 -3.93406010e+01] [-5.75014918e-02 2.55113883e-03 9.98342161e-01 -4.89121502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52864 meters Centerline goodness [0,1] 0.9993113286438093 Centerline is valid? [True, True] Translation: X:103.64, Y:-39.36, Z:-4.89 [[ 8.09156984e-01 5.85839493e-01 4.53548628e-02 1.03641185e+02] [-5.84740149e-01 8.10422992e-01 -3.59656932e-02 -3.93629258e+01] [-5.78267471e-02 2.58108266e-03 9.98323297e-01 -4.89212356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55864 meters Centerline goodness [0,1] 0.999459698413478 Centerline is valid? [True, True] Translation: X:103.66, Y:-39.39, Z:-4.89 [[ 8.08237407e-01 5.87074475e-01 4.57804938e-02 1.03655951e+02] [-5.85958086e-01 8.09529091e-01 -3.62735785e-02 -3.93901818e+01] [-5.83559336e-02 2.49221254e-03 9.98292730e-01 -4.89400087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58864 meters Centerline goodness [0,1] 0.9994592734601583 Centerline is valid? [True, True] Translation: X:103.68, Y:-39.41, Z:-4.90 [[ 8.07884629e-01 5.87603823e-01 4.52125392e-02 1.03675099e+02] [-5.86517426e-01 8.09145218e-01 -3.57956085e-02 -3.94126705e+01] [-5.76171463e-02 2.40077981e-03 9.98335866e-01 -4.89536135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61864 meters Centerline goodness [0,1] 0.9991653164432661 Centerline is valid? [True, True] Translation: X:103.69, Y:-39.44, Z:-4.90 [[ 8.05833962e-01 5.90321614e-01 4.63898388e-02 1.03689257e+02] [-5.89184175e-01 8.07165026e-01 -3.66964588e-02 -3.94414446e+01] [-5.91069682e-02 2.23909392e-03 9.98249144e-01 -4.89700093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64864 meters Centerline goodness [0,1] 0.999213990960896 Centerline is valid? [True, True] Translation: X:103.71, Y:-39.46, Z:-4.90 [[ 8.04558661e-01 5.91989042e-01 4.72687586e-02 1.03707278e+02] [-5.90812803e-01 8.05943193e-01 -3.73604245e-02 -3.94647541e+01] [-6.02128961e-02 2.13166532e-03 9.98183281e-01 -4.89962287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67864 meters Centerline goodness [0,1] 0.999654610943899 Centerline is valid? [True, True] Translation: X:103.72, Y:-39.49, Z:-4.90 [[ 8.03385211e-01 5.93600979e-01 4.70114903e-02 1.03724780e+02] [-5.92442107e-01 8.04757091e-01 -3.71264534e-02 -3.94889832e+01] [-5.98711293e-02 1.97525727e-03 9.98204161e-01 -4.90017669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70864 meters Centerline goodness [0,1] 0.9995069519771226 Centerline is valid? [True, True] Translation: X:103.74, Y:-39.52, Z:-4.90 [[ 8.00325942e-01 5.97611316e-01 4.83642658e-02 1.03739105e+02] [-5.96393639e-01 8.01784145e-01 -3.81682158e-02 -3.95179301e+01] [-6.15874592e-02 1.70287279e-03 9.98100238e-01 -4.90236896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73863999999999 meters Centerline goodness [0,1] 0.9996562561382832 Centerline is valid? [True, True] Translation: X:103.76, Y:-39.54, Z:-4.90 [[ 7.98389636e-01 6.00188499e-01 4.84536430e-02 1.03757451e+02] [-5.98972382e-01 7.99857204e-01 -3.82169931e-02 -3.95405445e+01] [-6.16933952e-02 1.48965724e-03 9.98094037e-01 -4.90376860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76863999999999 meters Centerline goodness [0,1] 0.9996562561382832 Centerline is valid? [True, True] Translation: X:103.78, Y:-39.56, Z:-4.91 [[ 7.98425288e-01 6.00140097e-01 4.84656996e-02 1.03780315e+02] [-5.98924819e-01 7.99893550e-01 -3.82016977e-02 -3.95586116e+01] [-6.16937711e-02 1.47389112e-03 9.98094037e-01 -4.90502201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79863999999999 meters Centerline goodness [0,1] 0.9998525870964572 Centerline is valid? [True, True] Translation: X:103.80, Y:-39.59, Z:-4.91 [[ 7.94138192e-01 6.05708831e-01 4.96119345e-02 1.03798287e+02] [-6.04446181e-01 7.95685663e-01 -3.91042172e-02 -3.95863479e+01] [-6.31612747e-02 1.06640796e-03 9.98002764e-01 -4.90600165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82864 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:103.82, Y:-39.61, Z:-4.91 [[ 7.91621161e-01 6.08966152e-01 4.99616188e-02 1.03820611e+02] [-6.07691548e-01 7.93195786e-01 -3.93881658e-02 -3.96094256e+01] [-6.36154053e-02 8.19252091e-04 9.97974152e-01 -4.90756253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:-39.63, Z:-4.91 [[ 7.89383685e-01 6.11878656e-01 4.97785972e-02 1.03842822e+02] [-6.10618514e-01 7.90951428e-01 -3.92538995e-02 -3.96325589e+01] [-6.33910758e-02 5.90654793e-04 9.97988588e-01 -4.91009403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:-39.66, Z:-4.91 [[ 7.85840351e-01 6.16380420e-01 5.03003018e-02 1.03863821e+02] [-6.15102205e-01 7.87448488e-01 -3.96756473e-02 -3.96578150e+01] [-6.40641888e-02 2.38898064e-04 9.97945751e-01 -4.91308647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91864 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:103.89, Y:-39.68, Z:-4.91 [[ 7.84701801e-01 6.17788525e-01 5.07978580e-02 1.03888531e+02] [-6.16487006e-01 7.86344276e-01 -4.00805557e-02 -3.96794578e+01] [-6.47059123e-02 1.35064886e-04 9.97904368e-01 -4.91495647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.91, Y:-39.70, Z:-4.92 [[ 7.82001603e-01 6.21109900e-01 5.19228734e-02 1.03912916e+02] [-6.19756346e-01 7.83723468e-01 -4.09828873e-02 -3.97005675e+01] [-6.61480514e-02 -1.30846691e-04 9.97809811e-01 -4.91532348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.94, Y:-39.72, Z:-4.92 [[ 7.81196007e-01 6.22078367e-01 5.24528760e-02 1.03937621e+02] [-6.20698451e-01 7.82954956e-01 -4.14121890e-02 -3.97207459e+01] [-6.68298661e-02 -2.06382231e-04 9.97764364e-01 -4.91577348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.96, Y:-39.74, Z:-4.92 [[ 7.79567786e-01 6.24021778e-01 5.35806577e-02 1.03961669e+02] [-6.22585690e-01 7.81406860e-01 -4.23128486e-02 -3.97412929e+01] [-6.82724325e-02 -3.72817054e-04 9.97666646e-01 -4.91826613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.99, Y:-39.76, Z:-4.92 [[ 7.79102486e-01 6.24648316e-01 5.30452320e-02 1.03987375e+02] [-6.23241639e-01 7.80906081e-01 -4.18993083e-02 -3.97603749e+01] [-6.75956767e-02 -4.16142005e-04 9.97712710e-01 -4.91961271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:-39.78, Z:-4.92 [[ 7.79257879e-01 6.24481488e-01 5.27259756e-02 1.04013575e+02] [-6.23090586e-01 7.81039511e-01 -4.16581701e-02 -3.97795849e+01] [-6.71958263e-02 -3.90601798e-04 9.97739730e-01 -4.92078008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:-39.80, Z:-4.92 [[ 7.81206873e-01 6.22072101e-01 5.23652904e-02 1.04039124e+02] [-6.20694026e-01 7.82959943e-01 -4.13842282e-02 -3.97985394e+01] [-6.67438985e-02 -1.73179435e-04 9.97770125e-01 -4.92268169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:-39.82, Z:-4.92 [[ 7.83450248e-01 6.19207596e-01 5.27983122e-02 1.04065274e+02] [-6.17799341e-01 7.85227322e-01 -4.17376071e-02 -3.98179928e+01] [-6.73029207e-02 8.05762102e-05 9.97732585e-01 -4.92426298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15863999999999 meters Centerline goodness [0,1] 0.9998526305447758 Centerline is valid? [True, True] Translation: X:104.09, Y:-39.84, Z:-4.92 [[ 7.87728327e-01 6.13920188e-01 5.08535658e-02 1.04091787e+02] [-6.12602136e-01 7.89367931e-01 -4.02106082e-02 -3.98357525e+01] [-6.48282781e-02 5.22032056e-04 9.97896298e-01 -4.92432031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:-39.86, Z:-4.93 [[ 7.89974334e-01 6.11095039e-01 5.00340364e-02 1.04117553e+02] [-6.09812841e-01 7.91556877e-01 -3.95728216e-02 -3.98555220e+01] [-6.37875406e-02 7.50115508e-04 9.97963219e-01 -4.92664197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21864 meters Centerline goodness [0,1] 0.9997051162333513 Centerline is valid? [True, True] Translation: X:104.14, Y:-39.88, Z:-4.93 [[ 7.91893754e-01 6.08657391e-01 4.94010346e-02 1.04142724e+02] [-6.07402088e-01 7.93432601e-01 -3.90821213e-02 -3.98761552e+01] [-6.29840133e-02 9.42596171e-04 9.98014091e-01 -4.92800907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24864 meters Centerline goodness [0,1] 0.9994572189874666 Centerline is valid? [True, True] Translation: X:104.17, Y:-39.90, Z:-4.93 [[ 7.95217935e-01 6.04264066e-01 4.99336993e-02 1.04165792e+02] [-6.02972184e-01 7.96783041e-01 -3.95136835e-02 -3.98986454e+01] [-6.36630238e-02 1.31335809e-03 9.97970588e-01 -4.92865527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27864 meters Centerline goodness [0,1] 0.9995576526098496 Centerline is valid? [True, True] Translation: X:104.19, Y:-39.92, Z:-4.93 [[ 7.96482804e-01 6.02548293e-01 5.05044336e-02 1.04190163e+02] [-6.01222569e-01 7.98081060e-01 -3.99755456e-02 -3.99194050e+01] [-6.43938286e-02 1.47542932e-03 9.97923473e-01 -4.92985939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30864 meters Centerline goodness [0,1] 0.9989184937567595 Centerline is valid? [True, True] Translation: X:104.21, Y:-39.94, Z:-4.93 [[ 7.99041292e-01 5.99262207e-01 4.91713419e-02 1.04213339e+02] [-5.97998780e-01 8.00551003e-01 -3.89300708e-02 -3.99421151e+01] [-6.26934872e-02 1.70233159e-03 9.98031377e-01 -4.93032610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33864 meters Centerline goodness [0,1] 0.9994589543062319 Centerline is valid? [True, True] Translation: X:104.24, Y:-39.96, Z:-4.93 [[ 7.99702067e-01 5.98446351e-01 4.83587577e-02 1.04236611e+02] [-5.97222308e-01 8.01160983e-01 -3.82961275e-02 -3.99641652e+01] [-6.16613276e-02 1.74456347e-03 9.98095605e-01 -4.93257310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36864 meters Centerline goodness [0,1] 0.999360204734485 Centerline is valid? [True, True] Translation: X:104.26, Y:-39.99, Z:-4.93 [[ 8.00074009e-01 5.97998455e-01 4.77433503e-02 1.04260396e+02] [-5.96803952e-01 8.01495310e-01 -3.78194417e-02 -3.99867097e+01] [-6.08820391e-02 1.76493220e-03 9.98143408e-01 -4.93427799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39864 meters Centerline goodness [0,1] 0.9993600787595373 Centerline is valid? [True, True] Translation: X:104.28, Y:-40.01, Z:-4.94 [[ 8.00808433e-01 5.96949104e-01 4.85553429e-02 1.04280293e+02] [-5.95710847e-01 8.02276889e-01 -3.84756953e-02 -4.00131548e+01] [-6.19228613e-02 1.88671680e-03 9.98079155e-01 -4.93697345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42864 meters Centerline goodness [0,1] 0.9994097102661222 Centerline is valid? [True, True] Translation: X:104.30, Y:-40.04, Z:-4.94 [[ 8.00680639e-01 5.97003181e-01 4.99771498e-02 1.04302161e+02] [-5.95690547e-01 8.02236503e-01 -3.96152274e-02 -4.00365047e+01] [-6.37439106e-02 1.94822993e-03 9.97964387e-01 -4.93854377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45864 meters Centerline goodness [0,1] 0.9993598581839669 Centerline is valid? [True, True] Translation: X:104.32, Y:-40.06, Z:-4.94 [[ 8.01046841e-01 5.96565402e-01 4.93323491e-02 1.04322898e+02] [-5.95284067e-01 8.02562030e-01 -3.91288590e-02 -4.00634723e+01] [-6.29351938e-02 1.97728744e-03 9.98015657e-01 -4.93953168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48863999999999 meters Centerline goodness [0,1] 0.9990645002461841 Centerline is valid? [True, True] Translation: X:104.35, Y:-40.09, Z:-4.94 [[ 8.00833163e-01 5.96864402e-01 4.91846595e-02 1.04347522e+02] [-5.95588877e-01 8.02339684e-01 -3.90502287e-02 -4.00858819e+01] [-6.27704955e-02 1.97888202e-03 9.98026026e-01 -4.94077923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51863999999999 meters Centerline goodness [0,1] 0.9994590341300286 Centerline is valid? [True, True] Translation: X:104.37, Y:-40.11, Z:-4.94 [[ 8.00480905e-01 5.97390399e-01 4.85286744e-02 1.04371278e+02] [-5.96147414e-01 8.01948218e-01 -3.85657442e-02 -4.01073860e+01] [-6.19562893e-02 1.94089806e-03 9.98076977e-01 -4.94227258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54863999999999 meters Centerline goodness [0,1] 0.9997542031265362 Centerline is valid? [True, True] Translation: X:104.39, Y:-40.13, Z:-4.94 [[ 7.98622805e-01 5.99902637e-01 4.81501964e-02 1.04393105e+02] [-5.98681896e-01 8.00071091e-01 -3.82914697e-02 -4.01322272e+01] [-6.14947338e-02 1.75379006e-03 9.98105867e-01 -4.94391979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57864 meters Centerline goodness [0,1] 0.9995573262505534 Centerline is valid? [True, True] Translation: X:104.42, Y:-40.16, Z:-4.95 [[ 7.97586060e-01 6.01244389e-01 4.85969384e-02 1.04416278e+02] [-6.00002172e-01 7.99063426e-01 -3.86656716e-02 -4.01550604e+01] [-6.20795542e-02 1.68093202e-03 9.98069789e-01 -4.94632842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60864 meters Centerline goodness [0,1] 0.9996064154285152 Centerline is valid? [True, True] Translation: X:104.44, Y:-40.18, Z:-4.95 [[ 7.95845630e-01 6.03479338e-01 4.94208636e-02 1.04438098e+02] [-6.02196683e-01 7.97377109e-01 -3.93560808e-02 -4.01789901e+01] [-6.31576470e-02 1.56028478e-03 9.98002343e-01 -4.94780242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63864 meters Centerline goodness [0,1] 0.9998523404045873 Centerline is valid? [True, True] Translation: X:104.46, Y:-40.20, Z:-4.95 [[ 7.94887254e-01 6.04630705e-01 5.07539619e-02 1.04462038e+02] [-6.03277712e-01 7.96504452e-01 -4.04556544e-02 -4.02012491e+01] [-6.48864875e-02 1.53895002e-03 9.97891465e-01 -4.95024794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66864 meters Centerline goodness [0,1] 0.9998523767345734 Centerline is valid? [True, True] Translation: X:104.49, Y:-40.22, Z:-4.95 [[ 7.94291097e-01 6.05394389e-01 5.09832144e-02 1.04486100e+02] [-6.04028008e-01 7.95924202e-01 -4.06795973e-02 -4.02235507e+01] [-6.52059742e-02 1.51615249e-03 9.97870674e-01 -4.95206751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69864 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:104.51, Y:-40.25, Z:-4.95 [[ 7.93983890e-01 6.05724632e-01 5.18387249e-02 1.04507186e+02] [-6.04309964e-01 7.95672847e-01 -4.14027552e-02 -4.02489056e+01] [-6.63253345e-02 1.54646267e-03 9.97796852e-01 -4.95401365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72864 meters Centerline goodness [0,1] 0.9999506684426027 Centerline is valid? [True, True] Translation: X:104.53, Y:-40.27, Z:-4.95 [[ 7.93790913e-01 6.06061979e-01 5.08415488e-02 1.04530168e+02] [-6.04699647e-01 7.95415976e-01 -4.06418715e-02 -4.02715273e+01] [-6.50716733e-02 1.51728172e-03 9.97879439e-01 -4.95485667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75864 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:104.55, Y:-40.29, Z:-4.96 [[ 7.93288395e-01 6.06724533e-01 5.07825183e-02 1.04553574e+02] [-6.05364250e-01 7.94910760e-01 -4.06325968e-02 -4.02947020e+01] [-6.50203636e-02 1.49144640e-03 9.97882823e-01 -4.95591428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78864 meters Centerline goodness [0,1] 0.9996550024642681 Centerline is valid? [True, True] Translation: X:104.58, Y:-40.32, Z:-4.96 [[ 7.92030062e-01 6.08306158e-01 5.14975649e-02 1.04575042e+02] [-6.06907787e-01 7.93701214e-01 -4.12470713e-02 -4.03213147e+01] [-6.59645273e-02 1.41464732e-03 9.97820966e-01 -4.95671760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81864 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:104.60, Y:-40.34, Z:-4.96 [[ 7.90644690e-01 6.09988781e-01 5.28645467e-02 1.04598713e+02] [-6.08515855e-01 7.92408911e-01 -4.23859914e-02 -4.03448520e+01] [-6.77453171e-02 1.34334421e-03 9.97701743e-01 -4.95915520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84863999999999 meters Centerline goodness [0,1] 0.9997538764459759 Centerline is valid? [True, True] Translation: X:104.62, Y:-40.37, Z:-4.96 [[ 7.88425139e-01 6.12899295e-01 5.23474382e-02 1.04618278e+02] [-6.11458725e-01 7.90160244e-01 -4.20121086e-02 -4.03717764e+01] [-6.71120563e-02 1.11510477e-03 9.97744821e-01 -4.96024072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87863999999999 meters Centerline goodness [0,1] 0.9992118614846559 Centerline is valid? [True, True] Translation: X:104.64, Y:-40.40, Z:-4.96 [[ 7.86523883e-01 6.15360815e-01 5.20696475e-02 1.04640817e+02] [-6.13938967e-01 7.88245022e-01 -4.18178212e-02 -4.03957719e+01] [-6.67766890e-02 9.23129510e-04 9.97767519e-01 -4.96157024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90863999999999 meters Centerline goodness [0,1] 0.9995073163521703 Centerline is valid? [True, True] Translation: X:104.66, Y:-40.42, Z:-4.96 [[ 7.84907384e-01 6.17360748e-01 5.27835765e-02 1.04664198e+02] [-6.15902402e-01 7.86679791e-01 -4.24162425e-02 -4.04191894e+01] [-6.77098961e-02 7.83290393e-04 9.97704744e-01 -4.96394503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93863999999999 meters Centerline goodness [0,1] 0.9992616656822209 Centerline is valid? [True, True] Translation: X:104.68, Y:-40.44, Z:-4.96 [[ 7.81341579e-01 6.21875099e-01 5.26943853e-02 1.04684946e+02] [-6.20429033e-01 7.83116326e-01 -4.23867209e-02 -4.04440949e+01] [-6.76250797e-02 4.25380862e-04 9.97710713e-01 -4.96429543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96864 meters Centerline goodness [0,1] 0.9984260488908563 Centerline is valid? [True, True] Translation: X:104.71, Y:-40.47, Z:-4.97 [[ 7.78024480e-01 6.26060051e-01 5.22180125e-02 1.04706584e+02] [-6.24646827e-01 7.79774842e-01 -4.20420952e-02 -4.04692484e+01] [-6.70391687e-02 9.19634828e-05 9.97750340e-01 -4.96570666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99864 meters Centerline goodness [0,1] 0.9982266009852216 Centerline is valid? [True, True] Translation: X:104.73, Y:-40.49, Z:-4.97 [[ 7.75939942e-01 6.28529082e-01 5.35574351e-02 1.04729798e+02] [-6.27045377e-01 7.77786079e-01 -4.31614527e-02 -4.04915233e+01] [-6.87844556e-02 -9.22469670e-05 9.97631540e-01 -4.96779055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02864 meters Centerline goodness [0,1] 0.9974385498251318 Centerline is valid? [True, True] Translation: X:104.75, Y:-40.51, Z:-4.97 [[ 7.74232970e-01 6.30698442e-01 5.27520961e-02 1.04753780e+02] [-6.29261405e-01 7.76027972e-01 -4.25519827e-02 -4.05136589e+01] [-6.77745714e-02 -2.49710165e-04 9.97700629e-01 -4.96916124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05864 meters Centerline goodness [0,1] 0.9972926409057347 Centerline is valid? [True, True] Translation: X:104.78, Y:-40.54, Z:-4.97 [[ 7.70988945e-01 6.34633209e-01 5.30729361e-02 1.04776324e+02] [-6.33185132e-01 7.72813281e-01 -4.28511445e-02 -4.05367768e+01] [-6.82102292e-02 -5.67235416e-04 9.97670809e-01 -4.97039896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08864 meters Centerline goodness [0,1] 0.996996996996997 Centerline is valid? [True, True] Translation: X:104.80, Y:-40.56, Z:-4.97 [[ 7.69482553e-01 6.36410807e-01 5.36459272e-02 1.04800838e+02] [-6.34932745e-01 7.71349981e-01 -4.33545469e-02 -4.05578945e+01] [-6.89710871e-02 -7.00988456e-04 9.97618413e-01 -4.97148579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11864 meters Centerline goodness [0,1] 0.9965564738292011 Centerline is valid? [True, True] Translation: X:104.83, Y:-40.58, Z:-4.97 [[ 7.67665252e-01 6.38554803e-01 5.42016927e-02 1.04825066e+02] [-6.37048348e-01 7.69575861e-01 -4.38451473e-02 -4.05794836e+01] [-6.97098437e-02 -8.70702671e-04 9.97566930e-01 -4.97305417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14864 meters Centerline goodness [0,1] 0.9962578167314984 Centerline is valid? [True, True] Translation: X:104.85, Y:-40.60, Z:-4.98 [[ 7.65547847e-01 6.40941295e-01 5.59531012e-02 1.04848715e+02] [-6.39339000e-01 7.67589127e-01 -4.53053467e-02 -4.06017195e+01] [-7.19870597e-02 -1.08958919e-03 9.97404971e-01 -4.97526022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17864 meters Centerline goodness [0,1] 0.9959185680566484 Centerline is valid? [True, True] Translation: X:104.87, Y:-40.62, Z:-4.98 [[ 7.64407464e-01 6.42319759e-01 5.57364908e-02 1.04873556e+02] [-6.40730306e-01 7.66435864e-01 -4.51745616e-02 -4.06230510e+01] [-7.17349590e-02 -1.18028674e-03 9.97423031e-01 -4.97633980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20864 meters Centerline goodness [0,1] 0.995851237220329 Centerline is valid? [True, True] Translation: X:104.90, Y:-40.64, Z:-4.98 [[ 7.62216398e-01 6.44920890e-01 5.57064432e-02 1.04897142e+02] [-6.43336763e-01 7.64248073e-01 -4.51961569e-02 -4.06447803e+01] [-7.17214876e-02 -1.38875092e-03 9.97423731e-01 -4.97810036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23863999999999 meters Centerline goodness [0,1] 0.9955075039494471 Centerline is valid? [True, True] Translation: X:104.92, Y:-40.67, Z:-4.98 [[ 7.60697772e-01 6.46682475e-01 5.60417446e-02 1.04921410e+02] [-6.45080863e-01 7.62757781e-01 -4.55109721e-02 -4.06656023e+01] [-7.21774248e-02 -1.53136186e-03 9.97390633e-01 -4.98009744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26863999999999 meters Centerline goodness [0,1] 0.9950207059751528 Centerline is valid? [True, True] Translation: X:104.95, Y:-40.69, Z:-4.98 [[ 7.59752194e-01 6.47736543e-01 5.66919169e-02 1.04946461e+02] [-6.46097252e-01 7.61862688e-01 -4.60823796e-02 -4.06852970e+01] [-7.30406974e-02 -1.61730270e-03 9.97327650e-01 -4.98087155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29863999999999 meters Centerline goodness [0,1] 0.9944249839656618 Centerline is valid? [True, True] Translation: X:104.97, Y:-40.71, Z:-4.98 [[ 7.58213788e-01 6.49616156e-01 5.57736648e-02 1.04972652e+02] [-6.48031462e-01 7.60260376e-01 -4.53804425e-02 -4.07056132e+01] [-7.18823760e-02 -1.73501233e-03 9.97411607e-01 -4.98271660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32864 meters Centerline goodness [0,1] 0.9950263455951149 Centerline is valid? [True, True] Translation: X:105.00, Y:-40.73, Z:-4.99 [[ 7.57144291e-01 6.50739988e-01 5.71838261e-02 1.04997888e+02] [-6.49073694e-01 7.59298385e-01 -4.65757723e-02 -4.07255520e+01] [-7.37283044e-02 -1.85193712e-03 9.97276645e-01 -4.98530900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35864 meters Centerline goodness [0,1] 0.9943881067244265 Centerline is valid? [True, True] Translation: X:105.02, Y:-40.74, Z:-4.99 [[ 7.56269964e-01 6.51799457e-01 5.66851756e-02 1.05024157e+02] [-6.50161784e-01 7.58388979e-01 -4.62148292e-02 -4.07447503e+01] [-7.31122130e-02 -1.90364769e-03 9.97321904e-01 -4.98740354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38864 meters Centerline goodness [0,1] 0.9947770386794778 Centerline is valid? [True, True] Translation: X:105.05, Y:-40.76, Z:-4.99 [[ 7.56129981e-01 6.52014311e-01 5.60784338e-02 1.05050668e+02] [-6.50409645e-01 7.58204335e-01 -4.57545701e-02 -4.07634045e+01] [-7.23515461e-02 -1.87755201e-03 9.97377425e-01 -4.98841304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41864 meters Centerline goodness [0,1] 0.9930428775842502 Centerline is valid? [True, True] Translation: X:105.08, Y:-40.78, Z:-4.99 [[ 7.55523915e-01 6.52677591e-01 5.65294377e-02 1.05076617e+02] [-6.51046877e-01 7.57633297e-01 -4.61492298e-02 -4.07818867e+01] [-7.29491524e-02 -1.93646710e-03 9.97333781e-01 -4.98967060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44864 meters Centerline goodness [0,1] 0.9938532651455547 Centerline is valid? [True, True] Translation: X:105.10, Y:-40.80, Z:-4.99 [[ 7.55906709e-01 6.52223469e-01 5.66532747e-02 1.05103722e+02] [-6.50581166e-01 7.58024453e-01 -4.62933639e-02 -4.07992729e+01] [-7.31381860e-02 -1.86408915e-03 9.97320074e-01 -4.99142767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47864 meters Centerline goodness [0,1] 0.9940446894379368 Centerline is valid? [True, True] Translation: X:105.13, Y:-40.82, Z:-4.99 [[ 7.56828888e-01 6.51140868e-01 5.67944029e-02 1.05129931e+02] [-6.49484148e-01 7.58954922e-01 -4.64517787e-02 -4.08178932e+01] [-7.33510431e-02 -1.73101633e-03 9.97304682e-01 -4.99312025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50864 meters Centerline goodness [0,1] 0.9952270826157555 Centerline is valid? [True, True] Translation: X:105.16, Y:-40.83, Z:-4.99 [[ 7.60672621e-01 6.46702544e-01 5.61514367e-02 1.05158237e+02] [-6.45068779e-01 7.62741256e-01 -4.59569992e-02 -4.08347603e+01] [-7.25495256e-02 -1.26330770e-03 9.97364011e-01 -4.99337200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53864 meters Centerline goodness [0,1] 0.995270469997044 Centerline is valid? [True, True] Translation: X:105.18, Y:-40.85, Z:-4.99 [[ 7.62556418e-01 6.44563577e-01 5.51860932e-02 1.05184783e+02] [-6.42978119e-01 7.64550032e-01 -4.51927757e-02 -4.08537576e+01] [-7.13221465e-02 -1.02140923e-03 9.97452810e-01 -4.99449249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56864 meters Centerline goodness [0,1] 0.9960620231356141 Centerline is valid? [True, True] Translation: X:105.21, Y:-40.87, Z:-5.00 [[ 7.64388945e-01 6.42372027e-01 5.53869970e-02 1.05209920e+02] [-6.40766165e-01 7.66392562e-01 -4.54000200e-02 -4.08731749e+01] [-7.16118854e-02 -7.86840289e-04 9.97432263e-01 -4.99752203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59863999999999 meters Centerline goodness [0,1] 0.9956707827028091 Centerline is valid? [True, True] Translation: X:105.23, Y:-40.89, Z:-5.00 [[ 7.66154804e-01 6.40231142e-01 5.57754484e-02 1.05234914e+02] [-6.38593669e-01 7.68182124e-01 -4.57640723e-02 -4.08942160e+01] [-7.21452867e-02 -5.55484340e-04 9.97393979e-01 -4.99946701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62863999999999 meters Centerline goodness [0,1] 0.995902448657188 Centerline is valid? [True, True] Translation: X:105.26, Y:-40.91, Z:-5.00 [[ 7.66569036e-01 6.39729089e-01 5.58444699e-02 1.05260734e+02] [-6.38082660e-01 7.68600332e-01 -4.58699141e-02 -4.09143497e+01] [-7.22663965e-02 -4.70932032e-04 9.97385255e-01 -5.00033691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65863999999999 meters Centerline goodness [0,1] 0.9965503646757343 Centerline is valid? [True, True] Translation: X:105.29, Y:-40.93, Z:-5.00 [[ 7.65109024e-01 6.41545269e-01 5.50258928e-02 1.05287128e+02] [-6.39948062e-01 7.67084945e-01 -4.52456057e-02 -4.09345628e+01] [-7.12366382e-02 -5.95892247e-04 9.97459265e-01 -5.00098684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68863999999999 meters Centerline goodness [0,1] 0.9965503646757343 Centerline is valid? [True, True] Translation: X:105.31, Y:-40.95, Z:-5.00 [[ 7.64772570e-01 6.41948358e-01 5.50020211e-02 1.05312452e+02] [-6.40350106e-01 7.66747645e-01 -4.52746125e-02 -4.09549735e+01] [-7.12366333e-02 -5.95768366e-04 9.97459266e-01 -5.00238116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71864 meters Centerline goodness [0,1] 0.9961141170683718 Centerline is valid? [True, True] Translation: X:105.34, Y:-40.98, Z:-5.00 [[ 7.63614957e-01 6.43241905e-01 5.59647082e-02 1.05336510e+02] [-6.41587261e-01 7.65662700e-01 -4.61130790e-02 -4.09755465e+01] [-7.25119544e-02 -6.93607039e-04 9.97367302e-01 -5.00379125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74864 meters Centerline goodness [0,1] 0.9961636828644501 Centerline is valid? [True, True] Translation: X:105.36, Y:-41.00, Z:-5.01 [[ 7.61554095e-01 6.45730826e-01 5.53810514e-02 1.05361196e+02] [-6.44114014e-01 7.63564609e-01 -4.56752027e-02 -4.09974231e+01] [-7.17808973e-02 -8.87573721e-04 9.97420029e-01 -5.00537300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77864 meters Centerline goodness [0,1] 0.9962134251290877 Centerline is valid? [True, True] Translation: X:105.39, Y:-41.02, Z:-5.01 [[ 7.60389523e-01 6.47193599e-01 5.42974982e-02 1.05386148e+02] [-6.45640060e-01 7.62325063e-01 -4.48264581e-02 -4.10176694e+01] [-7.04037405e-02 -9.71070915e-04 9.97518105e-01 -5.00685617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80864 meters Centerline goodness [0,1] 0.9962574481705816 Centerline is valid? [True, True] Translation: X:105.41, Y:-41.04, Z:-5.01 [[ 7.59362696e-01 6.48403433e-01 5.42336005e-02 1.05411898e+02] [-6.46853514e-01 7.61296190e-01 -4.48178721e-02 -4.10383199e+01] [-7.03478956e-02 -1.04817481e-03 9.97521967e-01 -5.00804845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83864 meters Centerline goodness [0,1] 0.995866751955912 Centerline is valid? [True, True] Translation: X:105.44, Y:-41.06, Z:-5.01 [[ 7.58750156e-01 6.49175205e-01 5.35700875e-02 1.05437331e+02] [-6.47661661e-01 7.60638158e-01 -4.43166434e-02 -4.10597092e+01] [-6.95167187e-02 -1.07003177e-03 9.97580213e-01 -5.00919690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86864 meters Centerline goodness [0,1] 0.9961152635719905 Centerline is valid? [True, True] Translation: X:105.46, Y:-41.08, Z:-5.01 [[ 7.56431735e-01 6.51621205e-01 5.65759244e-02 1.05461766e+02] [-6.49936967e-01 7.58543347e-01 -4.68393965e-02 -4.10809062e+01] [-7.34368351e-02 -1.33997878e-03 9.97298970e-01 -5.00998797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89864 meters Centerline goodness [0,1] 0.9965574899183633 Centerline is valid? [True, True] Translation: X:105.49, Y:-41.10, Z:-5.01 [[ 7.54862358e-01 6.53443142e-01 5.65232796e-02 1.05487886e+02] [-6.51765259e-01 7.56974122e-01 -4.68212065e-02 -4.10994289e+01] [-7.33816562e-02 -1.49634362e-03 9.97302809e-01 -5.01055810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92864 meters Centerline goodness [0,1] 0.9975848982207107 Centerline is valid? [True, True] Translation: X:105.52, Y:-41.11, Z:-5.01 [[ 7.51619383e-01 6.57180118e-01 5.64145043e-02 1.05516481e+02] [-6.55515975e-01 7.53731362e-01 -4.67743658e-02 -4.11148588e+01] [-7.32605644e-02 -1.82408885e-03 9.97311166e-01 -5.01292928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95864 meters Centerline goodness [0,1] 0.9977346597064907 Centerline is valid? [True, True] Translation: X:105.54, Y:-41.13, Z:-5.01 [[ 7.49454446e-01 6.59639706e-01 5.65109931e-02 1.05543414e+02] [-6.57973628e-01 7.51579215e-01 -4.68976386e-02 -4.11334415e+01] [-7.34080324e-02 -2.03509939e-03 9.97299914e-01 -5.01458921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98863999999999 meters Centerline goodness [0,1] 0.9981312088128258 Centerline is valid? [True, True] Translation: X:105.57, Y:-41.15, Z:-5.02 [[ 7.47237247e-01 6.62072171e-01 5.74189681e-02 1.05570078e+02] [-6.60355886e-01 7.49436625e-01 -4.76953780e-02 -4.11519076e+01] [-7.46096601e-02 -2.27719054e-03 9.97210215e-01 -5.01622394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01863999999999 meters Centerline goodness [0,1] 0.9980295566502463 Centerline is valid? [True, True] Translation: X:105.60, Y:-41.17, Z:-5.02 [[ 7.43949988e-01 6.65790531e-01 5.71085251e-02 1.05600854e+02] [-6.64100469e-01 7.46134166e-01 -4.74802346e-02 -4.11656782e+01] [-7.42225124e-02 -2.60287834e-03 9.97238308e-01 -5.01712816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04863999999999 meters Centerline goodness [0,1] 0.9979318495174315 Centerline is valid? [True, True] Translation: X:105.63, Y:-41.18, Z:-5.02 [[ 7.42815287e-01 6.67099335e-01 5.66032392e-02 1.05629429e+02] [-6.65439791e-01 7.44963962e-01 -4.71018110e-02 -4.11815755e+01] [-7.35889601e-02 -2.67810238e-03 9.97285061e-01 -5.01819807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07864 meters Centerline goodness [0,1] 0.9985735366453516 Centerline is valid? [True, True] Translation: X:105.66, Y:-41.20, Z:-5.02 [[ 7.43024968e-01 6.66986875e-01 5.51580050e-02 1.05660274e+02] [-6.65408390e-01 7.45065021e-01 -4.59324422e-02 -4.11955128e+01] [-7.17326362e-02 -2.57364787e-03 9.97420576e-01 -5.02122722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10864 meters Centerline goodness [0,1] 0.9981279866003251 Centerline is valid? [True, True] Translation: X:105.69, Y:-41.21, Z:-5.02 [[ 7.44248442e-01 6.65744670e-01 5.36497031e-02 1.05688644e+02] [-6.64246179e-01 7.46175879e-01 -4.47053895e-02 -4.12119114e+01] [-6.97944892e-02 -2.36469377e-03 9.97558589e-01 -5.02127959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13864 meters Centerline goodness [0,1] 0.9983253706348816 Centerline is valid? [True, True] Translation: X:105.72, Y:-41.23, Z:-5.02 [[ 7.44992005e-01 6.64843636e-01 5.44963628e-02 1.05717681e+02] [-6.63292042e-01 7.46979062e-01 -4.54526997e-02 -4.12277868e+01] [-7.09265800e-02 -2.28510594e-03 9.97478921e-01 -5.02335803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16864 meters Centerline goodness [0,1] 0.998574027634361 Centerline is valid? [True, True] Translation: X:105.75, Y:-41.24, Z:-5.03 [[ 7.48731285e-01 6.60690800e-01 5.37506239e-02 1.05749077e+02] [-6.59168805e-01 7.50655890e-01 -4.48577865e-02 -4.12393895e+01] [-6.99853492e-02 -1.84430644e-03 9.97546314e-01 -5.02509417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19864 meters Centerline goodness [0,1] 0.9986718480987752 Centerline is valid? [True, True] Translation: X:105.78, Y:-41.26, Z:-5.03 [[ 7.50632174e-01 6.58553794e-01 5.34625087e-02 1.05776804e+02] [-6.57041303e-01 7.52531908e-01 -4.46369128e-02 -4.12565131e+01] [-6.96280519e-02 -1.62117347e-03 9.97571705e-01 -5.02669071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22864 meters Centerline goodness [0,1] 0.9988686669945893 Centerline is valid? [True, True] Translation: X:105.81, Y:-41.27, Z:-5.03 [[ 7.55453992e-01 6.53032789e-01 5.32676529e-02 1.05807096e+02] [-6.51515370e-01 7.57328861e-01 -4.45052729e-02 -4.12713359e+01] [-6.94045334e-02 -1.08300852e-03 9.97588010e-01 -5.02819199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25864 meters Centerline goodness [0,1] 0.9990152149293416 Centerline is valid? [True, True] Translation: X:105.84, Y:-41.29, Z:-5.03 [[ 7.57666266e-01 6.50499833e-01 5.28374577e-02 1.05835048e+02] [-6.48998997e-01 7.59505949e-01 -4.41702883e-02 -4.12883230e+01] [-6.88631286e-02 -8.25119607e-04 9.97625776e-01 -5.02897461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28864 meters Centerline goodness [0,1] 0.9985216577144829 Centerline is valid? [True, True] Translation: X:105.86, Y:-41.30, Z:-5.03 [[ 7.61060564e-01 6.46696605e-01 5.06983109e-02 1.05864753e+02] [-6.45304558e-01 7.62747212e-01 -4.24112922e-02 -4.13037225e+01] [-6.60972340e-02 -4.38289121e-04 9.97813090e-01 -5.03137387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31864 meters Centerline goodness [0,1] 0.9984745595905915 Centerline is valid? [True, True] Translation: X:105.89, Y:-41.32, Z:-5.03 [[ 7.61673797e-01 6.46108495e-01 4.89575249e-02 1.05891305e+02] [-6.44807921e-01 7.63245495e-01 -4.09763306e-02 -4.13217418e+01] [-6.38417656e-02 -3.57602502e-04 9.97959970e-01 -5.03154342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34863999999999 meters Centerline goodness [0,1] 0.9983282525322057 Centerline is valid? [True, True] Translation: X:105.92, Y:-41.34, Z:-5.03 [[ 7.61611127e-01 6.46131615e-01 4.96228447e-02 1.05918698e+02] [-6.44792836e-01 7.63225933e-01 -4.15737128e-02 -4.13407085e+01] [-6.47355321e-02 -3.33452470e-04 9.97902400e-01 -5.03337853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37863999999999 meters Centerline goodness [0,1] 0.9982308712958867 Centerline is valid? [True, True] Translation: X:105.95, Y:-41.36, Z:-5.03 [[ 7.61315308e-01 6.46461478e-01 4.98654053e-02 1.05947782e+02] [-6.45107395e-01 7.62946557e-01 -4.18210539e-02 -4.13579305e+01] [-6.50803396e-02 -3.29533176e-04 9.97879973e-01 -5.03457516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40863999999999 meters Centerline goodness [0,1] 0.9984771074867361 Centerline is valid? [True, True] Translation: X:105.98, Y:-41.38, Z:-5.04 [[ 7.61204177e-01 6.46554866e-01 5.03488361e-02 1.05975363e+02] [-6.45171651e-01 7.62867427e-01 -4.22709117e-02 -4.13767451e+01] [-6.57399507e-02 -3.06847160e-04 9.97836743e-01 -5.03510971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43863999999999 meters Centerline goodness [0,1] 0.9983296487349546 Centerline is valid? [True, True] Translation: X:106.00, Y:-41.39, Z:-5.04 [[ 7.61977013e-01 6.45678834e-01 4.98986365e-02 1.06003912e+02] [-6.44315672e-01 7.63609065e-01 -4.19346006e-02 -4.13934410e+01] [-6.51793352e-02 -1.97271797e-04 9.97873547e-01 -5.03732434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46864 meters Centerline goodness [0,1] 0.9989679575388245 Centerline is valid? [True, True] Translation: X:106.03, Y:-41.41, Z:-5.04 [[ 7.62601209e-01 6.44953869e-01 4.97383510e-02 1.06030673e+02] [-6.43595907e-01 7.64221496e-01 -4.18307811e-02 -4.14128498e+01] [-6.49900411e-02 -1.11194892e-04 9.97885906e-01 -5.03891899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49864 meters Centerline goodness [0,1] 0.9988693343820667 Centerline is valid? [True, True] Translation: X:106.06, Y:-41.43, Z:-5.04 [[ 7.62954409e-01 6.44678259e-01 4.78592995e-02 1.06056169e+02] [-6.43419649e-01 7.64454012e-01 -4.02643581e-02 -4.14321214e+01] [-6.25437898e-02 -7.37441672e-05 9.98042218e-01 -5.03993333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52864 meters Centerline goodness [0,1] 0.9996557659208262 Centerline is valid? [True, True] Translation: X:106.08, Y:-41.45, Z:-5.04 [[ 7.64043565e-01 6.43286861e-01 4.91878557e-02 1.06083992e+02] [-6.41953729e-01 7.65625243e-01 -4.13931991e-02 -4.14485530e+01] [-6.42871651e-02 4.98800252e-05 9.97931439e-01 -5.04145037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55864 meters Centerline goodness [0,1] 0.9995080434889556 Centerline is valid? [True, True] Translation: X:106.11, Y:-41.47, Z:-5.04 [[ 7.64485197e-01 6.42789935e-01 4.88209229e-02 1.06110153e+02] [-6.41474943e-01 7.66042485e-01 -4.10951089e-02 -4.14667964e+01] [-6.38144235e-02 9.92036940e-05 9.97961778e-01 -5.04229066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.14, Y:-41.49, Z:-5.04 [[ 7.65258922e-01 6.41922929e-01 4.81013081e-02 1.06135945e+02] [-6.40644089e-01 7.66769145e-01 -4.04997484e-02 -4.14854146e+01] [-6.28803160e-02 1.76975053e-04 9.98021059e-01 -5.04330494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61864 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:106.16, Y:-41.51, Z:-5.04 [[ 7.65965558e-01 6.41078478e-01 4.81159997e-02 1.06161821e+02] [-6.39796425e-01 7.67475289e-01 -4.05242494e-02 -4.15064389e+01] [-6.29070649e-02 2.55734671e-04 9.98019356e-01 -5.04464998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:-41.53, Z:-5.05 [[ 7.66774273e-01 6.40087898e-01 4.84220772e-02 1.06187019e+02] [-6.38786591e-01 7.68301608e-01 -4.07962086e-02 -4.15268179e+01] [-6.33159192e-02 3.50109595e-04 9.97993473e-01 -5.04729793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:-41.55, Z:-5.05 [[ 7.67596070e-01 6.39100301e-01 4.84466589e-02 1.06212316e+02] [-6.37795040e-01 7.69123275e-01 -4.08273825e-02 -4.15466297e+01] [-6.33542454e-02 4.39899651e-04 9.97991005e-01 -5.04848483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:-41.57, Z:-5.05 [[ 7.68155812e-01 6.38459777e-01 4.80183513e-02 1.06237879e+02] [-6.37175510e-01 7.69655030e-01 -4.04784298e-02 -4.15681081e+01] [-6.28014149e-02 4.97623624e-04 9.98025919e-01 -5.04913675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.26, Y:-41.59, Z:-5.05 [[ 7.68066995e-01 6.38527499e-01 4.85358049e-02 1.06260453e+02] [-6.37214604e-01 7.69598840e-01 -4.09288755e-02 -4.15903928e+01] [-6.34873117e-02 5.08394669e-04 9.97982516e-01 -5.05199337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:-41.61, Z:-5.05 [[ 7.67776593e-01 6.38859228e-01 4.87646401e-02 1.06284285e+02] [-6.37533789e-01 7.69323498e-01 -4.11342155e-02 -4.16126285e+01] [-6.37947566e-02 4.92782048e-04 9.97962918e-01 -5.05421495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.31, Y:-41.63, Z:-5.06 [[ 7.67905586e-01 6.38807200e-01 4.73959057e-02 1.06307910e+02] [-6.37554251e-01 7.69366699e-01 -3.99932326e-02 -4.16341639e+01] [-6.20127965e-02 4.93565494e-04 9.98075232e-01 -5.05527152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.33, Y:-41.66, Z:-5.06 [[ 7.67749842e-01 6.39047538e-01 4.66735891e-02 1.06331109e+02] [-6.37832356e-01 7.69167094e-01 -3.93937430e-02 -4.16568921e+01] [-6.10742633e-02 4.74614685e-04 9.98133112e-01 -5.05685509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.36, Y:-41.68, Z:-5.06 [[ 7.66560362e-01 6.40534867e-01 4.58289817e-02 1.06355238e+02] [-6.39365368e-01 7.67929005e-01 -3.86906937e-02 -4.16788428e+01] [-5.99761427e-02 3.57288422e-04 9.98199747e-01 -5.05783567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88864 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:106.38, Y:-41.70, Z:-5.06 [[ 7.64646311e-01 6.42830755e-01 4.56578432e-02 1.06378859e+02] [-6.41673468e-01 7.66008215e-01 -3.85561296e-02 -4.17013998e+01] [-5.97593489e-02 1.84375669e-04 9.98212796e-01 -5.05866424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:-41.72, Z:-5.06 [[ 7.63109429e-01 6.44663352e-01 4.55319913e-02 1.06403054e+02] [-6.43515010e-01 7.64466585e-01 -3.84613061e-02 -4.17236884e+01] [-5.96022804e-02 4.96654641e-05 9.98222203e-01 -5.06050145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:-41.75, Z:-5.06 [[ 7.61018541e-01 6.47041538e-01 4.67763750e-02 1.06426204e+02] [-6.45832672e-01 7.62454742e-01 -3.95338598e-02 -4.17453513e+01] [-6.12449183e-02 -1.23710968e-04 9.98122760e-01 -5.06299775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.45, Y:-41.77, Z:-5.06 [[ 7.57603358e-01 6.51058578e-01 4.64745148e-02 1.06449858e+02] [-6.49871175e-01 7.59027370e-01 -3.93053152e-02 -4.17673274e+01] [-6.08654913e-02 -4.24608767e-04 9.98145887e-01 -5.06444469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:-41.79, Z:-5.07 [[ 7.55561285e-01 6.53395265e-01 4.69230551e-02 1.06474199e+02] [-6.52188655e-01 7.57016681e-01 -3.96951313e-02 -4.17879465e+01] [-6.14581462e-02 -6.10579772e-04 9.98109475e-01 -5.06580731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.50, Y:-41.81, Z:-5.07 [[ 7.53404242e-01 6.55836508e-01 4.75449621e-02 1.06499450e+02] [-6.54601848e-01 7.54902520e-01 -4.02318923e-02 -4.18079962e+01] [-6.22773555e-02 -8.12141774e-04 9.98058551e-01 -5.06688392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06864 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:106.53, Y:-41.83, Z:-5.07 [[ 7.50662498e-01 6.58870017e-01 4.89501339e-02 1.06525212e+02] [-6.57566928e-01 7.52256021e-01 -4.14320507e-02 -4.18276623e+01] [-6.41213689e-02 -1.08650250e-03 9.97941516e-01 -5.06902726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:-41.85, Z:-5.07 [[ 7.49890536e-01 6.59731266e-01 4.91817086e-02 1.06549885e+02] [-6.58416944e-01 7.51500710e-01 -4.16390510e-02 -4.18480860e+01] [-6.44306728e-02 -1.15734001e-03 9.97921514e-01 -5.07026481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:-41.87, Z:-5.07 [[ 7.48935254e-01 6.60839748e-01 4.88550229e-02 1.06575089e+02] [-6.59544508e-01 7.50526015e-01 -4.13732099e-02 -4.18676162e+01] [-6.40080272e-02 -1.23620660e-03 9.97948618e-01 -5.07120236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15863999999999 meters Centerline goodness [0,1] 0.9998525653626892 Centerline is valid? [True, True] Translation: X:106.60, Y:-41.89, Z:-5.07 [[ 7.48961484e-01 6.60776562e-01 4.93054853e-02 1.06601594e+02] [-6.59456332e-01 7.50581652e-01 -4.17675828e-02 -4.18875139e+01] [-6.46068324e-02 -1.23250366e-03 9.97910035e-01 -5.07250104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.63, Y:-41.91, Z:-5.07 [[ 7.49197923e-01 6.60519581e-01 4.91564291e-02 1.06627397e+02] [-6.59205829e-01 7.50807867e-01 -4.16559910e-02 -4.19062456e+01] [-6.44216314e-02 -1.19562268e-03 9.97922053e-01 -5.07397921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.65, Y:-41.93, Z:-5.07 [[ 7.48657048e-01 6.61139007e-01 4.90697282e-02 1.06654819e+02] [-6.59830390e-01 7.50262410e-01 -4.15953524e-02 -4.19253275e+01] [-6.43154825e-02 -1.23704408e-03 9.97928849e-01 -5.07430785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24864 meters Centerline goodness [0,1] 0.9998526522593321 Centerline is valid? [True, True] Translation: X:106.68, Y:-41.94, Z:-5.08 [[ 7.48804621e-01 6.61010199e-01 4.85505643e-02 1.06680429e+02] [-6.59727963e-01 7.50375954e-01 -4.11696807e-02 -4.19445239e+01] [-6.36447548e-02 -1.20211772e-03 9.97971893e-01 -5.07506512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27864 meters Centerline goodness [0,1] 0.9998525001229166 Centerline is valid? [True, True] Translation: X:106.71, Y:-41.96, Z:-5.08 [[ 7.48352532e-01 6.61565143e-01 4.79588289e-02 1.06707956e+02] [-6.60314365e-01 7.49886699e-01 -4.06801856e-02 -4.19634976e+01] [-6.28762807e-02 -1.22478378e-03 9.98020578e-01 -5.07636498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.73, Y:-41.98, Z:-5.08 [[ 7.48135612e-01 6.61785079e-01 4.83075040e-02 1.06733097e+02] [-6.60515564e-01 7.49692583e-01 -4.09905060e-02 -4.19836223e+01] [-6.33426827e-02 -1.24140098e-03 9.97991064e-01 -5.07806544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33864 meters Centerline goodness [0,1] 0.9997543118274286 Centerline is valid? [True, True] Translation: X:106.76, Y:-42.00, Z:-5.08 [[ 7.48020119e-01 6.61984239e-01 4.73578887e-02 1.06758356e+02] [-6.60763938e-01 7.49516755e-01 -4.01951807e-02 -4.20035756e+01] [-6.21041071e-02 -1.22558128e-03 9.98068924e-01 -5.07829401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36864 meters Centerline goodness [0,1] 0.9998524928704887 Centerline is valid? [True, True] Translation: X:106.79, Y:-42.02, Z:-5.08 [[ 7.47391016e-01 6.62578104e-01 4.89583952e-02 1.06785304e+02] [-6.61274394e-01 7.48991682e-01 -4.15648343e-02 -4.20216063e+01] [-6.42093799e-02 -1.30974938e-03 9.97935589e-01 -5.07949851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39864 meters Centerline goodness [0,1] 0.9998524928704887 Centerline is valid? [True, True] Translation: X:106.81, Y:-42.04, Z:-5.08 [[ 7.47255386e-01 6.62798050e-01 4.80430310e-02 1.06811477e+02] [-6.61542468e-01 7.48797079e-01 -4.07982473e-02 -4.20403815e+01] [-6.30154800e-02 -1.29579529e-03 9.98011708e-01 -5.07928739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42864 meters Centerline goodness [0,1] 0.9998033818324813 Centerline is valid? [True, True] Translation: X:106.84, Y:-42.06, Z:-5.08 [[ 7.45049354e-01 6.65240470e-01 4.85446005e-02 1.06837576e+02] [-6.63962976e-01 7.46627644e-01 -4.12350325e-02 -4.20590476e+01] [-6.36759531e-02 -1.50968312e-03 9.97969485e-01 -5.08059225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45864 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:106.86, Y:-42.08, Z:-5.08 [[ 7.43532582e-01 6.66903701e-01 4.89770574e-02 1.06862660e+02] [-6.65606211e-01 7.45142069e-01 -4.16133324e-02 -4.20785891e+01] [-6.42469512e-02 -1.65856514e-03 9.97932652e-01 -5.08187530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48863999999999 meters Centerline goodness [0,1] 0.9998527101335428 Centerline is valid? [True, True] Translation: X:106.89, Y:-42.10, Z:-5.08 [[ 7.41908789e-01 6.68669437e-01 4.95230469e-02 1.06888242e+02] [-6.67346027e-01 7.43557569e-01 -4.20882593e-02 -4.20980740e+01] [-6.49663690e-02 -1.82335912e-03 9.97885788e-01 -5.08371081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51863999999999 meters Centerline goodness [0,1] 0.9999017247309715 Centerline is valid? [True, True] Translation: X:106.91, Y:-42.12, Z:-5.09 [[ 7.38643892e-01 6.72249852e-01 4.98531622e-02 1.06912936e+02] [-6.70916216e-01 7.40321238e-01 -4.23780013e-02 -4.21169769e+01] [-6.53959598e-02 -2.14504315e-03 9.97857088e-01 -5.08549724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54863999999999 meters Centerline goodness [0,1] 0.9997048696507624 Centerline is valid? [True, True] Translation: X:106.94, Y:-42.14, Z:-5.09 [[ 7.38579740e-01 6.72321823e-01 4.98330604e-02 1.06937646e+02] [-6.70989067e-01 7.40255874e-01 -4.23664157e-02 -4.21366757e+01] [-6.53730815e-02 -2.14646242e-03 9.97858584e-01 -5.08686283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57864 meters Centerline goodness [0,1] 0.9997048696507624 Centerline is valid? [True, True] Translation: X:106.96, Y:-42.16, Z:-5.09 [[ 7.38536821e-01 6.72369170e-01 4.98303407e-02 1.06961154e+02] [-6.71036306e-01 7.40212869e-01 -4.23696144e-02 -4.21566410e+01] [-6.53730819e-02 -2.14644741e-03 9.97858584e-01 -5.08818541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:106.99, Y:-42.18, Z:-5.09 [[ 7.37471025e-01 6.73475310e-01 5.06704454e-02 1.06986291e+02] [-6.72099303e-01 7.39206207e-01 -4.30895770e-02 -4.21754630e+01] [-6.64756740e-02 -2.27825651e-03 9.97785445e-01 -5.08958793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63864 meters Centerline goodness [0,1] 0.9997541185148758 Centerline is valid? [True, True] Translation: X:107.01, Y:-42.20, Z:-5.09 [[ 7.37504038e-01 6.73443422e-01 5.06137429e-02 1.07010063e+02] [-6.72070050e-01 7.39235288e-01 -4.30469285e-02 -4.21954047e+01] [-6.64051356e-02 -2.26869713e-03 9.97790164e-01 -5.09167262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66864 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:107.03, Y:-42.22, Z:-5.09 [[ 7.38450370e-01 6.72458981e-01 4.98995922e-02 1.07034001e+02] [-6.71121528e-01 7.40131283e-01 -4.24449958e-02 -4.22155446e+01] [-6.54747678e-02 -2.14516776e-03 9.97851919e-01 -5.09267548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69864 meters Centerline goodness [0,1] 0.9995088891071604 Centerline is valid? [True, True] Translation: X:107.06, Y:-42.24, Z:-5.09 [[ 7.40341732e-01 6.70413219e-01 4.93987384e-02 1.07056595e+02] [-6.69097602e-01 7.41985412e-01 -4.20243768e-02 -4.22369140e+01] [-6.48268410e-02 -1.94017748e-03 9.97894642e-01 -5.09469637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72864 meters Centerline goodness [0,1] 0.9995076801890508 Centerline is valid? [True, True] Translation: X:107.08, Y:-42.26, Z:-5.10 [[ 7.41144494e-01 6.69546223e-01 4.91191773e-02 1.07080784e+02] [-6.68243197e-01 7.42768089e-01 -4.17922922e-02 -4.22572976e+01] [-6.44660289e-02 -1.84942877e-03 9.97918188e-01 -5.09538441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75864 meters Centerline goodness [0,1] 0.999656340517453 Centerline is valid? [True, True] Translation: X:107.10, Y:-42.28, Z:-5.10 [[ 7.41148654e-01 6.69571280e-01 4.87131817e-02 1.07104038e+02] [-6.68289394e-01 7.42745546e-01 -4.14528570e-02 -4.22778504e+01] [-6.39371413e-02 -1.83177347e-03 9.97952247e-01 -5.09613201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78864 meters Centerline goodness [0,1] 0.9994600431965442 Centerline is valid? [True, True] Translation: X:107.13, Y:-42.30, Z:-5.10 [[ 7.40273180e-01 6.70589529e-01 4.80135725e-02 1.07128438e+02] [-6.69346033e-01 7.41826206e-01 -4.08628098e-02 -4.22976316e+01] [-6.30198986e-02 -1.88805211e-03 9.98010485e-01 -5.09643092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81864 meters Centerline goodness [0,1] 0.999656340517453 Centerline is valid? [True, True] Translation: X:107.15, Y:-42.32, Z:-5.10 [[ 7.40229195e-01 6.70651409e-01 4.78270483e-02 1.07151711e+02] [-6.69417521e-01 7.41770274e-01 -4.07068000e-02 -4.23153222e+01] [-6.27767555e-02 -1.88390234e-03 9.98025816e-01 -5.09779575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84863999999999 meters Centerline goodness [0,1] 0.9993615871924569 Centerline is valid? [True, True] Translation: X:107.18, Y:-42.33, Z:-5.10 [[ 7.38947074e-01 6.72130986e-01 4.68738668e-02 1.07175006e+02] [-6.70949004e-01 7.40429638e-01 -3.98921677e-02 -4.23341149e+01] [-6.15195622e-02 -1.97177367e-03 9.98103930e-01 -5.09886911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87863999999999 meters Centerline goodness [0,1] 0.9995092747080184 Centerline is valid? [True, True] Translation: X:107.20, Y:-42.35, Z:-5.10 [[ 7.38817024e-01 6.72273583e-01 4.68789324e-02 1.07196735e+02] [-6.71092545e-01 7.40300108e-01 -3.98816484e-02 -4.23525396e+01] [-6.15158573e-02 -1.99486126e-03 9.98104113e-01 -5.09934805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90863999999999 meters Centerline goodness [0,1] 0.9995585855117955 Centerline is valid? [True, True] Translation: X:107.22, Y:-42.37, Z:-5.10 [[ 7.38830237e-01 6.72171271e-01 4.81213314e-02 1.07219489e+02] [-6.70928949e-01 7.40392806e-01 -4.09003471e-02 -4.23702729e+01] [-6.31207259e-02 -2.06758113e-03 9.98003757e-01 -5.10031224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93863999999999 meters Centerline goodness [0,1] 0.9996070147860687 Centerline is valid? [True, True] Translation: X:107.24, Y:-42.39, Z:-5.10 [[ 7.40333689e-01 6.70430686e-01 4.92820788e-02 1.07244739e+02] [-6.69125946e-01 7.41969497e-01 -4.18537235e-02 -4.23853108e+01] [-6.46258198e-02 -1.99019604e-03 9.97907582e-01 -5.10149359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96864 meters Centerline goodness [0,1] 0.9995578916343273 Centerline is valid? [True, True] Translation: X:107.27, Y:-42.40, Z:-5.10 [[ 7.42374756e-01 6.68252215e-01 4.81528759e-02 1.07266721e+02] [-6.67003720e-01 7.43932668e-01 -4.08683642e-02 -4.24032262e+01] [-6.31328724e-02 -1.77850543e-03 9.98003546e-01 -5.10358644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99864 meters Centerline goodness [0,1] 0.9995581520938681 Centerline is valid? [True, True] Translation: X:107.29, Y:-42.42, Z:-5.11 [[ 7.46166900e-01 6.64074756e-01 4.73252163e-02 1.07289991e+02] [-6.62862202e-01 7.47664831e-01 -4.01372833e-02 -4.24202348e+01] [-6.20375565e-02 -1.42098482e-03 9.98072804e-01 -5.10507169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02864 meters Centerline goodness [0,1] 0.9994107826770107 Centerline is valid? [True, True] Translation: X:107.31, Y:-42.44, Z:-5.11 [[ 7.48035943e-01 6.61848485e-01 4.89776601e-02 1.07311240e+02] [-6.60546327e-01 7.49636514e-01 -4.15168214e-02 -4.24377450e+01] [-6.41932878e-02 -1.29593886e-03 9.97936642e-01 -5.10693521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05864 meters Centerline goodness [0,1] 0.999459671873465 Centerline is valid? [True, True] Translation: X:107.33, Y:-42.46, Z:-5.11 [[ 7.50738521e-01 6.58938683e-01 4.68132947e-02 1.07334279e+02] [-6.57745870e-01 7.52195954e-01 -3.96436350e-02 -4.24550876e+01] [-6.13354955e-02 -1.02924735e-03 9.98116675e-01 -5.10676333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08864 meters Centerline goodness [0,1] 0.9995584122467004 Centerline is valid? [True, True] Translation: X:107.36, Y:-42.47, Z:-5.11 [[ 7.54269723e-01 6.54799144e-01 4.81172056e-02 1.07357391e+02] [-6.53532821e-01 7.55802576e-01 -4.07101763e-02 -4.24715223e+01] [-6.30240965e-02 -7.39719685e-04 9.98011731e-01 -5.10873291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11864 meters Centerline goodness [0,1] 0.9994602021788203 Centerline is valid? [True, True] Translation: X:107.38, Y:-42.49, Z:-5.11 [[ 7.55520869e-01 6.53510744e-01 4.59556760e-02 1.07379778e+02] [-6.52355417e-01 7.56916978e-01 -3.88471306e-02 -4.24890783e+01] [-6.01716486e-02 -6.29616268e-04 9.98187846e-01 -5.10948292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14864 meters Centerline goodness [0,1] 0.9998033528341773 Centerline is valid? [True, True] Translation: X:107.40, Y:-42.51, Z:-5.11 [[ 7.57044090e-01 6.51775320e-01 4.55321693e-02 1.07404085e+02] [-6.50640127e-01 7.58411939e-01 -3.84545990e-02 -4.25052484e+01] [-5.95958994e-02 -5.13229509e-04 9.98222453e-01 -5.11126795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17864 meters Centerline goodness [0,1] 0.9997543842412929 Centerline is valid? [True, True] Translation: X:107.43, Y:-42.52, Z:-5.11 [[ 7.58382869e-01 6.50155426e-01 4.64041629e-02 1.07426340e+02] [-6.48975539e-01 7.59801122e-01 -3.91536156e-02 -4.25223172e+01] [-6.07138707e-02 -4.21735265e-04 9.98155122e-01 -5.11316631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20864 meters Centerline goodness [0,1] 0.9995085270555856 Centerline is valid? [True, True] Translation: X:107.45, Y:-42.54, Z:-5.11 [[ 7.59594194e-01 6.48737379e-01 4.64378472e-02 1.07448046e+02] [-6.47555599e-01 7.61012285e-01 -3.91413909e-02 -4.25405496e+01] [-6.07322556e-02 -3.39514677e-04 9.98154035e-01 -5.11365955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23863999999999 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:107.47, Y:-42.56, Z:-5.11 [[ 7.62797675e-01 6.44933606e-01 4.69078919e-02 1.07469912e+02] [-6.43723084e-01 7.64238601e-01 -3.94962328e-02 -4.25578372e+01] [-6.13212695e-02 -6.80583104e-05 9.98118078e-01 -5.11415743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26863999999999 meters Centerline goodness [0,1] 0.9998035942256702 Centerline is valid? [True, True] Translation: X:107.49, Y:-42.58, Z:-5.11 [[ 7.64765776e-01 6.42677132e-01 4.58193263e-02 1.07492062e+02] [-6.41520423e-01 7.66137127e-01 -3.85415345e-02 -4.25758037e+01] [-5.98736499e-02 8.12129483e-05 9.98205960e-01 -5.11466564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29863999999999 meters Centerline goodness [0,1] 0.9996560703581782 Centerline is valid? [True, True] Translation: X:107.51, Y:-42.60, Z:-5.12 [[ 7.67924141e-01 6.39024402e-01 4.40491524e-02 1.07513810e+02] [-6.37951277e-01 7.69186393e-01 -3.70197400e-02 -4.25950163e+01] [-5.75385259e-02 3.27139001e-04 9.98343233e-01 -5.11539726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32864 meters Centerline goodness [0,1] 0.9999017536965171 Centerline is valid? [True, True] Translation: X:107.53, Y:-42.61, Z:-5.12 [[ 7.69614383e-01 6.36948893e-01 4.46072714e-02 1.07534872e+02] [-6.35846865e-01 7.70905892e-01 -3.74549082e-02 -4.26143006e+01] [-5.82448707e-02 4.62442354e-04 9.98302219e-01 -5.11673008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35864 meters Centerline goodness [0,1] 0.9999017102417928 Centerline is valid? [True, True] Translation: X:107.56, Y:-42.64, Z:-5.12 [[ 7.71370038e-01 6.34815477e-01 4.46942373e-02 1.07555086e+02] [-6.33707516e-01 7.72663543e-01 -3.74944411e-02 -4.26353729e+01] [-5.83356593e-02 5.99014351e-04 9.98296846e-01 -5.11852938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:107.58, Y:-42.66, Z:-5.12 [[ 7.72125052e-01 6.33856855e-01 4.52591474e-02 1.07576421e+02] [-6.32721047e-01 7.73450102e-01 -3.79343834e-02 -4.26552896e+01] [-5.90506611e-02 6.53672688e-04 9.98254773e-01 -5.12062172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41864 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:107.60, Y:-42.68, Z:-5.12 [[ 7.72531594e-01 6.33419162e-01 4.44421081e-02 1.07596218e+02] [-6.32325258e-01 7.73808597e-01 -3.72158958e-02 -4.26756846e+01] [-5.79629468e-02 6.48587893e-04 9.98318524e-01 -5.12115869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44864 meters Centerline goodness [0,1] 0.9998523767345734 Centerline is valid? [True, True] Translation: X:107.61, Y:-42.70, Z:-5.12 [[ 7.73234001e-01 6.32625884e-01 4.35163234e-02 1.07613028e+02] [-6.31577919e-01 7.74457260e-01 -3.64044590e-02 -4.26982826e+01] [-5.67319356e-02 6.65216533e-04 9.98389225e-01 -5.12225606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:-42.72, Z:-5.12 [[ 7.73494911e-01 6.32318131e-01 4.33520968e-02 1.07632240e+02] [-6.31279667e-01 7.74708558e-01 -3.62302568e-02 -4.27192843e+01] [-5.64942887e-02 6.56622052e-04 9.98402706e-01 -5.12298611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:-42.74, Z:-5.13 [[ 7.72391827e-01 6.33682041e-01 4.31037895e-02 1.07650489e+02] [-6.32659562e-01 7.73593429e-01 -3.59872802e-02 -4.27424164e+01] [-5.61493015e-02 5.26256552e-04 9.98422245e-01 -5.12540295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.67, Y:-42.76, Z:-5.13 [[ 7.70696202e-01 6.35678325e-01 4.40503302e-02 1.07671020e+02] [-6.34615177e-01 7.71953970e-01 -3.67511379e-02 -4.27635888e+01] [-5.73667290e-02 3.68954302e-04 9.98353105e-01 -5.12623389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56864 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:107.69, Y:-42.79, Z:-5.13 [[ 7.69087592e-01 6.37651701e-01 4.36415402e-02 1.07693466e+02] [-6.36611512e-01 7.70324776e-01 -3.64077150e-02 -4.27854613e+01] [-5.68336011e-02 2.18014986e-04 9.98383641e-01 -5.12775509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59863999999999 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:107.72, Y:-42.81, Z:-5.13 [[ 7.67501341e-01 6.39497745e-01 4.45457708e-02 1.07715797e+02] [-6.38416788e-01 7.68792967e-01 -3.71669064e-02 -4.28071628e+01] [-5.80146282e-02 8.68826132e-05 9.98315729e-01 -5.12871699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:-42.83, Z:-5.13 [[ 7.65898266e-01 6.41354971e-01 4.54273832e-02 1.07737441e+02] [-6.40233646e-01 7.67244288e-01 -3.79088373e-02 -4.28320615e+01] [-5.91669215e-02 -4.98264305e-05 9.98248102e-01 -5.13099061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65863999999999 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:107.76, Y:-42.85, Z:-5.13 [[ 7.66980852e-01 6.40055903e-01 4.54841993e-02 1.07761736e+02] [-6.38928895e-01 7.68328339e-01 -3.79661783e-02 -4.28535891e+01] [-5.92472759e-02 5.81626437e-05 9.98243336e-01 -5.13176262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:-42.88, Z:-5.13 [[ 7.69136902e-01 6.37501553e-01 4.49465853e-02 1.07785255e+02] [-6.36396111e-01 7.70449027e-01 -3.75271507e-02 -4.28756005e+01] [-5.85526698e-02 2.59684346e-04 9.98284287e-01 -5.13308742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71864 meters Centerline goodness [0,1] 0.9999017005799665 Centerline is valid? [True, True] Translation: X:107.81, Y:-42.90, Z:-5.13 [[ 7.70655240e-01 6.35660236e-01 4.50173872e-02 1.07809349e+02] [-6.34547585e-01 7.71968845e-01 -3.75960690e-02 -4.28969649e+01] [-5.86503465e-02 4.07933180e-04 9.98278503e-01 -5.13448723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74864 meters Centerline goodness [0,1] 0.9998525870964572 Centerline is valid? [True, True] Translation: X:107.83, Y:-42.92, Z:-5.14 [[ 7.71452254e-01 6.34651822e-01 4.55904078e-02 1.07832523e+02] [-6.33508285e-01 7.72798044e-01 -3.80845957e-02 -4.29191996e+01] [-5.94026360e-02 4.98546095e-04 9.98233980e-01 -5.13640474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77864 meters Centerline goodness [0,1] 0.9999014681249384 Centerline is valid? [True, True] Translation: X:107.86, Y:-42.94, Z:-5.14 [[ 7.73507916e-01 6.32253985e-01 4.40499881e-02 1.07855286e+02] [-6.31181984e-01 7.74760900e-01 -3.68083007e-02 -4.29435538e+01] [-5.74004032e-02 6.67953107e-04 9.98351014e-01 -5.13508454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80864 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:107.88, Y:-42.97, Z:-5.14 [[ 7.74049036e-01 6.31549297e-01 4.46494785e-02 1.07878559e+02] [-6.30445944e-01 7.75335371e-01 -3.73225690e-02 -4.29653547e+01] [-5.81893622e-02 7.40415886e-04 9.98305289e-01 -5.13724904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83864 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:107.90, Y:-42.99, Z:-5.14 [[ 7.74496570e-01 6.30944998e-01 4.54254703e-02 1.07902101e+02] [-6.29801177e-01 7.75827143e-01 -3.79831831e-02 -4.29873742e+01] [-5.92076122e-02 8.08830328e-04 9.98245363e-01 -5.13816853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86864 meters Centerline goodness [0,1] 0.9997539127866916 Centerline is valid? [True, True] Translation: X:107.92, Y:-43.01, Z:-5.14 [[ 7.75507627e-01 6.29723705e-01 4.51217911e-02 1.07922958e+02] [-6.28592191e-01 7.76818660e-01 -3.77442223e-02 -4.30121708e+01] [-5.88198808e-02 9.07726728e-04 9.98268199e-01 -5.14007746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89864 meters Centerline goodness [0,1] 0.9997049277072882 Centerline is valid? [True, True] Translation: X:107.95, Y:-43.04, Z:-5.14 [[ 7.76309493e-01 6.28796495e-01 4.42553907e-02 1.07946530e+02] [-6.27705932e-01 7.77569310e-01 -3.70301271e-02 -4.30360513e+01] [-5.76960478e-02 9.67467940e-04 9.98333727e-01 -5.14127597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92864 meters Centerline goodness [0,1] 0.9997542152091629 Centerline is valid? [True, True] Translation: X:107.97, Y:-43.06, Z:-5.14 [[ 7.77753410e-01 6.27028010e-01 4.39944216e-02 1.07967625e+02] [-6.25946711e-01 7.78995931e-01 -3.68246486e-02 -4.30607029e+01] [-5.73615615e-02 1.10233247e-03 9.98352862e-01 -5.14352831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95864 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:107.99, Y:-43.08, Z:-5.15 [[ 7.78002749e-01 6.26619145e-01 4.53890975e-02 1.07990043e+02] [-6.25466859e-01 7.79324748e-01 -3.80019067e-02 -4.30838136e+01] [-5.91855693e-02 1.17621160e-03 9.98246305e-01 -5.14595003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98863999999999 meters Centerline goodness [0,1] 0.9996064928676832 Centerline is valid? [True, True] Translation: X:108.01, Y:-43.11, Z:-5.15 [[ 7.77965060e-01 6.26534370e-01 4.71704124e-02 1.08011627e+02] [-6.25288523e-01 7.79392800e-01 -3.95110865e-02 -4.31074028e+01] [-6.15193335e-02 1.24312732e-03 9.98105118e-01 -5.14810322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01863999999999 meters Centerline goodness [0,1] 0.9996062798366061 Centerline is valid? [True, True] Translation: X:108.03, Y:-43.13, Z:-5.15 [[ 7.79265278e-01 6.24968344e-01 4.64779072e-02 1.08033683e+02] [-6.23753986e-01 7.80648886e-01 -3.89651370e-02 -4.31316823e+01] [-6.06349036e-02 1.37339841e-03 9.98159067e-01 -5.14865292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04863999999999 meters Centerline goodness [0,1] 0.9995078497957577 Centerline is valid? [True, True] Translation: X:108.06, Y:-43.15, Z:-5.15 [[ 7.79096307e-01 6.25251006e-01 4.54986266e-02 1.08056681e+02] [-6.24085823e-01 7.80422553e-01 -3.81775386e-02 -4.31537327e+01] [-5.93786987e-02 1.34893152e-03 9.98234617e-01 -5.14956608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07864 meters Centerline goodness [0,1] 0.9998522531396208 Centerline is valid? [True, True] Translation: X:108.08, Y:-43.18, Z:-5.15 [[ 7.77355329e-01 6.27414933e-01 4.54884018e-02 1.08076478e+02] [-6.26251966e-01 7.78684171e-01 -3.82025743e-02 -4.31805744e+01] [-5.93899641e-02 1.20977370e-03 9.98234125e-01 -5.15096341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10864 meters Centerline goodness [0,1] 0.999803362501229 Centerline is valid? [True, True] Translation: X:108.10, Y:-43.20, Z:-5.15 [[ 7.76481772e-01 6.28462612e-01 4.59434862e-02 1.08099590e+02] [-6.27275909e-01 7.77838916e-01 -3.86206478e-02 -4.32048711e+01] [-6.00082647e-02 1.16898692e-03 9.98197196e-01 -5.15158791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13864 meters Centerline goodness [0,1] 0.999754033844943 Centerline is valid? [True, True] Translation: X:108.12, Y:-43.23, Z:-5.15 [[ 7.76046349e-01 6.29019372e-01 4.56803398e-02 1.08122717e+02] [-6.27844874e-01 7.77388775e-01 -3.84383442e-02 -4.32281053e+01] [-5.96898466e-02 1.14976946e-03 9.98216309e-01 -5.15245988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16864 meters Centerline goodness [0,1] 0.9997543118274286 Centerline is valid? [True, True] Translation: X:108.14, Y:-43.25, Z:-5.15 [[ 7.75349578e-01 6.29929361e-01 4.49670095e-02 1.08144765e+02] [-6.28790665e-01 7.76651665e-01 -3.78746692e-02 -4.32513561e+01] [-5.87820690e-02 1.09127298e-03 9.98270243e-01 -5.15332622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19864 meters Centerline goodness [0,1] 0.9997047970479704 Centerline is valid? [True, True] Translation: X:108.17, Y:-43.27, Z:-5.16 [[ 7.74755434e-01 6.30643978e-01 4.51906029e-02 1.08167877e+02] [-6.29493475e-01 7.76071544e-01 -3.80909979e-02 -4.32745691e+01] [-5.90929994e-02 1.06401797e-03 9.98251915e-01 -5.15542888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22864 meters Centerline goodness [0,1] 0.9999015893322836 Centerline is valid? [True, True] Translation: X:108.19, Y:-43.30, Z:-5.16 [[ 7.74079152e-01 6.31466752e-01 4.52902506e-02 1.08191020e+02] [-6.30311407e-01 7.75402285e-01 -3.81945947e-02 -4.32981353e+01] [-5.92367804e-02 1.01867790e-03 9.98243440e-01 -5.15669172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25864 meters Centerline goodness [0,1] 0.9999016715830875 Centerline is valid? [True, True] Translation: X:108.21, Y:-43.32, Z:-5.16 [[ 7.73499088e-01 6.32151158e-01 4.56516628e-02 1.08214588e+02] [-6.30976107e-01 7.74844438e-01 -3.85389224e-02 -4.33217347e+01] [-5.97353614e-02 1.00471290e-03 9.98213743e-01 -5.15804033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.24, Y:-43.35, Z:-5.16 [[ 7.71483250e-01 6.34597107e-01 4.58269192e-02 1.08235669e+02] [-6.33415019e-01 7.72842670e-01 -3.87249357e-02 -4.33469992e+01] [-5.99917307e-02 8.48180315e-04 9.98198514e-01 -5.15904282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31864 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:108.26, Y:-43.37, Z:-5.16 [[ 7.71117166e-01 6.35092785e-01 4.51161846e-02 1.08259280e+02] [-6.33945892e-01 7.72435418e-01 -3.81592880e-02 -4.33699918e+01] [-5.90840274e-02 8.24062132e-04 9.98252673e-01 -5.16116613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34863999999999 meters Centerline goodness [0,1] 0.9998028876952644 Centerline is valid? [True, True] Translation: X:108.28, Y:-43.40, Z:-5.16 [[ 7.69054198e-01 6.37551211e-01 4.56518669e-02 1.08279672e+02] [-6.36378894e-01 7.70407684e-01 -3.86510455e-02 -4.33956379e+01] [-5.98125699e-02 6.72864195e-04 9.98209399e-01 -5.16157947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:-43.42, Z:-5.16 [[ 7.68055762e-01 6.38814478e-01 4.47929615e-02 1.08303467e+02] [-6.37686057e-01 7.69360589e-01 -3.79575668e-02 -4.34177560e+01] [-5.87097824e-02 5.89680895e-04 9.98274919e-01 -5.16182796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.33, Y:-43.44, Z:-5.16 [[ 7.66599556e-01 6.40541762e-01 4.50707338e-02 1.08327435e+02] [-6.39400125e-01 7.67923181e-01 -3.82291397e-02 -4.34399272e+01] [-5.90982218e-02 4.88208689e-04 9.98252053e-01 -5.16278013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43863999999999 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:108.35, Y:-43.46, Z:-5.16 [[ 7.64901226e-01 6.42411748e-01 4.72573833e-02 1.08349935e+02] [-6.41157523e-01 7.66359571e-01 -4.01252925e-02 -4.34624599e+01] [-6.19931072e-02 3.92458608e-04 9.98076500e-01 -5.16496928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46864 meters Centerline goodness [0,1] 0.9999507024895242 Centerline is valid? [True, True] Translation: X:108.37, Y:-43.48, Z:-5.17 [[ 7.63725742e-01 6.43849633e-01 4.66973277e-02 1.08373010e+02] [-6.42625461e-01 7.65151985e-01 -3.96857357e-02 -4.34847808e+01] [-6.12821993e-02 3.00126196e-04 9.98120435e-01 -5.16591857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49864 meters Centerline goodness [0,1] 0.9999507024895242 Centerline is valid? [True, True] Translation: X:108.40, Y:-43.51, Z:-5.17 [[ 7.63392179e-01 6.44246452e-01 4.66785826e-02 1.08398006e+02] [-6.43021673e-01 7.64817900e-01 -3.97077747e-02 -4.35056016e+01] [-6.12822085e-02 2.97264374e-04 9.98120435e-01 -5.16731273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.42, Y:-43.53, Z:-5.17 [[ 7.62824606e-01 6.44896477e-01 4.69803595e-02 1.08422555e+02] [-6.43654413e-01 7.64269884e-01 -4.00067526e-02 -4.35278937e+01] [-6.17058877e-02 2.79019597e-04 9.98094337e-01 -5.16890460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55864 meters Centerline goodness [0,1] 0.9999507292077257 Centerline is valid? [True, True] Translation: X:108.45, Y:-43.55, Z:-5.17 [[ 7.61443764e-01 6.46543169e-01 4.67474631e-02 1.08445525e+02] [-6.45313925e-01 7.62877382e-01 -3.98502031e-02 -4.35513973e+01] [-6.14274589e-02 1.76899762e-04 9.98111535e-01 -5.17001348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:-43.57, Z:-5.17 [[ 7.60420308e-01 6.47781176e-01 4.62655662e-02 1.08470421e+02] [-6.46576947e-01 7.61826448e-01 -3.94805625e-02 -4.35736504e+01] [-6.08210972e-02 1.07572969e-04 9.98148678e-01 -5.17017362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61864 meters Centerline goodness [0,1] 0.9997048841670355 Centerline is valid? [True, True] Translation: X:108.49, Y:-43.60, Z:-5.17 [[ 7.59227693e-01 6.49247413e-01 4.52891483e-02 1.08494090e+02] [-6.48093812e-01 7.60577278e-01 -3.86861008e-02 -4.35961367e+01] [-5.95627480e-02 1.99422369e-05 9.98224563e-01 -5.17066572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64864 meters Centerline goodness [0,1] 0.9999015748031496 Centerline is valid? [True, True] Translation: X:108.52, Y:-43.62, Z:-5.17 [[ 7.58572456e-01 6.50010374e-01 4.53248657e-02 1.08518613e+02] [-6.48854072e-01 7.59925335e-01 -3.87540873e-02 -4.36189893e+01] [-5.96340725e-02 -1.14405034e-05 9.98220305e-01 -5.17251227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67864 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:108.54, Y:-43.64, Z:-5.18 [[ 7.57631987e-01 6.51095099e-01 4.54856540e-02 1.08542521e+02] [-6.49930022e-01 7.58996158e-01 -3.89332538e-02 -4.36419463e+01] [-5.98726874e-02 -6.54136581e-05 9.98206019e-01 -5.17573881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70864 meters Centerline goodness [0,1] 0.9999015505783904 Centerline is valid? [True, True] Translation: X:108.56, Y:-43.67, Z:-5.18 [[ 7.56292491e-01 6.52770636e-01 4.37283046e-02 1.08564508e+02] [-6.51694549e-01 7.57555589e-01 -3.74665611e-02 -4.36658731e+01] [-5.75836925e-02 -1.61818951e-04 9.98340669e-01 -5.17662104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73863999999999 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:108.59, Y:-43.69, Z:-5.18 [[ 7.55132354e-01 6.54086527e-01 4.41128400e-02 1.08588850e+02] [-6.52991512e-01 7.56419697e-01 -3.78328699e-02 -4.36880617e+01] [-5.81137916e-02 -2.36486032e-04 9.98309937e-01 -5.17750755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76863999999999 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:108.61, Y:-43.71, Z:-5.18 [[ 7.51739061e-01 6.57971567e-01 4.42922142e-02 1.08612876e+02] [-6.56872026e-01 7.53042600e-01 -3.80260912e-02 -4.37095219e+01] [-5.83740110e-02 -5.08618333e-04 9.98294654e-01 -5.17785272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79863999999999 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:108.64, Y:-43.73, Z:-5.18 [[ 7.49687558e-01 6.60281207e-01 4.46910799e-02 1.08637830e+02] [-6.59163735e-01 7.51018164e-01 -3.84042845e-02 -4.37300886e+01] [-5.89214401e-02 -6.67524837e-04 9.98262400e-01 -5.17927536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:-43.75, Z:-5.18 [[ 7.47653874e-01 6.62624028e-01 4.40804141e-02 1.08662448e+02] [-6.61539187e-01 7.48951754e-01 -3.79100692e-02 -4.37502425e+01] [-5.81342262e-02 -8.17311272e-04 9.98308441e-01 -5.17959580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:-43.77, Z:-5.18 [[ 7.43927778e-01 6.66606817e-01 4.69767283e-02 1.08688561e+02] [-6.65381341e-01 7.45408572e-01 -4.04194402e-02 -4.37696091e+01] [-6.19607304e-02 -1.18829412e-03 9.98077881e-01 -5.18114248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88864 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:108.71, Y:-43.79, Z:-5.18 [[ 7.43146499e-01 6.67432823e-01 4.76099528e-02 1.08714360e+02] [-6.66174498e-01 7.44668947e-01 -4.09841119e-02 -4.37886814e+01] [-6.28077949e-02 -1.25933715e-03 9.98024847e-01 -5.18169427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.74, Y:-43.81, Z:-5.18 [[ 7.42733207e-01 6.67850105e-01 4.82039474e-02 1.08741381e+02] [-6.66558426e-01 7.44294698e-01 -4.15363222e-02 -4.38084914e+01] [-6.36179796e-02 -1.28034158e-03 9.97973503e-01 -5.18354096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:108.77, Y:-43.83, Z:-5.19 [[ 7.43504330e-01 6.66881185e-01 4.97071164e-02 1.08768372e+02] [-6.65502384e-01 7.45163100e-01 -4.28780941e-02 -4.38275524e+01] [-6.56345031e-02 -1.20015581e-03 9.97843010e-01 -5.18563003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97864 meters Centerline goodness [0,1] 0.9997542272906017 Centerline is valid? [True, True] Translation: X:108.80, Y:-43.85, Z:-5.19 [[ 7.46152590e-01 6.64123378e-01 4.68663101e-02 1.08795018e+02] [-6.62890365e-01 7.47622477e-01 -4.04598097e-02 -4.38465559e+01] [-6.19086124e-02 -8.78033571e-04 9.98081436e-01 -5.18708155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00864 meters Centerline goodness [0,1] 0.9997538643300187 Centerline is valid? [True, True] Translation: X:108.82, Y:-43.87, Z:-5.19 [[ 7.47054042e-01 6.63136793e-01 4.64742145e-02 1.08821475e+02] [-6.61921171e-01 7.48497826e-01 -4.01418595e-02 -4.38658037e+01] [-6.14053924e-02 -7.74128055e-04 9.98112608e-01 -5.18847417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.85, Y:-43.89, Z:-5.19 [[ 7.47330853e-01 6.62779487e-01 4.71163156e-02 1.08847698e+02] [-6.61526802e-01 7.48814280e-01 -4.07365359e-02 -4.38853798e+01] [-6.22807103e-02 -7.25035441e-04 9.98058409e-01 -5.19004545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:-43.91, Z:-5.19 [[ 7.47024376e-01 6.63112488e-01 4.72906895e-02 1.08874117e+02] [-6.61848426e-01 7.48519409e-01 -4.09311035e-02 -4.39058086e+01] [-6.25399248e-02 -7.22736413e-04 9.98042201e-01 -5.19079141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09863999999999 meters Centerline goodness [0,1] 0.9996551044540796 Centerline is valid? [True, True] Translation: X:108.90, Y:-43.93, Z:-5.19 [[ 7.45319861e-01 6.64986796e-01 4.78629954e-02 1.08899808e+02] [-6.63693078e-01 7.46854620e-01 -4.14689467e-02 -4.39259147e+01] [-6.33230013e-02 -8.58709204e-04 9.97992715e-01 -5.19241791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.92, Y:-43.95, Z:-5.20 [[ 7.44619003e-01 6.65726054e-01 4.84908376e-02 1.08924610e+02] [-6.64397179e-01 7.46195687e-01 -4.20521808e-02 -4.39463336e+01] [-6.41788863e-02 -9.04322747e-04 9.97938000e-01 -5.19530355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15863999999999 meters Centerline goodness [0,1] 0.9998032657879206 Centerline is valid? [True, True] Translation: X:108.95, Y:-43.97, Z:-5.20 [[ 7.43788210e-01 6.66653469e-01 4.85000040e-02 1.08950431e+02] [-6.65323420e-01 7.45367186e-01 -4.21011214e-02 -4.39671883e+01] [-6.42171701e-02 -9.53870762e-04 9.97935491e-01 -5.19576202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18863999999999 meters Centerline goodness [0,1] 0.9996069568635157 Centerline is valid? [True, True] Translation: X:108.98, Y:-43.99, Z:-5.20 [[ 7.43173157e-01 6.67280448e-01 4.92997243e-02 1.08975283e+02] [-6.65904638e-01 7.44805894e-01 -4.28391562e-02 -4.39872208e+01] [-6.53044566e-02 -9.92004096e-04 9.97864893e-01 -5.19723015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21864 meters Centerline goodness [0,1] 0.999458474868311 Centerline is valid? [True, True] Translation: X:109.00, Y:-44.01, Z:-5.20 [[ 7.42257598e-01 6.68248849e-01 4.99713342e-02 1.09000717e+02] [-6.66834761e-01 7.43937060e-01 -4.34632318e-02 -4.40076832e+01] [-6.62197820e-02 -1.06170867e-03 9.97804497e-01 -5.19919897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24864 meters Centerline goodness [0,1] 0.9996065509270644 Centerline is valid? [True, True] Translation: X:109.03, Y:-44.03, Z:-5.20 [[ 7.41983941e-01 6.68487659e-01 5.08338482e-02 1.09026386e+02] [-6.67022044e-01 7.43722463e-01 -4.42548330e-02 -4.40275774e+01] [-6.73900845e-02 -1.07092190e-03 9.97726130e-01 -5.20154875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.05, Y:-44.05, Z:-5.20 [[ 7.41915849e-01 6.68581888e-01 5.05878697e-02 1.09051939e+02] [-6.67127784e-01 7.43637797e-01 -4.40834195e-02 -4.40482025e+01] [-6.70924277e-02 -1.04238580e-03 9.97746220e-01 -5.20313638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:109.08, Y:-44.07, Z:-5.20 [[ 7.42044906e-01 6.68452730e-01 5.04014452e-02 1.09077779e+02] [-6.67005928e-01 7.43753967e-01 -4.39673692e-02 -4.40681588e+01] [-6.68763828e-02 -9.92300427e-04 9.97760775e-01 -5.20390376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33864 meters Centerline goodness [0,1] 0.9995077286600375 Centerline is valid? [True, True] Translation: X:109.10, Y:-44.09, Z:-5.21 [[ 7.43088883e-01 6.67358426e-01 4.95140733e-02 1.09103839e+02] [-6.65956889e-01 7.44736206e-01 -4.32366180e-02 -4.40873488e+01] [-6.57292444e-02 -8.45588095e-04 9.97837137e-01 -5.20591394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36864 meters Centerline goodness [0,1] 0.9996058724997536 Centerline is valid? [True, True] Translation: X:109.13, Y:-44.11, Z:-5.21 [[ 7.43528675e-01 6.66912545e-01 4.89159092e-02 1.09128427e+02] [-6.65541184e-01 7.45135604e-01 -4.27535258e-02 -4.41075483e+01] [-6.49618483e-02 -7.67079737e-04 9.97887454e-01 -5.20665646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39864 meters Centerline goodness [0,1] 0.9997046371960224 Centerline is valid? [True, True] Translation: X:109.15, Y:-44.13, Z:-5.21 [[ 7.44120755e-01 6.66265010e-01 4.87364085e-02 1.09153170e+02] [-6.64899771e-01 7.45714742e-01 -4.26358921e-02 -4.41283659e+01] [-6.47502614e-02 -6.78574604e-04 9.97901269e-01 -5.20800474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42864 meters Centerline goodness [0,1] 0.9997050872450234 Centerline is valid? [True, True] Translation: X:109.18, Y:-44.15, Z:-5.21 [[ 7.44261351e-01 6.66029503e-01 4.97970140e-02 1.09177503e+02] [-6.64600890e-01 7.45925123e-01 -4.36046753e-02 -4.41497529e+01] [-6.61868440e-02 -6.41865329e-04 9.97807040e-01 -5.20997890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45864 meters Centerline goodness [0,1] 0.9997045208312814 Centerline is valid? [True, True] Translation: X:109.20, Y:-44.17, Z:-5.21 [[ 7.44331409e-01 6.65961189e-01 4.96633565e-02 1.09201974e+02] [-6.64537306e-01 7.45986147e-01 -4.35297328e-02 -4.41718358e+01] [-6.60372885e-02 -6.02605785e-04 9.97816974e-01 -5.21072931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48863999999999 meters Centerline goodness [0,1] 0.9994096521867467 Centerline is valid? [True, True] Translation: X:109.23, Y:-44.19, Z:-5.21 [[ 7.44182492e-01 6.66076590e-01 5.03427767e-02 1.09225811e+02] [-6.64610552e-01 7.45883123e-01 -4.41721780e-02 -4.41942703e+01] [-6.69718812e-02 -5.86179053e-04 9.97754691e-01 -5.21258409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51863999999999 meters Centerline goodness [0,1] 0.9996557320611813 Centerline is valid? [True, True] Translation: X:109.25, Y:-44.22, Z:-5.21 [[ 7.43933345e-01 6.66308722e-01 5.09496220e-02 1.09251100e+02] [-6.64804394e-01 7.45675768e-01 -4.47522748e-02 -4.42160994e+01] [-6.78107296e-02 -5.78823047e-04 9.97698035e-01 -5.21479439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54863999999999 meters Centerline goodness [0,1] 0.9992136819343425 Centerline is valid? [True, True] Translation: X:109.28, Y:-44.24, Z:-5.22 [[ 7.42753291e-01 6.67584683e-01 5.14610415e-02 1.09275518e+02] [-6.66049878e-01 7.44533575e-01 -4.52472731e-02 -4.42373281e+01] [-6.85208597e-02 -6.68059440e-04 9.97649460e-01 -5.21619903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57864 meters Centerline goodness [0,1] 0.9995081402783926 Centerline is valid? [True, True] Translation: X:109.30, Y:-44.26, Z:-5.22 [[ 7.40489032e-01 6.70118184e-01 5.11626161e-02 1.09300034e+02] [-6.68604215e-01 7.42253913e-01 -4.50281290e-02 -4.42592218e+01] [-6.81498200e-02 -8.64705173e-04 9.97674724e-01 -5.21668024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60864 meters Centerline goodness [0,1] 0.9995079708718756 Centerline is valid? [True, True] Translation: X:109.32, Y:-44.28, Z:-5.22 [[ 7.39228289e-01 6.71488012e-01 5.14333244e-02 1.09323765e+02] [-6.69958152e-01 7.41014793e-01 -4.53117179e-02 -4.42804004e+01] [-6.85391296e-02 -9.62471224e-04 9.97647965e-01 -5.21753436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63864 meters Centerline goodness [0,1] 0.9993608652900688 Centerline is valid? [True, True] Translation: X:109.35, Y:-44.30, Z:-5.22 [[ 7.37841750e-01 6.72909496e-01 5.27480942e-02 1.09347158e+02] [-6.71300890e-01 7.39724017e-01 -4.65133811e-02 -4.43024918e+01] [-7.03183280e-02 -1.09032804e-03 9.97524007e-01 -5.22002691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66864 meters Centerline goodness [0,1] 0.9994594594594595 Centerline is valid? [True, True] Translation: X:109.37, Y:-44.32, Z:-5.22 [[ 7.37678042e-01 6.73077562e-01 5.28933076e-02 1.09371906e+02] [-6.71457290e-01 7.39571118e-01 -4.66869395e-02 -4.43236593e+01] [-7.05422941e-02 -1.07566686e-03 9.97508209e-01 -5.22124045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69864 meters Centerline goodness [0,1] 0.9996065702763843 Centerline is valid? [True, True] Translation: X:109.40, Y:-44.34, Z:-5.22 [[ 7.37343843e-01 6.73461032e-01 5.26715811e-02 1.09397253e+02] [-6.71851865e-01 7.39221949e-01 -4.65400984e-02 -4.43444800e+01] [-7.02789315e-02 -1.07144500e-03 9.97526804e-01 -5.22324802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72864 meters Centerline goodness [0,1] 0.9996557659208262 Centerline is valid? [True, True] Translation: X:109.42, Y:-44.36, Z:-5.22 [[ 7.37514642e-01 6.73183648e-01 5.38138336e-02 1.09422490e+02] [-6.71499635e-01 7.39474618e-01 -4.75975779e-02 -4.43648425e+01] [-7.18358751e-02 -1.03205898e-03 9.97415932e-01 -5.22469338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75864 meters Centerline goodness [0,1] 0.9991628914713413 Centerline is valid? [True, True] Translation: X:109.45, Y:-44.39, Z:-5.23 [[ 7.36898260e-01 6.73972368e-01 5.23660313e-02 1.09447378e+02] [-6.72376916e-01 7.38755811e-01 -4.63587571e-02 -4.43855072e+01] [-6.99302312e-02 -1.04802324e-03 9.97551334e-01 -5.22554576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78864 meters Centerline goodness [0,1] 0.9991633034747515 Centerline is valid? [True, True] Translation: X:109.47, Y:-44.41, Z:-5.23 [[ 7.36090902e-01 6.74931197e-01 5.13620764e-02 1.09471527e+02] [-6.73395891e-01 7.37879867e-01 -4.55112765e-02 -4.44065664e+01] [-6.86160225e-02 -1.08657461e-03 9.97642552e-01 -5.22578276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81864 meters Centerline goodness [0,1] 0.9990632549425628 Centerline is valid? [True, True] Translation: X:109.50, Y:-44.43, Z:-5.23 [[ 7.34846961e-01 6.76246081e-01 5.18766091e-02 1.09496734e+02] [-6.74680124e-01 7.36674842e-01 -4.60098637e-02 -4.44265000e+01] [-6.93301828e-02 -1.18990853e-03 9.97593058e-01 -5.22713764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84863999999999 meters Centerline goodness [0,1] 0.9993111253259853 Centerline is valid? [True, True] Translation: X:109.52, Y:-44.45, Z:-5.23 [[ 7.33727060e-01 6.77416637e-01 5.24528409e-02 1.09522116e+02] [-6.75815609e-01 7.35598432e-01 -4.65640432e-02 -4.44470801e+01] [-7.01274851e-02 -1.28315007e-03 9.97537212e-01 -5.22866593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87863999999999 meters Centerline goodness [0,1] 0.999410522179103 Centerline is valid? [True, True] Translation: X:109.55, Y:-44.47, Z:-5.23 [[ 7.32936168e-01 6.78239223e-01 5.28784474e-02 1.09547512e+02] [-6.76611148e-01 7.34839954e-01 -4.69850663e-02 -4.44673567e+01] [-7.07243107e-02 -1.34109256e-03 9.97494999e-01 -5.23038943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90863999999999 meters Centerline goodness [0,1] 0.9990658341118049 Centerline is valid? [True, True] Translation: X:109.57, Y:-44.49, Z:-5.23 [[ 7.31295958e-01 6.79878149e-01 5.45153602e-02 1.09572775e+02] [-6.78148827e-01 7.33323540e-01 -4.84845761e-02 -4.44875751e+01] [-7.29410007e-02 -1.51295308e-03 9.97335110e-01 -5.23348076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93863999999999 meters Centerline goodness [0,1] 0.9986730882642029 Centerline is valid? [True, True] Translation: X:109.60, Y:-44.51, Z:-5.23 [[ 7.29590653e-01 6.81788543e-01 5.34963704e-02 1.09598320e+02] [-6.80125185e-01 7.31547468e-01 -4.76238810e-02 -4.45085572e+01] [-7.16045508e-02 -1.63829035e-03 9.97431754e-01 -5.23349051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96864 meters Centerline goodness [0,1] 0.9990152149293416 Centerline is valid? [True, True] Translation: X:109.62, Y:-44.53, Z:-5.24 [[ 7.28261214e-01 6.83234249e-01 5.31654543e-02 1.09622828e+02] [-6.81591996e-01 7.30197199e-01 -4.73751221e-02 -4.45286517e+01] [-7.11895718e-02 -1.73568414e-03 9.97461294e-01 -5.23577467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99864 meters Centerline goodness [0,1] 0.9989654662791271 Centerline is valid? [True, True] Translation: X:109.65, Y:-44.55, Z:-5.24 [[ 7.26052824e-01 6.85627738e-01 5.25537971e-02 1.09648569e+02] [-6.84026443e-01 7.27949812e-01 -4.68710734e-02 -4.45480994e+01] [-7.03926348e-02 -1.91731164e-03 9.97517519e-01 -5.23662851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02864 meters Centerline goodness [0,1] 0.999310921888074 Centerline is valid? [True, True] Translation: X:109.67, Y:-44.57, Z:-5.24 [[ 7.24965342e-01 6.86709655e-01 5.34331640e-02 1.09673628e+02] [-6.85054011e-01 7.26928988e-01 -4.76995625e-02 -4.45685715e+01] [-7.15978659e-02 -2.02407371e-03 9.97431526e-01 -5.23827946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05864 meters Centerline goodness [0,1] 0.9992124821577989 Centerline is valid? [True, True] Translation: X:109.70, Y:-44.59, Z:-5.24 [[ 7.24120912e-01 6.87531770e-01 5.43044161e-02 1.09699029e+02] [-6.85820653e-01 7.26151241e-01 -4.85222255e-02 -4.45889500e+01] [-7.27937907e-02 -2.10713191e-03 9.97344787e-01 -5.23980992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08864 meters Centerline goodness [0,1] 0.9993106843919252 Centerline is valid? [True, True] Translation: X:109.73, Y:-44.61, Z:-5.24 [[ 7.25106171e-01 6.86483084e-01 5.44244035e-02 1.09725247e+02] [-6.84758173e-01 7.27143094e-01 -4.86740596e-02 -4.46074269e+01] [-7.29882478e-02 -1.97369411e-03 9.97330848e-01 -5.24074778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11864 meters Centerline goodness [0,1] 0.9993117010816126 Centerline is valid? [True, True] Translation: X:109.75, Y:-44.63, Z:-5.24 [[ 7.25871543e-01 6.85739700e-01 5.35870051e-02 1.09750051e+02] [-6.84062371e-01 7.27844548e-01 -4.79686055e-02 -4.46274713e+01] [-7.18969867e-02 -1.83780814e-03 9.97410370e-01 -5.24132318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14864 meters Centerline goodness [0,1] 0.9995575438768989 Centerline is valid? [True, True] Translation: X:109.78, Y:-44.65, Z:-5.24 [[ 7.28186915e-01 6.83339225e-01 5.28329440e-02 1.09775198e+02] [-6.81700230e-01 7.30099368e-01 -4.73255697e-02 -4.46480898e+01] [-7.09127172e-02 -1.55436943e-03 9.97481313e-01 -5.24377800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17864 meters Centerline goodness [0,1] 0.9999507874015748 Centerline is valid? [True, True] Translation: X:109.80, Y:-44.67, Z:-5.25 [[ 7.28970613e-01 6.82506970e-01 5.27833465e-02 1.09799657e+02] [-6.80866990e-01 7.30877641e-01 -4.73076691e-02 -4.46688483e+01] [-7.08659817e-02 -1.45253772e-03 9.97484788e-01 -5.24508061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.83, Y:-44.69, Z:-5.25 [[ 7.29190597e-01 6.82225617e-01 5.33786632e-02 1.09825216e+02] [-6.80544285e-01 7.31140361e-01 -4.78878775e-02 -4.46902130e+01] [-7.16976319e-02 -1.40715422e-03 9.97425421e-01 -5.24698840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23863999999999 meters Centerline goodness [0,1] 0.9999016764170886 Centerline is valid? [True, True] Translation: X:109.85, Y:-44.71, Z:-5.25 [[ 7.30115292e-01 6.81327209e-01 5.22005309e-02 1.09851771e+02] [-6.79713841e-01 7.31977908e-01 -4.68768234e-02 -4.47087567e+01] [-7.01480907e-02 -1.25593779e-03 9.97535798e-01 -5.24705351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26863999999999 meters Centerline goodness [0,1] 0.9998524130466867 Centerline is valid? [True, True] Translation: X:109.88, Y:-44.73, Z:-5.25 [[ 7.29524002e-01 6.81999258e-01 5.16889053e-02 1.09877529e+02] [-6.80415992e-01 7.31351753e-01 -4.64617252e-02 -4.47288027e+01] [-6.94896336e-02 -1.27501405e-03 9.97581859e-01 -5.24870875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29863999999999 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:109.90, Y:-44.75, Z:-5.25 [[ 7.28767294e-01 6.82847735e-01 5.11586032e-02 1.09903419e+02] [-6.81295623e-01 7.30559555e-01 -4.60327218e-02 -4.47494435e+01] [-6.88077462e-02 -1.30699036e-03 9.97629082e-01 -5.24960426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.93, Y:-44.77, Z:-5.25 [[ 7.28400526e-01 6.83323145e-01 5.00215337e-02 1.09929890e+02] [-6.81837466e-01 7.30114934e-01 -4.50538790e-02 -4.47679034e+01] [-6.73078271e-02 -1.28928665e-03 9.97731424e-01 -5.25074226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.96, Y:-44.79, Z:-5.25 [[ 7.28521354e-01 6.83081930e-01 5.15336241e-02 1.09955698e+02] [-6.81501358e-01 7.30340643e-01 -4.64590611e-02 -4.47877686e+01] [-6.93724453e-02 -1.27381669e-03 9.97590017e-01 -5.25302322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:-44.81, Z:-5.25 [[ 7.28164636e-01 6.83463859e-01 5.15113277e-02 1.09980089e+02] [-6.81882494e-01 7.29983235e-01 -4.64837736e-02 -4.48093449e+01] [-6.93723849e-02 -1.27683255e-03 9.97590017e-01 -5.25441796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:-44.83, Z:-5.25 [[ 7.29615299e-01 6.81841178e-01 5.24797411e-02 1.10007553e+02] [-6.80191948e-01 7.31499407e-01 -4.74081247e-02 -4.48287209e+01] [-7.07137111e-02 -1.10660427e-03 9.97496038e-01 -5.25465287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.03, Y:-44.85, Z:-5.26 [[ 7.31212707e-01 6.80091579e-01 5.29473456e-02 1.10033782e+02] [-6.78404760e-01 7.33126603e-01 -4.78786530e-02 -4.48480022e+01] [-7.13789763e-02 -9.10251797e-04 9.97448852e-01 -5.25628416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.06, Y:-44.87, Z:-5.26 [[ 7.32746384e-01 6.78430971e-01 5.30486042e-02 1.10060088e+02] [-6.76730184e-01 7.34663803e-01 -4.80141080e-02 -4.48672846e+01] [-7.15471472e-02 -7.17427686e-04 9.97436961e-01 -5.25781443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50864 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:110.09, Y:-44.89, Z:-5.26 [[ 7.35346738e-01 6.75697362e-01 5.19446798e-02 1.10086373e+02] [-6.74056915e-01 7.37179020e-01 -4.70570769e-02 -4.48860142e+01] [-7.00888708e-02 -4.10402573e-04 9.97540667e-01 -5.25868923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:-44.91, Z:-5.26 [[ 7.36650401e-01 6.74329644e-01 5.12417648e-02 1.10110245e+02] [-6.72727138e-01 7.38430411e-01 -4.64620933e-02 -4.49073603e+01] [-6.91692442e-02 -2.45406121e-04 9.97604909e-01 -5.25974736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:-44.93, Z:-5.26 [[ 7.38081217e-01 6.72855731e-01 5.00128278e-02 1.10134165e+02] [-6.71323130e-01 7.39773722e-01 -4.53882701e-02 -4.49292716e+01] [-6.75379335e-02 -7.45385103e-05 9.97716704e-01 -5.26107002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:-44.95, Z:-5.26 [[ 7.39005756e-01 6.71883868e-01 4.94222709e-02 1.10157789e+02] [-6.70382414e-01 7.40656510e-01 -4.48926862e-02 -4.49513693e+01] [-6.67675984e-02 4.41322222e-05 9.97768553e-01 -5.26255291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:-44.98, Z:-5.26 [[ 7.39940946e-01 6.70800904e-01 5.01352486e-02 1.10179745e+02] [-6.69250462e-01 7.41637456e-01 -4.55818200e-02 -4.49752195e+01] [-6.77585043e-02 1.74816790e-04 9.97701736e-01 -5.26440483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:-45.00, Z:-5.27 [[ 7.39838091e-01 6.70882551e-01 5.05588844e-02 1.10203259e+02] [-6.69302933e-01 7.41563592e-01 -4.60111038e-02 -4.49989418e+01] [-6.83606747e-02 2.01557570e-04 9.97660652e-01 -5.26599848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:-45.02, Z:-5.27 [[ 7.40141473e-01 6.70608446e-01 4.97484844e-02 1.10224321e+02] [-6.69075511e-01 7.41811462e-01 -4.53179249e-02 -4.50236822e+01] [-6.72945792e-02 2.56183045e-04 9.97733118e-01 -5.26636911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:-45.05, Z:-5.27 [[ 7.39660369e-01 6.71178961e-01 4.92071172e-02 1.10246845e+02] [-6.69677828e-01 7.41295318e-01 -4.48648997e-02 -4.50469284e+01] [-6.65893824e-02 2.31872859e-04 9.97780437e-01 -5.26765542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:-45.07, Z:-5.27 [[ 7.38536366e-01 6.72334805e-01 5.02985703e-02 1.10268970e+02] [-6.70766067e-01 7.40247178e-01 -4.59020684e-02 -4.50703585e+01] [-6.80949329e-02 1.61772641e-04 9.97678833e-01 -5.27028756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:-45.09, Z:-5.27 [[ 7.37575352e-01 6.73478747e-01 4.90813290e-02 1.10291529e+02] [-6.71985593e-01 7.39206582e-01 -4.48217859e-02 -4.50941372e+01] [-6.64677616e-02 7.74985555e-05 9.97788570e-01 -5.27064803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.31, Y:-45.12, Z:-5.27 [[ 7.34287308e-01 6.77034894e-01 4.94560640e-02 1.10313467e+02] [-6.75525077e-01 7.35950883e-01 -4.51903626e-02 -4.51191816e+01] [-6.69926863e-02 -2.26101732e-04 9.97753441e-01 -5.27165841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:-45.14, Z:-5.27 [[ 7.32812361e-01 6.78640113e-01 4.93319517e-02 1.10337735e+02] [-6.77138349e-01 7.34470887e-01 -4.51239641e-02 -4.51423309e+01] [-6.68558144e-02 -3.37157665e-04 9.97762590e-01 -5.27321567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.36, Y:-45.17, Z:-5.27 [[ 7.29583960e-01 6.82137506e-01 4.89455748e-02 1.10360685e+02] [-6.80663932e-01 7.31223661e-01 -4.48170697e-02 -4.51655236e+01] [-6.63615665e-02 -6.17672290e-04 9.97795450e-01 -5.27449147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.39, Y:-45.19, Z:-5.28 [[ 7.29167481e-01 6.82571490e-01 4.91013811e-02 1.10386137e+02] [-6.81086382e-01 7.30818562e-01 -4.50063303e-02 -4.51872732e+01] [-6.66042386e-02 -6.25129494e-04 9.97779277e-01 -5.27581383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:-45.21, Z:-5.28 [[ 7.28070032e-01 6.83663502e-01 5.01821204e-02 1.10410532e+02] [-6.82111745e-01 7.29797037e-01 -4.60418492e-02 -4.52074559e+01] [-6.80998946e-02 -7.08123145e-04 9.97678256e-01 -5.27801305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:-45.23, Z:-5.28 [[ 7.27989612e-01 6.83736898e-01 5.03485699e-02 1.10435078e+02] [-6.82172096e-01 7.29728294e-01 -4.62368806e-02 -4.52289323e+01] [-6.83546373e-02 -6.86420663e-04 9.97660850e-01 -5.27956588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:-45.25, Z:-5.28 [[ 7.28046046e-01 6.83616855e-01 5.11561397e-02 1.10460388e+02] [-6.81997662e-01 7.29840786e-01 -4.70278224e-02 -4.52503830e+01] [-6.94848493e-02 -6.49947549e-04 9.97582795e-01 -5.28134405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.49, Y:-45.27, Z:-5.28 [[ 7.28142952e-01 6.83569636e-01 5.04023156e-02 1.10486799e+02] [-6.81994627e-01 7.29885052e-01 -4.63803744e-02 -4.52696374e+01] [-6.84921124e-02 -6.02565662e-04 9.97651476e-01 -5.28199331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04863999999999 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:110.51, Y:-45.29, Z:-5.28 [[ 7.27109075e-01 6.84651565e-01 5.06421543e-02 1.10512489e+02] [-6.83061049e-01 7.28870207e-01 -4.66457281e-02 -4.52910177e+01] [-6.88476282e-02 -6.75150770e-04 9.97626958e-01 -5.28378920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.54, Y:-45.31, Z:-5.29 [[ 7.26676097e-01 6.85151425e-01 5.00936680e-02 1.10537383e+02] [-6.83593150e-01 7.28400345e-01 -4.61881120e-02 -4.53122890e+01] [-6.81340959e-02 -6.79891402e-04 9.97675941e-01 -5.28505219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.56, Y:-45.33, Z:-5.29 [[ 7.26016530e-01 6.85822844e-01 5.04680651e-02 1.10562884e+02] [-6.84239445e-01 7.27768176e-01 -4.65817923e-02 -4.53328848e+01] [-6.86759089e-02 -7.13089669e-04 9.97638768e-01 -5.28588993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.59, Y:-45.35, Z:-5.29 [[ 7.23894057e-01 6.87956433e-01 5.18974101e-02 1.10590325e+02] [-6.86284115e-01 7.25751420e-01 -4.79477846e-02 -4.53498744e+01] [-7.06506059e-02 -9.07251887e-04 9.97500711e-01 -5.28720377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:-45.37, Z:-5.29 [[ 7.23551769e-01 6.88332796e-01 5.16797703e-02 1.10616690e+02] [-6.86672367e-01 7.25394470e-01 -4.77904116e-02 -4.53694022e+01] [-7.03839272e-02 -9.08233365e-04 9.97519563e-01 -5.28841046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.64, Y:-45.39, Z:-5.29 [[ 7.23909502e-01 6.87991240e-01 5.12160831e-02 1.10642768e+02] [-6.86356410e-01 7.25718513e-01 -4.74080071e-02 -4.53879800e+01] [-6.97847532e-02 -8.33380081e-04 9.97561724e-01 -5.28986965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:110.67, Y:-45.41, Z:-5.29 [[ 7.24287832e-01 6.87610779e-01 5.09760108e-02 1.10668545e+02] [-6.85987351e-01 7.26079084e-01 -4.72283561e-02 -4.54077737e+01] [-6.94873420e-02 -7.61974997e-04 9.97582542e-01 -5.29086140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.70, Y:-45.42, Z:-5.29 [[ 7.25602184e-01 6.86244407e-01 5.06960035e-02 1.10697054e+02] [-6.84632516e-01 7.27370784e-01 -4.70112704e-02 -4.54243846e+01] [-6.91360132e-02 -5.96651918e-04 9.97607065e-01 -5.29166099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:-45.44, Z:-5.29 [[ 7.26852294e-01 6.84986585e-01 4.97907631e-02 1.10723558e+02] [-6.83426032e-01 7.28555548e-01 -4.62133465e-02 -4.54437647e+01] [-6.79308591e-02 -4.38026725e-04 9.97689935e-01 -5.29264195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.75, Y:-45.46, Z:-5.29 [[ 7.27375166e-01 6.84462733e-01 4.93572238e-02 1.10749386e+02] [-6.82925251e-01 7.29047763e-01 -4.58525891e-02 -4.54633750e+01] [-6.73681621e-02 -3.55259881e-04 9.97728122e-01 -5.29388711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:-45.48, Z:-5.30 [[ 7.29196233e-01 6.82674006e-01 4.72128725e-02 1.10777592e+02] [-6.81261097e-01 7.30723051e-01 -4.38992106e-02 -4.54797254e+01] [-6.44683843e-02 -1.53154288e-04 9.97919738e-01 -5.29549531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:-45.50, Z:-5.30 [[ 7.29911462e-01 6.81971757e-01 4.63009785e-02 1.10803181e+02] [-6.80609659e-01 7.31378506e-01 -4.30810047e-02 -4.54989305e+01] [-6.32435689e-02 -6.75740800e-05 9.97998119e-01 -5.29663687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.83, Y:-45.52, Z:-5.30 [[ 7.30799152e-01 6.81012463e-01 4.64179372e-02 1.10830915e+02] [-6.79640705e-01 7.32271824e-01 -4.32028685e-02 -4.55180809e+01] [-6.34122394e-02 2.51001376e-05 9.97987418e-01 -5.29667830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.86, Y:-45.54, Z:-5.30 [[ 7.30716990e-01 6.81010914e-01 4.77159882e-02 1.10855791e+02] [-6.79560250e-01 7.32273264e-01 -4.44267182e-02 -4.55385444e+01] [-6.51962224e-02 3.74688746e-05 9.97872462e-01 -5.29866233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.88, Y:-45.56, Z:-5.30 [[ 7.31042364e-01 6.80732051e-01 4.67005062e-02 1.10880421e+02] [-6.79341252e-01 7.32532504e-01 -4.34924561e-02 -4.55588754e+01] [-6.38163476e-02 6.92475555e-05 9.97961657e-01 -5.30002174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:110.91, Y:-45.58, Z:-5.30 [[ 7.31274705e-01 6.80453538e-01 4.71199432e-02 1.10905379e+02] [-6.79036298e-01 7.32791220e-01 -4.38945703e-02 -4.55798584e+01] [-6.43972963e-02 1.02837129e-04 9.97924335e-01 -5.30303013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:-45.60, Z:-5.30 [[ 7.32197738e-01 6.79502733e-01 4.65027746e-02 1.10929718e+02] [-6.78119791e-01 7.33672951e-01 -4.33307024e-02 -4.56005792e+01] [-6.35611586e-02 1.92190526e-04 9.97977927e-01 -5.30424604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.95, Y:-45.62, Z:-5.31 [[ 7.32313755e-01 6.79373389e-01 4.65656852e-02 1.10954022e+02] [-6.77985615e-01 7.33792718e-01 -4.34022290e-02 -4.56235315e+01] [-6.36558802e-02 2.13184575e-04 9.97971885e-01 -5.30502937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.98, Y:-45.65, Z:-5.31 [[ 7.32182162e-01 6.79451842e-01 4.74813198e-02 1.10977083e+02] [-6.78008007e-01 7.33720073e-01 -4.42718631e-02 -4.56453797e+01] [-6.49185963e-02 2.22353471e-04 9.97890538e-01 -5.30639596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:-45.67, Z:-5.31 [[ 7.32275177e-01 6.79354523e-01 4.74394112e-02 1.11000736e+02] [-6.77912055e-01 7.33810176e-01 -4.42478476e-02 -4.56679293e+01] [-6.48714981e-02 2.41851658e-04 9.97893597e-01 -5.30825009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:111.02, Y:-45.69, Z:-5.31 [[ 7.32277593e-01 6.79360036e-01 4.73230139e-02 1.11024640e+02] [-6.77923552e-01 7.33805068e-01 -4.41563162e-02 -4.56909911e+01] [-6.47239040e-02 2.53295265e-04 9.97903178e-01 -5.31036788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67864 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:111.05, Y:-45.71, Z:-5.31 [[ 7.32590883e-01 6.79128737e-01 4.57685161e-02 1.11048181e+02] [-6.77783821e-01 7.34019130e-01 -4.27201162e-02 -4.57128942e+01] [-6.26074249e-02 2.75207887e-04 9.98038193e-01 -5.31104283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70863999999999 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:111.07, Y:-45.73, Z:-5.31 [[ 7.32487785e-01 6.79245621e-01 4.56840340e-02 1.11072309e+02] [-6.77905106e-01 7.33910969e-01 -4.26539112e-02 -4.57348358e+01] [-6.25004961e-02 2.74029034e-04 9.98044895e-01 -5.31317699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.10, Y:-45.76, Z:-5.31 [[ 7.31945977e-01 6.79805078e-01 4.60450059e-02 1.11096905e+02] [-6.78443329e-01 7.33392799e-01 -4.30075728e-02 -4.57571873e+01] [-6.30058421e-02 2.40292787e-04 9.98013129e-01 -5.31397732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:-45.78, Z:-5.32 [[ 7.30932756e-01 6.80906989e-01 4.58582430e-02 1.11119769e+02] [-6.79557519e-01 7.32369884e-01 -4.28477586e-02 -4.57799719e+01] [-6.27605344e-02 1.55516471e-04 9.98028602e-01 -5.31602133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.14, Y:-45.80, Z:-5.32 [[ 7.30348385e-01 6.81567324e-01 4.53565894e-02 1.11143148e+02] [-6.80247849e-01 7.31755404e-01 -4.23897635e-02 -4.58013734e+01] [-6.20814070e-02 1.05572887e-04 9.98071084e-01 -5.31710475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.17, Y:-45.82, Z:-5.32 [[ 7.29239204e-01 6.82757090e-01 4.53093718e-02 1.11169418e+02] [-6.81441877e-01 7.30645437e-01 -4.23581548e-02 -4.58210788e+01] [-6.20254163e-02 1.35237084e-05 9.98074570e-01 -5.31919376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.19, Y:-45.84, Z:-5.32 [[ 7.28664286e-01 6.83380202e-01 4.51647813e-02 1.11194601e+02] [-6.82073554e-01 7.30062668e-01 -4.22394169e-02 -4.58421368e+01] [-6.18387020e-02 -2.73482972e-05 9.98086156e-01 -5.32051396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.22, Y:-45.86, Z:-5.32 [[ 7.28446077e-01 6.83554052e-01 4.60453141e-02 1.11219238e+02] [-6.82195293e-01 7.29899895e-01 -4.30781348e-02 -4.58627055e+01] [-6.30547035e-02 -3.17982091e-05 9.98010072e-01 -5.32164087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.24, Y:-45.88, Z:-5.32 [[ 7.28646076e-01 6.83281138e-01 4.69231460e-02 1.11244398e+02] [-6.81868724e-01 7.30155385e-01 -4.39107875e-02 -4.58830113e+01] [-6.42646006e-02 -2.66021249e-09 9.97932894e-01 -5.32406900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.27, Y:-45.90, Z:-5.33 [[ 7.29296955e-01 6.82585219e-01 4.69400812e-02 1.11268713e+02] [-6.81169614e-01 7.30806003e-01 -4.39379379e-02 -4.59038265e+01] [-6.42954801e-02 6.96472766e-05 9.97930903e-01 -5.32578757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:111.29, Y:-45.93, Z:-5.33 [[ 7.29921582e-01 6.81951173e-01 4.64443925e-02 1.11293484e+02] [-6.80563350e-01 7.31397690e-01 -4.34850113e-02 -4.59250343e+01] [-6.36239758e-02 1.32296852e-04 9.97973934e-01 -5.32694706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.32, Y:-45.94, Z:-5.33 [[ 7.31794437e-01 6.79995988e-01 4.56328647e-02 1.11318867e+02] [-6.78651807e-01 7.33215769e-01 -4.27359428e-02 -4.59448893e+01] [-6.25190056e-02 3.05099126e-04 9.98043727e-01 -5.32830623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:111.34, Y:-45.97, Z:-5.33 [[ 7.32636489e-01 6.79146175e-01 4.47688224e-02 1.11343044e+02] [-6.77850233e-01 7.34002950e-01 -4.19372384e-02 -4.59668382e+01] [-6.13419628e-02 3.78194407e-04 9.98116737e-01 -5.32926238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06864 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:111.37, Y:-45.99, Z:-5.33 [[ 7.35456081e-01 6.76122776e-01 4.42983564e-02 1.11367237e+02] [-6.74847821e-01 7.36788703e-01 -4.15069444e-02 -4.59882315e+01] [-6.07023190e-02 6.31885344e-04 9.98155714e-01 -5.33030837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09863999999999 meters Centerline goodness [0,1] 0.999557630867535 Centerline is valid? [True, True] Translation: X:111.39, Y:-46.01, Z:-5.33 [[ 7.36724200e-01 6.74685992e-01 4.51249981e-02 1.11390735e+02] [-6.73359599e-01 7.38104475e-01 -4.22922540e-02 -4.60103253e+01] [-6.18409544e-02 7.72376387e-04 9.98085718e-01 -5.33191604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12863999999999 meters Centerline goodness [0,1] 0.9994588744588745 Centerline is valid? [True, True] Translation: X:111.41, Y:-46.03, Z:-5.33 [[ 7.38423392e-01 6.72878572e-01 4.43319377e-02 1.11413492e+02] [-6.71594548e-01 7.39752384e-01 -4.15592786e-02 -4.60329404e+01] [-6.07590046e-02 9.15255797e-04 9.98152045e-01 -5.33286923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15863999999999 meters Centerline goodness [0,1] 0.9992625006145828 Centerline is valid? [True, True] Translation: X:111.44, Y:-46.06, Z:-5.33 [[ 7.40389522e-01 6.70634332e-01 4.55296560e-02 1.11435444e+02] [-6.69275041e-01 7.41787234e-01 -4.26921416e-02 -4.60557717e+01] [-6.24041334e-02 1.13695192e-03 9.98050315e-01 -5.33488324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18863999999999 meters Centerline goodness [0,1] 0.9994590873328089 Centerline is valid? [True, True] Translation: X:111.46, Y:-46.08, Z:-5.34 [[ 7.42851031e-01 6.67923583e-01 4.52817102e-02 1.11455737e+02] [-6.66573351e-01 7.44228609e-01 -4.24705349e-02 -4.60804526e+01] [-6.20670160e-02 1.36569936e-03 9.98071050e-01 -5.33708311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21864 meters Centerline goodness [0,1] 0.9993115656963021 Centerline is valid? [True, True] Translation: X:111.48, Y:-46.10, Z:-5.34 [[ 7.43648309e-01 6.67190505e-01 4.29420781e-02 1.11477210e+02] [-6.65974265e-01 7.44885878e-01 -4.02902923e-02 -4.61042729e+01] [-5.88682480e-02 1.36348885e-03 9.98264830e-01 -5.33728698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24864 meters Centerline goodness [0,1] 0.9996069954804481 Centerline is valid? [True, True] Translation: X:111.49, Y:-46.13, Z:-5.34 [[ 7.42073107e-01 6.68856085e-01 4.42610560e-02 1.11494833e+02] [-6.67566230e-01 7.43390816e-01 -4.15382015e-02 -4.61325444e+01] [-6.06863414e-02 1.27719598e-03 9.98156068e-01 -5.34073315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27864 meters Centerline goodness [0,1] 0.9999012248123271 Centerline is valid? [True, True] Translation: X:111.52, Y:-46.16, Z:-5.34 [[ 7.40892186e-01 6.70122576e-01 4.48832087e-02 1.11515247e+02] [-6.68797841e-01 7.42249485e-01 -4.21325244e-02 -4.61584694e+01] [-6.15484943e-02 1.19786502e-03 9.98103375e-01 -5.34150807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30864 meters Centerline goodness [0,1] 0.9999012248123271 Centerline is valid? [True, True] Translation: X:111.54, Y:-46.18, Z:-5.34 [[ 7.40767225e-01 6.70261109e-01 4.48772084e-02 1.11538995e+02] [-6.68936241e-01 7.42124395e-01 -4.21389149e-02 -4.61806816e+01] [-6.15485469e-02 1.19513597e-03 9.98103375e-01 -5.34290214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33864 meters Centerline goodness [0,1] 0.9999013076733284 Centerline is valid? [True, True] Translation: X:111.56, Y:-46.21, Z:-5.35 [[ 7.39657770e-01 6.71442092e-01 4.55181411e-02 1.11559185e+02] [-6.70080396e-01 7.41056176e-01 -4.27552102e-02 -4.62057448e+01] [-6.24391473e-02 1.12340944e-03 9.98048141e-01 -5.34525535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:-46.23, Z:-5.35 [[ 7.36893893e-01 6.74485811e-01 4.53462400e-02 1.11576633e+02] [-6.73139415e-01 7.38287296e-01 -4.26051235e-02 -4.62344478e+01] [-6.22151042e-02 8.71113903e-04 9.98062384e-01 -5.34669876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:-46.26, Z:-5.35 [[ 7.35425668e-01 6.76065093e-01 4.56626447e-02 1.11598433e+02] [-6.74701420e-01 7.36841512e-01 -4.29252858e-02 -4.62601444e+01] [-6.26664194e-02 7.59705778e-04 9.98034239e-01 -5.34859477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.62, Y:-46.28, Z:-5.35 [[ 7.34916668e-01 6.76685576e-01 4.46556069e-02 1.11619735e+02] [-6.75380117e-01 7.36271765e-01 -4.20188755e-02 -4.62848542e+01] [-6.13122295e-02 7.20862961e-04 9.98118375e-01 -5.35005642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45863999999999 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:111.64, Y:-46.31, Z:-5.35 [[ 7.33708190e-01 6.78045895e-01 4.38868565e-02 1.11638226e+02] [-6.76785272e-01 7.35019303e-01 -4.13318211e-02 -4.63119905e+01] [-6.02825583e-02 6.23517610e-04 9.98181158e-01 -5.35132048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:-46.34, Z:-5.35 [[ 7.32680761e-01 6.79017853e-01 4.59745347e-02 1.11659238e+02] [-6.77633712e-01 7.34121514e-01 -4.33376953e-02 -4.63365973e+01] [-6.31779638e-02 5.98800953e-04 9.98002097e-01 -5.35421916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:-46.36, Z:-5.36 [[ 7.31100294e-01 6.80697423e-01 4.62966316e-02 1.11679793e+02] [-6.79294551e-01 7.32564524e-01 -4.36821589e-02 -4.63629922e+01] [-6.36496029e-02 4.86989634e-04 9.97972189e-01 -5.35580671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:-46.39, Z:-5.36 [[ 7.29671693e-01 6.82206275e-01 4.66242294e-02 1.11702065e+02] [-6.80783630e-01 7.31159658e-01 -4.40363976e-02 -4.63873770e+01] [-6.41316624e-02 3.91100653e-04 9.97941369e-01 -5.35768594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:-46.41, Z:-5.36 [[ 7.28379550e-01 6.83602693e-01 4.63744467e-02 1.11724610e+02] [-6.82195234e-01 7.29854279e-01 -4.38451069e-02 -4.64118676e+01] [-6.38192215e-02 2.99452693e-04 9.97961431e-01 -5.35811633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:-46.44, Z:-5.36 [[ 7.25711890e-01 6.86458692e-01 4.60077961e-02 1.11745294e+02] [-6.85076429e-01 7.27168796e-01 -4.35411115e-02 -4.64371730e+01] [-6.33446082e-02 7.94456458e-05 9.97991711e-01 -5.35842090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.77, Y:-46.46, Z:-5.36 [[ 7.23951066e-01 6.88291265e-01 4.63679711e-02 1.11768913e+02] [-6.86888316e-01 7.25434443e-01 -4.39239046e-02 -4.64603701e+01] [-6.38693632e-02 -5.08600619e-05 9.97958267e-01 -5.36046871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:-46.48, Z:-5.36 [[ 7.22600152e-01 6.89761950e-01 4.55793026e-02 1.11793357e+02] [-6.88406585e-01 7.24036208e-01 -4.32196969e-02 -4.64820882e+01] [-6.28123679e-02 -1.46532549e-04 9.98025343e-01 -5.36175395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:111.82, Y:-46.50, Z:-5.36 [[ 7.18523334e-01 6.94006271e-01 4.56016894e-02 1.11816213e+02] [-6.92655574e-01 7.19968789e-01 -4.32804603e-02 -4.65045319e+01] [-6.28687040e-02 -4.88243709e-04 9.98021687e-01 -5.36269191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:-46.53, Z:-5.36 [[ 7.16598698e-01 6.95954678e-01 4.61886651e-02 1.11840120e+02] [-6.94570408e-01 7.18085426e-01 -4.38778919e-02 -4.65263191e+01] [-6.37044313e-02 -6.38439775e-04 9.97968606e-01 -5.36413580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.87, Y:-46.55, Z:-5.37 [[ 7.12914326e-01 6.99569626e-01 4.85335084e-02 1.11866579e+02] [-6.98046490e-01 7.14563769e-01 -4.61488617e-02 -4.65451839e+01] [-6.69646287e-02 -9.78460510e-04 9.97754870e-01 -5.36602149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:-46.56, Z:-5.37 [[ 7.12514180e-01 7.00054931e-01 4.73987020e-02 1.11892144e+02] [-6.98600682e-01 7.14088335e-01 -4.51102774e-02 -4.65644738e+01] [-6.54265323e-02 -9.71053237e-04 9.97856917e-01 -5.36719903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:-46.58, Z:-5.37 [[ 7.12662381e-01 6.99952231e-01 4.66819602e-02 1.11918058e+02] [-6.98538878e-01 7.14189072e-01 -4.44680267e-02 -4.65845360e+01] [-6.44652404e-02 -9.18474368e-04 9.97919530e-01 -5.36825601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:-46.60, Z:-5.37 [[ 7.14365532e-01 6.98190820e-01 4.70262295e-02 1.11945650e+02] [-6.96750034e-01 7.15911334e-01 -4.48369495e-02 -4.66026580e+01] [-6.49713572e-02 -7.35555675e-04 9.97886858e-01 -5.37108918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.97, Y:-46.62, Z:-5.37 [[ 7.14891172e-01 6.97529629e-01 4.88162834e-02 1.11971542e+02] [-6.95972455e-01 7.16555628e-01 -4.65872755e-02 -4.66225523e+01] [-6.74755876e-02 -6.69956652e-04 9.97720701e-01 -5.37422710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.00, Y:-46.64, Z:-5.38 [[ 7.18109628e-01 6.94325051e-01 4.72364909e-02 1.12000258e+02] [-6.92857548e-01 7.19661459e-01 -4.51198618e-02 -4.66393652e+01] [-6.53221324e-02 -3.27152119e-04 9.97864175e-01 -5.37510429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:-46.66, Z:-5.38 [[ 7.19281208e-01 6.93067487e-01 4.78748578e-02 1.12025934e+02] [-6.91554300e-01 7.20872682e-01 -4.57736398e-02 -4.66604721e+01] [-6.62358987e-02 -1.83944851e-04 9.97803975e-01 -5.37739530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:-46.68, Z:-5.38 [[ 7.20732759e-01 6.91527266e-01 4.83149110e-02 1.12051192e+02] [-6.89979399e-01 7.22350358e-01 -4.62427205e-02 -4.66814836e+01] [-6.68783954e-02 -7.64976294e-06 9.97761134e-01 -5.37891008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:112.08, Y:-46.70, Z:-5.38 [[ 7.24253449e-01 6.87928117e-01 4.70302800e-02 1.12078940e+02] [-6.86451078e-01 7.25778744e-01 -4.50569943e-02 -4.66993947e+01] [-6.51295508e-02 3.48697103e-04 9.97876756e-01 -5.38049781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:-46.72, Z:-5.38 [[ 7.25436866e-01 6.86712110e-01 4.65599699e-02 1.12105193e+02] [-6.85259269e-01 7.26929325e-01 -4.46485191e-02 -4.67198992e+01] [-6.45064863e-02 4.84030807e-04 9.97917170e-01 -5.38270707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05864 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:112.13, Y:-46.74, Z:-5.38 [[ 7.28760234e-01 6.83198721e-01 4.63468346e-02 1.12130457e+02] [-6.81749236e-01 7.30232038e-01 -4.44876329e-02 -4.67396202e+01] [-6.42378374e-02 8.23898684e-04 9.97934277e-01 -5.38478081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:112.15, Y:-46.76, Z:-5.39 [[ 7.30172521e-01 6.81679722e-01 4.64848944e-02 1.12154703e+02] [-6.80215971e-01 7.31650038e-01 -4.46593231e-02 -4.67608382e+01] [-6.44540297e-02 9.89242966e-04 9.97920187e-01 -5.38630707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11864 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:112.18, Y:-46.78, Z:-5.39 [[ 7.32676951e-01 6.79066183e-01 4.53167193e-02 1.12179611e+02] [-6.77668350e-01 7.34076056e-01 -4.35654782e-02 -4.67818636e+01] [-6.28497616e-02 1.20971534e-03 9.98022266e-01 -5.38696337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14864 meters Centerline goodness [0,1] 0.9996062798366061 Centerline is valid? [True, True] Translation: X:112.20, Y:-46.80, Z:-5.39 [[ 7.36338203e-01 6.75087868e-01 4.54138781e-02 1.12203932e+02] [-6.73675757e-01 7.37735679e-01 -4.36696960e-02 -4.68029634e+01] [-6.29843201e-02 1.56143682e-03 9.98013295e-01 -5.38819024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17864 meters Centerline goodness [0,1] 0.9991636739312245 Centerline is valid? [True, True] Translation: X:112.23, Y:-46.83, Z:-5.39 [[ 7.37467649e-01 6.73831682e-01 4.57420010e-02 1.12227207e+02] [-6.72395967e-01 7.38882949e-01 -4.39960364e-02 -4.68254427e+01] [-6.34439078e-02 1.68891653e-03 9.97983977e-01 -5.38881976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20863999999999 meters Centerline goodness [0,1] 0.998670409218496 Centerline is valid? [True, True] Translation: X:112.25, Y:-46.85, Z:-5.39 [[ 7.38740517e-01 6.72364368e-01 4.67825342e-02 1.12249599e+02] [-6.70858318e-01 7.40217979e-01 -4.50162285e-02 -4.68477876e+01] [-6.48965810e-02 1.87085973e-03 9.97890241e-01 -5.39137334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23863999999999 meters Centerline goodness [0,1] 0.9985215120003943 Centerline is valid? [True, True] Translation: X:112.27, Y:-46.87, Z:-5.39 [[ 7.38981973e-01 6.72153659e-01 4.59902433e-02 1.12272849e+02] [-6.70695483e-01 7.40409284e-01 -4.42906516e-02 -4.68714708e+01] [-6.38217266e-02 1.88454471e-03 9.97959536e-01 -5.39270379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26863999999999 meters Centerline goodness [0,1] 0.9984753848423744 Centerline is valid? [True, True] Translation: X:112.29, Y:-46.89, Z:-5.40 [[ 7.39673141e-01 6.71427620e-01 4.54818267e-02 1.12294591e+02] [-6.69997633e-01 7.41067560e-01 -4.38411150e-02 -4.68948446e+01] [-6.31412418e-02 1.95537902e-03 9.98002685e-01 -5.39532173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29863999999999 meters Centerline goodness [0,1] 0.9985738172518934 Centerline is valid? [True, True] Translation: X:112.31, Y:-46.92, Z:-5.40 [[ 7.40774051e-01 6.70226263e-01 4.52831277e-02 1.12314112e+02] [-6.68804213e-01 7.42153924e-01 -4.36861393e-02 -4.69207725e+01] [-6.28866488e-02 2.07601181e-03 9.98018517e-01 -5.39668815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32864 meters Centerline goodness [0,1] 0.9975889386409487 Centerline is valid? [True, True] Translation: X:112.34, Y:-46.94, Z:-5.40 [[ 7.41351449e-01 6.69604527e-01 4.50311717e-02 1.12335812e+02] [-6.68194863e-01 7.42714737e-01 -4.34792433e-02 -4.69446246e+01] [-6.25592130e-02 2.14380240e-03 9.98038952e-01 -5.39796870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35864 meters Centerline goodness [0,1] 0.9981307491760539 Centerline is valid? [True, True] Translation: X:112.36, Y:-46.97, Z:-5.40 [[ 7.41641302e-01 6.69300681e-01 4.47747344e-02 1.12357612e+02] [-6.67904260e-01 7.42988445e-01 -4.32674264e-02 -4.69688819e+01] [-6.22260282e-02 2.18367464e-03 9.98059694e-01 -5.39973601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38864 meters Centerline goodness [0,1] 0.9981796713568828 Centerline is valid? [True, True] Translation: X:112.38, Y:-47.00, Z:-5.40 [[ 7.41608644e-01 6.69313800e-01 4.51182609e-02 1.12376059e+02] [-6.67893580e-01 7.42976501e-01 -4.36358316e-02 -4.69955762e+01] [-6.27278719e-02 2.22651314e-03 9.98028184e-01 -5.40191762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41864 meters Centerline goodness [0,1] 0.9985704426698215 Centerline is valid? [True, True] Translation: X:112.40, Y:-47.02, Z:-5.40 [[ 7.41639960e-01 6.69260543e-01 4.53926887e-02 1.12395966e+02] [-6.67820548e-01 7.43024336e-01 -4.39380482e-02 -4.70213517e+01] [-6.31338744e-02 2.27204204e-03 9.98002481e-01 -5.40342040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44864 meters Centerline goodness [0,1] 0.9988196527811931 Centerline is valid? [True, True] Translation: X:112.41, Y:-47.05, Z:-5.41 [[ 7.42271841e-01 6.68511585e-01 4.60952848e-02 1.12413855e+02] [-6.67022761e-01 7.43697856e-01 -4.46557574e-02 -4.70486672e+01] [-6.41338556e-02 2.40010712e-03 9.97938419e-01 -5.40585231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47864 meters Centerline goodness [0,1] 0.998868778280543 Centerline is valid? [True, True] Translation: X:112.44, Y:-47.07, Z:-5.41 [[ 7.41235860e-01 6.69654437e-01 4.61772128e-02 1.12435104e+02] [-6.68160099e-01 7.42669167e-01 -4.47726686e-02 -4.70730365e+01] [-6.42766083e-02 2.33333645e-03 9.97929393e-01 -5.40691253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50864 meters Centerline goodness [0,1] 0.9983283347263877 Centerline is valid? [True, True] Translation: X:112.46, Y:-47.10, Z:-5.41 [[ 7.40016363e-01 6.71043116e-01 4.55732341e-02 1.12456088e+02] [-6.69587955e-01 7.41415031e-01 -4.42235427e-02 -4.70978581e+01] [-6.34645847e-02 2.21085655e-03 9.97981642e-01 -5.40717375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53864 meters Centerline goodness [0,1] 0.9988696122278469 Centerline is valid? [True, True] Translation: X:112.47, Y:-47.13, Z:-5.41 [[ 7.35180712e-01 6.76202114e-01 4.75396828e-02 1.12473584e+02] [-6.74626571e-01 7.36713780e-01 -4.61713825e-02 -4.71258407e+01] [-6.62443259e-02 1.87277661e-03 9.97801675e-01 -5.40876283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56864 meters Centerline goodness [0,1] 0.9993597320724981 Centerline is valid? [True, True] Translation: X:112.49, Y:-47.15, Z:-5.41 [[ 7.32572267e-01 6.78949030e-01 4.86424458e-02 1.12494722e+02] [-6.77302718e-01 7.34183458e-01 -4.72829719e-02 -4.71507977e+01] [-6.78152069e-02 1.69253319e-03 9.97696463e-01 -5.41048735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59863999999999 meters Centerline goodness [0,1] 0.9993598266607574 Centerline is valid? [True, True] Translation: X:112.51, Y:-47.18, Z:-5.41 [[ 7.27112738e-01 6.84820905e-01 4.82430687e-02 1.12514001e+02] [-6.83212425e-01 7.28710495e-01 -4.69232962e-02 -4.71755660e+01] [-6.72892846e-02 1.15826241e-03 9.97732835e-01 -5.41168848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62863999999999 meters Centerline goodness [0,1] 0.9997050002458331 Centerline is valid? [True, True] Translation: X:112.54, Y:-47.20, Z:-5.41 [[ 7.24508635e-01 6.87604624e-01 4.78238359e-02 1.12536082e+02] [-6.86028692e-01 7.26084746e-01 -4.65357318e-02 -4.71994464e+01] [-6.67223421e-02 9.07015895e-04 9.97771169e-01 -5.41380081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65863999999999 meters Centerline goodness [0,1] 0.999852187623177 Centerline is valid? [True, True] Translation: X:112.56, Y:-47.22, Z:-5.42 [[ 7.22458661e-01 6.89722867e-01 4.83306285e-02 1.12557389e+02] [-6.88115875e-01 7.24073073e-01 -4.70608851e-02 -4.72233074e+01] [-6.74538753e-02 7.42471357e-04 9.97722117e-01 -5.41559532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68863999999999 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:112.58, Y:-47.25, Z:-5.42 [[ 7.19061364e-01 6.93151602e-01 4.99160386e-02 1.12579335e+02] [-6.91443592e-01 7.20791682e-01 -4.86323916e-02 -4.72473759e+01] [-6.96886856e-02 4.55548775e-04 9.97568684e-01 -5.41748735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71864 meters Centerline goodness [0,1] 0.9998026348250851 Centerline is valid? [True, True] Translation: X:112.60, Y:-47.27, Z:-5.42 [[ 7.17591642e-01 6.94648984e-01 5.02496177e-02 1.12603220e+02] [-6.92918296e-01 7.19348781e-01 -4.90057771e-02 -4.72703756e+01] [-7.01888145e-02 3.47256611e-04 9.97533663e-01 -5.41847611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:112.63, Y:-47.29, Z:-5.42 [[ 7.15617437e-01 6.96695924e-01 5.00647013e-02 1.12627204e+02] [-6.94979458e-01 7.17366543e-01 -4.88753152e-02 -4.72936079e+01] [-6.99659746e-02 1.82088847e-04 9.97549362e-01 -5.41988527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77864 meters Centerline goodness [0,1] 0.999803256111357 Centerline is valid? [True, True] Translation: X:112.65, Y:-47.32, Z:-5.42 [[ 7.13647849e-01 6.98762630e-01 4.93713857e-02 1.12650778e+02] [-6.97095113e-01 7.15353609e-01 -4.82453896e-02 -4.73158530e+01] [-6.90300743e-02 1.36668580e-05 9.97614579e-01 -5.42113854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80864 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:112.68, Y:-47.34, Z:-5.42 [[ 7.12647301e-01 6.99755566e-01 4.97591353e-02 1.12676127e+02] [-6.98060890e-01 7.14382352e-01 -4.86708211e-02 -4.73377165e+01] [-6.96047261e-02 -4.97769752e-05 9.97574649e-01 -5.42327408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:-47.36, Z:-5.42 [[ 7.11208962e-01 7.01217036e-01 4.97642587e-02 1.12703400e+02] [-6.99522052e-01 7.12947855e-01 -4.87263185e-02 -4.73568259e+01] [-6.96470461e-02 -1.56601980e-04 9.97571684e-01 -5.42451186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86864 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:112.73, Y:-47.38, Z:-5.42 [[ 7.10423032e-01 7.02031553e-01 4.95057019e-02 1.12728894e+02] [-7.00352649e-01 7.12145813e-01 -4.85232669e-02 -4.73782987e+01] [-6.93201428e-02 -1.99403103e-04 9.97594446e-01 -5.42497509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:-47.40, Z:-5.43 [[ 7.09177546e-01 7.03236677e-01 5.02532094e-02 1.12753558e+02] [-7.01506165e-01 7.10955761e-01 -4.93052396e-02 -4.73995524e+01] [-7.04010616e-02 -2.86767364e-04 9.97518726e-01 -5.42709823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.78, Y:-47.42, Z:-5.43 [[ 7.07719564e-01 7.04682080e-01 5.05587255e-02 1.12780681e+02] [-7.02930709e-01 7.09523084e-01 -4.96529109e-02 -4.74188090e+01] [-7.08620993e-02 -3.98944290e-04 9.97486042e-01 -5.42914923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:-47.44, Z:-5.43 [[ 7.06792241e-01 7.05603780e-01 5.06757680e-02 1.12806688e+02] [-7.03842955e-01 7.08606448e-01 -4.98196368e-02 -4.74389868e+01] [-7.10621000e-02 -4.55649547e-04 9.97471789e-01 -5.43010473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98863999999999 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:112.83, Y:-47.46, Z:-5.43 [[ 7.07057292e-01 7.05421209e-01 4.95066054e-02 1.12834211e+02] [-7.03737051e-01 7.08788235e-01 -4.87175506e-02 -4.74565369e+01] [-6.94560929e-02 -3.93533177e-04 9.97584932e-01 -5.43219106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01863999999999 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:112.86, Y:-47.48, Z:-5.43 [[ 7.07906348e-01 7.04625078e-01 4.87042415e-02 1.12858928e+02] [-7.02990284e-01 7.09579750e-01 -4.79712263e-02 -4.74771966e+01] [-6.83612726e-02 -2.79472960e-04 9.97660593e-01 -5.43327900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04863999999999 meters Centerline goodness [0,1] 0.9999506757423301 Centerline is valid? [True, True] Translation: X:112.88, Y:-47.50, Z:-5.44 [[ 7.09310143e-01 7.03257867e-01 4.80363722e-02 1.12883697e+02] [-7.01661624e-01 7.10934849e-01 -4.73561544e-02 -4.74976366e+01] [-6.74543191e-02 -1.15078278e-04 9.97722357e-01 -5.43521548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07864 meters Centerline goodness [0,1] 0.9996065122227141 Centerline is valid? [True, True] Translation: X:112.91, Y:-47.52, Z:-5.44 [[ 7.12564349e-01 6.99961397e-01 4.80217779e-02 1.12910576e+02] [-6.98355575e-01 7.14180642e-01 -4.73867146e-02 -4.75174176e+01] [-6.74650951e-02 2.29807096e-04 9.97721609e-01 -5.43692011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10864 meters Centerline goodness [0,1] 0.9994594594594595 Centerline is valid? [True, True] Translation: X:112.94, Y:-47.54, Z:-5.44 [[ 7.14043184e-01 6.98452488e-01 4.80255433e-02 1.12935085e+02] [-6.96839773e-01 7.15656312e-01 -4.74381144e-02 -4.75389164e+01] [-6.75030522e-02 4.06753606e-04 9.97718985e-01 -5.43835702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13864 meters Centerline goodness [0,1] 0.9993617439120188 Centerline is valid? [True, True] Translation: X:112.96, Y:-47.56, Z:-5.44 [[ 7.16167860e-01 6.96277767e-01 4.79673474e-02 1.12958725e+02] [-6.94661075e-01 7.17772148e-01 -4.74250323e-02 -4.75602282e+01] [-6.74506216e-02 6.43234772e-04 9.97722406e-01 -5.43886774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16864 meters Centerline goodness [0,1] 0.9995089373404047 Centerline is valid? [True, True] Translation: X:112.98, Y:-47.58, Z:-5.44 [[ 7.16550604e-01 6.95922194e-01 4.74081476e-02 1.12983562e+02] [-6.94339331e-01 7.18116850e-01 -4.69157139e-02 -4.75822730e+01] [-6.66942762e-02 7.00141628e-04 9.97773212e-01 -5.44041632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19864 meters Centerline goodness [0,1] 0.9995089373404047 Centerline is valid? [True, True] Translation: X:113.01, Y:-47.60, Z:-5.44 [[ 7.16201718e-01 6.96282863e-01 4.73843180e-02 1.13006940e+02] [-6.94699197e-01 7.17767151e-01 -4.69397736e-02 -4.76049437e+01] [-6.66942669e-02 7.00498792e-04 9.97773213e-01 -5.44181041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22864 meters Centerline goodness [0,1] 0.9994587679590632 Centerline is valid? [True, True] Translation: X:113.03, Y:-47.63, Z:-5.44 [[ 7.16484817e-01 6.95997526e-01 4.72964159e-02 1.13030821e+02] [-6.94416604e-01 7.18043785e-01 -4.68903299e-02 -4.76277982e+01] [-6.65964511e-02 7.52792970e-04 9.97779708e-01 -5.44269097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25864 meters Centerline goodness [0,1] 0.9997542031265362 Centerline is valid? [True, True] Translation: X:113.06, Y:-47.65, Z:-5.44 [[ 7.16803456e-01 6.95654661e-01 4.75120786e-02 1.13055865e+02] [-6.94056465e-01 7.18375901e-01 -4.71347784e-02 -4.76501329e+01] [-6.69210605e-02 8.10306722e-04 9.97757944e-01 -5.44471840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28864 meters Centerline goodness [0,1] 0.9997541789577188 Centerline is valid? [True, True] Translation: X:113.08, Y:-47.67, Z:-5.45 [[ 7.16374632e-01 6.96063840e-01 4.79845459e-02 1.13080261e+02] [-6.94431295e-01 7.17979433e-01 -4.76519647e-02 -4.76730823e+01] [-6.76207266e-02 8.14688375e-04 9.97710767e-01 -5.44644474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31864 meters Centerline goodness [0,1] 0.9997047389400128 Centerline is valid? [True, True] Translation: X:113.11, Y:-47.69, Z:-5.45 [[ 7.18213445e-01 6.94211866e-01 4.73215764e-02 1.13105883e+02] [-6.92617025e-01 7.19770009e-01 -4.70403092e-02 -4.76940959e+01] [-6.67165924e-02 1.00925306e-03 9.97771456e-01 -5.44547288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34863999999999 meters Centerline goodness [0,1] 0.9998033818324813 Centerline is valid? [True, True] Translation: X:113.13, Y:-47.72, Z:-5.45 [[ 7.18617913e-01 6.93794979e-01 4.72950524e-02 1.13129654e+02] [-6.92197871e-01 7.20171755e-01 -4.70611307e-02 -4.77175886e+01] [-6.67113371e-02 1.08143690e-03 9.97771731e-01 -5.44669887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37863999999999 meters Centerline goodness [0,1] 0.9998522531396208 Centerline is valid? [True, True] Translation: X:113.15, Y:-47.74, Z:-5.45 [[ 7.20481908e-01 6.91911923e-01 4.65156962e-02 1.13153190e+02] [-6.90360283e-01 7.21980807e-01 -4.63291894e-02 -4.77402296e+01] [-6.56391584e-02 1.26675362e-03 9.97842621e-01 -5.44757442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40863999999999 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:113.18, Y:-47.76, Z:-5.45 [[ 7.24326821e-01 6.87903130e-01 4.62594890e-02 1.13176497e+02] [-6.86357775e-01 7.25800633e-01 -4.61134032e-02 -4.77623814e+01] [-6.52967208e-02 1.65061482e-03 9.97864527e-01 -5.44856915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43863999999999 meters Centerline goodness [0,1] 0.9998034011599332 Centerline is valid? [True, True] Translation: X:113.20, Y:-47.78, Z:-5.45 [[ 7.26204706e-01 6.85906667e-01 4.64625574e-02 1.13199863e+02] [-6.84341030e-01 7.27687130e-01 -4.63551119e-02 -4.77841064e+01] [-6.56054853e-02 1.86706607e-03 9.97843893e-01 -5.45083883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46864 meters Centerline goodness [0,1] 0.9998031302293533 Centerline is valid? [True, True] Translation: X:113.22, Y:-47.81, Z:-5.45 [[ 7.27748209e-01 6.84278050e-01 4.63259562e-02 1.13222239e+02] [-6.82715755e-01 7.29218350e-01 -4.62579333e-02 -4.78068210e+01] [-6.54350258e-02 2.03666793e-03 9.97854754e-01 -5.45175749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49864 meters Centerline goodness [0,1] 0.9997047825231253 Centerline is valid? [True, True] Translation: X:113.24, Y:-47.83, Z:-5.45 [[ 7.30449189e-01 6.81392076e-01 4.63553799e-02 1.13241990e+02] [-6.79819497e-01 7.31914909e-01 -4.63251305e-02 -4.78317384e+01] [-6.54937705e-02 2.32486300e-03 9.97850270e-01 -5.45326960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52864 meters Centerline goodness [0,1] 0.9992624643524437 Centerline is valid? [True, True] Translation: X:113.26, Y:-47.86, Z:-5.45 [[ 7.30848864e-01 6.81034461e-01 4.52990196e-02 1.13262103e+02] [-6.79529736e-01 7.32247658e-01 -4.53067978e-02 -4.78582320e+01] [-6.40255916e-02 2.33039084e-03 9.97945536e-01 -5.45369910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55864 meters Centerline goodness [0,1] 0.9991153921761352 Centerline is valid? [True, True] Translation: X:113.15, Y:-48.11, Z:-3.65 [[ 7.30904606e-01 -6.82320426e-01 -1.47408851e-02 1.13151821e+02] [-6.82116609e-01 -7.31049795e-01 1.68264437e-02 -4.81064426e+01] [-2.22573473e-02 -2.24352262e-03 -9.99749757e-01 -3.64694791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58864 meters Centerline goodness [0,1] 0.9990650066433738 Centerline is valid? [True, True] Translation: X:113.28, Y:-47.90, Z:-5.45 [[ 7.77543229e-01 6.27022255e-01 4.76405233e-02 1.13275004e+02] [-6.25663113e-01 7.78997866e-01 -4.13278677e-02 -4.78958251e+01] [-6.30253588e-02 2.32728560e-03 9.98009212e-01 -5.45492149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61864 meters Centerline goodness [0,1] 0.9994104063283054 Centerline is valid? [True, True] Translation: X:113.30, Y:-47.92, Z:-5.46 [[ 7.77444843e-01 6.27177053e-01 4.72065675e-02 1.13298446e+02] [-6.25841562e-01 7.78873294e-01 -4.09723132e-02 -4.79199050e+01] [-6.24648293e-02 2.30988165e-03 9.98044493e-01 -5.45719795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64864 meters Centerline goodness [0,1] 0.9989179618335629 Centerline is valid? [True, True] Translation: X:113.32, Y:-47.95, Z:-5.46 [[ 7.77679473e-01 6.26905645e-01 4.69462373e-02 1.13318171e+02] [-6.25582017e-01 7.79091649e-01 -4.07840988e-02 -4.79468426e+01] [-6.21432032e-02 2.34823471e-03 9.98064481e-01 -5.45891301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67864 meters Centerline goodness [0,1] 0.9992613748276541 Centerline is valid? [True, True] Translation: X:113.34, Y:-47.97, Z:-5.46 [[ 7.76567599e-01 6.28323144e-01 4.63981800e-02 1.13338829e+02] [-6.27030720e-01 7.77949248e-01 -4.03415923e-02 -4.79720393e+01] [-6.14429853e-02 2.23488927e-03 9.98108093e-01 -5.45944816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70863999999999 meters Centerline goodness [0,1] 0.9996060665747488 Centerline is valid? [True, True] Translation: X:113.36, Y:-47.99, Z:-5.46 [[ 7.75684294e-01 6.29487426e-01 4.53812239e-02 1.13361914e+02] [-6.28251089e-01 7.77007774e-01 -3.94903651e-02 -4.79949050e+01] [-6.01202520e-02 2.12125263e-03 9.98188888e-01 -5.46052860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73863999999999 meters Centerline goodness [0,1] 0.9993609909555643 Centerline is valid? [True, True] Translation: X:113.38, Y:-48.02, Z:-5.46 [[ 7.74033476e-01 6.31445431e-01 4.63556486e-02 1.13384650e+02] [-6.30156722e-01 7.75417636e-01 -4.03732003e-02 -4.80181526e+01] [-6.14384603e-02 2.03888500e-03 9.98108791e-01 -5.46249851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76863999999999 meters Centerline goodness [0,1] 0.9996069182389937 Centerline is valid? [True, True] Translation: X:113.41, Y:-48.04, Z:-5.46 [[ 7.72749241e-01 6.33024861e-01 4.62399863e-02 1.13406643e+02] [-6.31743284e-01 7.74129046e-01 -4.03068577e-02 -4.80418272e+01] [-6.13109594e-02 1.93529284e-03 9.98116837e-01 -5.46364176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79863999999999 meters Centerline goodness [0,1] 0.9995084304183257 Centerline is valid? [True, True] Translation: X:113.43, Y:-48.07, Z:-5.47 [[ 7.70387559e-01 6.35775191e-01 4.78843904e-02 1.13426496e+02] [-6.34403706e-01 7.71872168e-01 -4.17767232e-02 -4.80675157e+01] [-6.35212324e-02 1.80623314e-03 9.97978853e-01 -5.46565540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82864 meters Centerline goodness [0,1] 0.9993610223642172 Centerline is valid? [True, True] Translation: X:113.45, Y:-48.09, Z:-5.47 [[ 7.69629905e-01 6.36735773e-01 4.73007984e-02 1.13449188e+02] [-6.35397138e-01 7.71080121e-01 -4.13028384e-02 -4.80901824e+01] [-6.27717000e-02 1.73310770e-03 9.98026407e-01 -5.46654769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85864 meters Centerline goodness [0,1] 0.9995083337430553 Centerline is valid? [True, True] Translation: X:113.47, Y:-48.11, Z:-5.47 [[ 7.68918943e-01 6.37622227e-01 4.69207276e-02 1.13470314e+02] [-6.36304479e-01 7.70347384e-01 -4.10063242e-02 -4.81144694e+01] [-6.22918035e-02 1.67467035e-03 9.98056575e-01 -5.46764522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88864 meters Centerline goodness [0,1] 0.9996064541519087 Centerline is valid? [True, True] Translation: X:113.49, Y:-48.14, Z:-5.47 [[ 7.68125734e-01 6.38563183e-01 4.71159996e-02 1.13494035e+02] [-6.37233855e-01 7.69567665e-01 -4.12143506e-02 -4.81377687e+01] [-6.25769167e-02 1.63389325e-03 9.98038807e-01 -5.46922790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91864 meters Centerline goodness [0,1] 0.9996556981948749 Centerline is valid? [True, True] Translation: X:113.52, Y:-48.16, Z:-5.47 [[ 7.67160252e-01 6.39845606e-01 4.54174846e-02 1.13517636e+02] [-6.38610484e-01 7.68502012e-01 -3.97656590e-02 -4.81601313e+01] [-6.03473105e-02 1.50255120e-03 9.98176309e-01 -5.47066077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94864 meters Centerline goodness [0,1] 0.9996066089693155 Centerline is valid? [True, True] Translation: X:113.54, Y:-48.18, Z:-5.47 [[ 7.65487464e-01 6.41822737e-01 4.57440419e-02 1.13539898e+02] [-6.40571146e-01 7.66851785e-01 -4.00867356e-02 -4.81838833e+01] [-6.08074785e-02 1.38358020e-03 9.98148554e-01 -5.47198179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97864 meters Centerline goodness [0,1] 0.9997540822349007 Centerline is valid? [True, True] Translation: X:113.56, Y:-48.21, Z:-5.47 [[ 7.64967741e-01 6.42460239e-01 4.54884132e-02 1.13563972e+02] [-6.41221536e-01 7.66317825e-01 -3.98990286e-02 -4.82068038e+01] [-6.04921213e-02 1.35331961e-03 9.98167757e-01 -5.47367869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00864 meters Centerline goodness [0,1] 0.9996547983035803 Centerline is valid? [True, True] Translation: X:113.59, Y:-48.23, Z:-5.48 [[ 7.65119909e-01 6.42323460e-01 4.48564078e-02 1.13587134e+02] [-6.41116379e-01 7.66432437e-01 -3.93841007e-02 -4.82309878e+01] [-5.96767378e-02 1.37538178e-03 9.98216808e-01 -5.47582674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03864 meters Centerline goodness [0,1] 0.9997048260933733 Centerline is valid? [True, True] Translation: X:113.61, Y:-48.25, Z:-5.48 [[ 7.64852661e-01 6.42614816e-01 4.52394126e-02 1.13610341e+02] [-6.41385084e-01 7.66188130e-01 -3.97608245e-02 -4.82541177e+01] [-6.02127959e-02 1.39528797e-03 9.98184588e-01 -5.47851960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06864 meters Centerline goodness [0,1] 0.9994589276930644 Centerline is valid? [True, True] Translation: X:113.63, Y:-48.28, Z:-5.48 [[ 7.64522965e-01 6.43045951e-01 4.46826704e-02 1.13633591e+02] [-6.41844721e-01 7.65826361e-01 -3.93108025e-02 -4.82777055e+01] [-5.94978192e-02 1.37467525e-03 9.98227489e-01 -5.47922066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09863999999999 meters Centerline goodness [0,1] 0.9996549174266699 Centerline is valid? [True, True] Translation: X:113.66, Y:-48.30, Z:-5.48 [[ 7.62888833e-01 6.44888761e-01 4.60338438e-02 1.13655320e+02] [-6.43614492e-01 7.64275340e-01 -4.05412344e-02 -4.83032462e+01] [-6.13271180e-02 1.30040598e-03 9.98116874e-01 -5.48032624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12863999999999 meters Centerline goodness [0,1] 0.999557173784688 Centerline is valid? [True, True] Translation: X:113.68, Y:-48.33, Z:-5.48 [[ 7.61883280e-01 6.46110973e-01 4.55464390e-02 1.13678522e+02] [-6.44863390e-01 7.63242507e-01 -4.01507695e-02 -4.83261340e+01] [-6.07048311e-02 1.21896892e-03 9.98155017e-01 -5.48122067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15863999999999 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:113.70, Y:-48.35, Z:-5.48 [[ 7.60437345e-01 6.47764677e-01 4.62165323e-02 1.13701728e+02] [-6.46480770e-01 7.61839643e-01 -4.07795673e-02 -4.83491695e+01] [-6.16251497e-02 1.13220651e-03 9.98098722e-01 -5.48272032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18863999999999 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:113.72, Y:-48.37, Z:-5.48 [[ 7.57121024e-01 6.51668037e-01 4.57878231e-02 1.13723133e+02] [-6.50412986e-01 7.58503841e-01 -4.04335352e-02 -4.83734966e+01] [-6.10794822e-02 8.32084846e-04 9.98132559e-01 -5.48350559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21864 meters Centerline goodness [0,1] 0.9997537431048069 Centerline is valid? [True, True] Translation: X:113.75, Y:-48.40, Z:-5.49 [[ 7.55487628e-01 6.53531474e-01 4.62066841e-02 1.13746509e+02] [-6.52255444e-01 7.56899013e-01 -4.08254759e-02 -4.83965061e+01] [-6.16545270e-02 7.04580689e-04 9.98097301e-01 -5.48552946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24864 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:113.77, Y:-48.42, Z:-5.49 [[ 7.52051447e-01 6.57387299e-01 4.75453395e-02 1.13768491e+02] [-6.56041023e-01 7.53552752e-01 -4.20526468e-02 -4.84221240e+01] [-6.34727973e-02 4.34060729e-04 9.97983475e-01 -5.48742548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.79, Y:-48.44, Z:-5.49 [[ 7.50302773e-01 6.59262426e-01 4.91813285e-02 1.13791180e+02] [-6.57822905e-01 7.51912862e-01 -4.35439321e-02 -4.84443969e+01] [-6.56869517e-02 3.18528640e-04 9.97840229e-01 -5.48894454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:-48.47, Z:-5.49 [[ 7.49133902e-01 6.60590643e-01 4.91772345e-02 1.13815396e+02] [-6.59151460e-01 7.50746261e-01 -4.35821621e-02 -4.84669168e+01] [-6.57095934e-02 2.33629246e-04 9.97838762e-01 -5.48906679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:-48.49, Z:-5.49 [[ 7.46255140e-01 6.63831232e-01 4.93088313e-02 1.13840241e+02] [-6.62388323e-01 7.47882407e-01 -4.37448830e-02 -4.84879626e+01] [-6.59164270e-02 -1.67502872e-05 9.97825147e-01 -5.48985770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:-48.51, Z:-5.49 [[ 7.44429477e-01 6.65880151e-01 4.92785752e-02 1.13864854e+02] [-6.64440432e-01 7.46058710e-01 -4.37643019e-02 -4.85091962e+01] [-6.59064902e-02 -1.63241428e-04 9.97825790e-01 -5.49163881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:-48.53, Z:-5.49 [[ 7.42235511e-01 6.68322129e-01 4.93150897e-02 1.13889700e+02] [-6.66882568e-01 7.43871906e-01 -4.38432274e-02 -4.85303675e+01] [-6.59855089e-02 -3.45373343e-04 9.97820522e-01 -5.49309894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:-48.55, Z:-5.49 [[ 7.40967052e-01 6.69719402e-01 4.94343118e-02 1.13915567e+02] [-6.68272858e-01 7.42614121e-01 -4.39960631e-02 -4.85515285e+01] [-6.61756351e-02 -4.35975697e-04 9.97807895e-01 -5.49458236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.94, Y:-48.57, Z:-5.50 [[ 7.39777127e-01 6.71045127e-01 4.92771779e-02 1.13941194e+02] [-6.69607639e-01 7.41416326e-01 -4.39026254e-02 -4.85720174e+01] [-6.59955470e-02 -5.18216744e-04 9.97819783e-01 -5.49633276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:-48.59, Z:-5.50 [[ 7.39299491e-01 6.71535022e-01 4.97692379e-02 1.13967726e+02] [-6.70066611e-01 7.40972625e-01 -4.43881299e-02 -4.85921717e+01] [-6.66858266e-02 -5.32582731e-04 9.97773881e-01 -5.49699406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:-48.61, Z:-5.50 [[ 7.39044868e-01 6.71818645e-01 4.97231499e-02 1.13993456e+02] [-6.70350466e-01 7.40715489e-01 -4.43938901e-02 -4.86132650e+01] [-6.66553504e-02 -5.22860038e-04 9.97775922e-01 -5.49772087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.02, Y:-48.63, Z:-5.50 [[ 7.38049402e-01 6.72954716e-01 4.91429625e-02 1.14020921e+02] [-6.71520088e-01 7.39683452e-01 -4.39222282e-02 -4.86318189e+01] [-6.59079068e-02 -5.83712219e-04 9.97825539e-01 -5.49733145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.05, Y:-48.65, Z:-5.50 [[ 7.37149760e-01 6.73918922e-01 4.94319513e-02 1.14047132e+02] [-6.72466376e-01 7.38805034e-01 -4.42277579e-02 -4.86522720e+01] [-6.63264974e-02 -6.38844027e-04 9.97797769e-01 -5.49942120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:-48.67, Z:-5.50 [[ 7.36373237e-01 6.74724519e-01 5.00127805e-02 1.14071582e+02] [-6.73236385e-01 7.38069341e-01 -4.47930576e-02 -4.86731805e+01] [-6.71358742e-02 -6.86014716e-04 9.97743606e-01 -5.50089351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.10, Y:-48.69, Z:-5.50 [[ 7.36450546e-01 6.74600852e-01 5.05399118e-02 1.14096123e+02] [-6.73077858e-01 7.38182409e-01 -4.53092618e-02 -4.86949556e+01] [-6.78733404e-02 -6.49264920e-04 9.97693735e-01 -5.50200882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:-48.72, Z:-5.50 [[ 7.36414265e-01 6.74618540e-01 5.08316406e-02 1.14121424e+02] [-6.73074630e-01 7.38166270e-01 -4.56190746e-02 -4.87167420e+01] [-6.82976761e-02 -6.18950417e-04 9.97664796e-01 -5.50372515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.15, Y:-48.74, Z:-5.51 [[ 7.37791905e-01 6.73125400e-01 5.06487994e-02 1.14145417e+02] [-6.71585963e-01 7.39528226e-01 -4.55005179e-02 -4.87382001e+01] [-6.80837711e-02 -4.45108977e-04 9.97679509e-01 -5.50520832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.17, Y:-48.76, Z:-5.51 [[ 7.38041264e-01 6.72814075e-01 5.11499078e-02 1.14168604e+02] [-6.71240611e-01 7.39811508e-01 -4.59888634e-02 -4.87610595e+01] [-6.87832450e-02 -3.92216457e-04 9.97631551e-01 -5.50605193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:-48.78, Z:-5.51 [[ 7.38036443e-01 6.72925458e-01 4.97346564e-02 1.14192391e+02] [-6.71435977e-01 7.39710209e-01 -4.47497034e-02 -4.87827661e+01] [-6.69024477e-02 -3.66725721e-04 9.97759454e-01 -5.50800981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:-48.80, Z:-5.51 [[ 7.36756175e-01 6.74249543e-01 5.07729452e-02 1.14217503e+02] [-6.72697370e-01 7.38503444e-01 -4.57264832e-02 -4.88032653e+01] [-6.83270553e-02 -4.65557898e-04 9.97662867e-01 -5.50994961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.24, Y:-48.82, Z:-5.51 [[ 7.35902335e-01 6.75177780e-01 5.08204518e-02 1.14242998e+02] [-6.73621864e-01 7.37654862e-01 -4.58136255e-02 -4.88243689e+01] [-6.84202953e-02 -5.19413571e-04 9.97656451e-01 -5.51171653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:-48.85, Z:-5.51 [[ 7.33250616e-01 6.78019876e-01 5.13086940e-02 1.14267448e+02] [-6.76437578e-01 7.35043178e-01 -4.63004198e-02 -4.88457439e+01] [-6.91067104e-02 -7.57317407e-04 9.97608986e-01 -5.51316265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:-48.87, Z:-5.51 [[ 7.31658240e-01 6.79710572e-01 5.16697016e-02 1.14291871e+02] [-6.78107104e-01 7.33479886e-01 -4.66691673e-02 -4.88672209e+01] [-6.96202133e-02 -8.91710941e-04 9.97573171e-01 -5.51397760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:-48.89, Z:-5.52 [[ 7.29949347e-01 6.81596321e-01 5.09941775e-02 1.14318301e+02] [-6.80036078e-01 7.31727685e-01 -4.61034511e-02 -4.88876351e+01] [-6.87377941e-02 -1.02469640e-03 9.97634234e-01 -5.51593521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:-48.91, Z:-5.52 [[ 7.28712020e-01 6.82995700e-01 4.99566335e-02 1.14343661e+02] [-6.81498472e-01 7.30421568e-01 -4.52124463e-02 -4.89084210e+01] [-6.73693090e-02 -1.09851629e-03 9.97727503e-01 -5.51679010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:-48.93, Z:-5.52 [[ 7.28414208e-01 6.83422263e-01 4.84432846e-02 1.14368746e+02] [-6.82012572e-01 7.30022508e-01 -4.38860973e-02 -4.89287039e+01] [-6.53574240e-02 -1.07167237e-03 9.97861342e-01 -5.51756072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:-48.95, Z:-5.52 [[ 7.28354865e-01 6.83500203e-01 4.82355006e-02 1.14395077e+02] [-6.82099994e-01 7.29949577e-01 -4.37402975e-02 -4.89482477e+01] [-6.51059855e-02 -1.04297627e-03 9.97877810e-01 -5.51940846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.42, Y:-48.97, Z:-5.52 [[ 7.27942811e-01 6.83910324e-01 4.86408656e-02 1.14420434e+02] [-6.82484275e-01 7.29565321e-01 -4.41549192e-02 -4.89690850e+01] [-6.56846938e-02 -1.05436994e-03 9.97839872e-01 -5.52150814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:-48.99, Z:-5.52 [[ 7.27546257e-01 6.84330291e-01 4.86672026e-02 1.14446530e+02] [-6.82900552e-01 7.29171401e-01 -4.42256016e-02 -4.89889898e+01] [-6.57516511e-02 -1.05868858e-03 9.97835457e-01 -5.52235047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.47, Y:-49.01, Z:-5.52 [[ 7.26858622e-01 6.85030185e-01 4.90936752e-02 1.14472132e+02] [-6.83573676e-01 7.28513858e-01 -4.46608141e-02 -4.90093136e+01] [-6.63594285e-02 -1.09704620e-03 9.97795181e-01 -5.52363953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:-49.03, Z:-5.53 [[ 7.26496016e-01 6.85416424e-01 4.90700010e-02 1.14496405e+02] [-6.83959038e-01 7.28150481e-01 -4.46868153e-02 -4.90309826e+01] [-6.63594220e-02 -1.09707744e-03 9.97795181e-01 -5.52503022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:-49.05, Z:-5.53 [[ 7.25773366e-01 6.86169221e-01 4.92424813e-02 1.14522047e+02] [-6.84700091e-01 7.27441071e-01 -4.48917972e-02 -4.90512436e+01] [-6.66243728e-02 -1.13506067e-03 9.97777483e-01 -5.52624312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:-49.07, Z:-5.53 [[ 7.24897231e-01 6.87085596e-01 4.93699139e-02 1.14547685e+02] [-6.85607741e-01 7.26575512e-01 -4.50560866e-02 -4.90719270e+01] [-6.68283585e-02 -1.18736273e-03 9.97763780e-01 -5.52868614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:-49.09, Z:-5.53 [[ 7.23868892e-01 6.88137954e-01 4.97994401e-02 1.14573331e+02] [-6.86633585e-01 7.25578779e-01 -4.54945774e-02 -4.90909422e+01] [-6.74399623e-02 -1.26185870e-03 9.97722536e-01 -5.53017136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:-49.11, Z:-5.53 [[ 7.23526664e-01 6.88423676e-01 5.08134664e-02 1.14598966e+02] [-6.86855048e-01 7.25307655e-01 -4.64644880e-02 -4.91107041e+01] [-6.88426499e-02 -1.28318986e-03 9.97626705e-01 -5.53236692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:-49.13, Z:-5.53 [[ 7.24455479e-01 6.87569639e-01 4.91146582e-02 1.14625676e+02] [-6.86099579e-01 7.26117559e-01 -4.49517245e-02 -4.91286715e+01] [-6.65704567e-02 -1.13202317e-03 9.97781085e-01 -5.53284174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:-49.15, Z:-5.54 [[ 7.24513927e-01 6.87481598e-01 4.94835548e-02 1.14651177e+02] [-6.85986180e-01 7.26200965e-01 -4.53334247e-02 -4.91496550e+01] [-6.71009005e-02 -1.10033719e-03 9.97745588e-01 -5.53522909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:-49.17, Z:-5.54 [[ 7.25468883e-01 6.86497412e-01 4.91548901e-02 1.14676426e+02] [-6.85016539e-01 7.27131599e-01 -4.50774718e-02 -4.91701096e+01] [-6.66876415e-02 -9.69609600e-04 9.97773430e-01 -5.53549939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:-49.19, Z:-5.54 [[ 7.25176338e-01 6.86765437e-01 4.97243711e-02 1.14701800e+02] [-6.85247632e-01 7.26878454e-01 -4.56442325e-02 -4.91907191e+01] [-6.74904552e-02 -9.73390193e-04 9.97719445e-01 -5.53688446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:-49.21, Z:-5.54 [[ 7.24840375e-01 6.87096083e-01 5.00540085e-02 1.14727091e+02] [-6.85555550e-01 7.26565910e-01 -4.59952918e-02 -4.92115033e+01] [-6.79707210e-02 -9.75558794e-04 9.97686839e-01 -5.53866273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:-49.23, Z:-5.54 [[ 7.23591321e-01 6.88381904e-01 5.04574502e-02 1.14751693e+02] [-6.86816328e-01 7.25347646e-01 -4.64125505e-02 -4.92324382e+01] [-6.85487526e-02 -1.07128193e-03 9.97647193e-01 -5.54029218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:-49.25, Z:-5.54 [[ 7.23129041e-01 6.88845481e-01 5.07571958e-02 1.14776914e+02] [-6.87259240e-01 7.24907385e-01 -4.67335056e-02 -4.92541754e+01] [-6.89864302e-02 -1.08899672e-03 9.97617004e-01 -5.54106558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.80, Y:-49.28, Z:-5.54 [[ 7.22414567e-01 6.89635338e-01 5.02025283e-02 1.14802254e+02] [-6.88082220e-01 7.24155960e-01 -4.62709934e-02 -4.92753989e+01] [-6.82645722e-02 -1.11662745e-03 9.97666628e-01 -5.54188140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.83, Y:-49.30, Z:-5.54 [[ 7.22298804e-01 6.89708132e-01 5.08638405e-02 1.14827783e+02] [-6.88110508e-01 7.24086650e-01 -4.69302863e-02 -4.92964300e+01] [-6.91980280e-02 -1.10225342e-03 9.97602335e-01 -5.54361604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:-49.32, Z:-5.54 [[ 7.21940013e-01 6.90126459e-01 5.02800967e-02 1.14852021e+02] [-6.88563204e-01 7.23687965e-01 -4.64375236e-02 -4.93171208e+01] [-6.84348646e-02 -1.09591813e-03 9.97654985e-01 -5.54459614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.88, Y:-49.34, Z:-5.54 [[ 7.21556538e-01 6.90550834e-01 4.99570760e-02 1.14878261e+02] [-6.89005636e-01 7.23283031e-01 -4.61832336e-02 -4.93377268e+01] [-6.80249758e-02 -1.09689275e-03 9.97683016e-01 -5.54482786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:-49.36, Z:-5.55 [[ 7.20497559e-01 6.91699604e-01 4.93449755e-02 1.14904384e+02] [-6.90191578e-01 7.22184410e-01 -4.56646894e-02 -4.93584913e+01] [-6.72224196e-02 -1.15618932e-03 9.97737345e-01 -5.54610518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:-49.38, Z:-5.55 [[ 7.19148975e-01 6.93077504e-01 4.96822428e-02 1.14932051e+02] [-6.91548923e-01 7.20861974e-01 -4.60228420e-02 -4.93764701e+01] [-6.77114360e-02 -1.26042189e-03 9.97704151e-01 -5.54757248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:-49.40, Z:-5.55 [[ 7.18589502e-01 6.93676430e-01 4.94179905e-02 1.14957518e+02] [-6.92162537e-01 7.20285622e-01 -4.58218844e-02 -4.93971554e+01] [-6.73806292e-02 -1.27815657e-03 9.97726524e-01 -5.54903486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:-49.42, Z:-5.55 [[ 7.18883632e-01 6.93373099e-01 4.93970665e-02 1.14983665e+02] [-6.91856548e-01 7.20577734e-01 -4.58502696e-02 -4.94176176e+01] [-6.73857697e-02 -1.21467554e-03 9.97726256e-01 -5.54983362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:-49.44, Z:-5.55 [[ 7.19457117e-01 6.92930727e-01 4.72066185e-02 1.15011456e+02] [-6.91542685e-01 7.21003332e-01 -4.38509920e-02 -4.94357622e+01] [-6.44218290e-02 -1.09648340e-03 9.97922154e-01 -5.55081925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:-49.46, Z:-5.55 [[ 7.19963894e-01 6.92430285e-01 4.68219102e-02 1.15036968e+02] [-6.91062279e-01 7.21484058e-01 -4.35164332e-02 -4.94553747e+01] [-6.39133580e-02 -1.02659521e-03 9.97954923e-01 -5.55186276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.06, Y:-49.48, Z:-5.55 [[ 7.21091754e-01 6.91143648e-01 4.84472886e-02 1.15062885e+02] [-6.89673057e-01 7.22716836e-01 -4.50716003e-02 -4.94756673e+01] [-6.61646214e-02 -9.12030339e-04 9.97808304e-01 -5.55496491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:-49.50, Z:-5.56 [[ 7.21301328e-01 6.90953628e-01 4.80362135e-02 1.15087463e+02] [-6.89504577e-01 7.22898577e-01 -4.47334958e-02 -4.94961239e+01] [-6.56340816e-02 -8.54859073e-04 9.97843393e-01 -5.55528939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:-49.52, Z:-5.56 [[ 7.22364194e-01 6.89827058e-01 4.82555832e-02 1.15113030e+02] [-6.88359381e-01 7.23973829e-01 -4.49806395e-02 -4.95166307e+01] [-6.59646416e-02 -7.24779946e-04 9.97821698e-01 -5.55760426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:115.14, Y:-49.54, Z:-5.56 [[ 7.24552585e-01 6.87635449e-01 4.67016266e-02 1.15139189e+02] [-6.86253589e-01 7.26055963e-01 -4.35746400e-02 -4.95363230e+01] [-6.38714616e-02 -4.77040834e-04 9.97958020e-01 -5.55860767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89864 meters Centerline goodness [0,1] 0.999754275604482 Centerline is valid? [True, True] Translation: X:115.16, Y:-49.56, Z:-5.56 [[ 7.24783660e-01 6.87378546e-01 4.68975516e-02 1.15164129e+02] [-6.85981830e-01 7.26299217e-01 -4.37992644e-02 -4.95584640e+01] [-6.41683297e-02 -4.25877146e-04 9.97938998e-01 -5.55984256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92864 meters Centerline goodness [0,1] 0.999262826813446 Centerline is valid? [True, True] Translation: X:115.19, Y:-49.58, Z:-5.56 [[ 7.26644259e-01 6.85498086e-01 4.56124474e-02 1.15188732e+02] [-6.84170616e-01 7.28074395e-01 -4.26408641e-02 -4.95793691e+01] [-6.24394858e-02 -2.21957145e-04 9.98048727e-01 -5.55968307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95863999999999 meters Centerline goodness [0,1] 0.9993121407163563 Centerline is valid? [True, True] Translation: X:115.21, Y:-49.60, Z:-5.56 [[ 7.26929847e-01 6.85245923e-01 4.48444347e-02 1.15212894e+02] [-6.83960016e-01 7.28311744e-01 -4.19606952e-02 -4.96011408e+01] [-6.14141237e-02 -1.69318563e-04 9.98112357e-01 -5.56192866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98863999999999 meters Centerline goodness [0,1] 0.9991644138608995 Centerline is valid? [True, True] Translation: X:115.24, Y:-49.62, Z:-5.56 [[ 7.27264317e-01 6.84933619e-01 4.41876683e-02 1.15236570e+02] [-6.83682305e-01 7.28605465e-01 -4.13833429e-02 -4.96224529e+01] [-6.05402195e-02 -1.13698274e-04 9.98165752e-01 -5.56274760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01863999999999 meters Centerline goodness [0,1] 0.9985252187592174 Centerline is valid? [True, True] Translation: X:115.26, Y:-49.64, Z:-5.56 [[ 7.28148691e-01 6.84051926e-01 4.32717741e-02 1.15260352e+02] [-6.82848282e-01 7.29433316e-01 -4.05618071e-02 -4.96446061e+01] [-5.93102559e-02 -1.30299057e-05 9.98239597e-01 -5.56339763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04863999999999 meters Centerline goodness [0,1] 0.9984722290670741 Centerline is valid? [True, True] Translation: X:115.28, Y:-49.67, Z:-5.56 [[ 7.28127127e-01 6.84084714e-01 4.31160167e-02 1.15284088e+02] [-6.82887519e-01 7.29402566e-01 -4.04540792e-02 -4.96669971e+01] [-5.91229504e-02 1.23227639e-05 9.98250708e-01 -5.56444909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07864 meters Centerline goodness [0,1] 0.9985250012291657 Centerline is valid? [True, True] Translation: X:115.31, Y:-49.69, Z:-5.56 [[ 7.27273973e-01 6.84869827e-01 4.50098831e-02 1.15307888e+02] [-6.83563833e-01 7.28665438e-01 -4.22748841e-02 -4.96892476e+01] [-6.17499387e-02 -2.17052911e-05 9.98091651e-01 -5.56490114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10864 meters Centerline goodness [0,1] 0.9981313926042487 Centerline is valid? [True, True] Translation: X:115.33, Y:-49.71, Z:-5.57 [[ 7.26814975e-01 6.85441348e-01 4.37052710e-02 1.15332018e+02] [-6.84208868e-01 7.28127844e-01 -4.10861071e-02 -4.97112806e+01] [-5.99851414e-02 -4.15360563e-05 9.98199269e-01 -5.56505349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13864 meters Centerline goodness [0,1] 0.9976401179941004 Centerline is valid? [True, True] Translation: X:115.36, Y:-49.73, Z:-5.57 [[ 7.26068281e-01 6.86200791e-01 4.41964365e-02 1.15356655e+02] [-6.84939424e-01 7.27412172e-01 -4.15874717e-02 -4.97336560e+01] [-6.06863819e-02 -7.65376494e-05 9.98156880e-01 -5.56721437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16864 meters Centerline goodness [0,1] 0.9976874630978154 Centerline is valid? [True, True] Translation: X:115.38, Y:-49.76, Z:-5.57 [[ 7.26592228e-01 6.85778539e-01 4.20895394e-02 1.15380076e+02] [-6.84631727e-01 7.27810274e-01 -3.96434646e-02 -4.97561566e+01] [-5.78198365e-02 -1.12007137e-05 9.98327034e-01 -5.56712523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19864 meters Centerline goodness [0,1] 0.9978314440611139 Centerline is valid? [True, True] Translation: X:115.40, Y:-49.78, Z:-5.57 [[ 7.27053308e-01 6.85287376e-01 4.21271844e-02 1.15404161e+02] [-6.84135493e-01 7.28272758e-01 -3.97167100e-02 -4.97790811e+01] [-5.78974407e-02 5.54633278e-05 9.98322535e-01 -5.56875325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22864 meters Centerline goodness [0,1] 0.9980819357694388 Centerline is valid? [True, True] Translation: X:115.43, Y:-49.80, Z:-5.57 [[ 7.28408328e-01 6.83894985e-01 4.13395370e-02 1.15428413e+02] [-6.82781271e-01 7.29580436e-01 -3.90144009e-02 -4.98015514e+01] [-5.68422705e-02 1.92552938e-04 9.98383153e-01 -5.56893266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25864 meters Centerline goodness [0,1] 0.9978842747490652 Centerline is valid? [True, True] Translation: X:115.45, Y:-49.82, Z:-5.57 [[ 7.28241751e-01 6.84032564e-01 4.19928935e-02 1.15451761e+02] [-6.82881153e-01 7.29451441e-01 -3.96727467e-02 -4.98247748e+01] [-5.77692273e-02 2.15195011e-04 9.98329940e-01 -5.57144490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28864 meters Centerline goodness [0,1] 0.9982740766309975 Centerline is valid? [True, True] Translation: X:115.47, Y:-49.85, Z:-5.57 [[ 7.29152809e-01 6.83142387e-01 4.06529282e-02 1.15474890e+02] [-6.82059781e-01 7.30285140e-01 -3.84456547e-02 -4.98481894e+01] [-5.59520857e-02 3.05029811e-04 9.98433408e-01 -5.57228485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31864 meters Centerline goodness [0,1] 0.998080141774146 Centerline is valid? [True, True] Translation: X:115.50, Y:-49.87, Z:-5.57 [[ 7.30839103e-01 6.81295012e-01 4.13680036e-02 1.15495932e+02] [-6.80168735e-01 7.32008793e-01 -3.91614441e-02 -4.98722151e+01] [-5.69622389e-02 4.83491957e-04 9.98376216e-01 -5.57447851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34863999999999 meters Centerline goodness [0,1] 0.9983265245853227 Centerline is valid? [True, True] Translation: X:115.52, Y:-49.90, Z:-5.57 [[ 7.31205148e-01 6.80928292e-01 4.09352182e-02 1.15519227e+02] [-6.79822889e-01 7.32349901e-01 -3.87873968e-02 -4.98952822e+01] [-5.63903388e-02 5.32845980e-04 9.98408657e-01 -5.57401401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37863999999999 meters Centerline goodness [0,1] 0.9978259795444439 Centerline is valid? [True, True] Translation: X:115.54, Y:-49.92, Z:-5.58 [[ 7.30694401e-01 6.81460460e-01 4.11987196e-02 1.15542821e+02] [-6.80339341e-01 7.31854744e-01 -3.90770224e-02 -4.99186832e+01] [-5.67809240e-02 5.24251693e-04 9.98386524e-01 -5.57522478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40863999999999 meters Centerline goodness [0,1] 0.998127802138247 Centerline is valid? [True, True] Translation: X:115.56, Y:-49.94, Z:-5.58 [[ 7.28480180e-01 6.83816235e-01 4.13761259e-02 1.15563190e+02] [-6.82686997e-01 7.29654178e-01 -3.92841575e-02 -4.99446279e+01] [-5.70534077e-02 3.70787002e-04 9.98371059e-01 -5.57608624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43863999999999 meters Centerline goodness [0,1] 0.9980302358792534 Centerline is valid? [True, True] Translation: X:115.59, Y:-49.97, Z:-5.58 [[ 7.27019143e-01 6.85345168e-01 4.17751774e-02 1.15585580e+02] [-6.84194393e-01 7.28218320e-01 -3.97002628e-02 -4.99697495e+01] [-5.76298328e-02 2.80508943e-04 9.98337981e-01 -5.57752285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46864 meters Centerline goodness [0,1] 0.9974845869297164 Centerline is valid? [True, True] Translation: X:115.61, Y:-50.00, Z:-5.58 [[ 7.24299416e-01 6.88202989e-01 4.20357239e-02 1.15606160e+02] [-6.87040179e-01 7.25518186e-01 -3.99894255e-02 -4.99955800e+01] [-5.80185243e-02 8.40862382e-05 9.98315503e-01 -5.57810014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49864 meters Centerline goodness [0,1] 0.9970915902592922 Centerline is valid? [True, True] Translation: X:115.63, Y:-50.02, Z:-5.58 [[ 7.22595159e-01 6.89964031e-01 4.24955483e-02 1.15629795e+02] [-6.88776163e-01 7.23843654e-01 -4.04692828e-02 -5.00191632e+01] [-5.86824825e-02 -2.70127906e-05 9.98276698e-01 -5.57978359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52864 meters Centerline goodness [0,1] 0.9970881452966144 Centerline is valid? [True, True] Translation: X:115.65, Y:-50.04, Z:-5.58 [[ 7.20803227e-01 6.91870241e-01 4.19318288e-02 1.15653257e+02] [-6.90714502e-01 7.22021847e-01 -3.99741070e-02 -5.00427918e+01] [-5.79325915e-02 -1.49456917e-04 9.98320486e-01 -5.57985274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55864 meters Centerline goodness [0,1] 0.9967492488794759 Centerline is valid? [True, True] Translation: X:115.68, Y:-50.07, Z:-5.58 [[ 7.17184843e-01 6.95587236e-01 4.24770186e-02 1.15675132e+02] [-6.94405264e-01 7.18441519e-01 -4.05353277e-02 -5.00660345e+01] [-5.87131103e-02 -4.24942692e-04 9.98274807e-01 -5.58079670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58864 meters Centerline goodness [0,1] 0.9966510711647377 Centerline is valid? [True, True] Translation: X:115.70, Y:-50.09, Z:-5.58 [[ 7.15706722e-01 6.97065617e-01 4.31672695e-02 1.15698953e+02] [-6.95845294e-01 7.17007145e-01 -4.12320299e-02 -5.00879098e+01] [-5.96926710e-02 -5.27700394e-04 9.98216663e-01 -5.58220510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61864 meters Centerline goodness [0,1] 0.9959169618260527 Centerline is valid? [True, True] Translation: X:115.72, Y:-50.11, Z:-5.58 [[ 7.12693340e-01 7.00113166e-01 4.37007820e-02 1.15723720e+02] [-6.98865828e-01 7.14031491e-01 -4.17801887e-02 -5.01079275e+01] [-6.04545947e-02 -7.64521024e-04 9.98170655e-01 -5.58417513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64864 meters Centerline goodness [0,1] 0.9960626045870656 Centerline is valid? [True, True] Translation: X:115.75, Y:-50.13, Z:-5.59 [[ 7.11101795e-01 7.01703505e-01 4.41183368e-02 1.15747998e+02] [-7.00432868e-01 7.12468537e-01 -4.22182686e-02 -5.01287491e+01] [-6.10576339e-02 -8.80446610e-04 9.98133854e-01 -5.58629788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67864 meters Centerline goodness [0,1] 0.9952268477512056 Centerline is valid? [True, True] Translation: X:115.77, Y:-50.15, Z:-5.59 [[ 7.10517040e-01 7.02336896e-01 4.34559484e-02 1.15773185e+02] [-7.01102980e-01 7.11844145e-01 -4.16236041e-02 -5.01498753e+01] [-6.01676553e-02 -8.92814942e-04 9.98187886e-01 -5.58711899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70863999999999 meters Centerline goodness [0,1] 0.9958604376108812 Centerline is valid? [True, True] Translation: X:115.80, Y:-50.17, Z:-5.59 [[ 7.09031444e-01 7.03802210e-01 4.40097813e-02 1.15798915e+02] [-7.02536800e-01 7.10395277e-01 -4.21970963e-02 -5.01701423e+01] [-6.09627504e-02 -9.99422829e-04 9.98139541e-01 -5.58918754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73863999999999 meters Centerline goodness [0,1] 0.9960110312222988 Centerline is valid? [True, True] Translation: X:115.82, Y:-50.19, Z:-5.59 [[ 7.08223849e-01 7.04582159e-01 4.45304569e-02 1.15824306e+02] [-7.03285589e-01 7.09621645e-01 -4.27375731e-02 -5.01910282e+01] [-6.17119076e-02 -1.04986009e-03 9.98093452e-01 -5.58992303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76863999999999 meters Centerline goodness [0,1] 0.9955234159779615 Centerline is valid? [True, True] Translation: X:115.85, Y:-50.21, Z:-5.59 [[ 7.07616929e-01 7.05127680e-01 4.55328019e-02 1.15851885e+02] [-7.03770334e-01 7.09079520e-01 -4.37441664e-02 -5.02084117e+01] [-6.31315999e-02 -1.09052252e-03 9.98004615e-01 -5.59176803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79863999999999 meters Centerline goodness [0,1] 0.9954268292682927 Centerline is valid? [True, True] Translation: X:115.88, Y:-50.23, Z:-5.59 [[ 7.07505655e-01 7.05205173e-01 4.60587928e-02 1.15877925e+02] [-7.03813695e-01 7.09002466e-01 -4.42920503e-02 -5.02287109e+01] [-6.38907807e-02 -1.07993313e-03 9.97956313e-01 -5.59355949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82864 meters Centerline goodness [0,1] 0.9950772866003741 Centerline is valid? [True, True] Translation: X:115.90, Y:-50.25, Z:-5.60 [[ 7.07673085e-01 7.05028949e-01 4.61842638e-02 1.15904741e+02] [-7.03626521e-01 7.09177772e-01 -4.44590540e-02 -5.02490944e+01] [-6.40977734e-02 -1.03399690e-03 9.97943088e-01 -5.59538458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85864 meters Centerline goodness [0,1] 0.9956667323222376 Centerline is valid? [True, True] Translation: X:115.93, Y:-50.27, Z:-5.60 [[ 7.08301296e-01 7.04365689e-01 4.66717387e-02 1.15930312e+02] [-7.02928970e-01 7.09836652e-01 -4.49754382e-02 -5.02705130e+01] [-6.48084662e-02 -9.50756104e-04 9.97897269e-01 -5.59570224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88864 meters Centerline goodness [0,1] 0.9957625030795763 Centerline is valid? [True, True] Translation: X:115.96, Y:-50.29, Z:-5.60 [[ 7.08958054e-01 7.03651593e-01 4.74648646e-02 1.15955563e+02] [-7.02160795e-01 7.10544640e-01 -4.57879108e-02 -5.02919702e+01] [-6.59446415e-02 -8.66258891e-04 9.97822907e-01 -5.59734420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91864 meters Centerline goodness [0,1] 0.9958208368159693 Centerline is valid? [True, True] Translation: X:115.98, Y:-50.31, Z:-5.60 [[ 7.11418352e-01 7.01158424e-01 4.75477917e-02 1.15978979e+02] [-6.99653788e-01 7.13005260e-01 -4.59137920e-02 -5.03137283e+01] [-6.60946677e-02 -6.03078295e-04 9.97813175e-01 -5.59965540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94864 meters Centerline goodness [0,1] 0.9964458485536578 Centerline is valid? [True, True] Translation: X:116.00, Y:-50.34, Z:-5.60 [[ 7.12813228e-01 6.99754424e-01 4.73397130e-02 1.16002330e+02] [-6.98257099e-01 7.14383337e-01 -4.57544703e-02 -5.03357405e+01] [-6.58355951e-02 -4.40898970e-04 9.97830386e-01 -5.60133767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97864 meters Centerline goodness [0,1] 0.9964542499753767 Centerline is valid? [True, True] Translation: X:116.03, Y:-50.36, Z:-5.60 [[ 7.13846084e-01 6.98690703e-01 4.74875808e-02 1.16026528e+02] [-6.97178731e-01 7.15423794e-01 -4.59414095e-02 -5.03580214e+01] [-6.60725809e-02 -3.12236049e-04 9.97814771e-01 -5.60386843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00864 meters Centerline goodness [0,1] 0.9964542499753767 Centerline is valid? [True, True] Translation: X:116.05, Y:-50.38, Z:-5.61 [[ 7.13485156e-01 6.99060894e-01 4.74636637e-02 1.16050158e+02] [-6.97548097e-01 7.15062074e-01 -4.59661104e-02 -5.03804288e+01] [-6.60725760e-02 -3.12050822e-04 9.97814771e-01 -5.60525894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03864 meters Centerline goodness [0,1] 0.9961076074103271 Centerline is valid? [True, True] Translation: X:116.07, Y:-50.40, Z:-5.61 [[ 7.13352960e-01 6.99211546e-01 4.72310062e-02 1.16073924e+02] [-6.97710773e-01 7.14914771e-01 -4.57880686e-02 -5.04039799e+01] [-6.57816902e-02 -2.90527528e-04 9.97833997e-01 -5.60600728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06864 meters Centerline goodness [0,1] 0.9966515658853654 Centerline is valid? [True, True] Translation: X:116.10, Y:-50.43, Z:-5.61 [[ 7.12467801e-01 7.00089647e-01 4.75827618e-02 1.16095292e+02] [-6.98565167e-01 7.14054879e-01 -4.61772326e-02 -5.04289739e+01] [-6.63049057e-02 -3.39868563e-04 9.97799351e-01 -5.60851861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09863999999999 meters Centerline goodness [0,1] 0.9965065931903169 Centerline is valid? [True, True] Translation: X:116.12, Y:-50.45, Z:-5.61 [[ 7.12020748e-01 7.00489004e-01 4.83901791e-02 1.16118028e+02] [-6.98910024e-01 7.13663109e-01 -4.70079303e-02 -5.04525335e+01] [-6.74628239e-02 -3.49759500e-04 9.97721727e-01 -5.60895029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12863999999999 meters Centerline goodness [0,1] 0.9972918410556896 Centerline is valid? [True, True] Translation: X:116.14, Y:-50.48, Z:-5.61 [[ 7.11218753e-01 7.01264875e-01 4.89434509e-02 1.16140289e+02] [-6.99648409e-01 7.12900707e-01 -4.75887197e-02 -5.04761408e+01] [-6.82641183e-02 -3.97217698e-04 9.97667205e-01 -5.61069763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15863999999999 meters Centerline goodness [0,1] 0.9969938892174256 Centerline is valid? [True, True] Translation: X:116.16, Y:-50.50, Z:-5.61 [[ 7.11154259e-01 7.01325267e-01 4.90151999e-02 1.16161776e+02] [-6.99701089e-01 7.12841309e-01 -4.77038219e-02 -5.05020647e+01] [-6.83959548e-02 -3.71212643e-04 9.97658186e-01 -5.61200855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18863999999999 meters Centerline goodness [0,1] 0.9964099537720075 Centerline is valid? [True, True] Translation: X:116.18, Y:-50.53, Z:-5.61 [[ 7.10748819e-01 7.01695256e-01 4.95972173e-02 1.16184226e+02] [-7.00029639e-01 7.12477106e-01 -4.83205838e-02 -5.05264570e+01] [-6.92432063e-02 -3.75724267e-04 9.97599738e-01 -5.61379210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21864 meters Centerline goodness [0,1] 0.9972457210308873 Centerline is valid? [True, True] Translation: X:116.21, Y:-50.55, Z:-5.62 [[ 7.09940956e-01 7.02495466e-01 4.98393350e-02 1.16206312e+02] [-7.00811980e-01 7.11688095e-01 -4.86068405e-02 -5.05510036e+01] [-6.96161464e-02 -4.20016224e-04 9.97573765e-01 -5.61583974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24864 meters Centerline goodness [0,1] 0.9965057335498794 Centerline is valid? [True, True] Translation: X:116.23, Y:-50.57, Z:-5.62 [[ 7.08654703e-01 7.03733564e-01 5.06713257e-02 1.16229097e+02] [-7.01993010e-01 7.10463796e-01 -4.94672495e-02 -5.05733164e+01] [-7.08119062e-02 -5.15717473e-04 9.97489553e-01 -5.61685337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27864 meters Centerline goodness [0,1] 0.9964556463522694 Centerline is valid? [True, True] Translation: X:116.25, Y:-50.60, Z:-5.62 [[ 7.07298780e-01 7.05065385e-01 5.11002800e-02 1.16252015e+02] [-7.03295432e-01 7.09142027e-01 -4.99311497e-02 -5.05957978e+01] [-7.14420815e-02 -6.22352224e-04 9.97444556e-01 -5.61751231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30864 meters Centerline goodness [0,1] 0.9965573206118133 Centerline is valid? [True, True] Translation: X:116.28, Y:-50.62, Z:-5.62 [[ 7.04275514e-01 7.07992949e-01 5.23639723e-02 1.16275586e+02] [-7.06138875e-01 7.06218917e-01 -5.12125976e-02 -5.06176716e+01] [-7.32385859e-02 -9.08458021e-04 9.97314035e-01 -5.61954948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33864 meters Centerline goodness [0,1] 0.995771878072763 Centerline is valid? [True, True] Translation: X:116.30, Y:-50.64, Z:-5.62 [[ 7.02685960e-01 7.09596735e-01 5.20087894e-02 1.16300092e+02] [-7.07768601e-01 7.04607269e-01 -5.09136837e-02 -5.06403144e+01] [-7.27739548e-02 -1.03385736e-03 9.97347925e-01 -5.62123371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36864 meters Centerline goodness [0,1] 0.9962624176256516 Centerline is valid? [True, True] Translation: X:116.32, Y:-50.66, Z:-5.62 [[ 7.00420489e-01 7.11777546e-01 5.27623354e-02 1.16324820e+02] [-7.09898372e-01 7.02403859e-01 -5.17022293e-02 -5.06610809e+01] [-7.38609539e-02 -1.24259526e-03 9.97267775e-01 -5.62220540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39864 meters Centerline goodness [0,1] 0.9967506892477354 Centerline is valid? [True, True] Translation: X:116.35, Y:-50.68, Z:-5.62 [[ 6.99173903e-01 7.12981602e-01 5.30385467e-02 1.16349230e+02] [-7.11082643e-01 7.01181452e-01 -5.20196724e-02 -5.06828256e+01] [-7.42787145e-02 -1.34399259e-03 9.97236615e-01 -5.62321214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42864 meters Centerline goodness [0,1] 0.9968041693298589 Centerline is valid? [True, True] Translation: X:116.37, Y:-50.70, Z:-5.62 [[ 6.98405815e-01 7.13702291e-01 5.34636110e-02 1.16372991e+02] [-7.11771292e-01 7.00447773e-01 -5.24837607e-02 -5.07048859e+01] [-7.49062476e-02 -1.39889978e-03 9.97189599e-01 -5.62496931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45863999999999 meters Centerline goodness [0,1] 0.9968426245683276 Centerline is valid? [True, True] Translation: X:116.40, Y:-50.73, Z:-5.63 [[ 6.98069509e-01 7.14058084e-01 5.31037944e-02 1.16399907e+02] [-7.12150357e-01 7.00085076e-01 -5.21800386e-02 -5.07253136e+01] [-7.44367523e-02 -1.39259214e-03 9.97224764e-01 -5.62663908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48863999999999 meters Centerline goodness [0,1] 0.996802125356686 Centerline is valid? [True, True] Translation: X:116.43, Y:-50.74, Z:-5.63 [[ 6.97473892e-01 7.14658179e-01 5.28569577e-02 1.16426906e+02] [-7.12765920e-01 6.99472439e-01 -5.19908763e-02 -5.07445468e+01] [-7.41276901e-02 -1.41235924e-03 9.97247758e-01 -5.62886799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51863999999999 meters Centerline goodness [0,1] 0.996752607754379 Centerline is valid? [True, True] Translation: X:116.45, Y:-50.77, Z:-5.63 [[ 6.96866537e-01 7.15236987e-01 5.30384973e-02 1.16451766e+02] [-7.13329330e-01 6.98880516e-01 -5.22234729e-02 -5.07663608e+01] [-7.44197318e-02 -1.44112508e-03 9.97225966e-01 -5.63020021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54863999999999 meters Centerline goodness [0,1] 0.9971435606993352 Centerline is valid? [True, True] Translation: X:116.47, Y:-50.79, Z:-5.63 [[ 6.96961293e-01 7.15179405e-01 5.25678101e-02 1.16474877e+02] [-7.13301623e-01 6.98939550e-01 -5.18102241e-02 -5.07882556e+01] [-7.37953268e-02 -1.38698348e-03 9.97272443e-01 -5.63203300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57864 meters Centerline goodness [0,1] 0.9974915154198023 Centerline is valid? [True, True] Translation: X:116.50, Y:-50.81, Z:-5.63 [[ 6.96572797e-01 7.15456883e-01 5.39238999e-02 1.16498184e+02] [-7.13477984e-01 6.98655447e-01 -5.31952355e-02 -5.08104229e+01] [-7.57331238e-02 -1.41916140e-03 9.97127113e-01 -5.63436167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60864 meters Centerline goodness [0,1] 0.9973427812223207 Centerline is valid? [True, True] Translation: X:116.52, Y:-50.83, Z:-5.64 [[ 6.96409867e-01 7.15552337e-01 5.47553714e-02 1.16523134e+02] [-7.13508372e-01 6.98557689e-01 -5.40643966e-02 -5.08313132e+01] [-7.69356910e-02 -1.41743664e-03 9.97035050e-01 -5.63570223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63864 meters Centerline goodness [0,1] 0.997491145218418 Centerline is valid? [True, True] Translation: X:116.55, Y:-50.85, Z:-5.64 [[ 6.96111019e-01 7.15786991e-01 5.54836332e-02 1.16547247e+02] [-7.13685075e-01 6.98317224e-01 -5.48331024e-02 -5.08525803e+01] [-7.79939980e-02 -1.42791414e-03 9.96952806e-01 -5.63789675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66864 meters Centerline goodness [0,1] 0.9974796145292809 Centerline is valid? [True, True] Translation: X:116.57, Y:-50.87, Z:-5.64 [[ 6.96723197e-01 7.15185065e-01 5.55617665e-02 1.16572470e+02] [-7.13071439e-01 6.98933874e-01 -5.49596481e-02 -5.08734331e+01] [-7.81403202e-02 -1.32784704e-03 9.96941486e-01 -5.63894621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69864 meters Centerline goodness [0,1] 0.9978360300988541 Centerline is valid? [True, True] Translation: X:116.60, Y:-50.89, Z:-5.64 [[ 6.96688477e-01 7.15258621e-01 5.50478916e-02 1.16596427e+02] [-7.13180435e-01 6.98858671e-01 -5.44997748e-02 -5.08944971e+01] [-7.74521301e-02 -1.28971420e-03 9.96995238e-01 -5.64083880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72864 meters Centerline goodness [0,1] 0.9977890237311453 Centerline is valid? [True, True] Translation: X:116.62, Y:-50.92, Z:-5.64 [[ 6.96255565e-01 7.15717489e-01 5.45588137e-02 1.16620718e+02] [-7.13673818e-01 6.98388716e-01 -5.40636980e-02 -5.09157819e+01] [-7.67975940e-02 -1.29504635e-03 9.97045863e-01 -5.64139411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75864 meters Centerline goodness [0,1] 0.9992141453831042 Centerline is valid? [True, True] Translation: X:116.65, Y:-50.94, Z:-5.64 [[ 6.97200528e-01 7.14934970e-01 5.27201399e-02 1.16645639e+02] [-7.13021251e-01 6.99190031e-01 -5.22876351e-02 -5.09359202e+01] [-7.42436551e-02 -1.13561323e-03 9.97239485e-01 -5.64319111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78864 meters Centerline goodness [0,1] 0.9995580001964444 Centerline is valid? [True, True] Translation: X:116.67, Y:-50.96, Z:-5.64 [[ 6.97650783e-01 7.14515028e-01 5.24562653e-02 1.16670186e+02] [-7.12616748e-01 6.99619287e-01 -5.20597976e-02 -5.09575929e+01] [-7.38969227e-02 -1.06165466e-03 9.97265320e-01 -5.64434181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81864 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:116.70, Y:-50.98, Z:-5.65 [[ 6.98731219e-01 7.13525686e-01 5.15342513e-02 1.16696598e+02] [-7.11688865e-01 7.00628467e-01 -5.11733295e-02 -5.09764319e+01] [-7.26198485e-02 -9.19949898e-04 9.97359269e-01 -5.64646157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84863999999999 meters Centerline goodness [0,1] 0.999705304518664 Centerline is valid? [True, True] Translation: X:116.72, Y:-51.00, Z:-5.65 [[ 6.97953795e-01 7.14312037e-01 5.11743414e-02 1.16721957e+02] [-7.12499427e-01 6.99826686e-01 -5.08642957e-02 -5.09984267e+01] [-7.21461484e-02 -9.60760709e-04 9.97393608e-01 -5.64874195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87863999999999 meters Centerline goodness [0,1] 0.9993129845912259 Centerline is valid? [True, True] Translation: X:116.75, Y:-51.02, Z:-5.65 [[ 6.98559447e-01 7.13677855e-01 5.17553677e-02 1.16747399e+02] [-7.11818162e-01 7.00473529e-01 -5.14950315e-02 -5.10192829e+01] [-7.30041287e-02 -8.68069983e-04 9.97331261e-01 -5.65009660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90863999999999 meters Centerline goodness [0,1] 0.9989678560896491 Centerline is valid? [True, True] Translation: X:116.78, Y:-51.04, Z:-5.65 [[ 6.99991851e-01 7.12250656e-01 5.20616177e-02 1.16775331e+02] [-7.10360979e-01 7.01924877e-01 -5.18531249e-02 -5.10382268e+01] [-7.34757669e-02 -6.85776835e-04 9.97296767e-01 -5.65160477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93863999999999 meters Centerline goodness [0,1] 0.9993125797898458 Centerline is valid? [True, True] Translation: X:116.80, Y:-51.06, Z:-5.65 [[ 7.00653624e-01 7.11607635e-01 5.19526044e-02 1.16801327e+02] [-7.09720209e-01 7.02576856e-01 -5.17975585e-02 -5.10594738e+01] [-7.33602356e-02 -5.79666180e-04 9.97305339e-01 -5.65386410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96864 meters Centerline goodness [0,1] 0.9987734877103469 Centerline is valid? [True, True] Translation: X:116.83, Y:-51.08, Z:-5.66 [[ 7.04674202e-01 7.07720315e-01 5.06579207e-02 1.16828515e+02] [-7.05912352e-01 7.06492702e-01 -5.05550559e-02 -5.10779337e+01] [-7.15682913e-02 -1.35208267e-04 9.97435693e-01 -5.65606964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99864 meters Centerline goodness [0,1] 0.9983809243450104 Centerline is valid? [True, True] Translation: X:116.85, Y:-51.10, Z:-5.66 [[ 7.06732403e-01 7.05641840e-01 5.09794541e-02 1.16853339e+02] [-7.03803062e-01 7.08568687e-01 -5.09083997e-02 -5.10986306e+01] [-7.20455417e-02 9.91196791e-05 9.97401339e-01 -5.65803421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02864 meters Centerline goodness [0,1] 0.9981344199518877 Centerline is valid? [True, True] Translation: X:116.88, Y:-51.12, Z:-5.66 [[ 7.11823498e-01 7.00485405e-01 5.12591983e-02 1.16879865e+02] [-6.98611968e-01 7.13666444e-01 -5.12008263e-02 -5.11173892e+01] [-7.24474013e-02 6.35661857e-04 9.97372032e-01 -5.65920518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05864 meters Centerline goodness [0,1] 0.997781174498299 Centerline is valid? [True, True] Translation: X:116.90, Y:-51.14, Z:-5.66 [[ 7.13746485e-01 6.98519196e-01 5.13506447e-02 1.16903442e+02] [-6.96633031e-01 7.15590817e-01 -5.13050039e-02 -5.11396167e+01] [-7.25835798e-02 8.46210993e-04 9.97361974e-01 -5.65934643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08864 meters Centerline goodness [0,1] 0.9978871855345912 Centerline is valid? [True, True] Translation: X:116.93, Y:-51.16, Z:-5.66 [[ 7.15375922e-01 6.96816629e-01 5.18061460e-02 1.16926617e+02] [-6.94891395e-01 7.17248569e-01 -5.17729590e-02 -5.11620562e+01] [-7.32341428e-02 1.03748320e-03 9.97314235e-01 -5.66140549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11864 meters Centerline goodness [0,1] 0.9975932020236751 Centerline is valid? [True, True] Translation: X:116.95, Y:-51.18, Z:-5.66 [[ 7.16329806e-01 6.95912793e-01 5.07640954e-02 1.16949995e+02] [-6.94061175e-01 7.18125434e-01 -5.07439341e-02 -5.11847818e+01] [-7.17683410e-02 1.11600475e-03 9.97420704e-01 -5.66122817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14864 meters Centerline goodness [0,1] 0.9973971122679501 Centerline is valid? [True, True] Translation: X:116.97, Y:-51.21, Z:-5.66 [[ 7.15901746e-01 6.96349097e-01 5.08195478e-02 1.16972970e+02] [-6.94493439e-01 7.17702417e-01 -5.08143958e-02 -5.12081193e+01] [-7.18578709e-02 1.08427213e-03 9.97414292e-01 -5.66391913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17864 meters Centerline goodness [0,1] 0.997588107895255 Centerline is valid? [True, True] Translation: X:116.79, Y:-51.53, Z:-3.86 [[ 7.45709918e-01 -6.66218781e-01 -8.32191906e-03 1.16792053e+02] [-6.66130085e-01 -7.45750967e-01 1.12341217e-02 -5.15254164e+01] [-1.36904621e-02 -2.83391535e-03 -9.99902265e-01 -3.86405281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20863999999999 meters Centerline goodness [0,1] 0.9972031403336604 Centerline is valid? [True, True] Translation: X:116.98, Y:-51.24, Z:-5.66 [[ 7.62161662e-01 6.45129090e-01 5.40190535e-02 1.16981240e+02] [-6.43425664e-01 7.64072994e-01 -4.68601521e-02 -5.12400391e+01] [-7.15053472e-02 9.57766022e-04 9.97439757e-01 -5.66482480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23863999999999 meters Centerline goodness [0,1] 0.9972435518802913 Centerline is valid? [True, True] Translation: X:117.01, Y:-51.26, Z:-5.67 [[ 7.61727802e-01 6.45668786e-01 5.36896121e-02 1.17005028e+02] [-6.43985155e-01 7.63617025e-01 -4.66064248e-02 -5.12623635e+01] [-7.10906156e-02 9.26096347e-04 9.97469431e-01 -5.66609705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26863999999999 meters Centerline goodness [0,1] 0.9971054309964186 Centerline is valid? [True, True] Translation: X:117.03, Y:-51.28, Z:-5.67 [[ 7.61198436e-01 6.46320529e-01 5.33546189e-02 1.17028972e+02] [-6.44658575e-01 7.63065540e-01 -4.63282186e-02 -5.12846607e+01] [-7.06559498e-02 8.69454980e-04 9.97500366e-01 -5.66665425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29863999999999 meters Centerline goodness [0,1] 0.9972010802848024 Centerline is valid? [True, True] Translation: X:117.05, Y:-51.31, Z:-5.67 [[ 7.61142416e-01 6.46350419e-01 5.37899499e-02 1.17051581e+02] [-6.44660313e-01 7.63040205e-01 -4.67196566e-02 -5.13079356e+01] [-7.12411640e-02 8.84066369e-04 9.97458728e-01 -5.66907189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32864 meters Centerline goodness [0,1] 0.9974476022186227 Centerline is valid? [True, True] Translation: X:117.07, Y:-51.33, Z:-5.67 [[ 7.61594198e-01 6.45784836e-01 5.41869273e-02 1.17073963e+02] [-6.44067379e-01 7.63518852e-01 -4.70762516e-02 -5.13305355e+01] [-7.17738700e-02 9.52967788e-04 9.97420475e-01 -5.67120002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35864 meters Centerline goodness [0,1] 0.9973466981132075 Centerline is valid? [True, True] Translation: X:117.10, Y:-51.35, Z:-5.67 [[ 7.61868106e-01 6.45502754e-01 5.36952770e-02 1.17096674e+02] [-6.43814841e-01 7.63757314e-01 -4.66606360e-02 -5.13532545e+01] [-7.11297296e-02 9.79434121e-04 9.97466592e-01 -5.67243575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38864 meters Centerline goodness [0,1] 0.9971472136146771 Centerline is valid? [True, True] Translation: X:117.12, Y:-51.38, Z:-5.67 [[ 7.60805821e-01 6.46882134e-01 5.21345216e-02 1.17118798e+02] [-6.45293501e-01 7.62589542e-01 -4.53154341e-02 -5.13765005e+01] [-6.90709856e-02 8.34178083e-04 9.97611399e-01 -5.67275921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41864 meters Centerline goodness [0,1] 0.9968057398397956 Centerline is valid? [True, True] Translation: X:117.14, Y:-51.40, Z:-5.67 [[ 7.59376611e-01 6.48563394e-01 5.20834605e-02 1.17142396e+02] [-6.46981033e-01 7.61160331e-01 -4.52823853e-02 -5.13986538e+01] [-6.90123615e-02 6.89373250e-04 9.97615567e-01 -5.67444480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44864 meters Centerline goodness [0,1] 0.9967530870271069 Centerline is valid? [True, True] Translation: X:117.17, Y:-51.42, Z:-5.67 [[ 7.57462539e-01 6.50776473e-01 5.23496418e-02 1.17165791e+02] [-6.49182265e-01 7.59269209e-01 -4.55264233e-02 -5.14208971e+01] [-6.93749963e-02 5.00101121e-04 9.97590527e-01 -5.67479385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47864 meters Centerline goodness [0,1] 0.9972002554152954 Centerline is valid? [True, True] Translation: X:117.19, Y:-51.44, Z:-5.68 [[ 7.53484797e-01 6.55327382e-01 5.29781350e-02 1.17189287e+02] [-6.53703860e-01 7.55344962e-01 -4.61004571e-02 -5.14449325e+01] [-7.02276592e-02 1.03982211e-04 9.97530985e-01 -5.67665618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50864 meters Centerline goodness [0,1] 0.997200530425814 Centerline is valid? [True, True] Translation: X:117.21, Y:-51.47, Z:-5.68 [[ 7.51814953e-01 6.57210966e-01 5.33668703e-02 1.17213867e+02] [-6.55564834e-01 7.53706670e-01 -4.64865917e-02 -5.14668489e+01] [-7.07744639e-02 -3.61287246e-05 9.97492343e-01 -5.67793745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53864 meters Centerline goodness [0,1] 0.9976416253132216 Centerline is valid? [True, True] Translation: X:117.24, Y:-51.49, Z:-5.68 [[ 7.50173111e-01 6.58996741e-01 5.44389410e-02 1.17237931e+02] [-6.57285602e-01 7.52145772e-01 -4.74591906e-02 -5.14882301e+01] [-7.22214712e-02 -1.79323426e-04 9.97388604e-01 -5.67887681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56864 meters Centerline goodness [0,1] 0.9974743723072352 Centerline is valid? [True, True] Translation: X:117.26, Y:-51.51, Z:-5.68 [[ 7.47573563e-01 6.61991423e-01 5.38620802e-02 1.17263965e+02] [-6.60321760e-01 7.49511284e-01 -4.69894578e-02 -5.15085953e+01] [-7.14768549e-02 -4.38227166e-04 9.97442162e-01 -5.67931426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59863999999999 meters Centerline goodness [0,1] 0.9975924925072471 Centerline is valid? [True, True] Translation: X:117.29, Y:-51.53, Z:-5.68 [[ 7.45701567e-01 6.64067057e-01 5.42597155e-02 1.17288744e+02] [-6.62375608e-01 7.47672766e-01 -4.73707614e-02 -5.15283936e+01] [-7.20258736e-02 -6.15861008e-04 9.97402574e-01 -5.68179276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62863999999999 meters Centerline goodness [0,1] 0.9973977512643001 Centerline is valid? [True, True] Translation: X:117.31, Y:-51.55, Z:-5.68 [[ 7.45030005e-01 6.64857444e-01 5.38040154e-02 1.17314955e+02] [-6.63195509e-01 7.46969960e-01 -4.69850622e-02 -5.15475933e+01] [-7.14283516e-02 -6.77300317e-04 9.97445503e-01 -5.68295930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65863999999999 meters Centerline goodness [0,1] 0.9974442150791311 Centerline is valid? [True, True] Translation: X:117.34, Y:-51.57, Z:-5.68 [[ 7.44160982e-01 6.65864319e-01 5.33773474e-02 1.17343108e+02] [-6.64230227e-01 7.46072474e-01 -4.66269158e-02 -5.15653560e+01] [-7.08705692e-02 -7.56916130e-04 9.97485233e-01 -5.68424017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68863999999999 meters Centerline goodness [0,1] 0.997593556625086 Centerline is valid? [True, True] Translation: X:117.37, Y:-51.59, Z:-5.69 [[ 7.44760313e-01 6.65166879e-01 5.37131236e-02 1.17369691e+02] [-6.63509007e-01 7.46694422e-01 -4.69386614e-02 -5.15850414e+01] [-7.13293326e-02 -6.81089195e-04 9.97452587e-01 -5.68583609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71864 meters Centerline goodness [0,1] 0.997642088716412 Centerline is valid? [True, True] Translation: X:117.40, Y:-51.60, Z:-5.69 [[ 7.45216721e-01 6.64610002e-01 5.42732323e-02 1.17396089e+02] [-6.62914690e-01 7.47190176e-01 -4.74442379e-02 -5.16038248e+01] [-7.20843410e-02 -6.22283521e-04 9.97398346e-01 -5.68679253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74864 meters Centerline goodness [0,1] 0.997348131414821 Centerline is valid? [True, True] Translation: X:117.43, Y:-51.62, Z:-5.69 [[ 7.46861094e-01 6.62795351e-01 5.38593438e-02 1.17425600e+02] [-6.61120244e-01 7.48800463e-01 -4.70944771e-02 -5.16195826e+01] [-7.15439021e-02 -4.34469821e-04 9.97437357e-01 -5.68867839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77864 meters Centerline goodness [0,1] 0.9973012757605496 Centerline is valid? [True, True] Translation: X:117.45, Y:-51.64, Z:-5.69 [[ 7.48155963e-01 6.61446556e-01 5.24510098e-02 1.17451598e+02] [-6.59853882e-01 7.49992247e-01 -4.58746605e-02 -5.16386435e+01] [-6.96814868e-02 -2.88601635e-04 9.97569249e-01 -5.68950893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80864 meters Centerline goodness [0,1] 0.9971493168190307 Centerline is valid? [True, True] Translation: X:117.48, Y:-51.66, Z:-5.69 [[ 7.49971335e-01 6.59451229e-01 5.16437188e-02 1.17477881e+02] [-6.57901732e-01 7.51747344e-01 -4.51801103e-02 -5.16579462e+01] [-6.86171077e-02 -9.27044435e-05 9.97643064e-01 -5.69132469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83864 meters Centerline goodness [0,1] 0.9970067226066048 Centerline is valid? [True, True] Translation: X:117.50, Y:-51.67, Z:-5.69 [[ 7.53524603e-01 6.55388577e-01 5.16380381e-02 1.17504900e+02] [-6.53829200e-01 7.55291819e-01 -4.51845663e-02 -5.16747248e+01] [-6.86152363e-02 2.85225257e-04 9.97643157e-01 -5.69272336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86864 meters Centerline goodness [0,1] 0.9970330811452307 Centerline is valid? [True, True] Translation: X:117.53, Y:-51.69, Z:-5.69 [[ 7.54915653e-01 6.53712534e-01 5.25573997e-02 1.17530478e+02] [-6.52092588e-01 7.56742837e-01 -4.59949594e-02 -5.16927228e+01] [-6.98399172e-02 4.50024089e-04 9.97558110e-01 -5.69372759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89864 meters Centerline goodness [0,1] 0.996905849418005 Centerline is valid? [True, True] Translation: X:117.56, Y:-51.71, Z:-5.70 [[ 7.57427628e-01 6.50844623e-01 5.20063884e-02 1.17556404e+02] [-6.49251490e-01 7.59210624e-01 -4.55162650e-02 -5.17097654e+01] [-6.91078190e-02 7.10051470e-04 9.97608944e-01 -5.69593637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92864 meters Centerline goodness [0,1] 0.996905849418005 Centerline is valid? [True, True] Translation: X:117.58, Y:-51.73, Z:-5.70 [[ 7.57387585e-01 6.50891307e-01 5.20053138e-02 1.17579618e+02] [-6.49298199e-01 7.59170604e-01 -4.55174928e-02 -5.17300560e+01] [-6.91078459e-02 7.07427342e-04 9.97608944e-01 -5.69725220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95863999999999 meters Centerline goodness [0,1] 0.9964088941361668 Centerline is valid? [True, True] Translation: X:117.60, Y:-51.75, Z:-5.70 [[ 7.58541429e-01 6.49550644e-01 5.19505631e-02 1.17602975e+02] [-6.47957358e-01 7.60317872e-01 -4.54752191e-02 -5.17501898e+01] [-6.90373994e-02 8.33088028e-04 9.97613725e-01 -5.69908808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98863999999999 meters Centerline goodness [0,1] 0.9967559596952568 Centerline is valid? [True, True] Translation: X:117.63, Y:-51.77, Z:-5.70 [[ 7.60160643e-01 6.47683835e-01 5.15892149e-02 1.17626831e+02] [-6.46107979e-01 7.61908557e-01 -4.51644756e-02 -5.17705979e+01] [-6.85585651e-02 1.00005347e-03 9.97646592e-01 -5.70088080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01863999999999 meters Centerline goodness [0,1] 0.9964171779141104 Centerline is valid? [True, True] Translation: X:117.65, Y:-51.79, Z:-5.70 [[ 7.62586978e-01 6.44834719e-01 5.14712086e-02 1.17650518e+02] [-6.43259480e-01 7.64321013e-01 -4.50625153e-02 -5.17883851e+01] [-6.83984007e-02 1.25474446e-03 9.97657298e-01 -5.70085487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04863999999999 meters Centerline goodness [0,1] 0.9961670761670761 Centerline is valid? [True, True] Translation: X:117.67, Y:-51.81, Z:-5.70 [[ 7.63994213e-01 6.43217839e-01 5.08296489e-02 1.17674232e+02] [-6.41678324e-01 7.65681989e-01 -4.44974127e-02 -5.18078788e+01] [-6.75408764e-02 1.37948188e-03 9.97715554e-01 -5.70129579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07864 meters Centerline goodness [0,1] 0.996569300137228 Centerline is valid? [True, True] Translation: X:117.70, Y:-51.83, Z:-5.70 [[ 7.65513150e-01 6.41395528e-01 5.10038637e-02 1.17696079e+02] [-6.39842353e-01 7.67208851e-01 -4.46356620e-02 -5.18266722e+01] [-6.77597296e-02 1.53475402e-03 9.97700488e-01 -5.70270560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10864 meters Centerline goodness [0,1] 0.9964692036092585 Centerline is valid? [True, True] Translation: X:117.72, Y:-51.85, Z:-5.70 [[ 7.66204959e-01 6.40551128e-01 5.12270743e-02 1.17718215e+02] [-6.38984150e-01 7.67913864e-01 -4.48057280e-02 -5.18469364e+01] [-6.80383402e-02 1.59708248e-03 9.97681429e-01 -5.70385905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13864 meters Centerline goodness [0,1] 0.9974971781910978 Centerline is valid? [True, True] Translation: X:117.74, Y:-51.87, Z:-5.71 [[ 7.67466757e-01 6.39076574e-01 5.07534210e-02 1.17740860e+02] [-6.37535498e-01 7.69141217e-01 -4.43878008e-02 -5.18666684e+01] [-6.74037516e-02 1.70905405e-03 9.97724317e-01 -5.70606690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16864 meters Centerline goodness [0,1] 0.9981857409041875 Centerline is valid? [True, True] Translation: X:117.76, Y:-51.89, Z:-5.71 [[ 7.67953287e-01 6.38456203e-01 5.11998595e-02 1.17763556e+02] [-6.36886720e-01 7.69656105e-01 -4.47748214e-02 -5.18869872e+01] [-6.79930469e-02 1.77646069e-03 9.97684213e-01 -5.70828930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19864 meters Centerline goodness [0,1] 0.9993125797898458 Centerline is valid? [True, True] Translation: X:117.79, Y:-51.91, Z:-5.71 [[ 7.69168008e-01 6.36904573e-01 5.22794511e-02 1.17785258e+02] [-6.35264392e-01 7.70940166e-01 -4.57210359e-02 -5.19091935e+01] [-6.94242656e-02 1.95588436e-03 9.97585308e-01 -5.70970507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22864 meters Centerline goodness [0,1] 0.9995581520938681 Centerline is valid? [True, True] Translation: X:117.81, Y:-51.93, Z:-5.71 [[ 7.70045661e-01 6.35801252e-01 5.27868122e-02 1.17808549e+02] [-6.34125911e-01 7.71850008e-01 -4.61724412e-02 -5.19309987e+01] [-7.00999974e-02 2.08140267e-03 9.97537798e-01 -5.71074235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:117.83, Y:-51.95, Z:-5.71 [[ 7.70905678e-01 6.34725421e-01 5.31796520e-02 1.17831588e+02] [-6.33021538e-01 7.72734608e-01 -4.65291125e-02 -5.19527635e+01] [-7.06269681e-02 2.20569188e-03 9.97500359e-01 -5.71116194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:-51.98, Z:-5.71 [[ 7.71547153e-01 6.33969450e-01 5.28935440e-02 1.17852504e+02] [-6.32281126e-01 7.73354749e-01 -4.62926514e-02 -5.19778463e+01] [-7.02536003e-02 2.27337386e-03 9.97526573e-01 -5.71304022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31864 meters Centerline goodness [0,1] 0.9997542635277928 Centerline is valid? [True, True] Translation: X:117.87, Y:-52.00, Z:-5.71 [[ 7.70918694e-01 6.34762423e-01 5.25455368e-02 1.17874519e+02] [-6.33097344e-01 7.72704244e-01 -4.59989613e-02 -5.20011006e+01] [-6.98005714e-02 2.19501937e-03 9.97558551e-01 -5.71451365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34863999999999 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:117.90, Y:-52.02, Z:-5.72 [[ 7.69870491e-01 6.36077492e-01 5.20081945e-02 1.17898008e+02] [-6.34448578e-01 7.71622427e-01 -4.55393590e-02 -5.20235571e+01] [-6.90972505e-02 2.06288367e-03 9.97607796e-01 -5.71676128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:-52.05, Z:-5.72 [[ 7.67351448e-01 6.39105286e-01 5.21170757e-02 1.17920140e+02] [-6.37475717e-01 7.69117145e-01 -4.56456649e-02 -5.20465784e+01] [-6.92565222e-02 1.80289687e-03 9.97597255e-01 -5.71856249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:-52.07, Z:-5.72 [[ 7.65518506e-01 6.41180506e-01 5.35628174e-02 1.17942868e+02] [-6.39463387e-01 7.67388280e-01 -4.69233826e-02 -5.20697701e+01] [-7.11898365e-02 1.66925716e-03 9.97461388e-01 -5.72048724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43863999999999 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:117.97, Y:-52.09, Z:-5.72 [[ 7.64557942e-01 6.42297789e-01 5.38952934e-02 1.17966414e+02] [-6.40561198e-01 7.66453548e-01 -4.72261593e-02 -5.20924194e+01] [-7.16414965e-02 1.58390146e-03 9.97429189e-01 -5.72183081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:-52.11, Z:-5.72 [[ 7.62163395e-01 6.45221891e-01 5.28741002e-02 1.17990456e+02] [-6.43556704e-01 7.63994135e-01 -4.63436156e-02 -5.21135908e+01] [-7.02974177e-02 1.29392576e-03 9.97525237e-01 -5.72147902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:-52.13, Z:-5.72 [[ 7.61289368e-01 6.46247626e-01 5.29386887e-02 1.18016029e+02] [-6.44579829e-01 7.63126817e-01 -4.64144971e-02 -5.21339156e+01] [-7.03941915e-02 1.21165228e-03 9.97518516e-01 -5.72362554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:118.04, Y:-52.15, Z:-5.73 [[ 7.60684248e-01 6.46919051e-01 5.34342161e-02 1.18041546e+02] [-6.45220374e-01 7.62557779e-01 -4.68647178e-02 -5.21546357e+01] [-7.10643559e-02 1.17240776e-03 9.97471044e-01 -5.72606017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:-52.18, Z:-5.73 [[ 7.60634369e-01 6.46954743e-01 5.37114164e-02 1.18065989e+02] [-6.45237375e-01 7.62527476e-01 -4.71230173e-02 -5.21753403e+01] [-7.14428904e-02 1.18677323e-03 9.97443986e-01 -5.72747588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:-52.20, Z:-5.73 [[ 7.61280376e-01 6.46135926e-01 5.44109774e-02 1.18091382e+02] [-6.44370516e-01 7.63221268e-01 -4.77486654e-02 -5.21952561e+01] [-7.23797433e-02 1.28929239e-03 9.97376313e-01 -5.72854775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:-52.21, Z:-5.73 [[ 7.63645963e-01 6.43325414e-01 5.45642194e-02 1.18117486e+02] [-6.41541984e-01 7.65591241e-01 -4.78950487e-02 -5.22145157e+01] [-7.25859905e-02 1.56962311e-03 9.97360923e-01 -5.72922774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:118.14, Y:-52.24, Z:-5.73 [[ 7.65652097e-01 6.40945473e-01 5.44588502e-02 1.18141529e+02] [-6.39162059e-01 7.67584299e-01 -4.78142869e-02 -5.22357803e+01] [-7.24481091e-02 1.80107819e-03 9.97370557e-01 -5.73078572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:-52.26, Z:-5.73 [[ 7.67552071e-01 6.38694388e-01 5.41599314e-02 1.18165100e+02] [-6.36924089e-01 7.69457882e-01 -4.75633489e-02 -5.22576657e+01] [-7.20522302e-02 2.01158194e-03 9.97398832e-01 -5.73321906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:-52.28, Z:-5.73 [[ 7.69766871e-01 6.36196852e-01 5.20819460e-02 1.18189581e+02] [-6.34553493e-01 7.71523731e-01 -4.57492833e-02 -5.22780419e+01] [-6.92880073e-02 2.16750187e-03 9.97594343e-01 -5.73389465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73863999999999 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:118.21, Y:-52.30, Z:-5.73 [[ 7.72511697e-01 6.32947343e-01 5.10229226e-02 1.18213534e+02] [-6.31362403e-01 7.74191072e-01 -4.48296744e-02 -5.22990096e+01] [-6.78763145e-02 2.41749287e-03 9.97690815e-01 -5.73499484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76863999999999 meters Centerline goodness [0,1] 0.9994599106397604 Centerline is valid? [True, True] Translation: X:118.24, Y:-52.32, Z:-5.74 [[ 7.73492469e-01 6.31723030e-01 5.13362724e-02 1.18236830e+02] [-6.30115110e-01 7.75189987e-01 -4.51157718e-02 -5.23210961e+01] [-6.82960364e-02 2.54894881e-03 9.97661844e-01 -5.73690100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79863999999999 meters Centerline goodness [0,1] 0.9997543601080816 Centerline is valid? [True, True] Translation: X:118.26, Y:-52.35, Z:-5.74 [[ 7.75710290e-01 6.28846765e-01 5.31534777e-02 1.18256557e+02] [-6.27115445e-01 7.77523815e-01 -4.67218983e-02 -5.23464840e+01] [-7.07090093e-02 2.90929045e-03 9.97492743e-01 -5.73815408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82864 meters Centerline goodness [0,1] 0.9996071884513404 Centerline is valid? [True, True] Translation: X:118.28, Y:-52.37, Z:-5.74 [[ 7.76313809e-01 6.28152128e-01 5.25525794e-02 1.18278842e+02] [-6.26457676e-01 7.78084978e-01 -4.62011581e-02 -5.23700722e+01] [-6.99117284e-02 2.94463030e-03 9.97548836e-01 -5.73956956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85864 meters Centerline goodness [0,1] 0.9996556134999508 Centerline is valid? [True, True] Translation: X:118.30, Y:-52.39, Z:-5.74 [[ 7.76495844e-01 6.27937099e-01 5.24328492e-02 1.18300368e+02] [-6.26249132e-01 7.78258444e-01 -4.61066146e-02 -5.23941635e+01] [-6.97583614e-02 2.96556834e-03 9.97559510e-01 -5.74152668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88864 meters Centerline goodness [0,1] 0.9997542514499165 Centerline is valid? [True, True] Translation: X:118.32, Y:-52.42, Z:-5.74 [[ 7.76832998e-01 6.27665032e-01 5.06665595e-02 1.18318524e+02] [-6.26087750e-01 7.78478141e-01 -4.45635925e-02 -5.24227809e+01] [-6.74138178e-02 2.89675688e-03 9.97720896e-01 -5.74265539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91864 meters Centerline goodness [0,1] 0.9998034398034398 Centerline is valid? [True, True] Translation: X:118.34, Y:-52.45, Z:-5.75 [[ 7.76354299e-01 6.28214250e-01 5.11943172e-02 1.18340155e+02] [-6.26603554e-01 7.78035004e-01 -4.50501935e-02 -5.24483374e+01] [-6.81321443e-02 2.89637029e-03 9.97672101e-01 -5.74516821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94864 meters Centerline goodness [0,1] 0.9996555626629927 Centerline is valid? [True, True] Translation: X:118.36, Y:-52.47, Z:-5.75 [[ 7.75523522e-01 6.29272318e-01 5.07899322e-02 1.18361980e+02] [-6.27686563e-01 7.77179800e-01 -4.47340634e-02 -5.24727760e+01] [-6.76228171e-02 2.81216047e-03 9.97706994e-01 -5.74558914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97864 meters Centerline goodness [0,1] 0.9997543963061204 Centerline is valid? [True, True] Translation: X:118.38, Y:-52.50, Z:-5.75 [[ 7.73489843e-01 6.31740184e-01 5.11644627e-02 1.18381267e+02] [-6.30133738e-01 7.75175686e-01 -4.51013135e-02 -5.24997208e+01] [-6.81537596e-02 2.64495383e-03 9.97671323e-01 -5.74739431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00864 meters Centerline goodness [0,1] 0.9997048841670355 Centerline is valid? [True, True] Translation: X:118.40, Y:-52.53, Z:-5.75 [[ 7.72426073e-01 6.33084047e-01 5.06216494e-02 1.18401913e+02] [-6.31511937e-01 7.74078936e-01 -4.46595451e-02 -5.25250623e+01] [-6.74583980e-02 2.52802119e-03 9.97718885e-01 -5.74849190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03864 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:118.42, Y:-52.56, Z:-5.75 [[ 7.70695984e-01 6.35094599e-01 5.17933428e-02 1.18418393e+02] [-6.33450638e-01 7.72430523e-01 -4.57315631e-02 -5.25554298e+01] [-6.90506276e-02 2.43660601e-03 9.97610181e-01 -5.75060695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06864 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:118.44, Y:-52.58, Z:-5.75 [[ 7.70002862e-01 6.35962952e-01 5.14462519e-02 1.18439122e+02] [-6.34340954e-01 7.71715966e-01 -4.54535217e-02 -5.25810815e+01] [-6.86086498e-02 2.36487728e-03 9.97640847e-01 -5.75071747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09863999999999 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:118.46, Y:-52.61, Z:-5.75 [[ 7.69060851e-01 6.37041232e-01 5.21907595e-02 1.18461578e+02] [-6.35372527e-01 7.70826230e-01 -4.61375782e-02 -5.26061139e+01] [-6.96215461e-02 2.32203039e-03 9.97570774e-01 -5.75336723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12863999999999 meters Centerline goodness [0,1] 0.9999015941743751 Centerline is valid? [True, True] Translation: X:118.48, Y:-52.63, Z:-5.76 [[ 7.68437116e-01 6.37851441e-01 5.14775549e-02 1.18482474e+02] [-6.36227004e-01 7.70156138e-01 -4.55491212e-02 -5.26306724e+01] [-6.86993274e-02 2.25022479e-03 9.97634873e-01 -5.75508041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15863999999999 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:118.50, Y:-52.66, Z:-5.76 [[ 7.67304402e-01 6.39166301e-01 5.20614476e-02 1.18498815e+02] [-6.37505038e-01 7.69065444e-01 -4.61049895e-02 -5.26605759e+01] [-6.95074159e-02 2.18712628e-03 9.97579037e-01 -5.75659438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18863999999999 meters Centerline goodness [0,1] 0.9998031786645672 Centerline is valid? [True, True] Translation: X:118.52, Y:-52.69, Z:-5.76 [[ 7.66382514e-01 6.40300779e-01 5.16986980e-02 1.18519886e+02] [-6.38662517e-01 7.68121413e-01 -4.58223153e-02 -5.26859309e+01] [-6.90509411e-02 2.09940059e-03 9.97610926e-01 -5.75763746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:118.54, Y:-52.71, Z:-5.76 [[ 7.63832764e-01 6.43358747e-01 5.14687442e-02 1.18538591e+02] [-6.41739269e-01 7.65562616e-01 -4.56573408e-02 -5.27138349e+01] [-6.87765960e-02 1.84505853e-03 9.97630380e-01 -5.75805154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:-52.74, Z:-5.76 [[ 7.62289182e-01 6.45212410e-01 5.11483064e-02 1.18560484e+02] [-6.43614541e-01 7.64001351e-01 -4.54120848e-02 -5.27376750e+01] [-6.83778159e-02 1.69734724e-03 9.97658054e-01 -5.75968204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:-52.77, Z:-5.76 [[ 7.60109238e-01 6.47806109e-01 5.08054275e-02 1.18578557e+02] [-6.46232720e-01 7.61803808e-01 -4.51467581e-02 -5.27652704e+01] [-6.79501138e-02 1.48433829e-03 9.97687616e-01 -5.76020375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:118.60, Y:-52.79, Z:-5.76 [[ 7.58871895e-01 6.49285365e-01 5.04178659e-02 1.18600079e+02] [-6.47736542e-01 7.60543644e-01 -4.48412559e-02 -5.27899027e+01] [-6.74597587e-02 1.37127472e-03 9.97721053e-01 -5.76114092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:-52.81, Z:-5.76 [[ 7.56969093e-01 6.51493097e-01 5.05424211e-02 1.18621301e+02] [-6.49938826e-01 7.58653601e-01 -4.49915160e-02 -5.28148285e+01] [-6.76558519e-02 1.20770521e-03 9.97707987e-01 -5.76278827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:118.64, Y:-52.84, Z:-5.76 [[ 7.55770554e-01 6.52857515e-01 5.08717424e-02 1.18643900e+02] [-6.51283093e-01 7.57479900e-01 -4.53269587e-02 -5.28395107e+01] [-6.81263680e-02 1.12487502e-03 9.97676066e-01 -5.76445776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:-52.87, Z:-5.77 [[ 7.53020316e-01 6.56042310e-01 5.06842373e-02 1.18662758e+02] [-6.54484346e-01 7.54723624e-01 -4.51939450e-02 -5.28662920e+01] [-6.79017313e-02 8.59918872e-04 9.97691643e-01 -5.76542319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:-52.89, Z:-5.77 [[ 7.50651300e-01 6.58702024e-01 5.13251394e-02 1.18685668e+02] [-6.57108675e-01 7.52403631e-01 -4.57926383e-02 -5.28900806e+01] [-6.87809248e-02 6.48109091e-04 9.97631577e-01 -5.76679360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:-52.92, Z:-5.77 [[ 7.45131986e-01 6.64845980e-01 5.25180533e-02 1.18707806e+02] [-6.63189247e-01 7.46980460e-01 -4.69064487e-02 -5.29154286e+01] [-7.04155235e-02 1.22087012e-04 9.97517739e-01 -5.76704511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:-52.94, Z:-5.77 [[ 7.42176089e-01 6.68168868e-01 5.22016895e-02 1.18731259e+02] [-6.66536819e-01 7.44009637e-01 -4.66725767e-02 -5.29380606e+01] [-7.00237227e-02 -1.55077616e-04 9.97545314e-01 -5.76821821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:-52.96, Z:-5.77 [[ 7.39418482e-01 6.71324524e-01 5.08300327e-02 1.18754643e+02] [-6.69781559e-01 7.41163421e-01 -4.54911650e-02 -5.29608017e+01] [-6.82126956e-02 -4.08010339e-04 9.97670718e-01 -5.76851159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:-52.98, Z:-5.77 [[ 7.34738753e-01 6.76422600e-01 5.11021698e-02 1.18778330e+02] [-6.74872357e-01 7.36513230e-01 -4.57773208e-02 -5.29822728e+01] [-6.86022385e-02 -8.53070223e-04 9.97643727e-01 -5.76948134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:-53.00, Z:-5.77 [[ 7.33242805e-01 6.78171113e-01 4.93855287e-02 1.18803239e+02] [-6.76724663e-01 7.34903418e-01 -4.42797544e-02 -5.30031126e+01] [-6.63228441e-02 -9.52593929e-04 9.97797762e-01 -5.77005249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:-53.02, Z:-5.77 [[ 7.29524588e-01 6.82167632e-01 4.94084768e-02 1.18830099e+02] [-6.80726201e-01 7.31194686e-01 -4.43415094e-02 -5.30219564e+01] [-6.63755582e-02 -1.28542332e-03 9.97793883e-01 -5.77187966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:-53.04, Z:-5.77 [[ 7.28612503e-01 6.83138454e-01 4.94537467e-02 1.18856605e+02] [-6.81693716e-01 7.30287648e-01 -4.44255474e-02 -5.30419788e+01] [-6.64642601e-02 -1.34329906e-03 9.97787902e-01 -5.77393043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.88, Y:-53.06, Z:-5.78 [[ 7.27343073e-01 6.84488278e-01 4.94757598e-02 1.18882491e+02] [-6.83042364e-01 7.29022455e-01 -4.44903359e-02 -5.30616743e+01] [-6.65220532e-02 -1.43430225e-03 9.97783924e-01 -5.77551466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:-53.08, Z:-5.78 [[ 7.27466212e-01 6.84279895e-01 5.05364792e-02 1.18910788e+02] [-6.82767690e-01 7.29218094e-01 -4.54890283e-02 -5.30798498e+01] [-6.79793426e-02 -1.41294411e-03 9.97685728e-01 -5.77672711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:-53.10, Z:-5.78 [[ 7.28101850e-01 6.83624846e-01 5.02470418e-02 1.18936922e+02] [-6.82125285e-01 7.29832414e-01 -4.52740985e-02 -5.30989457e+01] [-6.76224184e-02 -1.31062278e-03 9.97710124e-01 -5.77778156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:-53.12, Z:-5.78 [[ 7.29253542e-01 6.82371131e-01 5.05856855e-02 1.18963116e+02] [-6.80845345e-01 7.31004971e-01 -4.56217962e-02 -5.31185437e+01] [-6.81093842e-02 -1.17117204e-03 9.97677172e-01 -5.77971714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:-53.14, Z:-5.78 [[ 7.32646010e-01 6.78788049e-01 4.97655400e-02 1.18991120e+02] [-6.77300327e-01 7.34333817e-01 -4.49234005e-02 -5.31355566e+01] [-6.70379863e-02 -7.93266357e-04 9.97750109e-01 -5.78235827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:-53.16, Z:-5.78 [[ 7.32293425e-01 6.79170001e-01 4.97438412e-02 1.19015481e+02] [-6.77681528e-01 7.33980570e-01 -4.49474191e-02 -5.31571217e+01] [-6.70379515e-02 -7.95782825e-04 9.97750109e-01 -5.78374554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:-53.18, Z:-5.79 [[ 7.34556674e-01 6.76681897e-01 5.02802458e-02 1.19041444e+02] [-6.75152170e-01 7.36275300e-01 -4.54777944e-02 -5.31768194e+01] [-6.77941033e-02 -5.40799729e-04 9.97699187e-01 -5.78532819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:-53.20, Z:-5.79 [[ 7.38921682e-01 6.71854363e-01 5.10535356e-02 1.19068874e+02] [-6.70262456e-01 7.40683273e-01 -4.62225996e-02 -5.31953507e+01] [-6.88693550e-02 -6.43871513e-05 9.97625685e-01 -5.78761770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.09, Y:-53.22, Z:-5.79 [[ 7.40789953e-01 6.69828449e-01 5.05973783e-02 1.19094657e+02] [-6.68257508e-01 7.42515876e-01 -4.58484244e-02 -5.32155749e+01] [-6.82799357e-02 1.51974288e-04 9.97666190e-01 -5.78811057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.12, Y:-53.24, Z:-5.79 [[ 7.42589129e-01 6.67819986e-01 5.07725540e-02 1.19120113e+02] [-6.66231197e-01 7.44322736e-01 -4.60397280e-02 -5.32369807e+01] [-6.85374168e-02 3.62342071e-04 9.97648481e-01 -5.79022073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.14, Y:-53.26, Z:-5.79 [[ 7.45408597e-01 6.64714503e-01 5.02061017e-02 1.19144368e+02] [-6.63150743e-01 7.47097164e-01 -4.55732364e-02 -5.32587241e+01] [-6.78020274e-02 6.76468595e-04 9.97698565e-01 -5.79174509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:119.17, Y:-53.28, Z:-5.79 [[ 7.46505315e-01 6.63504850e-01 4.99112002e-02 1.19168643e+02] [-6.61953584e-01 7.48171535e-01 -4.53520274e-02 -5.32813530e+01] [-6.74334295e-02 8.16631646e-04 9.97723441e-01 -5.79181925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02864 meters Centerline goodness [0,1] 0.9998525001229166 Centerline is valid? [True, True] Translation: X:119.19, Y:-53.30, Z:-5.79 [[ 7.47595749e-01 6.62245747e-01 5.03107041e-02 1.19191589e+02] [-6.60663619e-01 7.49286078e-01 -4.57597503e-02 -5.33034885e+01] [-6.80013102e-02 9.71342874e-04 9.97684759e-01 -5.79372369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05864 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:119.21, Y:-53.33, Z:-5.79 [[ 7.49408498e-01 6.60226191e-01 4.98826624e-02 1.19212674e+02] [-6.58663728e-01 7.51065906e-01 -4.54103271e-02 -5.33280054e+01] [-6.74462543e-02 1.17498463e-03 9.97722217e-01 -5.79486694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08864 meters Centerline goodness [0,1] 0.9997540701391963 Centerline is valid? [True, True] Translation: X:119.24, Y:-53.35, Z:-5.80 [[ 7.50062846e-01 6.59459625e-01 5.01869445e-02 1.19235198e+02] [-6.57873558e-01 7.51738890e-01 -4.57277067e-02 -5.33507465e+01] [-6.78830543e-02 1.28199006e-03 9.97692461e-01 -5.79609057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11864 meters Centerline goodness [0,1] 0.9996557489918363 Centerline is valid? [True, True] Translation: X:119.26, Y:-53.37, Z:-5.80 [[ 7.50489502e-01 6.58943918e-01 5.05808315e-02 1.19257243e+02] [-6.57328864e-01 7.52190824e-01 -4.61273157e-02 -5.33737497e+01] [-6.84417515e-02 1.36982572e-03 9.97654174e-01 -5.79809841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14864 meters Centerline goodness [0,1] 0.9998033721673303 Centerline is valid? [True, True] Translation: X:119.27, Y:-53.40, Z:-5.80 [[ 7.50005344e-01 6.59526451e-01 5.01681642e-02 1.19274735e+02] [-6.57936916e-01 7.51680182e-01 -4.57812088e-02 -5.34018387e+01] [-6.79043329e-02 1.32866403e-03 9.97690952e-01 -5.79773541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:-53.43, Z:-5.80 [[ 7.49105748e-01 6.60516876e-01 5.05770229e-02 1.19296421e+02] [-6.58901700e-01 7.50810126e-01 -4.61812158e-02 -5.34269290e+01] [-6.84772133e-02 1.26932778e-03 9.97651873e-01 -5.79890622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20863999999999 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:119.32, Y:-53.45, Z:-5.80 [[ 7.47488728e-01 6.62320103e-01 5.09183998e-02 1.19317693e+02] [-6.60684065e-01 7.49220107e-01 -4.65381314e-02 -5.34506390e+01] [-6.89722289e-02 1.14575325e-03 9.97617922e-01 -5.80056824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23863999999999 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:119.34, Y:-53.48, Z:-5.80 [[ 7.44091885e-01 6.66201484e-01 5.00284770e-02 1.19336626e+02] [-6.64628209e-01 7.45771371e-01 -4.57646897e-02 -5.34773239e+01] [-6.77983101e-02 8.02797212e-04 9.97698724e-01 -5.80294024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.36, Y:-53.50, Z:-5.80 [[ 7.42101734e-01 6.68432786e-01 4.98259708e-02 1.19357800e+02] [-6.66874508e-01 7.43772289e-01 -4.56198696e-02 -5.35022768e+01] [-6.75529929e-02 6.26914560e-04 9.97715491e-01 -5.80436872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29863999999999 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:119.38, Y:-53.53, Z:-5.81 [[ 7.39121147e-01 6.71778845e-01 4.91234529e-02 1.19376724e+02] [-6.70268927e-01 7.40751688e-01 -4.50166859e-02 -5.35287031e+01] [-6.66295379e-02 3.46860499e-04 9.97777723e-01 -5.80576417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.40, Y:-53.55, Z:-5.81 [[ 7.36952089e-01 6.74119480e-01 4.96441852e-02 1.19399176e+02] [-6.72579688e-01 7.38622297e-01 -4.55375133e-02 -5.35526455e+01] [-6.73660269e-02 1.69295010e-04 9.97728315e-01 -5.80645777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:-53.58, Z:-5.81 [[ 7.35603963e-01 6.75704019e-01 4.80716934e-02 1.19421743e+02] [-6.74260886e-01 7.37173029e-01 -4.41382138e-02 -5.35756751e+01] [-6.52615243e-02 5.53824257e-05 9.97868193e-01 -5.80744565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:-53.60, Z:-5.81 [[ 7.32685610e-01 6.78869718e-01 4.80385563e-02 1.19443560e+02] [-6.77432572e-01 7.34258720e-01 -4.41502252e-02 -5.36001770e+01] [-6.52449798e-02 -1.94648152e-04 9.97869257e-01 -5.80929055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:-53.62, Z:-5.81 [[ 7.30707164e-01 6.80990586e-01 4.81545731e-02 1.19468054e+02] [-6.79548013e-01 7.32292086e-01 -4.43034856e-02 -5.36224943e+01] [-6.54334694e-02 -3.50470182e-04 9.97856873e-01 -5.81048429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.49, Y:-53.64, Z:-5.81 [[ 7.27489441e-01 6.84382059e-01 4.87884283e-02 1.19492140e+02] [-6.82905784e-01 7.29123309e-01 -4.49320639e-02 -5.36433258e+01] [-6.63234787e-02 -6.30297825e-04 9.97797975e-01 -5.81089904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.52, Y:-53.67, Z:-5.81 [[ 7.26089586e-01 6.85834354e-01 4.92458271e-02 1.19515829e+02] [-6.84330751e-01 7.27757303e-01 -4.53952759e-02 -5.36650759e+01] [-6.69726500e-02 -7.39396708e-04 9.97754538e-01 -5.81264523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:-53.69, Z:-5.81 [[ 7.25006089e-01 6.86949252e-01 4.96678492e-02 1.19539396e+02] [-6.85419465e-01 7.26704930e-01 -4.58268756e-02 -5.36865436e+01] [-6.75746089e-02 -8.18546745e-04 9.97713888e-01 -5.81496471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:-53.71, Z:-5.82 [[ 7.24923340e-01 6.87132756e-01 4.83190095e-02 1.19565660e+02] [-6.85683372e-01 7.26531452e-01 -4.46134895e-02 -5.37062230e+01] [-6.57606702e-02 -7.90181509e-04 9.97835112e-01 -5.81600779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:-53.73, Z:-5.82 [[ 7.25213856e-01 6.86850698e-01 4.79685517e-02 1.19590310e+02] [-6.85420103e-01 7.26798162e-01 -4.43138145e-02 -5.37266719e+01] [-6.53004297e-02 -7.41617325e-04 9.97865374e-01 -5.81824190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:-53.75, Z:-5.82 [[ 7.26254783e-01 6.85700547e-01 4.86698134e-02 1.19616114e+02] [-6.84222230e-01 7.27883495e-01 -4.50062081e-02 -5.37471479e+01] [-6.62867353e-02 -6.14994391e-04 9.97800426e-01 -5.81920406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:-53.77, Z:-5.82 [[ 7.26346427e-01 6.85526543e-01 4.97416038e-02 1.19640873e+02] [-6.83978702e-01 7.28047406e-01 -4.60446526e-02 -5.37678748e+01] [-6.77790771e-02 -5.77828731e-04 9.97700187e-01 -5.82073082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.67, Y:-53.79, Z:-5.82 [[ 7.27047896e-01 6.84769536e-01 4.99203248e-02 1.19666388e+02] [-6.83205658e-01 7.28759532e-01 -4.62555186e-02 -5.37889941e+01] [-6.80542826e-02 -4.75870876e-04 9.97681506e-01 -5.82256897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:-53.81, Z:-5.82 [[ 7.27902053e-01 6.83884691e-01 4.96017167e-02 1.19690916e+02] [-6.82335531e-01 7.29590023e-01 -4.60067513e-02 -5.38092965e+01] [-6.76522306e-02 -3.56604962e-04 9.97708900e-01 -5.82496729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:-53.83, Z:-5.83 [[ 7.28125522e-01 6.83671615e-01 4.92579627e-02 1.19715449e+02] [-6.82140405e-01 7.29789718e-01 -4.57322270e-02 -5.38309132e+01] [-6.72137802e-02 -3.02044956e-04 9.97738551e-01 -5.82624588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.74, Y:-53.85, Z:-5.83 [[ 7.29470588e-01 6.82268531e-01 4.88089441e-02 1.19739869e+02] [-6.80758955e-01 7.31101657e-01 -4.53609108e-02 -5.38522771e+01] [-6.66326219e-02 -1.37675472e-04 9.97777568e-01 -5.82847261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:-53.87, Z:-5.83 [[ 7.30216023e-01 6.81379072e-01 5.00711450e-02 1.19762738e+02] [-6.79785215e-01 7.31930707e-01 -4.65779146e-02 -5.38742551e+01] [-6.83858248e-02 -2.56845289e-05 9.97658949e-01 -5.83053678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.79, Y:-53.90, Z:-5.83 [[ 7.30977208e-01 6.80615956e-01 4.93380400e-02 1.19786047e+02] [-6.79063901e-01 7.32640372e-01 -4.59380450e-02 -5.38967734e+01] [-6.74132064e-02 7.59819142e-05 9.97725139e-01 -5.83270694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:-53.92, Z:-5.83 [[ 7.31975866e-01 6.79586650e-01 4.87166962e-02 1.19809424e+02] [-6.78068307e-01 7.33595219e-01 -4.54029355e-02 -5.39201346e+01] [-6.65935642e-02 2.00605314e-04 9.97780165e-01 -5.83430313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:-53.94, Z:-5.84 [[ 7.33470508e-01 6.77808892e-01 5.09521301e-02 1.19832468e+02] [-6.76140149e-01 7.35238011e-01 -4.75348930e-02 -5.39425733e+01] [-6.96815160e-02 4.14661302e-04 9.97569203e-01 -5.83731097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.86, Y:-53.96, Z:-5.84 [[ 7.33934577e-01 6.77368489e-01 5.01195275e-02 1.19856046e+02] [-6.75749984e-01 7.35643732e-01 -4.68002066e-02 -5.39641615e+01] [-6.85711014e-02 4.80019960e-04 9.97646116e-01 -5.83800974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.88, Y:-53.99, Z:-5.84 [[ 7.34131313e-01 6.77073245e-01 5.12155916e-02 1.19879165e+02] [-6.75379286e-01 7.35915428e-01 -4.78675538e-02 -5.39870656e+01] [-7.01001840e-02 5.51120477e-04 9.97539804e-01 -5.84009920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:-54.01, Z:-5.84 [[ 7.33750992e-01 6.77486916e-01 5.11953137e-02 1.19902068e+02] [-6.75792092e-01 7.35534623e-01 -4.78943259e-02 -5.40104403e+01] [-7.01037049e-02 5.45120994e-04 9.97539560e-01 -5.84124028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98863999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:-54.03, Z:-5.84 [[ 7.33317720e-01 6.78002435e-01 5.05748961e-02 1.19925171e+02] [-6.76346505e-01 7.35059470e-01 -4.73601187e-02 -5.40327938e+01] [-6.92858321e-02 5.23860052e-04 9.97596712e-01 -5.84238964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.95, Y:-54.05, Z:-5.84 [[ 7.32618178e-01 6.78773551e-01 5.03693418e-02 1.19949403e+02] [-6.77129769e-01 7.34347488e-01 -4.72127405e-02 -5.40548178e+01] [-6.90353592e-02 4.82331199e-04 9.97614097e-01 -5.84444526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04864 meters Centerline goodness [0,1] 0.9998033334972221 Centerline is valid? [True, True] Translation: X:119.97, Y:-54.08, Z:-5.85 [[ 7.32027078e-01 6.79339100e-01 5.13297665e-02 1.19972659e+02] [-6.77629936e-01 7.33824342e-01 -4.81612428e-02 -5.40763329e+01] [-7.03848474e-02 4.72747455e-04 9.97519799e-01 -5.84741462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07864 meters Centerline goodness [0,1] 0.9993589427486562 Centerline is valid? [True, True] Translation: X:120.00, Y:-54.10, Z:-5.85 [[ 7.31428083e-01 6.79955063e-01 5.17114215e-02 1.19995580e+02] [-6.78218569e-01 7.33253645e-01 -4.85660844e-02 -5.40996165e+01] [-7.09403433e-02 4.50951760e-04 9.97480458e-01 -5.84932716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10864 meters Centerline goodness [0,1] 0.9987707134778975 Centerline is valid? [True, True] Translation: X:120.02, Y:-54.12, Z:-5.85 [[ 7.31276815e-01 6.80119736e-01 5.16852503e-02 1.20019605e+02] [-6.78381847e-01 7.33100895e-01 -4.85916340e-02 -5.41220070e+01] [-7.09386325e-02 4.71599706e-04 9.97480570e-01 -5.85051371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13864 meters Centerline goodness [0,1] 0.9983722994968925 Centerline is valid? [True, True] Translation: X:120.04, Y:-54.14, Z:-5.85 [[ 7.31990871e-01 6.79292943e-01 5.24448541e-02 1.20044159e+02] [-6.77497889e-01 7.33866979e-01 -4.93545095e-02 -5.41425650e+01] [-7.20137167e-02 5.95772382e-04 9.97403464e-01 -5.85216915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16864 meters Centerline goodness [0,1] 0.9980810864003149 Centerline is valid? [True, True] Translation: X:120.07, Y:-54.16, Z:-5.85 [[ 7.31610196e-01 6.79709651e-01 5.23575385e-02 1.20069013e+02] [-6.77918251e-01 7.33481045e-01 -4.93193742e-02 -5.41649286e+01] [-7.19261167e-02 5.88426124e-04 9.97409789e-01 -5.85362926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19864 meters Centerline goodness [0,1] 0.9978844829282693 Centerline is valid? [True, True] Translation: X:120.09, Y:-54.19, Z:-5.86 [[ 7.30788327e-01 6.80555875e-01 5.28405363e-02 1.20093101e+02] [-6.78729663e-01 7.32695981e-01 -4.98261372e-02 -5.41874104e+01] [-7.26255190e-02 5.47920009e-04 9.97359130e-01 -5.85556095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22864 meters Centerline goodness [0,1] 0.9978347522267605 Centerline is valid? [True, True] Translation: X:120.12, Y:-54.21, Z:-5.86 [[ 7.30302987e-01 6.81008876e-01 5.37071562e-02 1.20116841e+02] [-6.79119710e-01 7.32274956e-01 -5.06932821e-02 -5.42087421e+01] [-7.38509805e-02 5.47866990e-04 9.97269137e-01 -5.85729850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25864 meters Centerline goodness [0,1] 0.9975885826771653 Centerline is valid? [True, True] Translation: X:120.14, Y:-54.23, Z:-5.86 [[ 7.28907314e-01 6.82498539e-01 5.37575265e-02 1.20141703e+02] [-6.80606258e-01 7.30886829e-01 -5.07894165e-02 -5.42311319e+01] [-7.39543707e-02 4.33068176e-04 9.97261532e-01 -5.85867583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28864000000002 meters Centerline goodness [0,1] 0.9971937770775896 Centerline is valid? [True, True] Translation: X:120.17, Y:-54.25, Z:-5.86 [[ 7.28806722e-01 6.82618692e-01 5.35955489e-02 1.20166065e+02] [-6.80734263e-01 7.30774597e-01 -5.06887761e-02 -5.42533889e+01] [-7.37673717e-02 4.57994241e-04 9.97275371e-01 -5.86054863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31864000000002 meters Centerline goodness [0,1] 0.9973840078973346 Centerline is valid? [True, True] Translation: X:120.19, Y:-54.28, Z:-5.86 [[ 7.29028066e-01 6.82434712e-01 5.29239340e-02 1.20189119e+02] [-6.80593232e-01 7.30946378e-01 -5.01023473e-02 -5.42763207e+01] [-7.28761388e-02 5.06346144e-04 9.97340871e-01 -5.86098235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34864000000002 meters Centerline goodness [0,1] 0.9980343014398741 Centerline is valid? [True, True] Translation: X:120.21, Y:-54.30, Z:-5.86 [[ 7.29251462e-01 6.82153867e-01 5.34640716e-02 1.20212264e+02] [-6.80270405e-01 7.31208433e-01 -5.06596786e-02 -5.42989163e+01] [-7.36510757e-02 5.73619056e-04 9.97283906e-01 -5.86334437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37864000000002 meters Centerline goodness [0,1] 0.9979276656633937 Centerline is valid? [True, True] Translation: X:120.24, Y:-54.32, Z:-5.86 [[ 7.29282942e-01 6.82143913e-01 5.31608256e-02 1.20235836e+02] [-6.80278227e-01 7.31217693e-01 -5.04204198e-02 -5.43223562e+01] [-7.32661187e-02 6.06599812e-04 9.97312242e-01 -5.86364183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40864000000002 meters Centerline goodness [0,1] 0.9973457852052101 Centerline is valid? [True, True] Translation: X:120.26, Y:-54.34, Z:-5.86 [[ 7.29918445e-01 6.81624310e-01 5.10623492e-02 1.20259003e+02] [-6.79898665e-01 7.31702027e-01 -4.84762720e-02 -5.43445730e+01] [-7.04050298e-02 6.66502036e-04 9.97518264e-01 -5.86454607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43864000000002 meters Centerline goodness [0,1] 0.9971469329529244 Centerline is valid? [True, True] Translation: X:120.28, Y:-54.37, Z:-5.87 [[ 7.30257336e-01 6.81235730e-01 5.14013842e-02 1.20282196e+02] [-6.79483538e-01 7.32063754e-01 -4.88342299e-02 -5.43661035e+01] [-7.08967126e-02 7.35160241e-04 9.97483391e-01 -5.86593779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46864000000002 meters Centerline goodness [0,1] 0.9975863257967588 Centerline is valid? [True, True] Translation: X:120.31, Y:-54.39, Z:-5.87 [[ 7.30288043e-01 6.81177238e-01 5.17392011e-02 1.20306163e+02] [-6.79399256e-01 7.32118143e-01 -4.91902021e-02 -5.43885165e+01] [-7.13864539e-02 7.71441666e-04 9.97448434e-01 -5.86830666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49864000000002 meters Centerline goodness [0,1] 0.997541547841479 Centerline is valid? [True, True] Translation: X:120.33, Y:-54.41, Z:-5.87 [[ 7.31577556e-01 6.79701771e-01 5.29129599e-02 1.20329256e+02] [-6.77834590e-01 7.33487938e-01 -5.03558677e-02 -5.44108007e+01] [-7.30379903e-02 9.72988168e-04 9.97328685e-01 -5.86927629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52864 meters Centerline goodness [0,1] 0.997195157956894 Centerline is valid? [True, True] Translation: X:120.35, Y:-54.43, Z:-5.87 [[ 7.32494552e-01 6.78767599e-01 5.22137757e-02 1.20353670e+02] [-6.76943763e-01 7.34352345e-01 -4.97370577e-02 -5.44326074e+01] [-7.21032119e-02 1.08633397e-03 9.97396584e-01 -5.87069994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55864 meters Centerline goodness [0,1] 0.9966522252855455 Centerline is valid? [True, True] Translation: X:120.38, Y:-54.45, Z:-5.87 [[ 7.33454052e-01 6.77698937e-01 5.26241830e-02 1.20377507e+02] [-6.75839996e-01 7.35338440e-01 -5.01764679e-02 -5.44548077e+01] [-7.27011236e-02 1.23660605e-03 9.97353005e-01 -5.87258832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58864 meters Centerline goodness [0,1] 0.996064735107482 Centerline is valid? [True, True] Translation: X:120.40, Y:-54.48, Z:-5.87 [[ 7.36092680e-01 6.74907513e-01 5.16470297e-02 1.20400831e+02] [-6.73107095e-01 7.37900772e-01 -4.92878210e-02 -5.44775208e+01] [-7.13751038e-02 1.51642215e-03 9.97448392e-01 -5.87388458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61864 meters Centerline goodness [0,1] 0.9961166003047731 Centerline is valid? [True, True] Translation: X:120.42, Y:-54.50, Z:-5.88 [[ 7.36684528e-01 6.74206567e-01 5.23584934e-02 1.20423988e+02] [-6.72351149e-01 7.38541007e-01 -5.00111405e-02 -5.45000458e+01] [-7.23867338e-02 1.63914024e-03 9.97375292e-01 -5.87513114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64864 meters Centerline goodness [0,1] 0.9954257045890512 Centerline is valid? [True, True] Translation: X:120.45, Y:-54.52, Z:-5.88 [[ 7.37587322e-01 6.73188497e-01 5.27464766e-02 1.20446721e+02] [-6.71299612e-01 7.39468770e-01 -5.04258656e-02 -5.45230258e+01] [-7.29504848e-02 1.78478985e-03 9.97333967e-01 -5.87799438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67864 meters Centerline goodness [0,1] 0.9953712822532992 Centerline is valid? [True, True] Translation: X:120.47, Y:-54.55, Z:-5.88 [[ 7.37987839e-01 6.72852887e-01 5.14095431e-02 1.20469018e+02] [-6.71054867e-01 7.39774116e-01 -4.91896590e-02 -5.45460431e+01] [-7.11288534e-02 1.80274604e-03 9.97465506e-01 -5.87903099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70864 meters Centerline goodness [0,1] 0.9946847777941827 Centerline is valid? [True, True] Translation: X:120.49, Y:-54.57, Z:-5.88 [[ 7.38127228e-01 6.72771108e-01 5.04701105e-02 1.20490880e+02] [-6.71035200e-01 7.39848476e-01 -4.83321076e-02 -5.45691854e+01] [-6.98566799e-02 1.80802388e-03 9.97555400e-01 -5.87954174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73864 meters Centerline goodness [0,1] 0.9946847777941827 Centerline is valid? [True, True] Translation: X:120.51, Y:-54.59, Z:-5.88 [[ 7.37793193e-01 6.73139074e-01 5.04479069e-02 1.20514582e+02] [-6.71402443e-01 7.39513710e-01 -4.83552762e-02 -5.45914504e+01] [-6.98567447e-02 1.80534573e-03 9.97555400e-01 -5.88092933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76864 meters Centerline goodness [0,1] 0.9945392827274069 Centerline is valid? [True, True] Translation: X:120.54, Y:-54.62, Z:-5.88 [[ 7.37566270e-01 6.73362226e-01 5.07869165e-02 1.20537753e+02] [-6.71599234e-01 7.39310459e-01 -4.87289836e-02 -5.46156130e+01] [-7.03595554e-02 1.83240043e-03 9.97520012e-01 -5.88139134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79864 meters Centerline goodness [0,1] 0.9940505457763792 Centerline is valid? [True, True] Translation: X:120.56, Y:-54.64, Z:-5.88 [[ 7.37189568e-01 6.73809760e-01 5.03184808e-02 1.20559175e+02] [-6.72077042e-01 7.38902662e-01 -4.83249997e-02 -5.46402638e+01] [-6.97423158e-02 1.80678982e-03 9.97563404e-01 -5.88195763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82864 meters Centerline goodness [0,1] 0.9937066719111067 Centerline is valid? [True, True] Translation: X:120.58, Y:-54.66, Z:-5.88 [[ 7.36519401e-01 6.74560193e-01 5.00771330e-02 1.20581262e+02] [-6.72842909e-01 7.38217756e-01 -4.81348592e-02 -5.46642793e+01] [-6.94376887e-02 1.75821377e-03 9.97584741e-01 -5.88407207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85864 meters Centerline goodness [0,1] 0.9934924078091106 Centerline is valid? [True, True] Translation: X:120.60, Y:-54.69, Z:-5.88 [[ 7.36448618e-01 6.74659599e-01 4.97781038e-02 1.20601658e+02] [-6.72959980e-01 7.38126879e-01 -4.78912868e-02 -5.46908050e+01] [-6.90528727e-02 1.77080026e-03 9.97611430e-01 -5.88498993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88864 meters Centerline goodness [0,1] 0.9930698908876437 Centerline is valid? [True, True] Translation: X:120.62, Y:-54.71, Z:-5.89 [[ 7.35988747e-01 6.75086350e-01 5.07837111e-02 1.20623638e+02] [-6.73314976e-01 7.37736524e-01 -4.89056726e-02 -5.47148263e+01] [-7.04805505e-02 1.80059152e-03 9.97511529e-01 -5.88644034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91864 meters Centerline goodness [0,1] 0.9928128384365462 Centerline is valid? [True, True] Translation: X:120.64, Y:-54.74, Z:-5.89 [[ 7.34314115e-01 6.76961732e-01 5.00559207e-02 1.20644252e+02] [-6.75242271e-01 7.36016415e-01 -4.82463761e-02 -5.47399187e+01] [-6.95029296e-02 1.62812137e-03 9.97580419e-01 -5.88557902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94864 meters Centerline goodness [0,1] 0.9933996650576298 Centerline is valid? [True, True] Translation: X:120.67, Y:-54.76, Z:-5.89 [[ 7.33009343e-01 6.78414879e-01 4.95030830e-02 1.20665976e+02] [-6.76733679e-01 7.34677473e-01 -4.77549922e-02 -5.47634518e+01] [-6.87664972e-02 1.50445197e-03 9.97631648e-01 -5.88655504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97864 meters Centerline goodness [0,1] 0.993256878476153 Centerline is valid? [True, True] Translation: X:120.69, Y:-54.79, Z:-5.89 [[ 7.31407330e-01 6.80195767e-01 4.87548563e-02 1.20687608e+02] [-6.78566215e-01 7.33029266e-01 -4.70742691e-02 -5.47871634e+01] [-6.77584551e-02 1.34706720e-03 9.97700846e-01 -5.88611155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00864 meters Centerline goodness [0,1] 0.9932654967310622 Centerline is valid? [True, True] Translation: X:120.71, Y:-54.81, Z:-5.89 [[ 7.30518680e-01 6.81153472e-01 4.87073487e-02 1.20709680e+02] [-6.79526398e-01 7.32139529e-01 -4.70700049e-02 -5.48104560e+01] [-6.77224725e-02 1.28758863e-03 9.97703367e-01 -5.88645750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03864000000002 meters Centerline goodness [0,1] 0.9936487617547142 Centerline is valid? [True, True] Translation: X:120.73, Y:-54.83, Z:-5.89 [[ 7.28729631e-01 6.83014100e-01 4.94455661e-02 1.20732354e+02] [-6.81338412e-01 7.30404259e-01 -4.78287228e-02 -5.48344520e+01] [-6.87829442e-02 1.16504398e-03 9.97630968e-01 -5.88734952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06864000000002 meters Centerline goodness [0,1] 0.9932605273514364 Centerline is valid? [True, True] Translation: X:120.75, Y:-54.86, Z:-5.89 [[ 7.26200087e-01 6.85723771e-01 4.91563178e-02 1.20753518e+02] [-6.84070662e-01 7.27861272e-01 -4.75951460e-02 -5.48589431e+01] [-6.84161030e-02 9.37204244e-04 9.97656433e-01 -5.89057046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09864000000002 meters Centerline goodness [0,1] 0.9929684810935733 Centerline is valid? [True, True] Translation: X:120.78, Y:-54.88, Z:-5.89 [[ 7.24989750e-01 6.87013572e-01 4.90123857e-02 1.20775952e+02] [-6.85370168e-01 7.26644094e-01 -4.74983581e-02 -5.48822440e+01] [-6.82465773e-02 8.44195758e-04 9.97668127e-01 -5.89180217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12864000000002 meters Centerline goodness [0,1] 0.9932545544066962 Centerline is valid? [True, True] Translation: X:120.80, Y:-54.90, Z:-5.89 [[ 7.23579761e-01 6.88518677e-01 4.87274135e-02 1.20798488e+02] [-6.86894874e-01 7.25218243e-01 -4.72644952e-02 -5.49049689e+01] [-6.78804969e-02 7.29021599e-04 9.97693193e-01 -5.89191963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15864000000002 meters Centerline goodness [0,1] 0.9935998424576605 Centerline is valid? [True, True] Translation: X:120.82, Y:-54.93, Z:-5.89 [[ 7.22580337e-01 6.89595433e-01 4.83300584e-02 1.20822883e+02] [-6.87997592e-01 7.24194526e-01 -4.69212282e-02 -5.49258978e+01] [-6.73570285e-02 6.53393099e-04 9.97728723e-01 -5.89238441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18864000000002 meters Centerline goodness [0,1] 0.993744766783234 Centerline is valid? [True, True] Translation: X:120.85, Y:-54.95, Z:-5.89 [[ 7.18905464e-01 6.93522207e-01 4.69242164e-02 1.20847566e+02] [-6.92022053e-01 7.20435185e-01 -4.55919189e-02 -5.49472253e+01] [-6.54248648e-02 3.03687001e-04 9.97857452e-01 -5.89341072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21864000000002 meters Centerline goodness [0,1] 0.9941448533753198 Centerline is valid? [True, True] Translation: X:120.87, Y:-54.97, Z:-5.90 [[ 7.17496530e-01 6.94969103e-01 4.70815916e-02 1.20871659e+02] [-6.93459693e-01 7.19039573e-01 -4.57793271e-02 -5.49693094e+01] [-6.56687454e-02 1.97322231e-04 9.97841459e-01 -5.89590697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24864000000002 meters Centerline goodness [0,1] 0.9936496997144826 Centerline is valid? [True, True] Translation: X:120.90, Y:-54.99, Z:-5.90 [[ 7.16203271e-01 6.96370007e-01 4.60617913e-02 1.20895690e+02] [-6.94925336e-01 7.17682941e-01 -4.48327241e-02 -5.49911276e+01] [-6.42779262e-02 9.98378606e-05 9.97932031e-01 -5.89684293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27864 meters Centerline goodness [0,1] 0.9941005850253183 Centerline is valid? [True, True] Translation: X:120.92, Y:-55.01, Z:-5.90 [[ 7.14780219e-01 6.97753289e-01 4.72184907e-02 1.20922444e+02] [-6.96235219e-01 7.16338152e-01 -4.60018717e-02 -5.50094171e+01] [-6.59223636e-02 6.05169177e-06 9.97824755e-01 -5.89847915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30864 meters Centerline goodness [0,1] 0.9942483531609478 Centerline is valid? [True, True] Translation: X:120.95, Y:-55.03, Z:-5.90 [[ 7.15231075e-01 6.97241255e-01 4.79493660e-02 1.20947317e+02] [-6.95671691e-01 7.16836540e-01 -4.67576103e-02 -5.50293378e+01] [-6.69731925e-02 8.54793407e-05 9.97754772e-01 -5.90018997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33864 meters Centerline goodness [0,1] 0.9947234805117229 Centerline is valid? [True, True] Translation: X:120.97, Y:-55.05, Z:-5.90 [[ 7.16365054e-01 6.96115116e-01 4.73798974e-02 1.20971809e+02] [-6.94577830e-01 7.17930149e-01 -4.62378560e-02 -5.50500128e+01] [-6.62023273e-02 2.14157870e-04 9.97806197e-01 -5.90063887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36864 meters Centerline goodness [0,1] 0.9951814337692988 Centerline is valid? [True, True] Translation: X:121.00, Y:-55.07, Z:-5.90 [[ 7.18406417e-01 6.94026624e-01 4.71090737e-02 1.20998729e+02] [-6.92500255e-01 7.19949208e-01 -4.60058164e-02 -5.50694962e+01] [-6.58454018e-02 4.27828232e-04 9.97829745e-01 -5.90266177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39864 meters Centerline goodness [0,1] 0.9955704301604489 Centerline is valid? [True, True] Translation: X:121.02, Y:-55.09, Z:-5.90 [[ 7.19341432e-01 6.93077868e-01 4.68078357e-02 1.21024437e+02] [-6.91565804e-01 7.20862518e-01 -4.57598988e-02 -5.50909278e+01] [-6.54571874e-02 5.46292606e-04 9.97855229e-01 -5.90378835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42864 meters Centerline goodness [0,1] 0.9964021685559389 Centerline is valid? [True, True] Translation: X:121.05, Y:-55.11, Z:-5.91 [[ 7.20134742e-01 6.92265643e-01 4.66286679e-02 1.21049878e+02] [-6.90760342e-01 7.21642470e-01 -4.56321741e-02 -5.51115841e+01] [-6.52388134e-02 6.52079322e-04 9.97869466e-01 -5.90545246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45864 meters Centerline goodness [0,1] 0.9970931664778045 Centerline is valid? [True, True] Translation: X:121.07, Y:-55.13, Z:-5.91 [[ 7.19655577e-01 6.92734057e-01 4.70677887e-02 1.21073659e+02] [-6.91198043e-01 7.21192833e-01 -4.61103298e-02 -5.51341414e+01] [-6.58871477e-02 6.50392527e-04 9.97826869e-01 -5.90650418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48864 meters Centerline goodness [0,1] 0.997441196732605 Centerline is valid? [True, True] Translation: X:121.10, Y:-55.16, Z:-5.91 [[ 7.19360888e-01 6.92929152e-01 4.86734329e-02 1.21097263e+02] [-6.91283550e-01 7.21005350e-01 -4.77319434e-02 -5.51560740e+01] [-6.81686606e-02 6.89349681e-04 9.97673573e-01 -5.90870338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51864 meters Centerline goodness [0,1] 0.9979836726664699 Centerline is valid? [True, True] Translation: X:121.12, Y:-55.18, Z:-5.91 [[ 7.17881514e-01 6.94459168e-01 4.87093001e-02 1.21122241e+02] [-6.92811517e-01 7.19531883e-01 -4.78128791e-02 -5.51782982e+01] [-6.82519867e-02 5.77617919e-04 9.97667947e-01 -5.90836310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54864 meters Centerline goodness [0,1] 0.9982293920912847 Centerline is valid? [True, True] Translation: X:121.15, Y:-55.20, Z:-5.91 [[ 7.16834391e-01 6.95529496e-01 4.88587485e-02 1.21146977e+02] [-6.93870773e-01 7.18497361e-01 -4.80092945e-02 -5.52007592e+01] [-6.84967622e-02 5.13055785e-04 9.97651207e-01 -5.90939797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57864 meters Centerline goodness [0,1] 0.9986215723920642 Centerline is valid? [True, True] Translation: X:121.17, Y:-55.22, Z:-5.91 [[ 7.16091706e-01 6.96263517e-01 4.92928367e-02 1.21171023e+02] [-6.94573382e-01 7.17786097e-01 -4.84864531e-02 -5.52231651e+01] [-6.91410613e-02 4.83254619e-04 9.97606776e-01 -5.91181221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60864 meters Centerline goodness [0,1] 0.9986721093788423 Centerline is valid? [True, True] Translation: X:121.19, Y:-55.25, Z:-5.91 [[ 7.15442082e-01 6.96997111e-01 4.83493078e-02 1.21194691e+02] [-6.95369635e-01 7.17073801e-01 -4.76049846e-02 -5.52455628e+01] [-6.78505586e-02 4.37968790e-04 9.97695399e-01 -5.91264534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63864 meters Centerline goodness [0,1] 0.9984272865778739 Centerline is valid? [True, True] Translation: X:121.22, Y:-55.27, Z:-5.91 [[ 7.15269238e-01 6.97133048e-01 4.89431433e-02 1.21218201e+02] [-6.95462579e-01 7.16941630e-01 -4.82338138e-02 -5.52675352e+01] [-6.87147625e-02 4.62038626e-04 9.97636240e-01 -5.91462262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66864 meters Centerline goodness [0,1] 0.9984744845233995 Centerline is valid? [True, True] Translation: X:121.24, Y:-55.29, Z:-5.92 [[ 7.15967510e-01 6.96387905e-01 4.93397406e-02 1.21241605e+02] [-6.94685375e-01 7.17665355e-01 -4.86689669e-02 -5.52889422e+01] [-6.93019024e-02 5.69802874e-04 9.97595570e-01 -5.91636261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69864 meters Centerline goodness [0,1] 0.9984744845233995 Centerline is valid? [True, True] Translation: X:121.27, Y:-55.31, Z:-5.92 [[ 7.16626493e-01 6.95720915e-01 4.91820905e-02 1.21265133e+02] [-6.94024490e-01 7.18311886e-01 -4.85596771e-02 -5.53121078e+01] [-6.91120632e-02 6.65575826e-04 9.97608681e-01 -5.91849819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72864 meters Centerline goodness [0,1] 0.9982777285700226 Centerline is valid? [True, True] Translation: X:121.29, Y:-55.34, Z:-5.92 [[ 7.16626117e-01 6.95718406e-01 4.92230413e-02 1.21288516e+02] [-6.94015655e-01 7.18314281e-01 -4.86504399e-02 -5.53352288e+01] [-6.92046200e-02 7.02614631e-04 9.97602239e-01 -5.91946981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75864 meters Centerline goodness [0,1] 0.998621911605473 Centerline is valid? [True, True] Translation: X:121.31, Y:-55.36, Z:-5.92 [[ 7.16656681e-01 6.95721376e-01 4.87336423e-02 1.21312508e+02] [-6.94048958e-01 7.18311375e-01 -4.82163072e-02 -5.53579079e+01] [-6.85510453e-02 7.31005029e-04 9.97647342e-01 -5.92075363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78864000000002 meters Centerline goodness [0,1] 0.9981793130597382 Centerline is valid? [True, True] Translation: X:121.34, Y:-55.38, Z:-5.92 [[ 7.16789592e-01 6.95528114e-01 4.95310352e-02 1.21336703e+02] [-6.93796584e-01 7.18498440e-01 -4.90539669e-02 -5.53789848e+01] [-6.97063846e-02 7.96909884e-04 9.97567233e-01 -5.92186929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81864000000002 meters Centerline goodness [0,1] 0.9985721319547021 Centerline is valid? [True, True] Translation: X:121.36, Y:-55.40, Z:-5.92 [[ 7.15957374e-01 6.96385606e-01 4.95189458e-02 1.21360811e+02] [-6.94653701e-01 7.17667423e-01 -4.90887483e-02 -5.54020832e+01] [-6.97228320e-02 7.46932357e-04 9.97566123e-01 -5.92347936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84864000000002 meters Centerline goodness [0,1] 0.9989674500934211 Centerline is valid? [True, True] Translation: X:121.38, Y:-55.43, Z:-5.92 [[ 7.14899646e-01 6.97441597e-01 4.99371198e-02 1.21384569e+02] [-6.95679226e-01 7.16641297e-01 -4.95546855e-02 -5.54251007e+01] [-7.03485013e-02 6.86410249e-04 9.97522239e-01 -5.92498176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87864000000002 meters Centerline goodness [0,1] 0.999261847350032 Centerline is valid? [True, True] Translation: X:121.41, Y:-55.45, Z:-5.93 [[ 7.13999265e-01 6.98348430e-01 5.01449927e-02 1.21408832e+02] [-6.96569919e-01 7.15757686e-01 -4.98124644e-02 -5.54478327e+01] [-7.06781203e-02 6.36569479e-04 9.97498971e-01 -5.92677858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90864000000002 meters Centerline goodness [0,1] 0.9997541547841479 Centerline is valid? [True, True] Translation: X:121.43, Y:-55.47, Z:-5.93 [[ 7.12596795e-01 6.99698708e-01 5.12593992e-02 1.21433067e+02] [-6.97839985e-01 7.14437832e-01 -5.09699907e-02 -5.54696328e+01] [-7.22852907e-02 5.50193616e-04 9.97383845e-01 -5.92941911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:-55.49, Z:-5.93 [[ 7.11931606e-01 7.00453233e-01 5.01862162e-02 1.21457789e+02] [-6.98670327e-01 7.13698131e-01 -4.99474932e-02 -5.54901876e+01] [-7.08036919e-02 4.95578987e-04 9.97490146e-01 -5.92989480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96864000000002 meters Centerline goodness [0,1] 0.9998025763782636 Centerline is valid? [True, True] Translation: X:121.48, Y:-55.51, Z:-5.93 [[ 7.11287102e-01 7.01050664e-01 5.09767181e-02 1.21480981e+02] [-6.99209267e-01 7.13111310e-01 -5.07805210e-02 -5.55119488e+01] [-7.19517922e-02 4.76135935e-04 9.97407997e-01 -5.93128469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99864000000002 meters Centerline goodness [0,1] 0.9998521366257578 Centerline is valid? [True, True] Translation: X:121.50, Y:-55.53, Z:-5.93 [[ 7.11121143e-01 7.01279589e-01 5.01363894e-02 1.21504952e+02] [-6.99495873e-01 7.12886183e-01 -4.99881298e-02 -5.55339466e+01] [-7.07971944e-02 4.77418575e-04 9.97490616e-01 -5.93141848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02864 meters Centerline goodness [0,1] 0.9998033044846577 Centerline is valid? [True, True] Translation: X:121.53, Y:-55.56, Z:-5.93 [[ 7.12063634e-01 7.00312208e-01 5.02811325e-02 1.21530239e+02] [-6.98512336e-01 7.13836423e-01 -5.01804396e-02 -5.55551929e+01] [-7.10344783e-02 6.09674849e-04 9.97473674e-01 -5.93245133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:-55.58, Z:-5.93 [[ 7.12795700e-01 6.99583565e-01 5.00512408e-02 1.21554204e+02] [-6.97794697e-01 7.14550435e-01 -5.00023752e-02 -5.55778809e+01] [-7.07449757e-02 7.15987629e-04 9.97494178e-01 -5.93454174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:-55.60, Z:-5.94 [[ 7.14950242e-01 6.97373517e-01 5.01630200e-02 1.21577192e+02] [-6.95567726e-01 7.16707215e-01 -5.01627971e-02 -5.55997709e+01] [-7.09344047e-02 9.72126175e-04 9.97480509e-01 -5.93644059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11864 meters Centerline goodness [0,1] 0.9999016860836651 Centerline is valid? [True, True] Translation: X:121.62, Y:-55.72, Z:-4.14 [[ 7.47592556e-01 -6.64103870e-01 -8.45106597e-03 1.21624678e+02] [-6.64011644e-01 -7.47634495e-01 1.14541492e-02 -5.57171868e+01] [-1.39250533e-02 -2.95143046e-03 -9.99898686e-01 -4.13587209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:-55.66, Z:-5.94 [[ 7.65496170e-01 6.41185258e-01 5.38245192e-02 1.21619530e+02] [-6.39503158e-01 7.67385309e-01 -4.64273395e-02 -5.56558404e+01] [-7.10726710e-02 1.11900060e-03 9.97470512e-01 -5.93925534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:121.64, Y:-55.68, Z:-5.94 [[ 7.64974974e-01 6.41834374e-01 5.34969712e-02 1.21643216e+02] [-6.40171121e-01 7.66842523e-01 -4.61896222e-02 -5.56775204e+01] [-7.06698396e-02 1.08668907e-03 9.97499169e-01 -5.94037492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:-55.70, Z:-5.94 [[ 7.64455302e-01 6.42432121e-01 5.37499957e-02 1.21667272e+02] [-6.40751406e-01 7.66341846e-01 -4.64522514e-02 -5.56999107e+01] [-7.10332893e-02 1.07028454e-03 9.97473371e-01 -5.94154794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23864 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:121.69, Y:-55.72, Z:-5.94 [[ 7.63942556e-01 6.43019950e-01 5.40103237e-02 1.21691553e+02] [-6.41320904e-01 7.65848696e-01 -4.67255037e-02 -5.57226879e+01] [-7.14091670e-02 1.05765116e-03 9.97446546e-01 -5.94391625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:-55.75, Z:-5.95 [[ 7.63364389e-01 6.43757024e-01 5.34013482e-02 1.21713420e+02] [-6.42094725e-01 7.65229292e-01 -4.62438573e-02 -5.57463284e+01] [-7.06340838e-02 1.01218988e-03 9.97501780e-01 -5.94556956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:-55.77, Z:-5.95 [[ 7.62808574e-01 6.44360044e-01 5.40667444e-02 1.21737742e+02] [-6.42654294e-01 7.64721601e-01 -4.68650232e-02 -5.57686803e+01] [-7.15439558e-02 1.00281606e-03 9.97436944e-01 -5.94707488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:121.76, Y:-55.79, Z:-5.95 [[ 7.62419965e-01 6.44865460e-01 5.35194765e-02 1.21761639e+02] [-6.43192167e-01 7.64295478e-01 -4.64355358e-02 -5.57899924e+01] [-7.08493671e-02 9.80071553e-04 9.97486545e-01 -5.94849276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35864 meters Centerline goodness [0,1] 0.9999508019285644 Centerline is valid? [True, True] Translation: X:121.78, Y:-55.81, Z:-5.95 [[ 7.61613850e-01 6.45887808e-01 5.26619798e-02 1.21784087e+02] [-6.44267374e-01 7.63431809e-01 -4.57320848e-02 -5.58128970e+01] [-6.97416265e-02 9.01793707e-04 9.97564681e-01 -5.94833706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38864 meters Centerline goodness [0,1] 0.9999507364894823 Centerline is valid? [True, True] Translation: X:121.81, Y:-55.84, Z:-5.95 [[ 7.61020093e-01 6.46556391e-01 5.30400816e-02 1.21807219e+02] [-6.44911076e-01 7.62865688e-01 -4.61047287e-02 -5.58359981e+01] [-7.02717653e-02 8.80488843e-04 9.97527495e-01 -5.95092998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41864 meters Centerline goodness [0,1] 0.9998520418228447 Centerline is valid? [True, True] Translation: X:121.83, Y:-55.86, Z:-5.95 [[ 7.59987750e-01 6.47870037e-01 5.17980205e-02 1.21830061e+02] [-6.46300986e-01 7.61750494e-01 -4.50690634e-02 -5.58593332e+01] [-6.86560635e-02 7.74824401e-04 9.97640088e-01 -5.95148993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44864 meters Centerline goodness [0,1] 0.9998032754635322 Centerline is valid? [True, True] Translation: X:121.85, Y:-55.88, Z:-5.95 [[ 7.58846410e-01 6.49221600e-01 5.16085248e-02 1.21852365e+02] [-6.47664342e-01 7.60599007e-01 -4.49449702e-02 -5.58825511e+01] [-6.84326382e-02 6.81328021e-04 9.97655507e-01 -5.95246654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:121.88, Y:-55.90, Z:-5.96 [[ 7.57889858e-01 6.50158995e-01 5.38167726e-02 1.21875571e+02] [-6.48464662e-01 7.59797902e-01 -4.69119475e-02 -5.59042190e+01] [-7.13900956e-02 6.55813985e-04 9.97448256e-01 -5.95514105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50864 meters Centerline goodness [0,1] 0.9999016038571288 Centerline is valid? [True, True] Translation: X:121.90, Y:-55.93, Z:-5.96 [[ 7.56707769e-01 6.51537857e-01 5.37752062e-02 1.21898881e+02] [-6.49846371e-01 7.58615916e-01 -4.69210633e-02 -5.59273316e+01] [-7.13655763e-02 5.59910502e-04 9.97450069e-01 -5.95534913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53864000000002 meters Centerline goodness [0,1] 0.9999014972419228 Centerline is valid? [True, True] Translation: X:121.92, Y:-55.95, Z:-5.96 [[ 7.54801860e-01 6.53938481e-01 5.13674475e-02 1.21920506e+02] [-6.52397811e-01 7.56547645e-01 -4.48637610e-02 -5.59519081e+01] [-6.82000612e-02 3.51240002e-04 9.97671603e-01 -5.95539414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56864000000002 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:121.94, Y:-55.97, Z:-5.96 [[ 7.53494815e-01 6.55501027e-01 5.06356247e-02 1.21944170e+02] [-6.54004792e-01 7.55194245e-01 -4.42649403e-02 -5.59730805e+01] [-6.72554462e-02 2.37461801e-04 9.97735761e-01 -5.95690094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:-55.99, Z:-5.96 [[ 7.51677678e-01 6.57485374e-01 5.19003892e-02 1.21968250e+02] [-6.55915131e-01 7.53467301e-01 -4.54132960e-02 -5.59947828e+01] [-6.89638241e-02 9.39103535e-05 9.97619157e-01 -5.95904161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.99, Y:-56.02, Z:-5.96 [[ 7.50620783e-01 6.58746521e-01 5.12002102e-02 1.21992242e+02] [-6.57218520e-01 7.52364952e-01 -4.48418983e-02 -5.60167799e+01] [-6.80606881e-02 9.53442056e-06 9.97681183e-01 -5.96019808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.02, Y:-56.04, Z:-5.96 [[ 7.50274019e-01 6.59143125e-01 5.11784940e-02 1.22016899e+02] [-6.57614355e-01 7.52017514e-01 -4.48666740e-02 -5.60379457e+01] [-6.80606835e-02 6.58752995e-06 9.97681183e-01 -5.96158127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68864000000002 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:122.04, Y:-56.06, Z:-5.96 [[ 7.49502892e-01 6.60100762e-01 5.01238357e-02 1.22041187e+02] [-6.58633615e-01 7.51177064e-01 -4.39861299e-02 -5.60593568e+01] [-6.66871536e-02 -4.55115219e-05 9.97773933e-01 -5.96063657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:-56.08, Z:-5.96 [[ 7.48105957e-01 6.61627122e-01 5.08628424e-02 1.22065887e+02] [-6.60117008e-01 7.49833000e-01 -4.46766996e-02 -5.60797806e+01] [-6.76979539e-02 -1.52522248e-04 9.97705850e-01 -5.96202380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.09, Y:-56.10, Z:-5.96 [[ 7.45962519e-01 6.64085787e-01 5.02989830e-02 1.22092788e+02] [-6.62611678e-01 7.47656306e-01 -4.42245644e-02 -5.60998336e+01] [-6.69752566e-02 -3.38826059e-04 9.97754579e-01 -5.96337702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.12, Y:-56.12, Z:-5.97 [[ 7.44835942e-01 6.65250777e-01 5.15831733e-02 1.22117848e+02] [-6.63699916e-01 7.46619868e-01 -4.54003792e-02 -5.61200436e+01] [-6.87156596e-02 -4.19913531e-04 9.97636197e-01 -5.96544064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:-56.14, Z:-5.97 [[ 7.43788540e-01 6.66348016e-01 5.25255065e-02 1.22144582e+02] [-6.64739580e-01 7.45640713e-01 -4.62732910e-02 -5.61384168e+01] [-6.99992718e-02 -4.98239589e-04 9.97546918e-01 -5.96673576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83864 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:122.17, Y:-56.16, Z:-5.97 [[ 7.42885582e-01 6.67432307e-01 5.15279413e-02 1.22170316e+02] [-6.65884196e-01 7.44670266e-01 -4.54360286e-02 -5.61578367e+01] [-6.86967991e-02 -5.57871246e-04 9.97637428e-01 -5.96699108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:-56.18, Z:-5.97 [[ 7.42141867e-01 6.68333252e-01 5.05580097e-02 1.22196090e+02] [-6.66842258e-01 7.43861752e-01 -4.46217132e-02 -5.61772736e+01] [-6.74303443e-02 -5.98575772e-04 9.97723805e-01 -5.96940548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:-56.20, Z:-5.97 [[ 7.41767891e-01 6.68801806e-01 4.98451513e-02 1.22221608e+02] [-6.67350935e-01 7.43440503e-01 -4.40334884e-02 -5.61977460e+01] [-6.65065810e-02 -6.01580452e-04 9.97785805e-01 -5.96950258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:-56.22, Z:-5.97 [[ 7.41703813e-01 6.68843984e-01 5.02312438e-02 1.22248497e+02] [-6.67367647e-01 7.43402577e-01 -4.44188228e-02 -5.62174055e+01] [-6.70512986e-02 -5.77096746e-04 9.97749362e-01 -5.97140815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:-56.23, Z:-5.97 [[ 7.39893318e-01 6.70777968e-01 5.11350780e-02 1.22277087e+02] [-6.69249342e-01 7.41657862e-01 -4.52651473e-02 -5.62339614e+01] [-6.82875961e-02 -7.30737240e-04 9.97665410e-01 -5.97285232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98864 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:122.30, Y:-56.25, Z:-5.97 [[ 7.38592837e-01 6.72169602e-01 5.16589498e-02 1.22302598e+02] [-6.70609871e-01 7.40396736e-01 -4.57719852e-02 -5.62538647e+01] [-6.90146549e-02 -8.36141216e-04 9.97615296e-01 -5.97452495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01864 meters Centerline goodness [0,1] 0.9998028488343438 Centerline is valid? [True, True] Translation: X:122.33, Y:-56.27, Z:-5.97 [[ 7.36788056e-01 6.74246110e-01 5.03541729e-02 1.22329932e+02] [-6.72766192e-01 7.38506085e-01 -4.46588556e-02 -5.62724476e+01] [-6.72979228e-02 -9.72473729e-04 9.97732451e-01 -5.97437223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04864 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:122.36, Y:-56.29, Z:-5.98 [[ 7.36412842e-01 6.74654815e-01 5.03687046e-02 1.22356675e+02] [-6.73171779e-01 7.38132732e-01 -4.47194200e-02 -5.62922299e+01] [-6.73489616e-02 -9.74835318e-04 9.97729005e-01 -5.97704594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:-56.31, Z:-5.98 [[ 7.36057549e-01 6.75036030e-01 5.04543670e-02 1.22383697e+02] [-6.73545588e-01 7.37784119e-01 -4.48434416e-02 -5.63116534e+01] [-6.74953694e-02 -9.75962562e-04 9.97719110e-01 -5.97825712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10864 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:122.41, Y:-56.33, Z:-5.98 [[ 7.35988121e-01 6.75148978e-01 4.99534148e-02 1.22410059e+02] [-6.73685287e-01 7.37680804e-01 -4.44428466e-02 -5.63311384e+01] [-6.68552176e-02 -9.43473422e-04 9.97762241e-01 -5.97943680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13864 meters Centerline goodness [0,1] 0.9999015311899956 Centerline is valid? [True, True] Translation: X:122.44, Y:-56.35, Z:-5.98 [[ 7.38351562e-01 6.72510806e-01 5.06575374e-02 1.22438052e+02] [-6.70996426e-01 7.40086988e-01 -4.51114952e-02 -5.63484838e+01] [-6.78289523e-02 -6.82883561e-04 9.97696731e-01 -5.97947638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16864 meters Centerline goodness [0,1] 0.9998525581166757 Centerline is valid? [True, True] Translation: X:122.46, Y:-56.37, Z:-5.98 [[ 7.39911321e-01 6.70850102e-01 4.99137086e-02 1.22464378e+02] [-6.69374037e-01 7.41592807e-01 -4.44804175e-02 -5.63679825e+01] [-6.68553399e-02 -4.99376162e-04 9.97762554e-01 -5.98090341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19864 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:122.49, Y:-56.39, Z:-5.98 [[ 7.41443763e-01 6.69145062e-01 5.00602909e-02 1.22493649e+02] [-6.67654621e-01 7.43131737e-01 -4.46377492e-02 -5.63851249e+01] [-6.70705204e-02 -3.26603845e-04 9.97748184e-01 -5.98308597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:-56.40, Z:-5.98 [[ 7.42356347e-01 6.68182771e-01 4.93845972e-02 1.22519757e+02] [-6.66727283e-01 7.43997139e-01 -4.40793253e-02 -5.64046359e+01] [-6.61950447e-02 -2.03491439e-04 9.97806682e-01 -5.98406324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:-56.43, Z:-5.99 [[ 7.42011010e-01 6.68513889e-01 5.00883346e-02 1.22545587e+02] [-6.67014371e-01 7.43699629e-01 -4.47514239e-02 -5.64250094e+01] [-6.71676243e-02 -2.03589782e-04 9.97741684e-01 -5.98647308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:-56.44, Z:-5.99 [[ 7.42521124e-01 6.68027770e-01 4.90028450e-02 1.22571673e+02] [-6.66588681e-01 7.44136334e-01 -4.38251812e-02 -5.64448454e+01] [-6.57412355e-02 -1.23619045e-04 9.97836697e-01 -5.98651017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:-56.47, Z:-5.99 [[ 7.42520952e-01 6.68025351e-01 4.90384215e-02 1.22597335e+02] [-6.66581356e-01 7.44138510e-01 -4.38995847e-02 -5.64655718e+01] [-6.58174134e-02 -9.17360335e-05 9.97831679e-01 -5.98759802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:-56.49, Z:-5.99 [[ 7.43175819e-01 6.67365872e-01 4.80884022e-02 1.22623107e+02] [-6.65973175e-01 7.44730013e-01 -4.30921916e-02 -5.64857183e+01] [-6.45711345e-02 -5.11113549e-07 9.97913107e-01 -5.98831260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:-56.51, Z:-5.99 [[ 7.43453921e-01 6.67000020e-01 4.88594008e-02 1.22647633e+02] [-6.65558777e-01 7.45057695e-01 -4.38240199e-02 -5.65065367e+01] [-6.56336947e-02 6.23364019e-05 9.97843782e-01 -5.99049321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:-56.53, Z:-5.99 [[ 7.43534206e-01 6.66887441e-01 4.91734239e-02 1.22673344e+02] [-6.65424511e-01 7.45158460e-01 -4.41484998e-02 -5.65277034e+01] [-6.60840729e-02 1.04718139e-04 9.97814053e-01 -5.99081767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:-56.55, Z:-5.99 [[ 7.43274743e-01 6.67172796e-01 4.92251540e-02 1.22699730e+02] [-6.65704321e-01 7.44902978e-01 -4.42414969e-02 -5.65470287e+01] [-6.61846870e-02 1.14189521e-04 9.97807383e-01 -5.99204553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:-56.57, Z:-5.99 [[ 7.42638473e-01 6.67914553e-01 4.87672964e-02 1.22725255e+02] [-6.66471879e-01 7.44237962e-01 -4.38758488e-02 -5.65678536e+01] [-6.55997912e-02 8.18617119e-05 9.97846011e-01 -5.99271302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:-56.59, Z:-6.00 [[ 7.41659438e-01 6.68999021e-01 4.88015213e-02 1.22751763e+02] [-6.67553606e-01 7.43263284e-01 -4.39530785e-02 -5.65870297e+01] [-6.56769455e-02 2.05838901e-05 9.97840938e-01 -5.99577065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:-56.61, Z:-6.00 [[ 7.41015981e-01 6.69688926e-01 4.91127071e-02 1.22777820e+02] [-6.68223390e-01 7.42641732e-01 -4.42804546e-02 -5.66075052e+01] [-6.61272759e-02 -5.73514360e-06 9.97811196e-01 -5.99679913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:122.80, Y:-56.63, Z:-6.00 [[ 7.40314623e-01 6.70501355e-01 4.86023907e-02 1.22803693e+02] [-6.69064887e-01 7.41908304e-01 -4.38662265e-02 -5.66278312e+01] [-6.54708815e-02 -4.33440738e-05 9.97854479e-01 -5.99784215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:-56.65, Z:-6.00 [[ 7.39765214e-01 6.71123440e-01 4.83813593e-02 1.22829216e+02] [-6.69698350e-01 7.41345617e-01 -4.37126559e-02 -5.66486204e+01] [-6.52038966e-02 -6.38142749e-05 9.97871960e-01 -5.99894151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:-56.67, Z:-6.00 [[ 7.38843202e-01 6.72149324e-01 4.82287288e-02 1.22857613e+02] [-6.70732415e-01 7.40415608e-01 -4.36205790e-02 -5.66671543e+01] [-6.50288462e-02 -1.19803444e-04 9.97883377e-01 -5.99899151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.88, Y:-56.69, Z:-6.00 [[ 7.38439915e-01 6.72682537e-01 4.69542039e-02 1.22883291e+02] [-6.71338003e-01 7.39931205e-01 -4.25099773e-02 -5.66863179e+01] [-6.33386000e-02 -1.31077502e-04 9.97992086e-01 -6.00076493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67864 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:122.91, Y:-56.71, Z:-6.00 [[ 7.37342568e-01 6.73946755e-01 4.60620100e-02 1.22909912e+02] [-6.72652975e-01 7.38779892e-01 -4.17402257e-02 -5.67054456e+01] [-6.21603764e-02 -2.06902800e-04 9.98066153e-01 -6.00154690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.94, Y:-56.73, Z:-6.00 [[ 7.36677164e-01 6.74694624e-01 4.57593643e-02 1.22935240e+02] [-6.73416780e-01 7.38096950e-01 -4.15058174e-02 -5.67265406e+01] [-6.17785991e-02 -2.38735852e-04 9.98089850e-01 -6.00189268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73864 meters Centerline goodness [0,1] 0.9998523622047244 Centerline is valid? [True, True] Translation: X:122.96, Y:-56.75, Z:-6.00 [[ 7.36499282e-01 6.74826537e-01 4.66685403e-02 1.22960937e+02] [-6.73494761e-01 7.37976352e-01 -4.23758205e-02 -5.67467640e+01] [-6.30366073e-02 -2.21256072e-04 9.98011191e-01 -6.00358433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76864 meters Centerline goodness [0,1] 0.9998524203069658 Centerline is valid? [True, True] Translation: X:122.99, Y:-56.77, Z:-6.01 [[ 7.36907274e-01 6.74365043e-01 4.68983903e-02 1.22988155e+02] [-6.73016302e-01 7.38398108e-01 -4.26296876e-02 -5.67665475e+01] [-6.33776538e-02 -1.49254424e-04 9.97989605e-01 -6.00625568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79864 meters Centerline goodness [0,1] 0.9999013758074856 Centerline is valid? [True, True] Translation: X:123.01, Y:-56.79, Z:-6.01 [[ 7.37612391e-01 6.73646623e-01 4.61322864e-02 1.23012219e+02] [-6.72337596e-01 7.39053601e-01 -4.19753789e-02 -5.67875658e+01] [-6.23708046e-02 -5.49108950e-05 9.98053045e-01 -6.00768186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82864 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:123.04, Y:-56.81, Z:-6.01 [[ 7.38244547e-01 6.72995427e-01 4.55208129e-02 1.23037199e+02] [-6.71717233e-01 7.39646642e-01 -4.14584696e-02 -5.68098429e+01] [-6.15706768e-02 2.93746646e-05 9.98102726e-01 -6.00891274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.06, Y:-56.83, Z:-6.01 [[ 7.40503834e-01 6.70578673e-01 4.44782548e-02 1.23063171e+02] [-6.69352028e-01 7.41838379e-01 -4.05423589e-02 -5.68298906e+01] [-6.01825177e-02 2.50162135e-04 9.98187358e-01 -6.00908352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88864 meters Centerline goodness [0,1] 0.999901482685582 Centerline is valid? [True, True] Translation: X:123.09, Y:-56.85, Z:-6.01 [[ 7.40867971e-01 6.70180981e-01 4.44083549e-02 1.23088896e+02] [-6.68956173e-01 7.42197658e-01 -4.05003165e-02 -5.68506084e+01] [-6.01023189e-02 2.98144168e-04 9.98192177e-01 -6.01010044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91864 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:123.11, Y:-56.87, Z:-6.01 [[ 7.41275485e-01 6.69745550e-01 4.41764018e-02 1.23114205e+02] [-6.68530227e-01 7.42590578e-01 -4.03307421e-02 -5.68723758e+01] [-5.98163148e-02 3.62930454e-04 9.98209335e-01 -6.01180367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94864 meters Centerline goodness [0,1] 0.9999507219238161 Centerline is valid? [True, True] Translation: X:123.14, Y:-56.89, Z:-6.01 [[ 7.42497108e-01 6.68294892e-01 4.56068070e-02 1.23137508e+02] [-6.66994138e-01 7.43896269e-01 -4.16792658e-02 -5.68943819e+01] [-6.17807740e-02 5.27261409e-04 9.98089604e-01 -6.01358642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.16, Y:-56.92, Z:-6.01 [[ 7.42561466e-01 6.68204226e-01 4.58866271e-02 1.23162312e+02] [-6.66884798e-01 7.43977682e-01 -4.19746948e-02 -5.69163865e+01] [-6.21862948e-02 5.67696805e-04 9.98064398e-01 -6.01452679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00864 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:123.19, Y:-56.94, Z:-6.01 [[ 7.42019409e-01 6.68851562e-01 4.52192968e-02 1.23187427e+02] [-6.67568982e-01 7.43395790e-01 -4.14047448e-02 -5.69365802e+01] [-6.13094631e-02 5.36124331e-04 9.98118661e-01 -6.01418911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.21, Y:-56.96, Z:-6.02 [[ 7.41452811e-01 6.69402397e-01 4.63482571e-02 1.23211678e+02] [-6.68053551e-01 7.42899824e-01 -4.24771028e-02 -5.69579966e+01] [-6.28663864e-02 5.31649514e-04 9.98021811e-01 -6.01608406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.24, Y:-56.98, Z:-6.02 [[ 7.40218892e-01 6.70736746e-01 4.67783011e-02 1.23235363e+02] [-6.69362852e-01 7.41695365e-01 -4.29110485e-02 -5.69803121e+01] [-6.34772661e-02 4.51911745e-04 9.97983182e-01 -6.01728673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.26, Y:-57.00, Z:-6.02 [[ 7.38461041e-01 6.72708942e-01 4.62381799e-02 1.23260070e+02] [-6.71367967e-01 7.39907145e-01 -4.24555040e-02 -5.70011438e+01] [-6.27721569e-02 3.08902909e-04 9.98027836e-01 -6.01733193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12864000000002 meters Centerline goodness [0,1] 0.9999015360378102 Centerline is valid? [True, True] Translation: X:123.29, Y:-57.02, Z:-6.02 [[ 7.38444475e-01 6.72803999e-01 4.51058240e-02 1.23285664e+02] [-6.71526334e-01 7.39820707e-01 -4.14451945e-02 -5.70215428e+01] [-6.12547153e-02 3.15226297e-04 9.98122117e-01 -6.01848187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15864000000002 meters Centerline goodness [0,1] 0.9998524711089255 Centerline is valid? [True, True] Translation: X:123.31, Y:-57.04, Z:-6.02 [[ 7.37562497e-01 6.73867742e-01 4.36329037e-02 1.23310814e+02] [-6.72672941e-01 7.38851955e-01 -4.01111218e-02 -5.70419143e+01] [-5.92678473e-02 2.33785492e-04 9.98242089e-01 -6.01880461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18864000000002 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:123.34, Y:-57.06, Z:-6.02 [[ 7.37041015e-01 6.74414189e-01 4.40005022e-02 1.23335298e+02] [-6.73197823e-01 7.38353204e-01 -4.04875053e-02 -5.70643336e+01] [-5.97932599e-02 2.19909747e-04 9.98210758e-01 -6.01962226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21864000000002 meters Centerline goodness [0,1] 0.9999014389907352 Centerline is valid? [True, True] Translation: X:123.36, Y:-57.09, Z:-6.02 [[ 7.37508118e-01 6.73928284e-01 4.36170138e-02 1.23360159e+02] [-6.72729726e-01 7.38796715e-01 -4.01762349e-02 -5.70860741e+01] [-5.93000075e-02 2.87837650e-04 9.98240165e-01 -6.02019790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24864000000002 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:123.39, Y:-57.11, Z:-6.02 [[ 7.37542465e-01 6.73760223e-01 4.55881018e-02 1.23385236e+02] [-6.72447760e-01 7.38949959e-01 -4.20353192e-02 -5.71068027e+01] [-6.20090520e-02 3.47215972e-04 9.98075527e-01 -6.02205147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27864 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:123.41, Y:-57.13, Z:-6.02 [[ 7.38085174e-01 6.73261211e-01 4.41544790e-02 1.23410616e+02] [-6.72027015e-01 7.39404611e-01 -4.07493844e-02 -5.71265573e+01] [-6.00830053e-02 4.03513727e-04 9.98193303e-01 -6.02307934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30864 meters Centerline goodness [0,1] 0.9998524420835178 Centerline is valid? [True, True] Translation: X:123.43, Y:-57.15, Z:-6.02 [[ 7.38120690e-01 6.73301766e-01 4.29252621e-02 1.23434159e+02] [-6.72133416e-01 7.39367676e-01 -3.96498659e-02 -5.71482021e+01] [-5.84338760e-02 4.14883414e-04 9.98291195e-01 -6.02364916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33864 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:123.46, Y:-57.17, Z:-6.02 [[ 7.38089790e-01 6.73362314e-01 4.25047874e-02 1.23457821e+02] [-6.72214750e-01 7.39312523e-01 -3.92978692e-02 -5.71705545e+01] [-5.78860258e-02 4.33010988e-04 9.98323104e-01 -6.02498889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36864 meters Centerline goodness [0,1] 0.9996556981948749 Centerline is valid? [True, True] Translation: X:123.48, Y:-57.19, Z:-6.03 [[ 7.37537974e-01 6.73931814e-01 4.30540107e-02 1.23482627e+02] [-6.72752900e-01 7.38793429e-01 -3.98472691e-02 -5.71924500e+01] [-5.86623625e-02 4.24163501e-04 9.98277791e-01 -6.02623457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39864 meters Centerline goodness [0,1] 0.9998523331364442 Centerline is valid? [True, True] Translation: X:123.51, Y:-57.21, Z:-6.03 [[ 7.36296067e-01 6.75261505e-01 4.34741574e-02 1.23507459e+02] [-6.74059276e-01 7.37578318e-01 -4.02779895e-02 -5.72137859e+01] [-5.92637717e-02 3.52366122e-04 9.98242296e-01 -6.02724286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42864 meters Centerline goodness [0,1] 0.9998028391167192 Centerline is valid? [True, True] Translation: X:123.53, Y:-57.24, Z:-6.03 [[ 7.35866976e-01 6.75747080e-01 4.31934815e-02 1.23531902e+02] [-6.74558740e-01 7.37133480e-01 -4.00592059e-02 -5.72355633e+01] [-5.89092528e-02 3.41706281e-04 9.98263283e-01 -6.02832482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45864 meters Centerline goodness [0,1] 0.9997538158542589 Centerline is valid? [True, True] Translation: X:123.56, Y:-57.26, Z:-6.03 [[ 7.35482483e-01 6.76119790e-01 4.39038450e-02 1.23556095e+02] [-6.74890098e-01 7.36791632e-01 -4.07608550e-02 -5.72579664e+01] [-5.99072063e-02 3.48624543e-04 9.98203890e-01 -6.02991771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48864 meters Centerline goodness [0,1] 0.9996556304422689 Centerline is valid? [True, True] Translation: X:123.58, Y:-57.28, Z:-6.03 [[ 7.36089138e-01 6.75429156e-01 4.43648086e-02 1.23580628e+02] [-6.74169626e-01 7.37424749e-01 -4.12317268e-02 -5.72802444e+01] [-6.05648183e-02 4.40819802e-04 9.98164169e-01 -6.03183312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51864 meters Centerline goodness [0,1] 0.9997538158542589 Centerline is valid? [True, True] Translation: X:123.60, Y:-57.30, Z:-6.03 [[ 7.37285507e-01 6.74134033e-01 4.41971436e-02 1.23604937e+02] [-6.72879121e-01 7.38608810e-01 -4.11183054e-02 -5.73024487e+01] [-6.03636487e-02 5.76595469e-04 9.98176286e-01 -6.03416356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54864 meters Centerline goodness [0,1] 0.9997044771708614 Centerline is valid? [True, True] Translation: X:123.63, Y:-57.32, Z:-6.04 [[ 7.38791125e-01 6.72472922e-01 4.43603826e-02 1.23628105e+02] [-6.71203233e-01 7.40121351e-01 -4.13110989e-02 -5.73247146e+01] [-6.06126617e-02 7.45441005e-04 9.98161084e-01 -6.03523744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57864 meters Centerline goodness [0,1] 0.9997044771708614 Centerline is valid? [True, True] Translation: X:123.65, Y:-57.35, Z:-6.04 [[ 7.38449203e-01 6.72849632e-01 4.43412541e-02 1.23652140e+02] [-6.71579389e-01 7.39778900e-01 -4.13316231e-02 -5.73466602e+01] [-6.06126916e-02 7.42631767e-04 9.98161084e-01 -6.03662081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60864 meters Centerline goodness [0,1] 0.9993603621334383 Centerline is valid? [True, True] Translation: X:123.68, Y:-57.37, Z:-6.04 [[ 7.38376490e-01 6.72937248e-01 4.42223804e-02 1.23676290e+02] [-6.71671424e-01 7.39699179e-01 -4.12628377e-02 -5.73696473e+01] [-6.04785589e-02 7.64600051e-04 9.98169204e-01 -6.03801192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63864 meters Centerline goodness [0,1] 0.9994094197549092 Centerline is valid? [True, True] Translation: X:123.70, Y:-57.39, Z:-6.04 [[ 7.37969757e-01 6.73374966e-01 4.43485431e-02 1.23700558e+02] [-6.72100122e-01 7.39300734e-01 -4.14228386e-02 -5.73919465e+01] [-6.06800130e-02 7.62140923e-04 9.98156979e-01 -6.03799818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66864 meters Centerline goodness [0,1] 0.999753718845434 Centerline is valid? [True, True] Translation: X:123.73, Y:-57.41, Z:-6.04 [[ 7.37340251e-01 6.74064723e-01 4.43407709e-02 1.23725295e+02] [-6.72789009e-01 7.38671921e-01 -4.14577146e-02 -5.74140223e+01] [-6.06984653e-02 7.36458288e-04 9.98155877e-01 -6.03913596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69864 meters Centerline goodness [0,1] 0.9993606452564796 Centerline is valid? [True, True] Translation: X:123.75, Y:-57.44, Z:-6.04 [[ 7.35009442e-01 6.76578420e-01 4.47522205e-02 1.23749468e+02] [-6.75281013e-01 7.36370371e-01 -4.18835405e-02 -5.74356736e+01] [-6.12917088e-02 5.64472960e-04 9.98119736e-01 -6.04020870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72864 meters Centerline goodness [0,1] 0.999458154770701 Centerline is valid? [True, True] Translation: X:123.77, Y:-57.46, Z:-6.04 [[ 7.33564735e-01 6.78127014e-01 4.50170168e-02 1.23773208e+02] [-6.76814665e-01 7.34944579e-01 -4.21707822e-02 -5.74586049e+01] [-6.16821591e-02 4.66821560e-04 9.98095734e-01 -6.04199038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75864 meters Centerline goodness [0,1] 0.9998032657879206 Centerline is valid? [True, True] Translation: X:123.80, Y:-57.48, Z:-6.04 [[ 7.30731672e-01 6.81140255e-01 4.55979849e-02 1.23797896e+02] [-6.79796841e-01 7.32152915e-01 -4.27593717e-02 -5.74812528e+01] [-6.25098270e-02 2.48261107e-04 9.98044318e-01 -6.04392416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78864000000002 meters Centerline goodness [0,1] 0.9998032851381922 Centerline is valid? [True, True] Translation: X:123.82, Y:-57.50, Z:-6.04 [[ 7.29887458e-01 6.82061742e-01 4.53439948e-02 1.23822854e+02] [-6.80732901e-01 7.31294566e-01 -4.25555502e-02 -5.75024171e+01] [-6.21853297e-02 1.93613274e-04 9.98064601e-01 -6.04486975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81864000000002 meters Centerline goodness [0,1] 0.9997049857409774 Centerline is valid? [True, True] Translation: X:123.85, Y:-57.52, Z:-6.05 [[ 7.28477385e-01 6.83498172e-01 4.63783223e-02 1.23848838e+02] [-6.82109404e-01 7.29952218e-01 -4.35490470e-02 -5.75216416e+01] [-6.36196533e-02 8.94060634e-05 9.97974214e-01 -6.04678473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84864000000002 meters Centerline goodness [0,1] 0.9997046081134305 Centerline is valid? [True, True] Translation: X:123.87, Y:-57.54, Z:-6.05 [[ 7.27394331e-01 6.84672206e-01 4.60592757e-02 1.23874241e+02] [-6.83302254e-01 7.28851130e-01 -4.32904150e-02 -5.75432645e+01] [-6.32100991e-02 1.67955919e-05 9.98000242e-01 -6.04803686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87864000000002 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:123.90, Y:-57.56, Z:-6.05 [[ 7.26290127e-01 6.85811868e-01 4.65266823e-02 1.23899373e+02] [-6.84413340e-01 7.27778867e-01 -4.37755749e-02 -5.75641624e+01] [-6.38829449e-02 -4.97141497e-05 9.97957397e-01 -6.04931738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90864000000002 meters Centerline goodness [0,1] 0.9999015554242962 Centerline is valid? [True, True] Translation: X:123.93, Y:-57.58, Z:-6.05 [[ 7.25010204e-01 6.87134998e-01 4.69648580e-02 1.23925090e+02] [-6.85709740e-01 7.26529749e-01 -4.42343435e-02 -5.75845080e+01] [-6.45163320e-02 -1.33910098e-04 9.97916642e-01 -6.05087412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93864000000002 meters Centerline goodness [0,1] 0.9997538279749889 Centerline is valid? [True, True] Translation: X:123.95, Y:-57.60, Z:-6.05 [[ 7.23651293e-01 6.88544806e-01 4.72742617e-02 1.23954218e+02] [-6.87100647e-01 7.25193766e-01 -4.45724547e-02 -5.76022521e+01] [-6.49731320e-02 -2.27261310e-04 9.97886988e-01 -6.05175644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96864000000002 meters Centerline goodness [0,1] 0.9998032464338417 Centerline is valid? [True, True] Translation: X:123.98, Y:-57.62, Z:-6.05 [[ 7.22621463e-01 6.89580281e-01 4.79297156e-02 1.23980035e+02] [-6.88095028e-01 7.24209190e-01 -4.52358417e-02 -5.76216883e+01] [-6.59048849e-02 -2.91808881e-04 9.97825867e-01 -6.05344450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99864000000002 meters Centerline goodness [0,1] 0.99965613793781 Centerline is valid? [True, True] Translation: X:124.01, Y:-57.64, Z:-6.06 [[ 7.22827988e-01 6.89284511e-01 4.90567410e-02 1.24007572e+02] [-6.87724949e-01 7.24490722e-01 -4.63420798e-02 -5.76388843e+01] [-6.74840315e-02 -2.40192454e-04 9.97720325e-01 -6.05617652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02864 meters Centerline goodness [0,1] 0.9998522385854307 Centerline is valid? [True, True] Translation: X:124.03, Y:-57.66, Z:-6.06 [[ 7.23383534e-01 6.88729969e-01 4.86548284e-02 1.24033806e+02] [-6.87191714e-01 7.25017935e-01 -4.60058935e-02 -5.76587855e+01] [-6.69612608e-02 -1.55289096e-04 9.97755564e-01 -6.05836688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05864 meters Centerline goodness [0,1] 0.9995577178239717 Centerline is valid? [True, True] Translation: X:124.06, Y:-57.68, Z:-6.06 [[ 7.24129402e-01 6.87941397e-01 4.87159388e-02 1.24060133e+02] [-6.86394278e-01 7.25766238e-01 -4.61114273e-02 -5.76789531e+01] [-6.70783434e-02 -4.77013470e-05 9.97747710e-01 -6.06034611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08864 meters Centerline goodness [0,1] 0.9995074376908679 Centerline is valid? [True, True] Translation: X:124.09, Y:-57.70, Z:-6.06 [[ 7.27082252e-01 6.84816832e-01 4.87576246e-02 1.24088016e+02] [-6.83256796e-01 7.28715192e-01 -4.61987098e-02 -5.76976718e+01] [-6.71680759e-02 2.76283580e-04 9.97741637e-01 -6.06210006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11864 meters Centerline goodness [0,1] 0.9995075347188023 Centerline is valid? [True, True] Translation: X:124.11, Y:-57.72, Z:-6.06 [[ 7.27788616e-01 6.84050966e-01 4.89694495e-02 1.24112923e+02] [-6.82472388e-01 7.29434116e-01 -4.64468603e-02 -5.77191024e+01] [-6.74920067e-02 3.83199048e-04 9.97719741e-01 -6.06246294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14864 meters Centerline goodness [0,1] 0.999113606145664 Centerline is valid? [True, True] Translation: X:124.14, Y:-57.74, Z:-6.06 [[ 7.28976461e-01 6.82739079e-01 4.96051386e-02 1.24137691e+02] [-6.81113020e-01 7.30662065e-01 -4.70956576e-02 -5.77404793e+01] [-6.83986389e-02 5.44920044e-04 9.97657922e-01 -6.06371880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17864 meters Centerline goodness [0,1] 0.9995081886588305 Centerline is valid? [True, True] Translation: X:124.16, Y:-57.76, Z:-6.07 [[ 7.29392921e-01 6.82328395e-01 4.91317407e-02 1.24162290e+02] [-6.80729370e-01 7.31045545e-01 -4.66897766e-02 -5.77625579e+01] [-6.77753005e-02 6.09773603e-04 9.97700424e-01 -6.06598284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20864 meters Centerline goodness [0,1] 0.9993589111352205 Centerline is valid? [True, True] Translation: X:124.19, Y:-57.78, Z:-6.07 [[ 7.29247570e-01 6.82525300e-01 4.85509741e-02 1.24186237e+02] [-6.80961347e-01 7.30861707e-01 -4.61823452e-02 -5.77847670e+01] [-6.70046668e-02 6.17026318e-04 9.97752471e-01 -6.06793784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23864 meters Centerline goodness [0,1] 0.9996553591649845 Centerline is valid? [True, True] Translation: X:124.21, Y:-57.81, Z:-6.07 [[ 7.28260184e-01 6.83503340e-01 4.96012965e-02 1.24210182e+02] [-6.81870266e-01 7.29947162e-01 -4.72237288e-02 -5.78068171e+01] [-6.84839020e-02 5.69512174e-04 9.97652059e-01 -6.07077665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26864 meters Centerline goodness [0,1] 0.9998032754635322 Centerline is valid? [True, True] Translation: X:124.23, Y:-57.83, Z:-6.07 [[ 7.27512691e-01 6.84218298e-01 5.07011307e-02 1.24233904e+02] [-6.82511140e-01 7.29277060e-01 -4.83064613e-02 -5.78289373e+01] [-7.00273362e-02 5.39477191e-04 9.97544927e-01 -6.07244615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29864 meters Centerline goodness [0,1] 0.9998033334972221 Centerline is valid? [True, True] Translation: X:124.26, Y:-57.85, Z:-6.07 [[ 7.26173816e-01 6.85629448e-01 5.08315779e-02 1.24258361e+02] [-6.83914558e-01 7.27950600e-01 -4.84644344e-02 -5.78514687e+01] [-7.02315210e-02 4.29147206e-04 9.97530626e-01 -6.07372880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32864 meters Centerline goodness [0,1] 0.9998033721673303 Centerline is valid? [True, True] Translation: X:124.28, Y:-57.87, Z:-6.08 [[ 7.24515865e-01 6.87380572e-01 5.08400489e-02 1.24282771e+02] [-6.85665912e-01 7.26297365e-01 -4.85221061e-02 -5.78731793e+01] [-7.02781466e-02 2.95747136e-04 9.97527390e-01 -6.07555772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35864 meters Centerline goodness [0,1] 0.999655952029883 Centerline is valid? [True, True] Translation: X:124.31, Y:-57.89, Z:-6.08 [[ 7.23898265e-01 6.88027391e-01 5.08882256e-02 1.24307696e+02] [-6.86307588e-01 7.25684668e-01 -4.86174659e-02 -5.78948487e+01] [-7.03789533e-02 2.69123861e-04 9.97520291e-01 -6.07735801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38864 meters Centerline goodness [0,1] 0.9995580219024701 Centerline is valid? [True, True] Translation: X:124.33, Y:-57.92, Z:-6.08 [[ 7.22979653e-01 6.88928024e-01 5.17551722e-02 1.24332144e+02] [-6.87147894e-01 7.24829724e-01 -4.94938680e-02 -5.79159637e+01] [-7.16113999e-02 2.19601970e-04 9.97432584e-01 -6.07943212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41864 meters Centerline goodness [0,1] 0.999409681227863 Centerline is valid? [True, True] Translation: X:124.36, Y:-57.94, Z:-6.08 [[ 7.24045029e-01 6.87683345e-01 5.33892577e-02 1.24357975e+02] [-6.85782068e-01 7.26010652e-01 -5.11027244e-02 -5.79356553e+01] [-7.39036622e-02 3.87278039e-04 9.97265310e-01 -6.08284165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44864 meters Centerline goodness [0,1] 0.9991617770326907 Centerline is valid? [True, True] Translation: X:124.38, Y:-57.96, Z:-6.08 [[ 7.24455506e-01 6.87246211e-01 5.34496644e-02 1.24381553e+02] [-6.85336980e-01 7.26424420e-01 -5.11936081e-02 -5.79569533e+01] [-7.40097546e-02 4.56459678e-04 9.97257413e-01 -6.08355387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47864 meters Centerline goodness [0,1] 0.9991645370552389 Centerline is valid? [True, True] Translation: X:124.41, Y:-57.98, Z:-6.08 [[ 7.24840850e-01 6.86853003e-01 5.32794008e-02 1.24406920e+02] [-6.84952550e-01 7.26796178e-01 -5.10619245e-02 -5.79783649e+01] [-7.37953010e-02 5.17907329e-04 9.97273275e-01 -6.08469334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50864 meters Centerline goodness [0,1] 0.9995578264714552 Centerline is valid? [True, True] Translation: X:124.43, Y:-58.00, Z:-6.09 [[ 7.25301999e-01 6.86367551e-01 5.32596836e-02 1.24431746e+02] [-6.84463349e-01 7.27254576e-01 -5.10950677e-02 -5.80006479e+01] [-7.38033451e-02 6.05053401e-04 9.97272631e-01 -6.08609073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53864000000002 meters Centerline goodness [0,1] 0.9994593266158761 Centerline is valid? [True, True] Translation: X:124.46, Y:-58.02, Z:-6.09 [[ 7.25306599e-01 6.86400607e-01 5.27687768e-02 1.24455819e+02] [-6.84527739e-01 7.27223353e-01 -5.06751249e-02 -5.80230392e+01] [-7.31581233e-02 6.33311072e-04 9.97320153e-01 -6.08681183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56864000000002 meters Centerline goodness [0,1] 0.9997049712346954 Centerline is valid? [True, True] Translation: X:124.48, Y:-58.05, Z:-6.09 [[ 7.26012748e-01 6.85564639e-01 5.39130334e-02 1.24478953e+02] [-6.83603488e-01 7.28011355e-01 -5.18241103e-02 -5.80455683e+01] [-7.47780779e-02 7.69827008e-04 9.97199903e-01 -6.08873287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59864000000002 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:124.50, Y:-58.07, Z:-6.09 [[ 7.26838985e-01 6.84661629e-01 5.42544369e-02 1.24501696e+02] [-6.82669640e-01 7.28860510e-01 -5.21969317e-02 -5.80675868e+01] [-7.52811529e-02 9.00907964e-04 9.97161941e-01 -6.09158516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62864000000002 meters Centerline goodness [0,1] 0.9995084062530725 Centerline is valid? [True, True] Translation: X:124.52, Y:-58.09, Z:-6.09 [[ 7.27819990e-01 6.83758879e-01 5.24581486e-02 1.24523683e+02] [-6.81891431e-01 7.29707347e-01 -5.05100438e-02 -5.80910829e+01] [-7.28157874e-02 9.91457551e-04 9.97344914e-01 -6.09289786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65864000000002 meters Centerline goodness [0,1] 0.9995078982333546 Centerline is valid? [True, True] Translation: X:124.55, Y:-58.11, Z:-6.09 [[ 7.28262377e-01 6.83392669e-01 5.10722081e-02 1.24546430e+02] [-6.81618845e-01 7.30050269e-01 -4.92174207e-02 -5.81144710e+01] [-7.09201038e-02 1.03141625e-03 9.97481466e-01 -6.09372129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68864000000002 meters Centerline goodness [0,1] 0.9994593797611442 Centerline is valid? [True, True] Translation: X:124.57, Y:-58.14, Z:-6.10 [[ 7.28087053e-01 6.83570372e-01 5.11936552e-02 1.24569060e+02] [-6.81785296e-01 7.29883857e-01 -4.93798029e-02 -5.81388318e+01] [-7.11199927e-02 1.04971375e-03 9.97467215e-01 -6.09520619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71864000000002 meters Centerline goodness [0,1] 0.9995083337430553 Centerline is valid? [True, True] Translation: X:124.59, Y:-58.16, Z:-6.10 [[ 7.27262142e-01 6.84443581e-01 5.12519389e-02 1.24590518e+02] [-6.82653068e-01 7.29065142e-01 -4.94854295e-02 -5.81646066e+01] [-7.12359867e-02 1.00158611e-03 9.97458987e-01 -6.09712828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74864000000002 meters Centerline goodness [0,1] 0.9996557659208262 Centerline is valid? [True, True] Translation: X:124.61, Y:-58.19, Z:-6.10 [[ 7.25689872e-01 6.86083151e-01 5.16151205e-02 1.24613387e+02] [-6.84267653e-01 7.27522598e-01 -4.98863652e-02 -5.81889886e+01] [-7.17773611e-02 8.83472593e-04 9.97420287e-01 -6.09868088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77864 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:124.63, Y:-58.21, Z:-6.10 [[ 7.22403750e-01 6.89560141e-01 5.13773697e-02 1.24633766e+02] [-6.87766705e-01 7.24228200e-01 -4.97038587e-02 -5.82138411e+01] [-7.14827398e-02 5.70609706e-04 9.97441674e-01 -6.10084968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.66, Y:-58.24, Z:-6.10 [[ 7.21061702e-01 6.90971531e-01 5.12675972e-02 1.24656107e+02] [-6.89186002e-01 7.22881822e-01 -4.96439830e-02 -5.82378179e+01] [-7.13629930e-02 4.63464465e-04 9.97450304e-01 -6.10309440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83864 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:124.68, Y:-58.26, Z:-6.10 [[ 7.20013259e-01 6.92079443e-01 5.10583108e-02 1.24678829e+02] [-6.90307712e-01 7.21821234e-01 -4.94911073e-02 -5.82616059e+01] [-7.11067509e-02 3.88307731e-04 9.97468636e-01 -6.10374884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86864 meters Centerline goodness [0,1] 0.9998033818324813 Centerline is valid? [True, True] Translation: X:124.70, Y:-58.29, Z:-6.11 [[ 7.18796111e-01 6.93340645e-01 5.10969656e-02 1.24700508e+02] [-6.91565806e-01 7.20609922e-01 -4.95789950e-02 -5.82864997e+01] [-7.11961128e-02 3.00274573e-04 9.97462292e-01 -6.10579875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89864 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:124.72, Y:-58.31, Z:-6.11 [[ 7.18425111e-01 6.93759467e-01 5.06276748e-02 1.24722837e+02] [-6.92014802e-01 7.20206718e-01 -4.91710917e-02 -5.83092211e+01] [-7.05753019e-02 2.90646654e-04 9.97506412e-01 -6.10654032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92864 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:124.75, Y:-58.33, Z:-6.11 [[ 7.18355770e-01 6.93814695e-01 5.08542666e-02 1.24745517e+02] [-6.92051159e-01 7.20153502e-01 -4.94381136e-02 -5.83326328e+01] [-7.09237678e-02 3.20399986e-04 9.97481687e-01 -6.10781413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95864 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:124.77, Y:-58.36, Z:-6.11 [[ 7.18062587e-01 6.94119604e-01 5.08340065e-02 1.24769593e+02] [-6.92354635e-01 7.19859617e-01 -4.94690845e-02 -5.83557170e+01] [-7.09308098e-02 3.26738769e-04 9.97481185e-01 -6.10882375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:124.79, Y:-58.38, Z:-6.11 [[ 7.16986453e-01 6.95167376e-01 5.16985998e-02 1.24792641e+02] [-6.93340927e-01 7.18847863e-01 -5.03597913e-02 -5.83785546e+01] [-7.21719120e-02 2.62533053e-04 9.97392173e-01 -6.11083202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01864 meters Centerline goodness [0,1] 0.9998527029017529 Centerline is valid? [True, True] Translation: X:124.81, Y:-58.40, Z:-6.11 [[ 7.16708670e-01 6.95332717e-01 5.33019259e-02 1.24814753e+02] [-6.93388680e-01 7.18687925e-01 -5.19596481e-02 -5.84011351e+01] [-7.44366938e-02 2.80978289e-04 9.97225701e-01 -6.11270904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04864 meters Centerline goodness [0,1] 0.9999016038571288 Centerline is valid? [True, True] Translation: X:124.84, Y:-58.42, Z:-6.11 [[ 7.16778575e-01 6.95342147e-01 5.22280870e-02 1.24838111e+02] [-6.93473379e-01 7.18678795e-01 -5.09456846e-02 -5.84237199e+01] [-7.29599003e-02 2.97987211e-04 9.97334831e-01 -6.11348659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07864 meters Centerline goodness [0,1] 0.9999018019345018 Centerline is valid? [True, True] Translation: X:124.86, Y:-58.45, Z:-6.12 [[ 7.16876233e-01 6.95198919e-01 5.27913880e-02 1.24861203e+02] [-6.93285765e-01 7.18817322e-01 -5.15413100e-02 -5.84462647e+01] [-7.37788271e-02 3.49222320e-04 9.97274567e-01 -6.11596242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:-58.47, Z:-6.12 [[ 7.17945256e-01 6.94232938e-01 5.09434687e-02 1.24883184e+02] [-6.92446841e-01 7.19750248e-01 -4.97689963e-02 -5.84704725e+01] [-7.12178507e-02 4.55770828e-04 9.97460681e-01 -6.11704700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.91, Y:-58.49, Z:-6.12 [[ 7.18525859e-01 6.93636303e-01 5.08848551e-02 1.24906267e+02] [-6.91850703e-01 7.20325199e-01 -4.97414616e-02 -5.84937211e+01] [-7.11561269e-02 5.35803684e-04 9.97465046e-01 -6.11804940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16864 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:124.93, Y:-58.52, Z:-6.12 [[ 7.18896009e-01 6.93293917e-01 5.03197137e-02 1.24930762e+02] [-6.91543453e-01 7.20654692e-01 -4.92388762e-02 -5.85163310e+01] [-7.04001512e-02 5.99362982e-04 9.97518651e-01 -6.11786860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:-58.54, Z:-6.12 [[ 7.19137239e-01 6.93129881e-01 4.91182228e-02 1.24954342e+02] [-6.91458548e-01 7.20812435e-01 -4.81093604e-02 -5.85389033e+01] [-6.87510610e-02 6.34017534e-04 9.97633645e-01 -6.11928165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:-58.56, Z:-6.12 [[ 7.18659520e-01 6.93623061e-01 4.91481834e-02 1.24977294e+02] [-6.91947719e-01 7.20337883e-01 -4.81839043e-02 -5.85628629e+01] [-6.88247655e-02 6.19848103e-04 9.97628572e-01 -6.12065618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.00, Y:-58.59, Z:-6.12 [[ 7.18071396e-01 6.94173613e-01 4.99646446e-02 1.24999402e+02] [-6.92440052e-01 7.19807351e-01 -4.90321600e-02 -5.85868501e+01] [-7.00017501e-02 6.11070515e-04 9.97546681e-01 -6.12236332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:-58.61, Z:-6.12 [[ 7.17413225e-01 6.94766539e-01 5.11636738e-02 1.25021398e+02] [-6.92946905e-01 7.19235078e-01 -5.02542443e-02 -5.86109476e+01] [-7.17136763e-02 5.99350028e-04 9.97425080e-01 -6.12477230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:-58.63, Z:-6.13 [[ 7.16558914e-01 6.95657933e-01 5.10231630e-02 1.25044539e+02] [-6.93847152e-01 7.18372985e-01 -5.01635693e-02 -5.86348552e+01] [-7.15503469e-02 5.42876380e-04 9.97436842e-01 -6.12716159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:-58.66, Z:-6.13 [[ 7.15668320e-01 6.96740981e-01 4.86914832e-02 1.25065197e+02] [-6.95091533e-01 7.17322664e-01 -4.79161402e-02 -5.86601794e+01] [-6.83126430e-02 4.47025867e-04 9.97663863e-01 -6.12859587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:-58.68, Z:-6.13 [[ 7.14855577e-01 6.97602329e-01 4.82959006e-02 1.25087122e+02] [-6.95978712e-01 7.16485057e-01 -4.75688461e-02 -5.86836765e+01] [-6.77874289e-02 3.91936296e-04 9.97699710e-01 -6.12852336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.11, Y:-58.71, Z:-6.13 [[ 7.14672077e-01 6.97682404e-01 4.98305736e-02 1.25109890e+02] [-6.95950886e-01 7.16407063e-01 -4.91252034e-02 -5.87067463e+01] [-6.99727649e-02 4.28779245e-04 9.97548810e-01 -6.13069535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.13, Y:-58.73, Z:-6.13 [[ 7.14998960e-01 6.97267367e-01 5.09382556e-02 1.25131778e+02] [-6.95453603e-01 7.16810962e-01 -5.02626072e-02 -5.87305200e+01] [-7.15595759e-02 5.12518488e-04 9.97436196e-01 -6.13199236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.16, Y:-58.75, Z:-6.13 [[ 7.14645217e-01 6.97631646e-01 5.09146262e-02 1.25155181e+02] [-6.95817101e-01 7.16456437e-01 -5.02865363e-02 -5.87531525e+01] [-7.15595908e-02 5.09765072e-04 9.97436196e-01 -6.13337600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.18, Y:-58.78, Z:-6.13 [[ 7.15195776e-01 6.97066741e-01 5.09211254e-02 1.25177708e+02] [-6.95246628e-01 7.17005993e-01 -5.03441272e-02 -5.87768744e+01] [-7.16039688e-02 6.03166350e-04 9.97432959e-01 -6.13445545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:125.20, Y:-58.80, Z:-6.14 [[ 7.15184965e-01 6.97076792e-01 5.09353792e-02 1.25199006e+02] [-6.95252003e-01 7.16996191e-01 -5.04094669e-02 -5.88029775e+01] [-7.16597423e-02 6.39168426e-04 9.97428931e-01 -6.13582016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:-58.83, Z:-6.14 [[ 7.15053438e-01 6.97197982e-01 5.11229381e-02 1.25221713e+02] [-6.95356309e-01 7.16878323e-01 -5.06465527e-02 -5.88274742e+01] [-7.19596005e-02 6.66334139e-04 9.97407325e-01 -6.13752741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:-58.85, Z:-6.14 [[ 7.14758811e-01 6.97514548e-01 5.09244295e-02 1.25243975e+02] [-6.95684309e-01 7.16570309e-01 -5.05008369e-02 -5.88513887e+01] [-7.17160027e-02 6.68591594e-04 9.97424868e-01 -6.13815475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61864 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:125.26, Y:-58.88, Z:-6.14 [[ 7.13678136e-01 6.98647120e-01 5.05541310e-02 1.25264263e+02] [-6.96842838e-01 7.15466183e-01 -5.01816636e-02 -5.88768302e+01] [-7.12290459e-02 5.85272066e-04 9.97459814e-01 -6.13861290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:-58.90, Z:-6.14 [[ 7.13181551e-01 6.99206487e-01 4.98233309e-02 1.25286194e+02] [-6.97452360e-01 7.14919564e-01 -4.94997186e-02 -5.89001526e+01] [-7.02301984e-02 5.52886403e-04 9.97530658e-01 -6.13907592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:-58.93, Z:-6.14 [[ 7.12832042e-01 6.99569531e-01 4.97287715e-02 1.25308129e+02] [-6.97819692e-01 7.14564321e-01 -4.94520846e-02 -5.89251697e+01] [-7.01295774e-02 5.49314438e-04 9.97537739e-01 -6.14069550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:-58.95, Z:-6.14 [[ 7.13500518e-01 6.98922643e-01 4.92356568e-02 1.25330635e+02] [-6.97202391e-01 7.15196985e-01 -4.90112208e-02 -5.89495872e+01] [-6.94682452e-02 6.42313841e-04 9.97583957e-01 -6.14270742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:125.35, Y:-58.97, Z:-6.14 [[ 7.12702007e-01 6.99663369e-01 5.02694655e-02 1.25351477e+02] [-6.97868363e-01 7.14472385e-01 -5.00895051e-02 -5.89741802e+01] [-7.09619368e-02 6.17421185e-04 9.97478833e-01 -6.14489483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.37, Y:-59.00, Z:-6.15 [[ 7.13139562e-01 6.99186144e-01 5.07020847e-02 1.25372734e+02] [-6.97355615e-01 7.14939327e-01 -5.05658442e-02 -5.89982006e+01] [-7.16038520e-02 7.03120539e-04 9.97432902e-01 -6.14643101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.39, Y:-59.02, Z:-6.15 [[ 7.13602219e-01 6.98743131e-01 5.02982098e-02 1.25393390e+02] [-6.96937237e-01 7.15372236e-01 -5.02100770e-02 -5.90236321e+01] [-7.10658892e-02 7.75326976e-04 9.97471322e-01 -6.14658764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:-59.05, Z:-6.15 [[ 7.14195232e-01 6.98226853e-01 4.90350071e-02 1.25412754e+02] [-6.96506198e-01 7.15876077e-01 -4.89954961e-02 -5.90504138e+01] [-6.93129595e-02 8.39163301e-04 9.97594612e-01 -6.14779146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85864 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:125.43, Y:-59.07, Z:-6.15 [[ 7.13563230e-01 6.98985532e-01 4.73998169e-02 1.25433661e+02] [-6.97376773e-01 7.15135396e-01 -4.74025489e-02 -5.90748384e+01] [-6.70309827e-02 7.69184596e-04 9.97750598e-01 -6.14863469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:-59.23, Z:-4.36 [[ 7.48422026e-01 -6.63099251e-01 -1.28005678e-02 1.25402454e+02] [-6.62933032e-01 -7.48526155e-01 1.51125942e-02 -5.92349111e+01] [-1.96027096e-02 -2.82467914e-03 -9.99803858e-01 -4.36447704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:-59.11, Z:-6.15 [[ 7.60084021e-01 6.47923300e-01 4.96757214e-02 1.25451765e+02] [-6.46489393e-01 7.61705320e-01 -4.30867749e-02 -5.91130926e+01] [-6.57551867e-02 6.34742156e-04 9.97835584e-01 -6.15134617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:-59.14, Z:-6.15 [[ 7.58253334e-01 6.50056116e-01 4.97888346e-02 1.25475116e+02] [-6.48617304e-01 7.59886052e-01 -4.32294086e-02 -5.91369419e+01] [-6.59353824e-02 4.84943487e-04 9.97823777e-01 -6.15180163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:-59.16, Z:-6.15 [[ 7.57473276e-01 6.50893053e-01 5.07195283e-02 1.25498403e+02] [-6.49398800e-01 7.59169302e-01 -4.40813981e-02 -5.91596383e+01] [-6.71969847e-02 4.53280180e-04 9.97739625e-01 -6.15395257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.52, Y:-59.18, Z:-6.16 [[ 7.57041630e-01 6.51428972e-01 5.02818608e-02 1.25520657e+02] [-6.49958842e-01 7.58709501e-01 -4.37423872e-02 -5.91848271e+01] [-6.66443838e-02 4.33668095e-04 9.97776697e-01 -6.15514136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:-59.21, Z:-6.16 [[ 7.56923245e-01 6.51553408e-01 5.04515371e-02 1.25545013e+02] [-6.50070548e-01 7.58602627e-01 -4.39356003e-02 -5.92078745e+01] [-6.68990587e-02 4.58818789e-04 9.97759643e-01 -6.15623776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.57, Y:-59.23, Z:-6.16 [[ 7.57477693e-01 6.50847142e-01 5.12400521e-02 1.25567592e+02] [-6.49312849e-01 7.59208588e-01 -4.46670302e-02 -5.92314357e+01] [-6.79732965e-02 5.63454730e-04 9.97686982e-01 -6.15713572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.59, Y:-59.25, Z:-6.16 [[ 7.56880366e-01 6.51510258e-01 5.16381156e-02 1.25591587e+02] [-6.49950580e-01 7.58639632e-01 -4.50572063e-02 -5.92548065e+01] [-6.85299531e-02 5.40691607e-04 9.97648913e-01 -6.15961552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.62, Y:-59.28, Z:-6.16 [[ 7.56496487e-01 6.51914709e-01 5.21562725e-02 1.25615444e+02] [-6.50321200e-01 7.58292104e-01 -4.55567918e-02 -5.92777211e+01] [-6.92488323e-02 5.45223214e-04 9.97599269e-01 -6.16090930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:-59.30, Z:-6.16 [[ 7.57011270e-01 6.51371275e-01 5.14723221e-02 1.25638233e+02] [-6.49814903e-01 7.58758904e-01 -4.50057411e-02 -5.93021654e+01] [-6.83705297e-02 6.22371204e-04 9.97659803e-01 -6.16154000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:-59.32, Z:-6.16 [[ 7.56929877e-01 6.51398657e-01 5.23158819e-02 1.25662034e+02] [-6.49787663e-01 7.58735361e-01 -4.57891366e-02 -5.93244638e+01] [-6.95208916e-02 6.64950936e-04 9.97580274e-01 -6.16346595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21864000000002 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:125.68, Y:-59.35, Z:-6.16 [[ 7.57579803e-01 6.50616890e-01 5.26355884e-02 1.25684594e+02] [-6.48981298e-01 7.59405731e-01 -4.61108441e-02 -5.93479022e+01] [-6.99722615e-02 7.73131689e-04 9.97548638e-01 -6.16464511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:-59.37, Z:-6.17 [[ 7.57892161e-01 6.50351876e-01 5.13995206e-02 1.25707772e+02] [-6.48788946e-01 7.59632663e-01 -4.50679611e-02 -5.93701037e+01] [-6.83547878e-02 8.09213620e-04 9.97660748e-01 -6.16612152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.73, Y:-59.39, Z:-6.17 [[ 7.58477015e-01 6.49701966e-01 5.09899298e-02 1.25731612e+02] [-6.48159533e-01 7.60188502e-01 -4.47511141e-02 -5.93928362e+01] [-6.78368451e-02 8.93082385e-04 9.97696028e-01 -6.16712796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.75, Y:-59.42, Z:-6.17 [[ 7.59625037e-01 6.48377134e-01 5.07631415e-02 1.25753956e+02] [-6.46842490e-01 7.61318600e-01 -4.45957741e-02 -5.94168281e+01] [-6.75618040e-02 1.04030969e-03 9.97714549e-01 -6.16771306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:125.78, Y:-59.44, Z:-6.17 [[ 7.60144546e-01 6.47802850e-01 5.03163668e-02 1.25777360e+02] [-6.46291082e-01 7.61807212e-01 -4.42448771e-02 -5.94396542e+01] [-6.69933286e-02 1.11348281e-03 9.97752802e-01 -6.16943733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:125.80, Y:-59.46, Z:-6.17 [[ 7.60053596e-01 6.47841938e-01 5.11796357e-02 1.25798722e+02] [-6.46274843e-01 7.61773897e-01 -4.50483763e-02 -5.94634098e+01] [-6.81715379e-02 1.16306932e-03 9.97672937e-01 -6.17174153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39864 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:125.82, Y:-59.49, Z:-6.17 [[ 7.59173551e-01 6.48891466e-01 5.09449178e-02 1.25821910e+02] [-6.47338378e-01 7.60880193e-01 -4.48815896e-02 -5.94854476e+01] [-6.78862594e-02 1.09431528e-03 9.97692467e-01 -6.17264898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.85, Y:-59.51, Z:-6.17 [[ 7.58014164e-01 6.50240863e-01 5.10034070e-02 1.25845352e+02] [-6.48684509e-01 7.59727457e-01 -4.49733046e-02 -5.95073453e+01] [-6.79921691e-02 1.00528177e-03 9.97685348e-01 -6.17423215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.87, Y:-59.53, Z:-6.17 [[ 7.56602567e-01 6.52068475e-01 4.85722044e-02 1.25868108e+02] [-6.50658461e-01 7.58159624e-01 -4.28666630e-02 -5.95298615e+01] [-6.47774839e-02 8.29111518e-04 9.97899389e-01 -6.17466072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.89, Y:-59.55, Z:-6.18 [[ 7.55463071e-01 6.53373921e-01 4.87654389e-02 1.25892698e+02] [-6.51952711e-01 7.57034976e-01 -4.30779207e-02 -5.95525084e+01] [-6.50631329e-02 7.51018196e-04 9.97880867e-01 -6.17588367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.92, Y:-59.58, Z:-6.18 [[ 7.55528456e-01 6.53343769e-01 4.81525945e-02 1.25916513e+02] [-6.51955222e-01 7.57060972e-01 -4.25801923e-02 -5.95751948e+01] [-6.42739533e-02 7.77211443e-04 9.97931989e-01 -6.17588262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54864 meters Centerline goodness [0,1] 0.999852536374361 Centerline is valid? [True, True] Translation: X:125.94, Y:-59.60, Z:-6.18 [[ 7.55732252e-01 6.53024769e-01 4.92687965e-02 1.25940275e+02] [-6.51567450e-01 7.57336066e-01 -4.36112441e-02 -5.95974617e+01] [-6.57922591e-02 8.56479619e-04 9.97832975e-01 -6.17793196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57864 meters Centerline goodness [0,1] 0.9999507219238161 Centerline is valid? [True, True] Translation: X:125.96, Y:-59.62, Z:-6.18 [[ 7.55911687e-01 6.52813622e-01 4.93142616e-02 1.25964557e+02] [-6.51350390e-01 7.57518021e-01 -4.36934482e-02 -5.96201151e+01] [-6.58801200e-02 9.07524664e-04 9.97827132e-01 -6.17956785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60864 meters Centerline goodness [0,1] 0.9999506757423301 Centerline is valid? [True, True] Translation: X:125.99, Y:-59.64, Z:-6.18 [[ 7.55769914e-01 6.52993947e-01 4.90993177e-02 1.25989037e+02] [-6.51540856e-01 7.57362565e-01 -4.35483370e-02 -5.96421346e+01] [-6.56227856e-02 9.22311423e-04 9.97844076e-01 -6.18097977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63864 meters Centerline goodness [0,1] 0.9998523767345734 Centerline is valid? [True, True] Translation: X:126.01, Y:-59.66, Z:-6.18 [[ 7.55558388e-01 6.53176152e-01 4.99243047e-02 1.26012796e+02] [-6.51671188e-01 7.57205389e-01 -4.43245039e-02 -5.96631071e+01] [-6.67546614e-02 9.55519761e-04 9.97768962e-01 -6.18256261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:126.04, Y:-59.68, Z:-6.18 [[ 7.54395533e-01 6.54619062e-01 4.85928371e-02 1.26036539e+02] [-6.53193865e-01 7.55958455e-01 -4.31808789e-02 -5.96848749e+01] [-6.50011925e-02 8.34919021e-04 9.97884837e-01 -6.18416037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.06, Y:-59.71, Z:-6.18 [[ 7.54231086e-01 6.54904248e-01 4.72852375e-02 1.26060390e+02] [-6.53552989e-01 7.55711425e-01 -4.20562960e-02 -5.97062293e+01] [-6.32768412e-02 8.16757514e-04 9.97995678e-01 -6.18439499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.08, Y:-59.73, Z:-6.19 [[ 7.53209406e-01 6.55930132e-01 4.93077231e-02 1.26084519e+02] [-6.54460175e-01 7.54821193e-01 -4.38958662e-02 -5.97280360e+01] [-6.60111357e-02 7.92838225e-04 9.97818571e-01 -6.18652549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:126.11, Y:-59.75, Z:-6.19 [[ 7.52621161e-01 6.56623843e-01 4.90562740e-02 1.26109193e+02] [-6.55167595e-01 7.54217841e-01 -4.37134978e-02 -5.97506404e+01] [-6.57024420e-02 7.59622315e-04 9.97838971e-01 -6.18762396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.13, Y:-59.77, Z:-6.19 [[ 7.51086452e-01 6.58334473e-01 4.96473872e-02 1.26132691e+02] [-6.56843532e-01 7.52725246e-01 -4.42863144e-02 -5.97733335e+01] [-6.65260492e-02 6.52285572e-04 9.97784475e-01 -6.18871238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81864000000002 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:126.16, Y:-59.79, Z:-6.19 [[ 7.49864272e-01 6.59661654e-01 5.04982740e-02 1.26158494e+02] [-6.58118906e-01 7.51562484e-01 -4.50925632e-02 -5.97944959e+01] [-6.76984430e-02 5.79433321e-04 9.97705661e-01 -6.19082678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.19, Y:-59.81, Z:-6.19 [[ 7.48012593e-01 6.61933113e-01 4.81841806e-02 1.26185093e+02] [-6.60530665e-01 7.49562808e-01 -4.30678097e-02 -5.98125875e+01] [-6.46250791e-02 3.88135133e-04 9.97909539e-01 -6.19162806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.21, Y:-59.83, Z:-6.19 [[ 7.46506564e-01 6.63544785e-01 4.93585708e-02 1.26210013e+02] [-6.62073861e-01 7.48136510e-01 -4.41584127e-02 -5.98334738e+01] [-6.62280334e-02 2.85525374e-04 9.97804473e-01 -6.19395027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.23, Y:-59.85, Z:-6.20 [[ 7.45404617e-01 6.64710414e-01 5.03192095e-02 1.26234921e+02] [-6.63181434e-01 7.47101077e-01 -4.50595944e-02 -5.98543997e+01] [-6.75451173e-02 2.16864200e-04 9.97716197e-01 -6.19503086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.26, Y:-59.87, Z:-6.20 [[ 7.43557452e-01 6.66718586e-01 5.10748803e-02 1.26262482e+02] [-6.65144919e-01 7.45309548e-01 -4.57811538e-02 -5.98730635e+01] [-6.85897421e-02 6.87208691e-05 9.97644948e-01 -6.19639759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.29, Y:-59.89, Z:-6.20 [[ 7.43320306e-01 6.66958317e-01 5.13957871e-02 1.26288829e+02] [-6.65361972e-01 7.45095025e-01 -4.61177836e-02 -5.98927174e+01] [-6.90533846e-02 8.34827927e-05 9.97612963e-01 -6.19836484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:-59.91, Z:-6.20 [[ 7.43229637e-01 6.67108512e-01 5.07537243e-02 1.26313964e+02] [-6.65549087e-01 7.44960551e-01 -4.55871739e-02 -5.99123688e+01] [-6.82211141e-02 1.02643851e-04 9.97670221e-01 -6.19932923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.34, Y:-59.93, Z:-6.20 [[ 7.44280281e-01 6.65964594e-01 5.03788015e-02 1.26340450e+02] [-6.64422559e-01 7.45983313e-01 -4.52941522e-02 -5.99317425e+01] [-6.77460469e-02 2.38732143e-04 9.97702569e-01 -6.20111713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.37, Y:-59.95, Z:-6.20 [[ 7.44581979e-01 6.65648473e-01 5.00977769e-02 1.26366743e+02] [-6.64119696e-01 7.46265382e-01 -4.50889068e-02 -5.99522030e+01] [-6.73995985e-02 3.01467089e-04 9.97726016e-01 -6.20338850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.39, Y:-59.97, Z:-6.20 [[ 7.45245684e-01 6.64911885e-01 5.00105569e-02 1.26394328e+02] [-6.63383584e-01 7.46921698e-01 -4.50577234e-02 -5.99706357e+01] [-6.73133859e-02 4.02891381e-04 9.97731801e-01 -6.20387425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.42, Y:-59.99, Z:-6.21 [[ 7.44394717e-01 6.65813860e-01 5.06794817e-02 1.26420041e+02] [-6.64243147e-01 7.46117801e-01 -4.57085164e-02 -5.99918022e+01] [-6.82462272e-02 3.61679699e-04 9.97668443e-01 -6.20564978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.45, Y:-60.01, Z:-6.21 [[ 7.43241089e-01 6.67169569e-01 4.97739886e-02 1.26445778e+02] [-6.65654610e-01 7.44905830e-01 -4.49360068e-02 -6.00111588e+01] [-6.70568706e-02 2.66001674e-04 9.97749119e-01 -6.20742485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.47, Y:-60.03, Z:-6.21 [[ 7.43044620e-01 6.67423745e-01 4.92974349e-02 1.26471920e+02] [-6.65935418e-01 7.44678098e-01 -4.45482780e-02 -6.00310721e+01] [-6.64432986e-02 2.72450326e-04 9.97790165e-01 -6.20901866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.50, Y:-60.05, Z:-6.21 [[ 7.43659419e-01 6.66720036e-01 4.95485733e-02 1.26498487e+02] [-6.65211774e-01 7.45308161e-01 -4.48223319e-02 -6.00511590e+01] [-6.68129028e-02 3.72254986e-04 9.97765452e-01 -6.21108265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.52, Y:-60.07, Z:-6.21 [[ 7.44719991e-01 6.65628999e-01 4.82718414e-02 1.26523932e+02] [-6.64192454e-01 7.46282652e-01 -4.37102771e-02 -6.00714074e+01] [-6.51192658e-02 4.90124374e-04 9.97877368e-01 -6.21209809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.55, Y:-60.09, Z:-6.21 [[ 7.46886486e-01 6.63084679e-01 4.97924266e-02 1.26548671e+02] [-6.61547630e-01 7.48544001e-01 -4.51288262e-02 -6.00923912e+01] [-6.71960554e-02 7.66048567e-04 9.97739497e-01 -6.21355658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:-60.11, Z:-6.21 [[ 7.47978559e-01 6.61860649e-01 4.96845738e-02 1.26573252e+02] [-6.60324840e-01 7.49626349e-01 -4.50715229e-02 -6.01132629e+01] [-6.70759330e-02 9.04574460e-04 9.97747464e-01 -6.21445560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.60, Y:-60.13, Z:-6.22 [[ 7.49493370e-01 6.60106183e-01 5.01947776e-02 1.26598343e+02] [-6.58531917e-01 7.51171491e-01 -4.55752696e-02 -6.01338977e+01] [-6.77894032e-02 1.10349923e-03 9.97699042e-01 -6.21512906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.62, Y:-60.16, Z:-6.22 [[ 7.49709074e-01 6.59931901e-01 4.92563744e-02 1.26622101e+02] [-6.58413022e-01 7.51324573e-01 -4.47624587e-02 -6.01562568e+01] [-6.65476989e-02 1.12778317e-03 9.97782608e-01 -6.21653772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.65, Y:-60.18, Z:-6.22 [[ 7.49376884e-01 6.60310636e-01 4.92356582e-02 1.26646386e+02] [-6.58791078e-01 7.50991743e-01 -4.47852373e-02 -6.01778956e+01] [-6.65477413e-02 1.12500924e-03 9.97782608e-01 -6.21791768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.67, Y:-60.20, Z:-6.22 [[ 7.49088890e-01 6.60679141e-01 4.86714267e-02 1.26669556e+02] [-6.59192222e-01 7.50667594e-01 -4.43145332e-02 -6.02004869e+01] [-6.58137505e-02 1.11169863e-03 9.97831306e-01 -6.21912568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.69, Y:-60.22, Z:-6.22 [[ 7.48051009e-01 6.61821908e-01 4.91065218e-02 1.26693236e+02] [-6.60307921e-01 7.49660360e-01 -4.47525827e-02 -6.02234782e+01] [-6.64314525e-02 1.05178936e-03 9.97790437e-01 -6.22160005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.72, Y:-60.25, Z:-6.22 [[ 7.46301999e-01 6.63793853e-01 4.91024143e-02 1.26716902e+02] [-6.62281483e-01 7.47915032e-01 -4.47922214e-02 -6.02457254e+01] [-6.64572350e-02 9.08904616e-04 9.97788860e-01 -6.22301843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.74, Y:-60.27, Z:-6.22 [[ 7.43008681e-01 6.67336296e-01 5.09938041e-02 1.26737711e+02] [-6.65711098e-01 7.44756242e-01 -4.65497000e-02 -6.02710199e+01] [-6.90422582e-02 6.39689819e-04 9.97613531e-01 -6.22466498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.76, Y:-60.29, Z:-6.23 [[ 7.41215263e-01 6.69383301e-01 5.02586280e-02 1.26760289e+02] [-6.67807681e-01 7.42917077e-01 -4.59033571e-02 -6.02941288e+01] [-6.80649337e-02 4.61171091e-04 9.97680787e-01 -6.22584322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.78, Y:-60.32, Z:-6.23 [[ 7.38802002e-01 6.72095010e-01 4.95973834e-02 1.26783903e+02] [-6.70563950e-01 7.40464882e-01 -4.53403594e-02 -6.03166103e+01] [-6.71981499e-02 2.39330947e-04 9.97739621e-01 -6.22675227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.81, Y:-60.34, Z:-6.23 [[ 7.36561572e-01 6.74599048e-01 4.89201002e-02 1.26809096e+02] [-6.73112374e-01 7.38184342e-01 -4.47616865e-02 -6.03366446e+01] [-6.63082431e-02 4.10133237e-05 9.97799186e-01 -6.22793258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.83, Y:-60.36, Z:-6.23 [[ 7.34950814e-01 6.76230507e-01 5.05925052e-02 1.26832864e+02] [-6.74641204e-01 7.36690094e-01 -4.63351983e-02 -6.03579482e+01] [-6.86042721e-02 -7.76969284e-05 9.97643948e-01 -6.23092187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.86, Y:-60.38, Z:-6.23 [[ 7.34405489e-01 6.76874273e-01 4.98978625e-02 1.26856667e+02] [-6.75327018e-01 7.36098640e-01 -4.57406863e-02 -6.03793021e+01] [-6.76904425e-02 -1.05163629e-04 9.97706366e-01 -6.23166263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.88, Y:-60.40, Z:-6.23 [[ 7.32857879e-01 6.78565638e-01 4.96790183e-02 1.26881976e+02] [-6.77032837e-01 7.34539736e-01 -4.55841520e-02 -6.04006725e+01] [-6.74230522e-02 -2.27621776e-04 9.97724451e-01 -6.23293684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.91, Y:-60.42, Z:-6.23 [[ 7.31680588e-01 6.79843449e-01 4.95621121e-02 1.26907675e+02] [-6.78317546e-01 7.33357205e-01 -4.55249095e-02 -6.04217252e+01] [-6.72965434e-02 -3.09157684e-04 9.97732970e-01 -6.23379231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.93, Y:-60.44, Z:-6.24 [[ 7.29692795e-01 6.81873386e-01 5.09618572e-02 1.26934002e+02] [-6.80261575e-01 7.31470068e-01 -4.68586062e-02 -6.04407806e+01] [-6.92287096e-02 -4.75005991e-04 9.97600702e-01 -6.23607198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.96, Y:-60.46, Z:-6.24 [[ 7.28285491e-01 6.83426043e-01 5.02900343e-02 1.26959141e+02] [-6.81857128e-01 7.30019524e-01 -4.62855370e-02 -6.04621162e+01] [-6.83454483e-02 -5.81533330e-04 9.97661547e-01 -6.23756501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.98, Y:-60.48, Z:-6.24 [[ 7.26664610e-01 6.85118380e-01 5.07084793e-02 1.26984131e+02] [-6.83524075e-01 7.28431395e-01 -4.67176859e-02 -6.04828297e+01] [-6.89447937e-02 -7.12377402e-04 9.97620222e-01 -6.23864038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.01, Y:-60.50, Z:-6.24 [[ 7.23812223e-01 6.88103410e-01 5.10838895e-02 1.27011981e+02] [-6.86489761e-01 7.25611985e-01 -4.71068559e-02 -6.05001049e+01] [-6.94814707e-02 -9.72049025e-04 9.97582769e-01 -6.23930601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.04, Y:-60.52, Z:-6.24 [[ 7.22554834e-01 6.89348048e-01 5.20939597e-02 1.27038306e+02] [-6.87669938e-01 7.24429500e-01 -4.80827999e-02 -6.05194125e+01] [-7.08841854e-02 -1.08099057e-03 9.97483967e-01 -6.24103054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.06, Y:-60.54, Z:-6.24 [[ 7.21400776e-01 6.90643855e-01 5.09115497e-02 1.27064330e+02] [-6.89041397e-01 7.23194126e-01 -4.70341232e-02 -6.05388796e+01] [-6.93027618e-02 -1.14971230e-03 9.97595011e-01 -6.24235900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.09, Y:-60.56, Z:-6.24 [[ 7.20627591e-01 6.91458973e-01 5.07972805e-02 1.27089876e+02] [-6.89862563e-01 7.22414748e-01 -4.69742144e-02 -6.05592508e+01] [-6.91774466e-02 -1.19222707e-03 9.97603659e-01 -6.24355241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:-60.58, Z:-6.24 [[ 7.20356753e-01 6.91876932e-01 4.89127716e-02 1.27116419e+02] [-6.90394899e-01 7.22014528e-01 -4.52758859e-02 -6.05781687e+01] [-6.66410728e-02 -1.15433785e-03 9.97776345e-01 -6.24414434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.15, Y:-60.59, Z:-6.25 [[ 7.19755953e-01 6.92467903e-01 4.93920257e-02 1.27146864e+02] [-6.90955024e-01 7.21447705e-01 -4.57642116e-02 -6.05943954e+01] [-6.73240112e-02 -1.18860464e-03 9.97730457e-01 -6.24582416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.17, Y:-60.61, Z:-6.25 [[ 7.19576175e-01 6.92595216e-01 5.02194717e-02 1.27172965e+02] [-6.91028235e-01 7.21325487e-01 -4.65781048e-02 -6.06136855e+01] [-6.84843575e-02 -1.18657841e-03 9.97651485e-01 -6.24755861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.20, Y:-60.63, Z:-6.25 [[ 7.19367696e-01 6.92736551e-01 5.12463658e-02 1.27198913e+02] [-6.91102002e-01 7.21189746e-01 -4.75749304e-02 -6.06332229e+01] [-6.99152467e-02 -1.19259795e-03 9.97552222e-01 -6.24931111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:127.23, Y:-60.65, Z:-6.25 [[ 7.19408700e-01 6.92718187e-01 5.09179313e-02 1.27228015e+02] [-6.91101480e-01 7.21207451e-01 -4.73133965e-02 -6.06485895e+01] [-6.94972416e-02 -1.15178858e-03 9.97581479e-01 -6.24970641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.25, Y:-60.67, Z:-6.25 [[ 7.19611816e-01 6.92559709e-01 5.01984540e-02 1.27254607e+02] [-6.90985129e-01 7.21359731e-01 -4.66871361e-02 -6.06668147e+01] [-6.85447726e-02 -1.08977045e-03 9.97647446e-01 -6.25112913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13864 meters Centerline goodness [0,1] 0.9999016957483411 Centerline is valid? [True, True] Translation: X:127.28, Y:-60.69, Z:-6.25 [[ 7.19755919e-01 6.92455964e-01 4.95595988e-02 1.27280586e+02] [-6.90918173e-01 7.21459399e-01 -4.61347425e-02 -6.06862277e+01] [-6.77015160e-02 -1.03587342e-03 9.97705083e-01 -6.25332891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:-60.70, Z:-6.26 [[ 7.21506069e-01 6.90591289e-01 5.01264816e-02 1.27309045e+02] [-6.89010609e-01 7.23244749e-01 -4.67056032e-02 -6.07025036e+01] [-6.85081974e-02 -8.39301495e-04 9.97650200e-01 -6.25593919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:-60.72, Z:-6.26 [[ 7.22304468e-01 6.89796640e-01 4.95666299e-02 1.27336536e+02] [-6.88246386e-01 7.24002811e-01 -4.62259892e-02 -6.07208023e+01] [-6.77729114e-02 -7.24815318e-04 9.97700510e-01 -6.25624795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.36, Y:-60.74, Z:-6.26 [[ 7.23113597e-01 6.88983769e-01 4.90723146e-02 1.27363080e+02] [-6.87459648e-01 7.24776512e-01 -4.58065485e-02 -6.07391701e+01] [-6.71264295e-02 -6.11898043e-04 9.97744290e-01 -6.25766946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:-60.76, Z:-6.26 [[ 7.25892899e-01 6.86143963e-01 4.78117191e-02 1.27391343e+02] [-6.84688418e-01 7.27465714e-01 -4.46699638e-02 -6.07555167e+01] [-6.54314123e-02 -3.10520751e-04 9.97857021e-01 -6.25795441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.42, Y:-60.77, Z:-6.26 [[ 7.28199084e-01 6.83799614e-01 4.63053208e-02 1.27419971e+02] [-6.82427228e-01 7.29669846e-01 -4.33012160e-02 -6.07715639e+01] [-6.33969511e-02 -6.81058529e-05 9.97988388e-01 -6.25792802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.45, Y:-60.79, Z:-6.26 [[ 7.28187101e-01 6.83751662e-01 4.71933418e-02 1.27445873e+02] [-6.82323346e-01 7.29714783e-01 -4.41722423e-02 -6.07905379e+01] [-6.46405232e-02 -3.54619130e-05 9.97908614e-01 -6.25966899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34864000000002 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:127.47, Y:-60.81, Z:-6.26 [[ 7.28713424e-01 6.83161436e-01 4.76151084e-02 1.27472142e+02] [-6.81703402e-01 7.30267383e-01 -4.46096594e-02 -6.08108212e+01] [-6.52473596e-02 4.82762390e-05 9.97869120e-01 -6.26123212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:-60.83, Z:-6.26 [[ 7.28554348e-01 6.83329866e-01 4.76325093e-02 1.27499350e+02] [-6.81868088e-01 7.30109780e-01 -4.46723642e-02 -6.08294596e+01] [-6.53029215e-02 6.71571513e-05 9.97865484e-01 -6.26227913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.53, Y:-60.85, Z:-6.26 [[ 7.28374759e-01 6.83592541e-01 4.65987991e-02 1.27525411e+02] [-6.82191395e-01 7.29863845e-01 -4.37454964e-02 -6.08494906e+01] [-6.39148738e-02 7.38156510e-05 9.97955351e-01 -6.26278730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.55, Y:-60.87, Z:-6.27 [[ 7.27643831e-01 6.84281852e-01 4.78832216e-02 1.27550112e+02] [-6.82801173e-01 7.29217626e-01 -4.49912541e-02 -6.08693806e+01] [-6.57039879e-02 4.28886237e-05 9.97839157e-01 -6.26554400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:-60.89, Z:-6.27 [[ 7.27435811e-01 6.84519096e-01 4.76523633e-02 1.27575914e+02] [-6.83050528e-01 7.28994927e-01 -4.48148595e-02 -6.08902408e+01] [-6.54149583e-02 5.09616758e-05 9.97858147e-01 -6.26770852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.60, Y:-60.91, Z:-6.27 [[ 7.27465824e-01 6.84514478e-01 4.72589022e-02 1.27600995e+02] [-6.83067113e-01 7.28999261e-01 -4.44904169e-02 -6.09124578e+01] [-6.49060393e-02 8.42558723e-05 9.97891376e-01 -6.26924975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52864 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:127.63, Y:-60.93, Z:-6.27 [[ 7.27682652e-01 6.84269290e-01 4.74710158e-02 1.27627764e+02] [-6.82805349e-01 7.29229401e-01 -4.47362926e-02 -6.09323532e+01] [-6.52289316e-02 1.40360473e-04 9.97870316e-01 -6.26948952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:-60.95, Z:-6.27 [[ 7.27698440e-01 6.84275382e-01 4.71400243e-02 1.27652939e+02] [-6.82828868e-01 7.29223678e-01 -4.44698214e-02 -6.09533336e+01] [-6.48052259e-02 1.72050295e-04 9.97897917e-01 -6.27045799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.68, Y:-60.98, Z:-6.27 [[ 7.27860688e-01 6.84082750e-01 4.74300583e-02 1.27677053e+02] [-6.82615731e-01 7.29404377e-01 -4.47774444e-02 -6.09750674e+01] [-6.52271694e-02 2.15237541e-04 9.97870417e-01 -6.27254866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61864 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:127.70, Y:-61.00, Z:-6.27 [[ 7.28741013e-01 6.83189391e-01 4.67845289e-02 1.27701269e+02] [-6.81759504e-01 7.30241170e-01 -4.41793235e-02 -6.09965305e+01] [-6.43468342e-02 2.99487764e-04 9.97927550e-01 -6.27335227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.73, Y:-61.02, Z:-6.27 [[ 7.30759683e-01 6.81049108e-01 4.65015885e-02 1.27726105e+02] [-6.79631423e-01 7.32237577e-01 -4.39233440e-02 -6.10176772e+01] [-6.39641648e-02 4.93468222e-04 9.97952074e-01 -6.27401340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67864 meters Centerline goodness [0,1] 0.9995581737849779 Centerline is valid? [True, True] Translation: X:127.75, Y:-61.04, Z:-6.28 [[ 7.32222682e-01 6.79412676e-01 4.74168731e-02 1.27749704e+02] [-6.77934376e-01 7.33756079e-01 -4.47995276e-02 -6.10394282e+01] [-6.52297858e-02 6.57701983e-04 9.97870053e-01 -6.27746604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70864 meters Centerline goodness [0,1] 0.999361963190184 Centerline is valid? [True, True] Translation: X:127.77, Y:-61.06, Z:-6.28 [[ 7.35917805e-01 6.75409068e-01 4.74085993e-02 1.27772573e+02] [-6.73922205e-01 7.37442572e-01 -4.48030630e-02 -6.10624484e+01] [-6.52215144e-02 1.02166398e-03 9.97870287e-01 -6.27911265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73864 meters Centerline goodness [0,1] 0.999508019285644 Centerline is valid? [True, True] Translation: X:127.80, Y:-61.09, Z:-6.28 [[ 7.37934904e-01 6.73274309e-01 4.64088597e-02 1.27795757e+02] [-6.71844642e-01 7.39391832e-01 -4.38690694e-02 -6.10850556e+01] [-6.38502492e-02 1.19297375e-03 9.97958778e-01 -6.27916778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76864 meters Centerline goodness [0,1] 0.9994594328959654 Centerline is valid? [True, True] Translation: X:127.82, Y:-61.11, Z:-6.28 [[ 7.39479975e-01 6.71497494e-01 4.75445271e-02 1.27818390e+02] [-6.69991877e-01 7.41005512e-01 -4.49634868e-02 -6.11080510e+01] [-6.54236253e-02 1.39515114e-03 9.97856604e-01 -6.28055529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79864 meters Centerline goodness [0,1] 0.999410145497444 Centerline is valid? [True, True] Translation: X:127.84, Y:-61.13, Z:-6.28 [[ 7.42224044e-01 6.68482317e-01 4.72743159e-02 1.27839657e+02] [-6.66985185e-01 7.43726139e-01 -4.47458780e-02 -6.11320872e+01] [-6.50709726e-02 1.68019814e-03 9.97879224e-01 -6.28066091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82864 meters Centerline goodness [0,1] 0.9993608652900688 Centerline is valid? [True, True] Translation: X:127.86, Y:-61.16, Z:-6.28 [[ 7.42792601e-01 6.67872302e-01 4.69653075e-02 1.27861455e+02] [-6.66391049e-01 7.44273824e-01 -4.44909558e-02 -6.11558834e+01] [-6.46693261e-02 1.75029224e-03 9.97905213e-01 -6.28301258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85864 meters Centerline goodness [0,1] 0.9993123772102162 Centerline is valid? [True, True] Translation: X:127.88, Y:-61.18, Z:-6.28 [[ 7.42362089e-01 6.68441258e-01 4.56597615e-02 1.27881076e+02] [-6.67040110e-01 7.43763042e-01 -4.32900597e-02 -6.11817326e+01] [-6.28969051e-02 1.68000681e-03 9.98018616e-01 -6.28385141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88864 meters Centerline goodness [0,1] 0.9992625368731564 Centerline is valid? [True, True] Translation: X:127.90, Y:-61.21, Z:-6.28 [[ 7.41204552e-01 6.69711278e-01 4.58542931e-02 1.27902647e+02] [-6.68298246e-01 7.42619838e-01 -4.35112762e-02 -6.12059892e+01] [-6.31923001e-02 1.60641232e-03 9.98000076e-01 -6.28441513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91864 meters Centerline goodness [0,1] 0.9994104352952736 Centerline is valid? [True, True] Translation: X:127.92, Y:-61.23, Z:-6.29 [[ 7.36718088e-01 6.74508192e-01 4.78033201e-02 1.27921658e+02] [-6.72979745e-01 7.38266259e-01 -4.54003638e-02 -6.12323295e+01] [-6.59144956e-02 1.27660303e-03 9.97824458e-01 -6.28596115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94864 meters Centerline goodness [0,1] 0.999262826813446 Centerline is valid? [True, True] Translation: X:127.94, Y:-61.26, Z:-6.29 [[ 7.34586572e-01 6.76865311e-01 4.72855022e-02 1.27943358e+02] [-6.75372194e-01 7.36106093e-01 -4.49468552e-02 -6.12563521e+01] [-6.52301133e-02 1.08204292e-03 9.97869662e-01 -6.28614540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97864 meters Centerline goodness [0,1] 0.9994590075247135 Centerline is valid? [True, True] Translation: X:127.97, Y:-61.28, Z:-6.29 [[ 7.32495091e-01 6.79160640e-01 4.68163063e-02 1.27965658e+02] [-6.77699226e-01 7.33989114e-01 -4.45391893e-02 -6.12797811e+01] [-6.46119235e-02 8.97362924e-04 9.97910063e-01 -6.28746597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00864 meters Centerline goodness [0,1] 0.9994589809167814 Centerline is valid? [True, True] Translation: X:127.99, Y:-61.30, Z:-6.29 [[ 7.30522366e-01 6.81295531e-01 4.66205159e-02 1.27988061e+02] [-6.79848153e-01 7.32008102e-01 -4.43917529e-02 -6.13032975e+01] [-6.43704982e-02 7.34296744e-04 9.97925799e-01 -6.28961264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03864000000002 meters Centerline goodness [0,1] 0.9994103483858288 Centerline is valid? [True, True] Translation: X:128.01, Y:-61.33, Z:-6.29 [[ 7.28244968e-01 6.83772821e-01 4.59782078e-02 1.28010672e+02] [-6.82367571e-01 7.29694759e-01 -4.38184486e-02 -6.13258420e+01] [-6.35119214e-02 5.36526739e-04 9.97980936e-01 -6.29053519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06864000000002 meters Centerline goodness [0,1] 0.999410522179103 Centerline is valid? [True, True] Translation: X:128.03, Y:-61.35, Z:-6.29 [[ 7.25857984e-01 6.86179904e-01 4.78260122e-02 1.28034932e+02] [-6.84661759e-01 7.27431786e-01 -4.56209644e-02 -6.13473602e+01] [-6.60943504e-02 3.69699610e-04 9.97813309e-01 -6.29312679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09864000000002 meters Centerline goodness [0,1] 0.9995572826995918 Centerline is valid? [True, True] Translation: X:128.06, Y:-61.37, Z:-6.29 [[ 7.24665567e-01 6.87486363e-01 4.71414596e-02 1.28058893e+02] [-6.86011578e-01 7.26197236e-01 -4.50076572e-02 -6.13696021e+01] [-6.51761481e-02 2.75912321e-04 9.97873736e-01 -6.29372827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12864000000002 meters Centerline goodness [0,1] 0.999410145497444 Centerline is valid? [True, True] Translation: X:128.08, Y:-61.39, Z:-6.29 [[ 7.23962374e-01 6.88231206e-01 4.70774712e-02 1.28083326e+02] [-6.86759238e-01 7.25491385e-01 -4.49888763e-02 -6.13919580e+01] [-6.51170484e-02 2.39365456e-04 9.97877604e-01 -6.29460588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15864000000002 meters Centerline goodness [0,1] 0.9994588212142084 Centerline is valid? [True, True] Translation: X:128.11, Y:-61.41, Z:-6.30 [[ 7.23274362e-01 6.88938606e-01 4.73053310e-02 1.28108120e+02] [-6.87450775e-01 7.24819669e-01 -4.52534951e-02 -6.14142472e+01] [-6.54647142e-02 2.10606321e-04 9.97854863e-01 -6.29633047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18864000000002 meters Centerline goodness [0,1] 0.999558217160809 Centerline is valid? [True, True] Translation: X:128.13, Y:-61.44, Z:-6.30 [[ 7.22011980e-01 6.90216448e-01 4.79578468e-02 1.28133398e+02] [-6.88686883e-01 7.23602956e-01 -4.59253653e-02 -6.14350946e+01] [-6.64008823e-02 1.30723913e-04 9.97793017e-01 -6.29780790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21864000000002 meters Centerline goodness [0,1] 0.9995088891071604 Centerline is valid? [True, True] Translation: X:128.16, Y:-61.46, Z:-6.30 [[ 7.19694974e-01 6.92561275e-01 4.89696363e-02 1.28157503e+02] [-6.90968636e-01 7.21359049e-01 -4.69410940e-02 -6.14565886e+01] [-6.78342742e-02 -5.32133566e-05 9.97696601e-01 -6.29934298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24864000000002 meters Centerline goodness [0,1] 0.9994596187856161 Centerline is valid? [True, True] Translation: X:128.18, Y:-61.48, Z:-6.30 [[ 7.18324130e-01 6.94016136e-01 4.84979081e-02 1.28181827e+02] [-6.92454406e-01 7.19959428e-01 -4.65329791e-02 -6.14787875e+01] [-6.72111645e-02 -1.56828426e-04 9.97738761e-01 -6.30058845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27864 meters Centerline goodness [0,1] 0.9994596187856161 Centerline is valid? [True, True] Translation: X:128.21, Y:-61.50, Z:-6.30 [[ 7.17968287e-01 6.94385931e-01 4.84738963e-02 1.28205552e+02] [-6.92823354e-01 7.19602776e-01 -4.65579837e-02 -6.15010943e+01] [-6.72111592e-02 -1.56691616e-04 9.97738761e-01 -6.30196810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30864 meters Centerline goodness [0,1] 0.999607091989588 Centerline is valid? [True, True] Translation: X:128.23, Y:-61.52, Z:-6.30 [[ 7.16992459e-01 6.95445482e-01 4.77220696e-02 1.28229413e+02] [-6.93930440e-01 7.18578829e-01 -4.58804030e-02 -6.15224729e+01] [-6.61993879e-02 -2.19893798e-04 9.97806390e-01 -6.30255832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33864 meters Centerline goodness [0,1] 0.9995571955719558 Centerline is valid? [True, True] Translation: X:128.25, Y:-61.54, Z:-6.30 [[ 7.15867281e-01 6.96603489e-01 4.77243556e-02 1.28254616e+02] [-6.95087985e-01 7.17456264e-01 -4.59260455e-02 -6.15445419e+01] [-6.62323814e-02 -2.95672793e-04 9.97804181e-01 -6.30420088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36864 meters Centerline goodness [0,1] 0.9992630803242447 Centerline is valid? [True, True] Translation: X:128.28, Y:-61.57, Z:-6.31 [[ 7.14547442e-01 6.97966869e-01 4.75836439e-02 1.28279694e+02] [-6.96460180e-01 7.16129946e-01 -4.58379443e-02 -6.15658234e+01] [-6.60694389e-02 -3.86727357e-04 9.97814953e-01 -6.30621000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39864 meters Centerline goodness [0,1] 0.9991165210562482 Centerline is valid? [True, True] Translation: X:128.30, Y:-61.59, Z:-6.31 [[ 7.14051595e-01 6.98430585e-01 4.82186359e-02 1.28304815e+02] [-6.96881173e-01 7.15677691e-01 -4.64981069e-02 -6.15880401e+01] [-6.69847020e-02 -4.00612140e-04 9.97753922e-01 -6.30736274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42864 meters Centerline goodness [0,1] 0.9994597780178764 Centerline is valid? [True, True] Translation: X:128.33, Y:-61.61, Z:-6.31 [[ 7.12876441e-01 6.99608796e-01 4.85253811e-02 1.28331319e+02] [-6.98039029e-01 7.14525928e-01 -4.68424205e-02 -6.16086714e+01] [-6.74440124e-02 -4.79751875e-04 9.97722945e-01 -6.30989622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45864 meters Centerline goodness [0,1] 0.9995092747080184 Centerline is valid? [True, True] Translation: X:128.36, Y:-61.63, Z:-6.31 [[ 7.12287891e-01 7.00249137e-01 4.79281428e-02 1.28356689e+02] [-6.98716100e-01 7.13898380e-01 -4.63132241e-02 -6.16301961e+01] [-6.66466187e-02 -4.99816338e-04 9.97776517e-01 -6.31123795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48864 meters Centerline goodness [0,1] 0.9993614617613832 Centerline is valid? [True, True] Translation: X:128.38, Y:-61.65, Z:-6.31 [[ 7.12834668e-01 6.99795683e-01 4.63976078e-02 1.28383445e+02] [-6.98355909e-01 7.14342934e-01 -4.48686606e-02 -6.16494690e+01] [-6.45426983e-02 -4.18106830e-04 9.97914859e-01 -6.31197574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51864 meters Centerline goodness [0,1] 0.9994106379843819 Centerline is valid? [True, True] Translation: X:128.41, Y:-61.67, Z:-6.31 [[ 7.13629144e-01 6.99005078e-01 4.61014630e-02 1.28408057e+02] [-6.97580504e-01 7.15116629e-01 -4.46054607e-02 -6.16698191e+01] [-6.41473664e-02 -3.27725056e-04 9.97940383e-01 -6.31203750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54864 meters Centerline goodness [0,1] 0.999509033778476 Centerline is valid? [True, True] Translation: X:128.43, Y:-61.69, Z:-6.31 [[ 7.14933347e-01 6.97659529e-01 4.62762522e-02 1.28432830e+02] [-6.96219173e-01 7.16429444e-01 -4.48075379e-02 -6.16909833e+01] [-6.44140754e-02 -1.84011011e-04 9.97923240e-01 -6.31421765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57864 meters Centerline goodness [0,1] 0.9997052900437153 Centerline is valid? [True, True] Translation: X:128.46, Y:-61.71, Z:-6.31 [[ 7.18725648e-01 6.93807569e-01 4.54367749e-02 1.28458210e+02] [-6.92410349e-01 7.20160418e-01 -4.40099988e-02 -6.17106893e+01] [-6.32562371e-02 1.70221734e-04 9.97997304e-01 -6.31473247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60864 meters Centerline goodness [0,1] 0.9994597514856834 Centerline is valid? [True, True] Translation: X:128.48, Y:-61.73, Z:-6.32 [[ 7.21243390e-01 6.91212795e-01 4.50870743e-02 1.28482614e+02] [-6.89831113e-01 7.22651166e-01 -4.36844164e-02 -6.17332882e+01] [-6.27774544e-02 4.04629899e-04 9.98027468e-01 -6.31563910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63864 meters Centerline goodness [0,1] 0.9995078255733832 Centerline is valid? [True, True] Translation: X:128.51, Y:-61.76, Z:-6.32 [[ 7.23979919e-01 6.88329954e-01 4.53315719e-02 1.28505663e+02] [-6.86926596e-01 7.25397426e-01 -4.39366084e-02 -6.17552015e+01] [-6.31262892e-02 6.69759786e-04 9.98005322e-01 -6.31750721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66864 meters Centerline goodness [0,1] 0.9995073891625615 Centerline is valid? [True, True] Translation: X:128.53, Y:-61.78, Z:-6.32 [[ 7.25428676e-01 6.86838565e-01 4.47886275e-02 1.28528842e+02] [-6.85465123e-01 7.26809568e-01 -4.34213858e-02 -6.17768948e+01] [-6.23762853e-02 7.98076372e-04 9.98052384e-01 -6.31850516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69864 meters Centerline goodness [0,1] 0.9994593000393236 Centerline is valid? [True, True] Translation: X:128.55, Y:-61.80, Z:-6.32 [[ 7.26206085e-01 6.86018775e-01 4.47544751e-02 1.28552428e+02] [-6.84645189e-01 7.27583310e-01 -4.33992160e-02 -6.17982497e+01] [-6.23352862e-02 8.75838705e-04 9.98054881e-01 -6.31983798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72864 meters Centerline goodness [0,1] 0.99965596893891 Centerline is valid? [True, True] Translation: X:128.58, Y:-61.82, Z:-6.32 [[ 7.26031400e-01 6.86223558e-01 4.44481065e-02 1.28575681e+02] [-6.84868445e-01 7.27390189e-01 -4.31129302e-02 -6.18204652e+01] [-6.19162250e-02 8.60235465e-04 9.98080979e-01 -6.32137848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75864 meters Centerline goodness [0,1] 0.9998524565976491 Centerline is valid? [True, True] Translation: X:128.60, Y:-61.84, Z:-6.32 [[ 7.25115589e-01 6.87131816e-01 4.53569217e-02 1.28598248e+02] [-6.85721728e-01 7.26532323e-01 -4.40056266e-02 -6.18437129e+01] [-6.31909358e-02 8.06939130e-04 9.98001130e-01 -6.32399220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78864000000002 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:128.62, Y:-61.87, Z:-6.32 [[ 7.23389225e-01 6.88987710e-01 4.47656583e-02 1.28620556e+02] [-6.87617046e-01 7.24772736e-01 -4.34428202e-02 -6.18666316e+01] [-6.23764979e-02 6.44438294e-04 9.98052482e-01 -6.32468042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81864000000002 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:128.64, Y:-61.89, Z:-6.33 [[ 7.22490615e-01 6.89969754e-01 4.41480497e-02 1.28643630e+02] [-6.88637852e-01 7.23837983e-01 -4.28542129e-02 -6.18884600e+01] [-6.15241460e-02 5.59748451e-04 9.98105438e-01 -6.32564087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.67, Y:-61.91, Z:-6.33 [[ 7.22273796e-01 6.90240646e-01 4.34558846e-02 1.28666913e+02] [-6.88950065e-01 7.23579687e-01 -4.21929553e-02 -6.19102775e+01] [-6.05670881e-02 5.35931438e-04 9.98163985e-01 -6.32732231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87864000000002 meters Centerline goodness [0,1] 0.9998525870964572 Centerline is valid? [True, True] Translation: X:128.69, Y:-61.93, Z:-6.33 [[ 7.22379996e-01 6.90134692e-01 4.33733627e-02 1.28690562e+02] [-6.88848073e-01 7.23680732e-01 -4.21251668e-02 -6.19336145e+01] [-6.04605059e-02 5.52720528e-04 9.98170437e-01 -6.32861057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.71, Y:-61.96, Z:-6.33 [[ 7.22793750e-01 6.89578285e-01 4.52877816e-02 1.28714293e+02] [-6.88173384e-01 7.24210869e-01 -4.40001185e-02 -6.19552548e+01] [-6.31394299e-02 6.37164738e-04 9.98004512e-01 -6.33103471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.74, Y:-61.98, Z:-6.33 [[ 7.22957464e-01 6.89454036e-01 4.45604922e-02 1.28737562e+02] [-6.88093024e-01 7.24329149e-01 -4.33044460e-02 -6.19769864e+01] [-6.21328884e-02 6.45508636e-04 9.98067677e-01 -6.33077041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96864000000002 meters Centerline goodness [0,1] 0.9999013758074856 Centerline is valid? [True, True] Translation: X:128.76, Y:-62.00, Z:-6.33 [[ 7.24066656e-01 6.88310417e-01 4.42294973e-02 1.28761511e+02] [-6.86966769e-01 7.25415890e-01 -4.29935421e-02 -6.19991849e+01] [-6.16776830e-02 7.45995385e-04 9.98095841e-01 -6.33203280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.78, Y:-62.02, Z:-6.33 [[ 7.24408363e-01 6.87971833e-01 4.39008004e-02 1.28784599e+02] [-6.86646717e-01 7.25736971e-01 -4.26864731e-02 -6.20223205e+01] [-6.12275250e-02 7.78097681e-04 9.98123532e-01 -6.33324852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02864 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:128.81, Y:-62.05, Z:-6.33 [[ 7.25112752e-01 6.87208096e-01 4.42326778e-02 1.28806015e+02] [-6.85860515e-01 7.26460112e-01 -4.30239521e-02 -6.20461344e+01] [-6.16996842e-02 8.59769113e-04 9.98094389e-01 -6.33384631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05864 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:128.83, Y:-62.07, Z:-6.34 [[ 7.24774159e-01 6.87507342e-01 4.51228628e-02 1.28828094e+02] [-6.86104236e-01 7.26176910e-01 -4.39098236e-02 -6.20700161e+01] [-6.29555072e-02 8.65718212e-04 9.98015959e-01 -6.33625667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08864 meters Centerline goodness [0,1] 0.9998033914966822 Centerline is valid? [True, True] Translation: X:128.85, Y:-62.09, Z:-6.34 [[ 7.25119756e-01 6.87160701e-01 4.48498654e-02 1.28850443e+02] [-6.85771382e-01 7.26504870e-01 -4.36839261e-02 -6.20941272e+01] [-6.26015229e-02 9.19323617e-04 9.98038178e-01 -6.33712304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11864 meters Centerline goodness [0,1] 0.9998523549387273 Centerline is valid? [True, True] Translation: X:128.87, Y:-62.12, Z:-6.34 [[ 7.24458946e-01 6.87829374e-01 4.52767925e-02 1.28871214e+02] [-6.86411930e-01 7.25871847e-01 -4.41443641e-02 -6.21205137e+01] [-6.32289393e-02 9.02248951e-04 9.97998641e-01 -6.33855980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14864 meters Centerline goodness [0,1] 0.999802965371164 Centerline is valid? [True, True] Translation: X:128.89, Y:-62.14, Z:-6.34 [[ 7.23681805e-01 6.88585506e-01 4.62022280e-02 1.28893074e+02] [-6.87108047e-01 7.25154614e-01 -4.50923092e-02 -6.21447661e+01] [-6.45536694e-02 8.86561054e-04 9.97913843e-01 -6.34000708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17864 meters Centerline goodness [0,1] 0.9998029362498768 Centerline is valid? [True, True] Translation: X:128.91, Y:-62.17, Z:-6.34 [[ 7.21352597e-01 6.91020489e-01 4.62721731e-02 1.28912062e+02] [-6.89540721e-01 7.22834830e-01 -4.52040078e-02 -6.21716183e+01] [-6.46840339e-02 7.01480830e-04 9.97905548e-01 -6.34212661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20864 meters Centerline goodness [0,1] 0.9999017874680809 Centerline is valid? [True, True] Translation: X:128.93, Y:-62.20, Z:-6.34 [[ 7.19818466e-01 6.92631739e-01 4.60722354e-02 1.28933223e+02] [-6.91165479e-01 7.21291158e-01 -4.50482591e-02 -6.21959275e+01] [-6.44333500e-02 5.83030098e-04 9.97921842e-01 -6.34376715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23864 meters Centerline goodness [0,1] 0.9998035266958102 Centerline is valid? [True, True] Translation: X:128.96, Y:-62.22, Z:-6.35 [[ 7.18589830e-01 6.93898623e-01 4.61882798e-02 1.28956083e+02] [-6.92424844e-01 7.20072531e-01 -4.52038195e-02 -6.22204868e+01] [-6.46257796e-02 5.01092536e-04 9.97909444e-01 -6.34516102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26864 meters Centerline goodness [0,1] 0.9998523113277211 Centerline is valid? [True, True] Translation: X:128.98, Y:-62.25, Z:-6.35 [[ 7.18639205e-01 6.93813936e-01 4.66895572e-02 1.28976833e+02] [-6.92305445e-01 7.20154102e-01 -4.57300762e-02 -6.22458273e+01] [-6.53518403e-02 5.39990970e-04 9.97862137e-01 -6.34633242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.00, Y:-62.27, Z:-6.35 [[ 7.18623401e-01 6.93851424e-01 4.63746582e-02 1.28999012e+02] [-6.92361647e-01 7.20117975e-01 -4.54472407e-02 -6.22702015e+01] [-6.49288576e-02 5.51415957e-04 9.97889743e-01 -6.34732151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.02, Y:-62.30, Z:-6.35 [[ 7.21029060e-01 6.91402170e-01 4.56084868e-02 1.29019433e+02] [-6.89953450e-01 7.22469662e-01 -4.47417537e-02 -6.22959459e+01] [-6.38852936e-02 7.92371765e-04 9.97956934e-01 -6.34835284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35864 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:129.04, Y:-62.32, Z:-6.35 [[ 7.21947948e-01 6.90434172e-01 4.57363654e-02 1.29040674e+02] [-6.88972564e-01 7.23394652e-01 -4.49108510e-02 -6.23198260e+01] [-6.40934283e-02 9.12195781e-04 9.97943486e-01 -6.35035252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:129.06, Y:-62.34, Z:-6.35 [[ 7.22921708e-01 6.89443276e-01 4.53009190e-02 1.29062891e+02] [-6.88004864e-01 7.24338959e-01 -4.45239159e-02 -6.23447198e+01] [-6.35099350e-02 1.02005273e-03 9.97980685e-01 -6.35088050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.08, Y:-62.37, Z:-6.35 [[ 7.23671545e-01 6.88611850e-01 4.59697229e-02 1.29082784e+02] [-6.87126105e-01 7.25129242e-01 -4.52249640e-02 -6.23706414e+01] [-6.44764365e-02 1.14102287e-03 9.97918577e-01 -6.35267724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:129.10, Y:-62.40, Z:-6.35 [[ 7.23110804e-01 6.89223258e-01 4.56296573e-02 1.29104388e+02] [-6.87758141e-01 7.24548187e-01 -4.49295439e-02 -6.23952331e+01] [-6.40273721e-02 1.10687036e-03 9.97947529e-01 -6.35384704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:129.12, Y:-62.42, Z:-6.36 [[ 7.21309008e-01 6.91075884e-01 4.61241439e-02 1.29124162e+02] [-6.89579978e-01 7.22781543e-01 -4.54565317e-02 -6.24209576e+01] [-6.47515928e-02 9.81919668e-04 9.97900930e-01 -6.35530328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.15, Y:-62.45, Z:-6.36 [[ 7.19335533e-01 6.93181041e-01 4.53479481e-02 1.29145456e+02] [-6.91737185e-01 7.20763068e-01 -4.47243368e-02 -6.24455625e+01] [-6.36871885e-02 8.02942643e-04 9.97969587e-01 -6.35574446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53864000000002 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:129.17, Y:-62.47, Z:-6.36 [[ 7.17532271e-01 6.95073557e-01 4.49465248e-02 1.29167365e+02] [-6.93657166e-01 7.18938335e-01 -4.43554693e-02 -6.24693167e+01] [-6.31440935e-02 6.49001626e-04 9.98004210e-01 -6.35733917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.19, Y:-62.49, Z:-6.36 [[ 7.14033627e-01 6.98682457e-01 4.47079864e-02 1.29188648e+02] [-6.97285632e-01 7.15431825e-01 -4.41593723e-02 -6.24942401e+01] [-6.28388950e-02 3.57040180e-04 9.98023620e-01 -6.35804681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.21, Y:-62.52, Z:-6.36 [[ 7.11498669e-01 7.01260018e-01 4.47664016e-02 1.29211508e+02] [-6.99861977e-01 7.12905577e-01 -4.42589218e-02 -6.25179613e+01] [-6.29512297e-02 1.59861608e-04 9.98016592e-01 -6.35920888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.24, Y:-62.54, Z:-6.36 [[ 7.07925069e-01 7.04881700e-01 4.45408239e-02 1.29235355e+02] [-7.03501990e-01 7.09324871e-01 -4.40814891e-02 -6.25404817e+01] [-6.26661491e-02 -1.28166999e-04 9.98034537e-01 -6.36089654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.26, Y:-62.56, Z:-6.36 [[ 7.05956840e-01 7.06821321e-01 4.50395343e-02 1.29258847e+02] [-7.05411473e-01 7.07392074e-01 -4.46218194e-02 -6.25631217e+01] [-6.34002630e-02 -2.70325640e-04 9.97988143e-01 -6.36178691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.28, Y:-62.59, Z:-6.36 [[ 7.03783141e-01 7.08954505e-01 4.55280157e-02 1.29282309e+02] [-7.07515402e-01 7.05254082e-01 -4.51512491e-02 -6.25854546e+01] [-6.41190004e-02 -4.35084473e-04 9.97942165e-01 -6.36384302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.31, Y:-62.61, Z:-6.36 [[ 7.01131043e-01 7.11512664e-01 4.65294380e-02 1.29307826e+02] [-7.10012291e-01 7.02672969e-01 -4.61870639e-02 -6.26060154e+01] [-6.55576593e-02 -6.53288589e-04 9.97848569e-01 -6.36481557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.33, Y:-62.63, Z:-6.37 [[ 7.00156591e-01 7.12483583e-01 4.63453555e-02 1.29333403e+02] [-7.10994319e-01 7.01688420e-01 -4.60482226e-02 -6.26277544e+01] [-6.53286020e-02 -7.10317895e-04 9.97863552e-01 -6.36597469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77864 meters Centerline goodness [0,1] 0.9999016957483411 Centerline is valid? [True, True] Translation: X:129.36, Y:-62.65, Z:-6.37 [[ 6.99616760e-01 7.13039990e-01 4.59386783e-02 1.29360287e+02] [-7.11574898e-01 7.01122993e-01 -4.56915012e-02 -6.26475357e+01] [-6.47885312e-02 -7.22270316e-04 9.97898755e-01 -6.36774150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.39, Y:-62.67, Z:-6.37 [[ 6.99144682e-01 7.13518395e-01 4.56969742e-02 1.29385379e+02] [-7.12066654e-01 7.00636117e-01 -4.54984923e-02 -6.26693528e+01] [-6.44809617e-02 -7.29262588e-04 9.97918671e-01 -6.36942980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.41, Y:-62.69, Z:-6.37 [[ 6.99470721e-01 7.13225671e-01 4.52752912e-02 1.29410034e+02] [-7.11797141e-01 7.00934163e-01 -4.51234924e-02 -6.26900895e+01] [-6.39182315e-02 -6.64261079e-04 9.97954918e-01 -6.37062645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.44, Y:-62.71, Z:-6.37 [[ 7.01368063e-01 7.11371508e-01 4.50934235e-02 1.29435959e+02] [-7.09947998e-01 7.02816023e-01 -4.49830870e-02 -6.27095196e+01] [-6.36920670e-02 -4.64285104e-04 9.97969491e-01 -6.37145673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.46, Y:-62.73, Z:-6.37 [[ 7.02423820e-01 7.10269291e-01 4.60251112e-02 1.29460316e+02] [-7.08781004e-01 7.03929981e-01 -4.59572531e-02 -6.27313523e+01] [-6.50404812e-02 -3.40255263e-04 9.97882568e-01 -6.37317358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.49, Y:-62.75, Z:-6.37 [[ 7.05736206e-01 7.06990870e-01 4.58292242e-02 1.29486260e+02] [-7.05505193e-01 7.07222674e-01 -4.58095144e-02 -6.27516521e+01] [-6.47983749e-02 -3.32277181e-06 9.97898377e-01 -6.37340807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.51, Y:-62.75, Z:-6.37 [[ 6.57156250e-01 7.52518139e-01 4.31522147e-02 1.29507227e+02] [-7.50905545e-01 6.58571521e-01 -4.92383438e-02 -6.27532004e+01] [-6.54715665e-02 -4.59518774e-05 9.97854434e-01 -6.37481575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.39, Y:-62.98, Z:-4.60 [[ 7.07440572e-01 -7.06674913e-01 -1.17644914e-02 1.29393719e+02] [-7.06501327e-01 -7.07532171e-01 1.59405480e-02 -6.29801621e+01] [-1.95885415e-02 -2.96536159e-03 -9.99803729e-01 -4.60336331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01864 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:129.53, Y:-62.79, Z:-6.38 [[ 7.10590219e-01 7.02077006e-01 4.63618110e-02 1.29526179e+02] [-7.00566703e-01 7.12100994e-01 -4.60268256e-02 -6.27870239e+01] [-6.53286676e-02 2.26671013e-04 9.97863775e-01 -6.37547489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.55, Y:-62.81, Z:-6.38 [[ 7.10248322e-01 7.02386610e-01 4.69081112e-02 1.29549610e+02] [-7.00839072e-01 7.11795617e-01 -4.66003692e-02 -6.28099130e+01] [-6.61204633e-02 2.22796930e-04 9.97811623e-01 -6.37694423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.57, Y:-62.83, Z:-6.38 [[ 7.10008316e-01 7.02624078e-01 4.69850597e-02 1.29573349e+02] [-7.01068743e-01 7.11561206e-01 -4.67254480e-02 -6.28334856e+01] [-6.62631706e-02 2.35699909e-04 9.97802153e-01 -6.37795990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.60, Y:-62.86, Z:-6.38 [[ 7.08192622e-01 7.04452699e-01 4.70064257e-02 1.29595527e+02] [-7.02896762e-01 7.09750931e-01 -4.67948386e-02 -6.28579249e+01] [-6.63276048e-02 9.90950787e-05 9.97797895e-01 -6.37912440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13864 meters Centerline goodness [0,1] 0.9998526594960955 Centerline is valid? [True, True] Translation: X:129.62, Y:-62.88, Z:-6.38 [[ 7.07171338e-01 7.05507172e-01 4.65653263e-02 1.29618455e+02] [-7.03979483e-01 7.08702779e-01 -4.64032135e-02 -6.28817551e+01] [-6.57387761e-02 3.39882237e-05 9.97836867e-01 -6.38079042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.64, Y:-62.91, Z:-6.38 [[ 7.06792464e-01 7.05890708e-01 4.65050640e-02 1.29641788e+02] [-7.04364653e-01 7.08320766e-01 -4.63910447e-02 -6.29053962e+01] [-6.56875099e-02 3.23175233e-05 9.97840243e-01 -6.38157698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.67, Y:-62.93, Z:-6.38 [[ 7.06428554e-01 7.06256472e-01 4.64811093e-02 1.29665070e+02] [-7.04729629e-01 7.07956068e-01 -4.64150379e-02 -6.29281548e+01] [-6.56875043e-02 3.22931760e-05 9.97840243e-01 -6.38295596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:129.69, Y:-62.95, Z:-6.38 [[ 7.05785582e-01 7.06906712e-01 4.63639222e-02 1.29688747e+02] [-7.05385827e-01 7.07306794e-01 -4.63458073e-02 -6.29516779e+01] [-6.55556794e-02 5.74889891e-06 9.97848913e-01 -6.38438883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.59, Y:-63.18, Z:-4.62 [[ 7.55560866e-01 -6.54956283e-01 -1.26508671e-02 1.29592742e+02] [-6.54792364e-01 -7.55660736e-01 1.49603454e-02 -6.31799901e+01] [-1.93581358e-02 -3.01976042e-03 -9.99808053e-01 -4.61717318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.71, Y:-62.98, Z:-6.39 [[ 7.53398960e-01 6.55815335e-01 4.79192472e-02 1.29707710e+02] [-6.54496966e-01 7.54921350e-01 -4.15629304e-02 -6.29820421e+01] [-6.34328698e-02 -4.95333709e-05 9.97986106e-01 -6.38613366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.73, Y:-63.00, Z:-6.39 [[ 7.53053779e-01 6.56192711e-01 4.81781276e-02 1.29733199e+02] [-6.54858238e-01 7.54593350e-01 -4.18277992e-02 -6.30038172e+01] [-6.38019917e-02 -5.12614702e-05 9.97962576e-01 -6.38707986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.76, Y:-63.02, Z:-6.39 [[ 7.53242658e-01 6.56009375e-01 4.77199927e-02 1.29758561e+02] [-6.54697066e-01 7.54752741e-01 -4.14735051e-02 -6.30249265e+01] [-6.32238035e-02 -2.52604049e-06 9.97999374e-01 -6.38838268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37864000000002 meters Centerline goodness [0,1] 0.9998034880864652 Centerline is valid? [True, True] Translation: X:129.78, Y:-63.05, Z:-6.39 [[ 7.53093825e-01 6.56095069e-01 4.88769003e-02 1.29783468e+02] [-6.54716209e-01 7.54678250e-01 -4.25138282e-02 -6.30458443e+01] [-6.47794465e-02 1.64026343e-05 9.97899606e-01 -6.38937319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.81, Y:-63.07, Z:-6.39 [[ 7.52960051e-01 6.56220071e-01 4.92582970e-02 1.29809360e+02] [-6.54818203e-01 7.54569558e-01 -4.28707712e-02 -6.30670107e+01] [-6.53014719e-02 2.47485858e-05 9.97865581e-01 -6.39073529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43864000000002 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:129.84, Y:-63.09, Z:-6.39 [[ 7.52331550e-01 6.56880314e-01 5.00548922e-02 1.29835839e+02] [-6.55431191e-01 7.53994863e-01 -4.36084840e-02 -6.30861220e+01] [-6.63866862e-02 5.00687439e-07 9.97793971e-01 -6.39300096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46864000000002 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:129.86, Y:-63.11, Z:-6.39 [[ 7.51469140e-01 6.57898731e-01 4.96325715e-02 1.29862093e+02] [-6.56473466e-01 7.53106405e-01 -4.32819948e-02 -6.31058934e+01] [-6.58537769e-02 -5.73828076e-05 9.97829282e-01 -6.39402979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:129.89, Y:-63.12, Z:-6.39 [[ 7.48984887e-01 6.60674987e-01 5.03010899e-02 1.29888244e+02] [-6.59214300e-01 7.50672024e-01 -4.39092256e-02 -6.31246253e+01] [-6.67693481e-02 -2.71851362e-04 9.97768400e-01 -6.39474824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52864 meters Centerline goodness [0,1] 0.9998524783634933 Centerline is valid? [True, True] Translation: X:129.91, Y:-63.15, Z:-6.40 [[ 7.47220668e-01 6.62695890e-01 4.99542859e-02 1.29914063e+02] [-6.61257045e-01 7.48888499e-01 -4.36478745e-02 -6.31457989e+01] [-6.63354572e-02 -4.18029499e-04 9.97797290e-01 -6.39529250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.94, Y:-63.16, Z:-6.39 [[ 7.46420441e-01 6.63629414e-01 4.95229827e-02 1.29941686e+02] [-6.62214444e-01 7.48061352e-01 -4.33156294e-02 -6.31638103e+01] [-6.57917551e-02 -4.63163256e-04 9.97833268e-01 -6.39499798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58864 meters Centerline goodness [0,1] 0.999852623305168 Centerline is valid? [True, True] Translation: X:129.97, Y:-63.18, Z:-6.40 [[ 7.46492611e-01 6.63449572e-01 5.08276148e-02 1.29967807e+02] [-6.61955528e-01 7.48220879e-01 -4.45016233e-02 -6.31826329e+01] [-6.75548656e-02 -4.25487589e-04 9.97715470e-01 -6.39621913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.99, Y:-63.20, Z:-6.40 [[ 7.47371736e-01 6.62441792e-01 5.10525273e-02 1.29994185e+02] [-6.60929192e-01 7.49113329e-01 -4.47417463e-02 -6.32024591e+01] [-6.78829313e-02 -3.03389037e-04 9.97693247e-01 -6.39732647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64864 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:130.02, Y:-63.22, Z:-6.40 [[ 7.49636685e-01 6.59893639e-01 5.08451110e-02 1.30020525e+02] [-6.58384294e-01 7.51359024e-01 -4.46064828e-02 -6.32218639e+01] [-6.76384672e-02 -3.69666350e-05 9.97709896e-01 -6.39906651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67864 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:130.05, Y:-63.24, Z:-6.40 [[ 7.50697884e-01 6.58658315e-01 5.12046044e-02 1.30046521e+02] [-6.57121430e-01 7.52442165e-01 -4.49690390e-02 -6.32421988e+01] [-6.81477348e-02 1.10519561e-04 9.97675235e-01 -6.40036882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:130.07, Y:-63.26, Z:-6.40 [[ 7.52189932e-01 6.57033190e-01 5.01766128e-02 1.30073139e+02] [-6.55551589e-01 7.53861598e-01 -4.40999481e-02 -6.32614497e+01] [-6.68013511e-02 2.78178699e-04 9.97766256e-01 -6.40134964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.10, Y:-63.28, Z:-6.40 [[ 7.52554628e-01 6.56698424e-01 4.90786230e-02 1.30097889e+02] [-6.55278847e-01 7.54153220e-01 -4.31573176e-02 -6.32824851e+01] [-6.53541440e-02 3.18055656e-04 9.97862082e-01 -6.40280217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.12, Y:-63.30, Z:-6.40 [[ 7.52631852e-01 6.56625725e-01 4.88666834e-02 1.30122458e+02] [-6.55215611e-01 7.54216502e-01 -4.30112920e-02 -6.33039818e+01] [-6.50983798e-02 3.53454546e-04 9.97878788e-01 -6.40469450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.15, Y:-63.32, Z:-6.41 [[ 7.52960491e-01 6.56181407e-01 4.97640577e-02 1.30147303e+02] [-6.54715111e-01 7.54603058e-01 -4.38445935e-02 -6.33239785e+01] [-6.63221172e-02 4.31966061e-04 9.97798171e-01 -6.40616440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:130.17, Y:-63.35, Z:-6.41 [[ 7.52832261e-01 6.56363711e-01 4.92977204e-02 1.30172915e+02] [-6.54922513e-01 7.54444486e-01 -4.34743478e-02 -6.33452602e+01] [-6.57273776e-02 4.42704610e-04 9.97837520e-01 -6.40666518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.20, Y:-63.37, Z:-6.41 [[ 7.53787080e-01 6.55215351e-01 4.99788115e-02 1.30197169e+02] [-6.53728585e-01 7.55441926e-01 -4.41184169e-02 -6.33671146e+01] [-6.66631537e-02 5.83314957e-04 9.97775367e-01 -6.40858149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.22, Y:-63.39, Z:-6.41 [[ 7.53749570e-01 6.55231697e-01 5.03290130e-02 1.30221439e+02] [-6.53721217e-01 7.55427721e-01 -4.44694163e-02 -6.33893322e+01] [-6.71577027e-02 6.17659824e-04 9.97742182e-01 -6.40924244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.25, Y:-63.41, Z:-6.41 [[ 7.53905766e-01 6.55113360e-01 4.95235489e-02 1.30245853e+02] [-6.53647838e-01 7.55530319e-01 -4.38000050e-02 -6.34109690e+01] [-6.61105111e-02 6.50115604e-04 9.97812095e-01 -6.41037462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.27, Y:-63.43, Z:-6.41 [[ 7.53372668e-01 6.55712526e-01 4.97062061e-02 1.30270349e+02] [-6.54234702e-01 7.55010388e-01 -4.40030575e-02 -6.34323713e+01] [-6.63820579e-02 6.31175821e-04 9.97794079e-01 -6.41283616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.29, Y:-63.45, Z:-6.42 [[ 7.52641204e-01 6.56479079e-01 5.06600140e-02 1.30294366e+02] [-6.54942659e-01 7.54343986e-01 -4.48916843e-02 -6.34534624e+01] [-6.76855284e-02 6.07927065e-04 9.97706520e-01 -6.41523147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:130.32, Y:-63.48, Z:-6.42 [[ 7.50771856e-01 6.58584257e-01 5.10724665e-02 1.30319206e+02] [-6.57024617e-01 7.52506857e-01 -4.52999266e-02 -6.34752588e+01] [-6.82661997e-02 4.54042205e-04 9.97667039e-01 -6.41656223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.34, Y:-63.50, Z:-6.42 [[ 7.49481059e-01 6.60065800e-01 5.09046313e-02 1.30343562e+02] [-6.58516689e-01 7.51207704e-01 -4.51968477e-02 -6.34970464e+01] [-6.80728447e-02 3.52631972e-04 9.97680291e-01 -6.41680501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06864000000002 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:130.37, Y:-63.52, Z:-6.42 [[ 7.48496206e-01 6.61238364e-01 5.01722529e-02 1.30367234e+02] [-6.59733296e-01 7.50175813e-01 -4.45895562e-02 -6.35182917e+01] [-6.71223358e-02 2.74807859e-04 9.97744715e-01 -6.41780777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09864000000002 meters Centerline goodness [0,1] 0.9999018501251411 Centerline is valid? [True, True] Translation: X:130.39, Y:-63.54, Z:-6.42 [[ 7.47029024e-01 6.62727711e-01 5.23413666e-02 1.30390016e+02] [-6.61090692e-01 7.48860435e-01 -4.65526190e-02 -6.35403277e+01] [-7.00480892e-02 1.73767251e-04 9.97543601e-01 -6.41978945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12864000000002 meters Centerline goodness [0,1] 0.9997544204322201 Centerline is valid? [True, True] Translation: X:130.41, Y:-63.56, Z:-6.42 [[ 7.46194118e-01 6.63712150e-01 5.17737528e-02 1.30413540e+02] [-6.62110784e-01 7.47988083e-01 -4.60775151e-02 -6.35618997e+01] [-6.93083567e-02 1.02810630e-04 9.97595279e-01 -6.42064558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15864000000002 meters Centerline goodness [0,1] 0.9997054202670856 Centerline is valid? [True, True] Translation: X:130.44, Y:-63.58, Z:-6.42 [[ 7.44745215e-01 6.65300140e-01 5.22521604e-02 1.30439162e+02] [-6.63669777e-01 7.46576000e-01 -4.65478611e-02 -6.35834428e+01] [-6.99785074e-02 -1.18827906e-05 9.97548499e-01 -6.42182503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18864000000002 meters Centerline goodness [0,1] 0.9997546132705143 Centerline is valid? [True, True] Translation: X:130.46, Y:-63.61, Z:-6.42 [[ 7.43395468e-01 6.66884002e-01 5.12728631e-02 1.30463578e+02] [-6.65314948e-01 7.45161534e-01 -4.57198758e-02 -6.36050471e+01] [-6.86964191e-02 -1.24653829e-04 9.97637603e-01 -6.42332432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21864000000002 meters Centerline goodness [0,1] 0.9995581954739581 Centerline is valid? [True, True] Translation: X:130.49, Y:-63.63, Z:-6.42 [[ 7.41213919e-01 6.69431047e-01 4.96386940e-02 1.30488319e+02] [-6.67963602e-01 7.42874129e-01 -4.43018667e-02 -6.36258909e+01] [-6.65323465e-02 -3.19680648e-04 9.97784217e-01 -6.42445726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24864 meters Centerline goodness [0,1] 0.9997055214723927 Centerline is valid? [True, True] Translation: X:130.51, Y:-63.65, Z:-6.43 [[ 7.39607669e-01 6.71203826e-01 4.96580214e-02 1.30513185e+02] [-6.69736408e-01 7.41272705e-01 -4.43612587e-02 -6.36472121e+01] [-6.65855824e-02 -4.47857712e-04 9.97780617e-01 -6.42660778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27864 meters Centerline goodness [0,1] 0.9998035942256702 Centerline is valid? [True, True] Translation: X:130.54, Y:-63.67, Z:-6.43 [[ 7.38635388e-01 6.72224821e-01 5.03145408e-02 1.30537877e+02] [-6.70717656e-01 7.40346895e-01 -4.49922234e-02 -6.36685447e+01] [-6.74951034e-02 -5.14002493e-04 9.97719473e-01 -6.42809770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30864 meters Centerline goodness [0,1] 0.9997051017398997 Centerline is valid? [True, True] Translation: X:130.56, Y:-63.69, Z:-6.43 [[ 7.37698466e-01 6.73244785e-01 5.04225380e-02 1.30563494e+02] [-6.71730585e-01 7.39419453e-01 -4.51319596e-02 -6.36900994e+01] [-6.76682619e-02 -5.76583573e-04 9.97707710e-01 -6.42893352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33864 meters Centerline goodness [0,1] 0.9995089855641756 Centerline is valid? [True, True] Translation: X:130.59, Y:-63.71, Z:-6.43 [[ 7.37213753e-01 6.73798950e-01 5.01084574e-02 1.30588862e+02] [-6.72301721e-01 7.38914493e-01 -4.48973134e-02 -6.37109291e+01] [-6.72776280e-02 -5.89085231e-04 9.97734120e-01 -6.43084085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36864 meters Centerline goodness [0,1] 0.9994110140374988 Centerline is valid? [True, True] Translation: X:130.61, Y:-63.73, Z:-6.43 [[ 7.37015382e-01 6.74056973e-01 4.95532409e-02 1.30613814e+02] [-6.72590447e-01 7.38679138e-01 -4.44434798e-02 -6.37314546e+01] [-6.65613827e-02 -5.73508181e-04 9.97782167e-01 -6.43131125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39864 meters Centerline goodness [0,1] 0.9996070340897927 Centerline is valid? [True, True] Translation: X:130.64, Y:-63.75, Z:-6.43 [[ 7.36124998e-01 6.74881944e-01 5.15203798e-02 1.30638529e+02] [-6.73295589e-01 7.37925436e-01 -4.62504156e-02 -6.37515819e+01] [-6.92317691e-02 -6.42357356e-04 9.97600396e-01 -6.43422812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42864 meters Centerline goodness [0,1] 0.9996072463056606 Centerline is valid? [True, True] Translation: X:130.66, Y:-63.77, Z:-6.43 [[ 7.35969682e-01 6.75118878e-01 5.06273379e-02 1.30663501e+02] [-6.73585579e-01 7.37708684e-01 -4.54792761e-02 -6.37726863e+01] [-6.80521447e-02 -6.30476315e-04 9.97681566e-01 -6.43485858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45864 meters Centerline goodness [0,1] 0.9995093469407782 Centerline is valid? [True, True] Translation: X:130.69, Y:-63.79, Z:-6.44 [[ 7.35766641e-01 6.75325080e-01 5.08279962e-02 1.30688995e+02] [-6.73778205e-01 7.37519923e-01 -4.56869075e-02 -6.37936493e+01] [-6.83401743e-02 -6.31893565e-04 9.97661877e-01 -6.43575492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48864 meters Centerline goodness [0,1] 0.9994112741009665 Centerline is valid? [True, True] Translation: X:130.71, Y:-63.81, Z:-6.44 [[ 7.36776352e-01 6.74233196e-01 5.06971947e-02 1.30713339e+02] [-6.72688611e-01 7.38518349e-01 -4.56144690e-02 -6.38147198e+01] [-6.81955978e-02 -4.95763473e-04 9.97671847e-01 -6.43719386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51864 meters Centerline goodness [0,1] 0.9995094191522763 Centerline is valid? [True, True] Translation: X:130.74, Y:-63.84, Z:-6.44 [[ 7.37481090e-01 6.73539157e-01 4.96653479e-02 1.30737439e+02] [-6.72052630e-01 7.39151439e-01 -4.47259748e-02 -6.38357662e+01] [-6.68349087e-02 -3.93167069e-04 9.97763970e-01 -6.43845714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54864 meters Centerline goodness [0,1] 0.9996059889676912 Centerline is valid? [True, True] Translation: X:130.76, Y:-63.86, Z:-6.44 [[ 7.38235446e-01 6.72776198e-01 4.87915231e-02 1.30760525e+02] [-6.71337324e-01 7.39846000e-01 -4.39783317e-02 -6.38577177e+01] [-6.56857880e-02 -2.89207206e-04 9.97840315e-01 -6.44097554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57864 meters Centerline goodness [0,1] 0.9995095875631406 Centerline is valid? [True, True] Translation: X:130.78, Y:-63.88, Z:-6.44 [[ 7.37841597e-01 6.73158310e-01 4.94739144e-02 1.30784677e+02] [-6.71676861e-01 7.39498345e-01 -4.46362198e-02 -6.38797209e+01] [-6.66331201e-02 -2.96023765e-04 9.97777500e-01 -6.44173433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60864 meters Centerline goodness [0,1] 0.9996561717176679 Centerline is valid? [True, True] Translation: X:130.81, Y:-63.90, Z:-6.44 [[ 7.37129447e-01 6.73860059e-01 5.05252307e-02 1.30807867e+02] [-6.72313451e-01 7.38858924e-01 -4.56301868e-02 -6.39027121e+01] [-6.80793780e-02 -3.33437772e-04 9.97679852e-01 -6.44303497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63864 meters Centerline goodness [0,1] 0.9994595656873342 Centerline is valid? [True, True] Translation: X:130.83, Y:-63.92, Z:-6.44 [[ 7.36351315e-01 6.74751536e-01 4.99710572e-02 1.30832952e+02] [-6.73237863e-01 7.38044864e-01 -4.51725411e-02 -6.39245844e+01] [-6.73611236e-02 -3.79547724e-04 9.97728588e-01 -6.44465419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66864 meters Centerline goodness [0,1] 0.9995581954739581 Centerline is valid? [True, True] Translation: X:130.86, Y:-63.95, Z:-6.45 [[ 7.35423031e-01 6.75824646e-01 4.91326121e-02 1.30857938e+02] [-6.74360886e-01 7.37062315e-01 -4.44582789e-02 -6.39452330e+01] [-6.62597974e-02 -4.37469587e-04 9.97802309e-01 -6.44560777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69864 meters Centerline goodness [0,1] 0.9994595922377795 Centerline is valid? [True, True] Translation: X:130.88, Y:-63.97, Z:-6.45 [[ 7.33843186e-01 6.77607419e-01 4.81909142e-02 1.30883659e+02] [-6.76200458e-01 7.35423603e-01 -4.36470585e-02 -6.39658885e+01] [-6.50163065e-02 -5.56621812e-04 9.97884046e-01 -6.44729513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72864 meters Centerline goodness [0,1] 0.9994604404767744 Centerline is valid? [True, True] Translation: X:130.91, Y:-63.99, Z:-6.45 [[ 7.32914878e-01 6.78612450e-01 4.81759809e-02 1.30907355e+02] [-6.77206354e-01 7.34496261e-01 -4.36668808e-02 -6.39875387e+01] [-6.50179668e-02 -6.20973804e-04 9.97883900e-01 -6.44863164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75864 meters Centerline goodness [0,1] 0.999213217938631 Centerline is valid? [True, True] Translation: X:130.93, Y:-64.01, Z:-6.45 [[ 7.31791161e-01 6.79757417e-01 4.91075349e-02 1.30931671e+02] [-6.78298152e-01 7.33436653e-01 -4.45229568e-02 -6.40087400e+01] [-6.62820761e-02 -7.28043896e-04 9.97800660e-01 -6.44900135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78864000000002 meters Centerline goodness [0,1] 0.999557804746229 Centerline is valid? [True, True] Translation: X:130.96, Y:-64.03, Z:-6.45 [[ 7.32374531e-01 6.79139282e-01 4.89630599e-02 1.30956872e+02] [-6.77686207e-01 7.34009129e-01 -4.44072457e-02 -6.40296416e+01] [-6.60980379e-02 -6.58854629e-04 9.97812916e-01 -6.44953319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81864000000002 meters Centerline goodness [0,1] 0.9993609909555643 Centerline is valid? [True, True] Translation: X:130.98, Y:-64.05, Z:-6.45 [[ 7.32421562e-01 6.79021145e-01 4.98892787e-02 1.30982063e+02] [-6.77510976e-01 7.34118428e-01 -4.52660039e-02 -6.40505039e+01] [-6.73612127e-02 -6.46736646e-04 9.97728444e-01 -6.44998542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84864000000002 meters Centerline goodness [0,1] 0.9997545650893384 Centerline is valid? [True, True] Translation: X:131.01, Y:-64.07, Z:-6.45 [[ 7.33328347e-01 6.78065258e-01 4.95685618e-02 1.31007306e+02] [-6.76571500e-01 7.35001502e-01 -4.49866423e-02 -6.40702224e+01] [-6.69368466e-02 -5.46696206e-04 9.97757064e-01 -6.45241155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87864000000002 meters Centerline goodness [0,1] 0.9998037869125871 Centerline is valid? [True, True] Translation: X:131.03, Y:-64.09, Z:-6.45 [[ 7.33354662e-01 6.78088379e-01 4.88578549e-02 1.31032319e+02] [-6.76636491e-01 7.34980181e-01 -4.43530378e-02 -6.40907719e+01] [-6.59848345e-02 -5.32500474e-04 9.97820484e-01 -6.45255593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:-64.11, Z:-6.45 [[ 7.33540952e-01 6.77820413e-01 4.97710753e-02 1.31057967e+02] [-6.76312265e-01 7.35227331e-01 -4.51939310e-02 -6.41097131e+01] [-6.72264238e-02 -5.09189467e-04 9.97737615e-01 -6.45442959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.08, Y:-64.13, Z:-6.46 [[ 7.33692632e-01 6.77621159e-01 5.02462577e-02 1.31082595e+02] [-6.76082767e-01 7.35410992e-01 -4.56373109e-02 -6.41303861e+01] [-6.78764577e-02 -4.86870188e-04 9.97693615e-01 -6.45599992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.11, Y:-64.15, Z:-6.46 [[ 7.33616140e-01 6.77753190e-01 4.95779429e-02 1.31107177e+02] [-6.76255020e-01 7.35289317e-01 -4.50418484e-02 -6.41512442e+01] [-6.69813882e-02 -4.83905823e-04 9.97754108e-01 -6.45677574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.13, Y:-64.17, Z:-6.46 [[ 7.33316300e-01 6.78183449e-01 4.81083511e-02 1.31133135e+02] [-6.76773075e-01 7.34892482e-01 -4.37177883e-02 -6.41708864e+01] [-6.50031460e-02 -4.99469953e-04 9.97884934e-01 -6.45719205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:131.16, Y:-64.19, Z:-6.46 [[ 7.33729474e-01 6.77803531e-01 4.71532838e-02 1.31158790e+02] [-6.76447168e-01 7.35242934e-01 -4.28608971e-02 -6.41903648e+01] [-6.37203861e-02 -4.48401859e-04 9.97967691e-01 -6.45977898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:131.18, Y:-64.21, Z:-6.46 [[ 7.33596983e-01 6.77947381e-01 4.71467446e-02 1.31182892e+02] [-6.76590853e-01 7.35110294e-01 -4.28680894e-02 -6.42121937e+01] [-6.37203662e-02 -4.51155103e-04 9.97967691e-01 -6.46115436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.21, Y:-64.23, Z:-6.46 [[ 7.34395425e-01 6.77095153e-01 4.69628996e-02 1.31207474e+02] [-6.75746506e-01 7.35895387e-01 -4.27158018e-02 -6.42332149e+01] [-6.34824435e-02 -3.64725899e-04 9.97982889e-01 -6.46223051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.23, Y:-64.25, Z:-6.46 [[ 7.34700485e-01 6.76706906e-01 4.77803437e-02 1.31231616e+02] [-6.75309290e-01 7.36252440e-01 -4.34707665e-02 -6.42542743e+01] [-6.45953625e-02 -3.28516763e-04 9.97911485e-01 -6.46303477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.26, Y:-64.27, Z:-6.47 [[ 7.36310052e-01 6.74877222e-01 4.88696556e-02 1.31256567e+02] [-6.73410273e-01 7.37930017e-01 -4.44735332e-02 -6.42748160e+01] [-6.60765603e-02 -1.63018513e-04 9.97814543e-01 -6.46525997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.28, Y:-64.29, Z:-6.47 [[ 7.38384060e-01 6.72497296e-01 5.03623581e-02 1.31281798e+02] [-6.70932885e-01 7.40099577e-01 -4.58440941e-02 -6.42947377e+01] [-6.81031892e-02 6.07861429e-05 9.97678281e-01 -6.46830092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.31, Y:-64.32, Z:-6.47 [[ 7.39768154e-01 6.71012698e-01 4.98501537e-02 1.31305688e+02] [-6.69475826e-01 7.41445829e-01 -4.53894364e-02 -6.43167770e+01] [-6.74180767e-02 2.04186742e-04 9.97724792e-01 -6.46944167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.33, Y:-64.34, Z:-6.47 [[ 7.40279793e-01 6.70469296e-01 4.95656277e-02 1.31330863e+02] [-6.68947803e-01 7.41937231e-01 -4.51440141e-02 -6.43384508e+01] [-6.70422599e-02 2.62383666e-04 9.97750102e-01 -6.46996529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.36, Y:-64.36, Z:-6.47 [[ 7.40747412e-01 6.69949808e-01 4.96036982e-02 1.31356365e+02] [-6.68423641e-01 7.42406325e-01 -4.51960684e-02 -6.43601153e+01] [-6.71051966e-02 3.22586087e-04 9.97745854e-01 -6.47123826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.38, Y:-64.38, Z:-6.47 [[ 7.41992862e-01 6.68635817e-01 4.87107471e-02 1.31380969e+02] [-6.67160284e-01 7.43589904e-01 -4.43983117e-02 -6.43815670e+01] [-6.59071212e-02 4.45354514e-04 9.97825663e-01 -6.47309202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.40, Y:-64.41, Z:-6.48 [[ 7.43287625e-01 6.67244749e-01 4.80411435e-02 1.31403181e+02] [-6.65805679e-01 7.44838316e-01 -4.38027463e-02 -6.44065812e+01] [-6.50100369e-02 5.71973079e-04 9.97884446e-01 -6.47570806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.42, Y:-64.43, Z:-6.48 [[ 7.45284597e-01 6.65023015e-01 4.79088541e-02 1.31424773e+02] [-6.63586319e-01 7.46822461e-01 -4.36967731e-02 -6.44302147e+01] [-6.48387682e-02 7.74871778e-04 9.97895452e-01 -6.47710908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.45, Y:-64.45, Z:-6.48 [[ 7.45463841e-01 6.64852484e-01 4.74851072e-02 1.31448567e+02] [-6.63440078e-01 7.46974263e-01 -4.33210609e-02 -6.44525655e+01] [-6.42722678e-02 7.90761237e-04 9.97932087e-01 -6.47798204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.47, Y:-64.47, Z:-6.48 [[ 7.45750155e-01 6.64464168e-01 4.84156538e-02 1.31472580e+02] [-6.62994247e-01 7.47319643e-01 -4.41812119e-02 -6.44743618e+01] [-6.55388013e-02 8.48845750e-04 9.97849661e-01 -6.47991941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.49, Y:-64.50, Z:-6.48 [[ 7.46342947e-01 6.63880432e-01 4.72755530e-02 1.31493726e+02] [-6.62477146e-01 7.47838208e-01 -4.31514166e-02 -6.44982057e+01] [-6.40018459e-02 8.86781992e-04 9.97949386e-01 -6.48166341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:131.52, Y:-64.52, Z:-6.48 [[ 7.46853399e-01 6.63241096e-01 4.81793316e-02 1.31516066e+02] [-6.61781324e-01 7.48405175e-01 -4.39905911e-02 -6.45215293e+01] [-6.52340290e-02 9.70340669e-04 9.97869520e-01 -6.48385607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50864 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:131.54, Y:-64.54, Z:-6.49 [[ 7.47951112e-01 6.61988200e-01 4.83813834e-02 1.31537853e+02] [-6.60511822e-01 7.49513446e-01 -4.42009966e-02 -6.45446908e+01] [-6.55230355e-02 1.10370886e-03 9.97850447e-01 -6.48550513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.56, Y:-64.57, Z:-6.49 [[ 7.48001976e-01 6.61908889e-01 4.86792089e-02 1.31560528e+02] [-6.60412280e-01 7.49583435e-01 -4.45004899e-02 -6.45680585e+01] [-6.59443985e-02 1.13810705e-03 9.97822650e-01 -6.48693319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56864000000002 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:131.58, Y:-64.59, Z:-6.49 [[ 7.48359055e-01 6.61521031e-01 4.84628787e-02 1.31583292e+02] [-6.60036038e-01 7.49925690e-01 -4.43157777e-02 -6.45916459e+01] [-6.56593767e-02 1.17686708e-03 9.97841401e-01 -6.48846990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59864000000002 meters Centerline goodness [0,1] 0.9999017005799665 Centerline is valid? [True, True] Translation: X:131.60, Y:-64.62, Z:-6.49 [[ 7.48289154e-01 6.61708123e-01 4.69649099e-02 1.31604710e+02] [-6.60312515e-01 7.49760666e-01 -4.29688915e-02 -6.46155952e+01] [-6.36453066e-02 1.14163766e-03 9.97971929e-01 -6.48835045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62864000000002 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:131.63, Y:-64.64, Z:-6.49 [[ 7.47631653e-01 6.62399566e-01 4.76835967e-02 1.31627535e+02] [-6.60960285e-01 7.49149888e-01 -4.36571611e-02 -6.46388595e+01] [-6.46406458e-02 1.12251189e-03 9.97907975e-01 -6.49158516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.65, Y:-64.66, Z:-6.49 [[ 7.45508174e-01 6.64811387e-01 4.73643580e-02 1.31648072e+02] [-6.63394665e-01 7.47010685e-01 -4.33884252e-02 -6.46643391e+01] [-6.42268007e-02 9.25163260e-04 9.97934899e-01 -6.49202421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68864000000002 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:131.67, Y:-64.69, Z:-6.49 [[ 7.44223093e-01 6.66188456e-01 4.82175081e-02 1.31671145e+02] [-6.64720372e-01 7.45782955e-01 -4.42109872e-02 -6.46883592e+01] [-6.54126449e-02 8.51677753e-04 9.97857936e-01 -6.49402200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71864000000002 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:131.69, Y:-64.71, Z:-6.49 [[ 7.41144060e-01 6.69532485e-01 4.93126097e-02 1.31693699e+02] [-6.68001133e-01 7.42782530e-01 -4.52614672e-02 -6.47125862e+01] [-6.69325676e-02 6.04388488e-04 9.97757318e-01 -6.49436471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74864 meters Centerline goodness [0,1] 0.9999508768482586 Centerline is valid? [True, True] Translation: X:131.72, Y:-64.73, Z:-6.50 [[ 7.40089169e-01 6.70754211e-01 4.85469892e-02 1.31716969e+02] [-6.69269894e-01 7.41679526e-01 -4.46014406e-02 -6.47345811e+01] [-6.59229121e-02 5.18004830e-04 9.97824584e-01 -6.49529872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.74, Y:-64.76, Z:-6.50 [[ 7.38739893e-01 6.72260115e-01 4.82670642e-02 1.31740497e+02] [-6.70793511e-01 7.40314912e-01 -4.43835040e-02 -6.47571689e+01] [-6.55700869e-02 4.10631543e-04 9.97847882e-01 -6.49639073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.76, Y:-64.78, Z:-6.50 [[ 7.37183832e-01 6.74015040e-01 4.75785968e-02 1.31763754e+02] [-6.72591562e-01 7.38717571e-01 -4.37828838e-02 -6.47793778e+01] [-6.46574677e-02 2.75071345e-04 9.97907479e-01 -6.49876546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.79, Y:-64.80, Z:-6.50 [[ 7.36480014e-01 6.74758762e-01 4.79354016e-02 1.31788763e+02] [-6.73313428e-01 7.38038318e-01 -4.41414641e-02 -6.48007373e+01] [-6.51630028e-02 2.33756473e-04 9.97874606e-01 -6.50037520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.81, Y:-64.82, Z:-6.50 [[ 7.35843740e-01 6.75419451e-01 4.83999579e-02 1.31813608e+02] [-6.73944299e-01 7.37433740e-01 -4.46157027e-02 -6.48218909e+01] [-6.58260753e-02 2.11309797e-04 9.97831089e-01 -6.50182300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.84, Y:-64.84, Z:-6.50 [[ 7.35528294e-01 6.75787896e-01 4.80504713e-02 1.31838793e+02] [-6.74332359e-01 7.37096111e-01 -4.43304848e-02 -6.48427755e+01] [-6.53758206e-02 2.04338184e-04 9.97860692e-01 -6.50322960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92864 meters Centerline goodness [0,1] 0.9999507073495342 Centerline is valid? [True, True] Translation: X:131.86, Y:-64.86, Z:-6.51 [[ 7.34971466e-01 6.76399629e-01 4.79633835e-02 1.31864186e+02] [-6.74948679e-01 7.36534801e-01 -4.42805636e-02 -6.48634206e+01] [-6.52780579e-02 1.72128452e-04 9.97867098e-01 -6.50521558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.89, Y:-64.88, Z:-6.51 [[ 7.34385086e-01 6.77054777e-01 4.77008850e-02 1.31890725e+02] [-6.75618095e-01 7.35932611e-01 -4.40838057e-02 -6.48836920e+01] [-6.49517881e-02 1.46908442e-04 9.97888392e-01 -6.50613670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.92, Y:-64.90, Z:-6.51 [[ 7.34570914e-01 6.76828479e-01 4.80497845e-02 1.31919147e+02] [-6.75367963e-01 7.36140729e-01 -4.44403205e-02 -6.49004636e+01] [-6.54498779e-02 1.93281757e-04 9.97855839e-01 -6.50810572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01864 meters Centerline goodness [0,1] 0.9999012930609021 Centerline is valid? [True, True] Translation: X:131.94, Y:-64.92, Z:-6.51 [[ 7.34989614e-01 6.76344890e-01 4.84546867e-02 1.31944909e+02] [-6.74857740e-01 7.36585045e-01 -4.48274772e-02 -6.49197956e+01] [-6.60098327e-02 2.47709820e-04 9.97818942e-01 -6.50848331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04864 meters Centerline goodness [0,1] 0.9997051886792453 Centerline is valid? [True, True] Translation: X:131.97, Y:-64.94, Z:-6.51 [[ 7.37290679e-01 6.73858131e-01 4.81422352e-02 1.31972448e+02] [-6.72383938e-01 7.38860604e-01 -4.45516352e-02 -6.49376847e+01] [-6.55918826e-02 4.77439656e-04 9.97846420e-01 -6.50993328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07864 meters Centerline goodness [0,1] 0.9996070340897927 Centerline is valid? [True, True] Translation: X:132.00, Y:-64.96, Z:-6.51 [[ 7.39014345e-01 6.72012929e-01 4.75018037e-02 1.31997967e+02] [-6.70573070e-01 7.40539135e-01 -4.39721152e-02 -6.49580755e+01] [-6.47267745e-02 6.42593571e-04 9.97902817e-01 -6.51099875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10864 meters Centerline goodness [0,1] 0.9998523185980113 Centerline is valid? [True, True] Translation: X:132.02, Y:-64.98, Z:-6.51 [[ 7.40394045e-01 6.70532105e-01 4.69399020e-02 1.32023776e+02] [-6.69122117e-01 7.41880109e-01 -4.34683500e-02 -6.49785471e+01] [-6.39707039e-02 7.75180904e-04 9.97951476e-01 -6.51163527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13864 meters Centerline goodness [0,1] 0.9997054202670856 Centerline is valid? [True, True] Translation: X:132.05, Y:-65.00, Z:-6.51 [[ 7.43228922e-01 6.67447545e-01 4.60927759e-02 1.32050360e+02] [-6.66081204e-01 7.44656100e-01 -4.26980290e-02 -6.49969019e+01] [-6.28219614e-02 1.03287836e-03 9.98024215e-01 -6.51307282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16864 meters Centerline goodness [0,1] 0.999803497740224 Centerline is valid? [True, True] Translation: X:132.07, Y:-65.02, Z:-6.52 [[ 7.44167076e-01 6.66384214e-01 4.63405111e-02 1.32074631e+02] [-6.65000388e-01 7.45607663e-01 -4.29382887e-02 -6.50181165e+01] [-6.31652380e-02 1.13680292e-03 9.98002435e-01 -6.51517796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19864 meters Centerline goodness [0,1] 0.9997547216090262 Centerline is valid? [True, True] Translation: X:132.10, Y:-65.04, Z:-6.52 [[ 7.44942918e-01 6.65493364e-01 4.66758147e-02 1.32098649e+02] [-6.64086988e-01 7.46402754e-01 -4.32597030e-02 -6.50397781e+01] [-6.36280019e-02 1.22920820e-03 9.97972929e-01 -6.51584990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22864 meters Centerline goodness [0,1] 0.9999018260357353 Centerline is valid? [True, True] Translation: X:132.12, Y:-65.06, Z:-6.52 [[ 7.46341530e-01 6.63987869e-01 4.57649451e-02 1.32123425e+02] [-6.62632427e-01 7.47742146e-01 -4.24258075e-02 -6.50605631e+01] [-6.23905998e-02 1.33880547e-03 9.98050911e-01 -6.51522953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25864 meters Centerline goodness [0,1] 0.9997546012269939 Centerline is valid? [True, True] Translation: X:132.15, Y:-65.08, Z:-6.52 [[ 7.45983965e-01 6.64376203e-01 4.59585004e-02 1.32147193e+02] [-6.63009334e-01 7.47397163e-01 -4.26157770e-02 -6.50815581e+01] [-6.26621609e-02 1.31977160e-03 9.98033923e-01 -6.51699515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.17, Y:-65.10, Z:-6.52 [[ 7.44790380e-01 6.65763617e-01 4.52337866e-02 1.32171315e+02] [-6.64441428e-01 7.46161768e-01 -4.19547894e-02 -6.51035090e+01] [-6.16836945e-02 1.19232182e-03 9.98095036e-01 -6.51914570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31864000000002 meters Centerline goodness [0,1] 0.9998525291254977 Centerline is valid? [True, True] Translation: X:132.19, Y:-65.13, Z:-6.52 [[ 7.44525561e-01 6.66080701e-01 4.49242620e-02 1.32194850e+02] [-6.64776357e-01 7.45878768e-01 -4.16804328e-02 -6.51260910e+01] [-6.12705851e-02 1.16756035e-03 9.98120510e-01 -6.52084517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34864000000002 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:132.22, Y:-65.15, Z:-6.52 [[ 7.43930372e-01 6.66636493e-01 4.65122333e-02 1.32218056e+02] [-6.65238482e-01 7.45382060e-01 -4.31664952e-02 -6.51477014e+01] [-6.34457452e-02 1.17113938e-03 9.97984602e-01 -6.52298266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.24, Y:-65.17, Z:-6.52 [[ 7.44578209e-01 6.65852603e-01 4.73666664e-02 1.32242762e+02] [-6.64400401e-01 7.46082234e-01 -4.39705343e-02 -6.51688050e+01] [-6.46173230e-02 1.26906958e-03 9.97909310e-01 -6.52324977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40864000000002 meters Centerline goodness [0,1] 0.999901768172888 Centerline is valid? [True, True] Translation: X:132.27, Y:-65.19, Z:-6.52 [[ 7.44829362e-01 6.65565554e-01 4.74522436e-02 1.32266538e+02] [-6.64106807e-01 7.46338256e-01 -4.40608236e-02 -6.51902327e+01] [-6.47407912e-02 1.30443715e-03 9.97901262e-01 -6.52481131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43864000000002 meters Centerline goodness [0,1] 0.9998525943396226 Centerline is valid? [True, True] Translation: X:132.29, Y:-65.21, Z:-6.53 [[ 7.45693139e-01 6.64680037e-01 4.62838136e-02 1.32290729e+02] [-6.63289791e-01 7.47126902e-01 -4.29889125e-02 -6.52133420e+01] [-6.31537542e-02 1.35695606e-03 9.98002887e-01 -6.52549822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46864000000002 meters Centerline goodness [0,1] 0.9997545048362547 Centerline is valid? [True, True] Translation: X:132.31, Y:-65.24, Z:-6.53 [[ 7.45501863e-01 6.64882137e-01 4.64619914e-02 1.32314540e+02] [-6.63480531e-01 7.46947055e-01 -4.31703801e-02 -6.52355655e+01] [-6.34078622e-02 1.35697199e-03 9.97986774e-01 -6.52757758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49864 meters Centerline goodness [0,1] 0.9997053768720845 Centerline is valid? [True, True] Translation: X:132.34, Y:-65.26, Z:-6.53 [[ 7.45444188e-01 6.64920782e-01 4.68328455e-02 1.32338165e+02] [-6.63496072e-01 7.46912625e-01 -4.35257808e-02 -6.52578498e+01] [-6.39212398e-02 1.37263131e-03 9.97954002e-01 -6.52876410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52864 meters Centerline goodness [0,1] 0.9995573697929474 Centerline is valid? [True, True] Translation: X:132.36, Y:-65.28, Z:-6.53 [[ 7.44899020e-01 6.65580136e-01 4.61360222e-02 1.32361910e+02] [-6.64198102e-01 7.46325250e-01 -4.28894098e-02 -6.52803008e+01] [-6.29788175e-02 1.30482087e-03 9.98014011e-01 -6.52920846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55864 meters Centerline goodness [0,1] 0.9996553082529053 Centerline is valid? [True, True] Translation: X:132.39, Y:-65.30, Z:-6.53 [[ 7.45133488e-01 6.65388110e-01 4.51081969e-02 1.32385810e+02] [-6.64065949e-01 7.46496465e-01 -4.19457166e-02 -6.53015461e+01] [-6.15832906e-02 1.30034051e-03 9.98101101e-01 -6.53053937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58864 meters Centerline goodness [0,1] 0.9997541547841479 Centerline is valid? [True, True] Translation: X:132.41, Y:-65.32, Z:-6.53 [[ 7.45522678e-01 6.64939428e-01 4.52934224e-02 1.32410099e+02] [-6.63604903e-01 7.46896066e-01 -4.21283789e-02 -6.53232790e+01] [-6.18422991e-02 1.35072467e-03 9.98085019e-01 -6.53286779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61864 meters Centerline goodness [0,1] 0.9992149165848871 Centerline is valid? [True, True] Translation: X:132.43, Y:-65.34, Z:-6.53 [[ 7.45959572e-01 6.64486393e-01 4.47453988e-02 1.32433695e+02] [-6.63182560e-01 7.47299092e-01 -4.16288421e-02 -6.53445478e+01] [-6.10999949e-02 1.37906513e-03 9.98130697e-01 -6.53342203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64864 meters Centerline goodness [0,1] 0.9998036713458329 Centerline is valid? [True, True] Translation: X:132.46, Y:-65.37, Z:-6.54 [[ 7.46335095e-01 6.64040936e-01 4.50950239e-02 1.32456827e+02] [-6.62715226e-01 7.47694844e-01 -4.19636794e-02 -6.53660972e+01] [-6.15829178e-02 1.43380774e-03 9.98100941e-01 -6.53533239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67864 meters Centerline goodness [0,1] 0.9995088891071604 Centerline is valid? [True, True] Translation: X:132.48, Y:-65.39, Z:-6.54 [[ 7.47843759e-01 6.62406741e-01 4.41250788e-02 1.32480737e+02] [-6.61134164e-01 7.49142801e-01 -4.10692286e-02 -6.53871479e+01] [-6.02605190e-02 1.54076922e-03 9.98181494e-01 -6.53623895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70864 meters Centerline goodness [0,1] 0.9993619945033373 Centerline is valid? [True, True] Translation: X:132.50, Y:-65.41, Z:-6.54 [[ 7.48166708e-01 6.62030247e-01 4.43004445e-02 1.32504314e+02] [-6.60746256e-01 7.49475444e-01 -4.12425102e-02 -6.54088970e+01] [-6.05058845e-02 1.58492023e-03 9.98166582e-01 -6.53856240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73864 meters Centerline goodness [0,1] 0.9986229959673454 Centerline is valid? [True, True] Translation: X:132.53, Y:-65.43, Z:-6.54 [[ 7.49989780e-01 6.60005900e-01 4.36754088e-02 1.32526318e+02] [-6.58753945e-01 7.51258423e-01 -4.06696733e-02 -6.54317079e+01] [-5.96537430e-02 1.73049147e-03 9.98217630e-01 -6.53961128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76864 meters Centerline goodness [0,1] 0.9989678053575817 Centerline is valid? [True, True] Translation: X:132.55, Y:-65.45, Z:-6.54 [[ 7.50805927e-01 6.59109049e-01 4.31939926e-02 1.32549191e+02] [-6.57882618e-01 7.52045255e-01 -4.02292970e-02 -6.54541883e+01] [-5.89993309e-02 1.78781778e-03 9.98256421e-01 -6.54036954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79864 meters Centerline goodness [0,1] 0.9987224842767296 Centerline is valid? [True, True] Translation: X:132.57, Y:-65.48, Z:-6.54 [[ 7.51988812e-01 6.57789120e-01 4.27352293e-02 1.32571863e+02] [-6.56585940e-01 7.53199804e-01 -3.98115403e-02 -6.54769048e+01] [-5.83757644e-02 1.87848222e-03 9.98292914e-01 -6.54095805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82864 meters Centerline goodness [0,1] 0.9984299872436464 Centerline is valid? [True, True] Translation: X:132.59, Y:-65.50, Z:-6.54 [[ 7.51576690e-01 6.58232729e-01 4.31526803e-02 1.32594378e+02] [-6.57006060e-01 7.52812181e-01 -4.02101712e-02 -6.54996885e+01] [-5.89535141e-02 1.86945496e-03 9.98258979e-01 -6.54263361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85864 meters Centerline goodness [0,1] 0.9988708885616102 Centerline is valid? [True, True] Translation: X:132.62, Y:-65.52, Z:-6.54 [[ 7.51838705e-01 6.57919719e-01 4.33613358e-02 1.32617266e+02] [-6.56680049e-01 7.53085648e-01 -4.04143593e-02 -6.55227879e+01] [-5.92442036e-02 1.91055540e-03 9.98241691e-01 -6.54336900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88864 meters Centerline goodness [0,1] 0.998820406959599 Centerline is valid? [True, True] Translation: X:132.64, Y:-65.55, Z:-6.55 [[ 7.51154247e-01 6.58688954e-01 4.35448997e-02 1.32638940e+02] [-6.57439461e-01 7.52413040e-01 -4.05952242e-02 -6.55462341e+01] [-5.95033762e-02 1.86513969e-03 9.98226362e-01 -6.54561186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91864 meters Centerline goodness [0,1] 0.9991158267020336 Centerline is valid? [True, True] Translation: X:132.66, Y:-65.57, Z:-6.55 [[ 7.51018771e-01 6.58863166e-01 4.32450428e-02 1.32661391e+02] [-6.57630552e-01 7.52260541e-01 -4.03253755e-02 -6.55692117e+01] [-5.91004439e-02 1.84585261e-03 9.98250335e-01 -6.54733663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94864 meters Centerline goodness [0,1] 0.9989178021545575 Centerline is valid? [True, True] Translation: X:132.68, Y:-65.59, Z:-6.55 [[ 7.51818970e-01 6.57952564e-01 4.32048623e-02 1.32681632e+02] [-6.56720166e-01 7.53056921e-01 -4.02976206e-02 -6.55943336e+01] [-5.90496434e-02 1.92301129e-03 9.98253195e-01 -6.54836612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97864 meters Centerline goodness [0,1] 0.9989197682411863 Centerline is valid? [True, True] Translation: X:132.70, Y:-65.62, Z:-6.55 [[ 7.51750148e-01 6.57972685e-01 4.40869767e-02 1.32703247e+02] [-6.56688826e-01 7.53039223e-01 -4.11304540e-02 -6.56178895e+01] [-6.02619380e-02 1.96839992e-03 9.98180657e-01 -6.54914095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00864 meters Centerline goodness [0,1] 0.9989197682411863 Centerline is valid? [True, True] Translation: X:132.73, Y:-65.64, Z:-6.55 [[ 7.51630829e-01 6.58109366e-01 4.40812767e-02 1.32727071e+02] [-6.56825384e-01 7.52919782e-01 -4.11365623e-02 -6.56400377e+01] [-6.02620222e-02 1.96580696e-03 9.98180657e-01 -6.55051690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03864000000002 meters Centerline goodness [0,1] 0.9990173921587894 Centerline is valid? [True, True] Translation: X:132.75, Y:-65.66, Z:-6.55 [[ 7.51761978e-01 6.57973554e-01 4.38717616e-02 1.32750177e+02] [-6.56700636e-01 7.53038437e-01 -4.09559072e-02 -6.56638638e+01] [-5.99850266e-02 1.97848008e-03 9.98197316e-01 -6.55193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06864000000002 meters Centerline goodness [0,1] 0.9995580219024701 Centerline is valid? [True, True] Translation: X:132.77, Y:-65.69, Z:-6.55 [[ 7.50868314e-01 6.58993019e-01 4.38745623e-02 1.32770579e+02] [-6.57720864e-01 7.52146637e-01 -4.09719584e-02 -6.56892617e+01] [-6.00003391e-02 1.90733028e-03 9.98196534e-01 -6.55461934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09864000000002 meters Centerline goodness [0,1] 0.9996074197664148 Centerline is valid? [True, True] Translation: X:132.79, Y:-65.71, Z:-6.56 [[ 7.50323127e-01 6.59581590e-01 4.43546040e-02 1.32791829e+02] [-6.58281830e-01 7.51630601e-01 -4.14303347e-02 -6.57135041e+01] [-6.06649638e-02 1.88830842e-03 9.98156399e-01 -6.55657735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12864000000002 meters Centerline goodness [0,1] 0.9997050437518434 Centerline is valid? [True, True] Translation: X:132.81, Y:-65.74, Z:-6.56 [[ 7.49712103e-01 6.60239201e-01 4.48994368e-02 1.32814269e+02] [-6.58907238e-01 7.51053054e-01 -4.19590509e-02 -6.57385679e+01] [-6.14248694e-02 1.87264441e-03 9.98109953e-01 -6.55763236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15864000000002 meters Centerline goodness [0,1] 0.9997540822349007 Centerline is valid? [True, True] Translation: X:132.84, Y:-65.76, Z:-6.56 [[ 7.49255524e-01 6.60673663e-01 4.61136738e-02 1.32837322e+02] [-6.59266841e-01 7.50670789e-01 -4.31346568e-02 -6.57605614e+01] [-6.31141196e-02 1.91766377e-03 9.98004474e-01 -6.55887908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18864000000002 meters Centerline goodness [0,1] 0.999607265586647 Centerline is valid? [True, True] Translation: X:132.86, Y:-65.78, Z:-6.56 [[ 7.48867327e-01 6.61098963e-01 4.63237216e-02 1.32860887e+02] [-6.59677639e-01 7.50296259e-01 -4.33697569e-02 -6.57839782e+01] [-6.34282164e-02 1.91947061e-03 9.97984557e-01 -6.55954851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21864000000002 meters Centerline goodness [0,1] 0.9998035749361619 Centerline is valid? [True, True] Translation: X:132.88, Y:-65.81, Z:-6.56 [[ 7.48551076e-01 6.61417509e-01 4.68846101e-02 1.32882546e+02] [-6.59959381e-01 7.50015390e-01 -4.39377879e-02 -6.58090142e+01] [-6.42254014e-02 1.94774013e-03 9.97933517e-01 -6.56203090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24864 meters Centerline goodness [0,1] 0.9996071112857283 Centerline is valid? [True, True] Translation: X:132.91, Y:-65.83, Z:-6.56 [[ 7.48949091e-01 6.61047476e-01 4.57328545e-02 1.32906313e+02] [-6.59656928e-01 7.50341514e-01 -4.28992952e-02 -6.58325731e+01] [-6.26737301e-02 1.96139379e-03 9.98032142e-01 -6.56204581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27864 meters Centerline goodness [0,1] 0.9998033141564636 Centerline is valid? [True, True] Translation: X:132.93, Y:-65.86, Z:-6.56 [[ 7.48758606e-01 6.61336188e-01 4.46653844e-02 1.32928963e+02] [-6.60008029e-01 7.50087167e-01 -4.19361867e-02 -6.58552294e+01] [-6.12368495e-02 1.92056830e-03 9.98121415e-01 -6.56315731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30864 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:132.95, Y:-65.88, Z:-6.56 [[ 7.48243559e-01 6.61964598e-01 4.39823508e-02 1.32950775e+02] [-6.60675792e-01 7.49532780e-01 -4.13292820e-02 -6.58790424e+01] [-6.03247352e-02 1.86629455e-03 9.98177060e-01 -6.56427339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.97, Y:-65.90, Z:-6.56 [[ 7.47155268e-01 6.63179247e-01 4.41847498e-02 1.32972302e+02] [-6.61878518e-01 7.48458440e-01 -4.15546861e-02 -6.59025506e+01] [-6.06286544e-02 1.80286597e-03 9.98158763e-01 -6.56491805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36864 meters Centerline goodness [0,1] 0.9999016909162407 Centerline is valid? [True, True] Translation: X:132.99, Y:-65.93, Z:-6.57 [[ 7.46542749e-01 6.63867846e-01 4.41973570e-02 1.32993524e+02] [-6.62565343e-01 7.47847800e-01 -4.16032995e-02 -6.59282751e+01] [-6.06719890e-02 1.77500455e-03 9.98156180e-01 -6.56665080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.02, Y:-65.95, Z:-6.57 [[ 7.46433104e-01 6.64061536e-01 4.31265201e-02 1.33015897e+02] [-6.62819536e-01 7.47675887e-01 -4.06328691e-02 -6.59511216e+01] [-5.92273846e-02 1.74461853e-03 9.98242993e-01 -6.56725703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42864 meters Centerline goodness [0,1] 0.9999016232169208 Centerline is valid? [True, True] Translation: X:133.04, Y:-65.97, Z:-6.57 [[ 7.45862463e-01 6.64739885e-01 4.25449347e-02 1.33038196e+02] [-6.63530295e-01 7.47072967e-01 -4.01189360e-02 -6.59746473e+01] [-5.84528275e-02 1.69335538e-03 9.98288736e-01 -6.56861365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45864 meters Centerline goodness [0,1] 0.9995076074646708 Centerline is valid? [True, True] Translation: X:133.06, Y:-66.00, Z:-6.57 [[ 7.44485701e-01 6.66285130e-01 4.24872446e-02 1.33058597e+02] [-6.65079325e-01 7.45695367e-01 -4.00987789e-02 -6.59998938e+01] [-5.83997616e-02 1.59557963e-03 9.98292002e-01 -6.57116418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48864 meters Centerline goodness [0,1] 0.9995568248965925 Centerline is valid? [True, True] Translation: X:133.08, Y:-66.02, Z:-6.57 [[ 7.43788300e-01 6.67086338e-01 4.21281778e-02 1.33081034e+02] [-6.65900161e-01 7.44978812e-01 -3.97937785e-02 -6.60228719e+01] [-5.79304858e-02 1.54498645e-03 9.98319424e-01 -6.57208410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51864 meters Centerline goodness [0,1] 0.9996559351191939 Centerline is valid? [True, True] Translation: X:133.10, Y:-66.05, Z:-6.57 [[ 7.42690306e-01 6.68177322e-01 4.41607964e-02 1.33103679e+02] [-6.66873430e-01 7.44000428e-01 -4.17515376e-02 -6.60462403e+01] [-6.07530820e-02 1.55880045e-03 9.98151608e-01 -6.57448305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54864 meters Centerline goodness [0,1] 0.9998525943396226 Centerline is valid? [True, True] Translation: X:133.13, Y:-66.07, Z:-6.58 [[ 7.42074255e-01 6.68848332e-01 4.43588664e-02 1.33126472e+02] [-6.67531465e-01 7.43397294e-01 -4.19786404e-02 -6.60701158e+01] [-6.10536049e-02 1.54032918e-03 9.98133300e-01 -6.57507829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57864 meters Centerline goodness [0,1] 0.9995085270555856 Centerline is valid? [True, True] Translation: X:133.15, Y:-66.09, Z:-6.58 [[ 7.41908161e-01 6.69001620e-01 4.48231278e-02 1.33150293e+02] [-6.67654689e-01 7.43259276e-01 -4.24601616e-02 -6.60935360e+01] [-6.17211224e-02 1.57516898e-03 9.98092191e-01 -6.57697719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60864 meters Centerline goodness [0,1] 0.9993600157534583 Centerline is valid? [True, True] Translation: X:133.17, Y:-66.12, Z:-6.58 [[ 7.42482066e-01 6.68434683e-01 4.37659186e-02 1.33173310e+02] [-6.67147184e-01 7.43769097e-01 -4.14989851e-02 -6.61179947e+01] [-6.02910987e-02 1.61394285e-03 9.98179532e-01 -6.57782518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63864 meters Centerline goodness [0,1] 0.999016038571288 Centerline is valid? [True, True] Translation: X:133.20, Y:-66.14, Z:-6.58 [[ 7.42566454e-01 6.68343912e-01 4.37204515e-02 1.33196466e+02] [-6.67056472e-01 7.43850585e-01 -4.14966200e-02 -6.61414622e+01] [-6.02554968e-02 1.64998778e-03 9.98181623e-01 -6.57951501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66864 meters Centerline goodness [0,1] 0.998869167609027 Centerline is valid? [True, True] Translation: X:133.22, Y:-66.17, Z:-6.58 [[ 7.42390607e-01 6.68578534e-01 4.31153242e-02 1.33218691e+02] [-6.67324534e-01 7.43639738e-01 -4.09622477e-02 -6.61667855e+01] [-5.94487480e-02 1.63807429e-03 9.98230015e-01 -6.57960688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69864 meters Centerline goodness [0,1] 0.9989673485444532 Centerline is valid? [True, True] Translation: X:133.24, Y:-66.19, Z:-6.58 [[ 7.41720800e-01 6.69277662e-01 4.37911727e-02 1.33242436e+02] [-6.67982701e-01 7.43010584e-01 -4.16459265e-02 -6.61902687e+01] [-6.04099931e-02 1.63790414e-03 9.98172305e-01 -6.58166803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72864 meters Centerline goodness [0,1] 0.9992129470214964 Centerline is valid? [True, True] Translation: X:133.27, Y:-66.21, Z:-6.58 [[ 7.41063217e-01 6.69984806e-01 4.41097335e-02 1.33265899e+02] [-6.68669624e-01 7.42373037e-01 -4.19905688e-02 -6.62138686e+01] [-6.08789199e-02 1.62282708e-03 9.98143839e-01 -6.58220002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75864 meters Centerline goodness [0,1] 0.999213565986729 Centerline is valid? [True, True] Translation: X:133.29, Y:-66.24, Z:-6.58 [[ 7.39128378e-01 6.72102847e-01 4.43509141e-02 1.33288337e+02] [-6.70774565e-01 7.40456315e-01 -4.22602407e-02 -6.62364809e+01] [-6.12431425e-02 1.48627799e-03 9.98121770e-01 -6.58297432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78864000000002 meters Centerline goodness [0,1] 0.9992629716981132 Centerline is valid? [True, True] Translation: X:133.31, Y:-66.26, Z:-6.58 [[ 7.38031989e-01 6.73296267e-01 4.45075352e-02 1.33311391e+02] [-6.71958936e-01 7.39371448e-01 -4.24387908e-02 -6.62596101e+01] [-6.14814802e-02 1.41394923e-03 9.98107223e-01 -6.58455115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81864000000002 meters Centerline goodness [0,1] 0.9991642906302232 Centerline is valid? [True, True] Translation: X:133.34, Y:-66.28, Z:-6.59 [[ 7.36127056e-01 6.75447509e-01 4.34467438e-02 1.33335039e+02] [-6.74175785e-01 7.37407063e-01 -4.14467781e-02 -6.62820394e+01] [-6.00330587e-02 1.21935216e-03 9.98195645e-01 -6.58513891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84864000000002 meters Centerline goodness [0,1] 0.9984753848423744 Centerline is valid? [True, True] Translation: X:133.36, Y:-66.30, Z:-6.59 [[ 7.35549628e-01 6.76117191e-01 4.28052366e-02 1.33358986e+02] [-6.74881822e-01 7.36793164e-01 -4.08700331e-02 -6.63040984e+01] [-5.91715378e-02 1.17346162e-03 9.98247140e-01 -6.58644866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87864000000002 meters Centerline goodness [0,1] 0.9985223858543072 Centerline is valid? [True, True] Translation: X:133.38, Y:-66.33, Z:-6.59 [[ 7.35066266e-01 6.76679815e-01 4.22138971e-02 1.33383040e+02] [-6.75477253e-01 7.36276533e-01 -4.03404088e-02 -6.63260386e+01] [-5.83786421e-02 1.13834648e-03 9.98293864e-01 -6.58806077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90864000000002 meters Centerline goodness [0,1] 0.9982317402622919 Centerline is valid? [True, True] Translation: X:133.41, Y:-66.35, Z:-6.59 [[ 7.34616038e-01 6.77169864e-01 4.21930309e-02 1.33407318e+02] [-6.75967142e-01 7.35825867e-01 -4.03573550e-02 -6.63483106e+01] [-5.83755081e-02 1.12605775e-03 9.98294061e-01 -6.58916174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93864000000002 meters Centerline goodness [0,1] 0.9979368276268605 Centerline is valid? [True, True] Translation: X:133.43, Y:-66.37, Z:-6.59 [[ 7.34259469e-01 6.77553386e-01 4.22426419e-02 1.33431382e+02] [-6.76346083e-01 7.35472732e-01 -4.04454881e-02 -6.63704857e+01] [-5.84722886e-02 1.12683723e-03 9.98288396e-01 -6.59038342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96864000000002 meters Centerline goodness [0,1] 0.9984265906185466 Centerline is valid? [True, True] Translation: X:133.46, Y:-66.39, Z:-6.59 [[ 7.34639961e-01 6.77085213e-01 4.31247243e-02 1.33455121e+02] [-6.75823691e-01 7.35903615e-01 -4.13304734e-02 -6.63923410e+01] [-5.97198928e-02 1.21830704e-03 9.98214431e-01 -6.59113958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99864 meters Centerline goodness [0,1] 0.9982773895068412 Centerline is valid? [True, True] Translation: X:133.48, Y:-66.41, Z:-6.59 [[ 7.34913965e-01 6.76808408e-01 4.28000393e-02 1.33479223e+02] [-6.75563156e-01 7.36158131e-01 -4.10563982e-02 -6.64147838e+01] [-5.92949125e-02 1.25879073e-03 9.98239715e-01 -6.59225942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02864 meters Centerline goodness [0,1] 0.9976913252775321 Centerline is valid? [True, True] Translation: X:133.50, Y:-66.44, Z:-6.59 [[ 7.34813184e-01 6.76904788e-01 4.30057219e-02 1.33502591e+02] [-6.75645231e-01 7.36069460e-01 -4.12949434e-02 -6.64384148e+01] [-5.96079434e-02 1.28745791e-03 9.98221035e-01 -6.59445651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05864 meters Centerline goodness [0,1] 0.9978390059427337 Centerline is valid? [True, True] Translation: X:133.53, Y:-66.46, Z:-6.60 [[ 7.34731156e-01 6.77022170e-01 4.25571415e-02 1.33525505e+02] [-6.75786586e-01 7.35961484e-01 -4.09045651e-02 -6.64617326e+01] [-5.90137145e-02 1.29431298e-03 9.98256333e-01 -6.59575333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08864 meters Centerline goodness [0,1] 0.99783868749386 Centerline is valid? [True, True] Translation: X:133.55, Y:-66.49, Z:-6.60 [[ 7.34823438e-01 6.76948092e-01 4.21401880e-02 1.33548170e+02] [-6.75734159e-01 7.36029582e-01 -4.05438114e-02 -6.64860269e+01] [-5.84624808e-02 1.31697836e-03 9.98288738e-01 -6.59639793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11864 meters Centerline goodness [0,1] 0.9977416662575482 Centerline is valid? [True, True] Translation: X:133.57, Y:-66.51, Z:-6.60 [[ 7.33561640e-01 6.78308288e-01 4.22514760e-02 1.33569708e+02] [-6.77087882e-01 7.34776379e-01 -4.06899543e-02 -6.65106988e+01] [-5.86457198e-02 1.24062719e-03 9.98278088e-01 -6.59829494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14864 meters Centerline goodness [0,1] 0.9984284451429133 Centerline is valid? [True, True] Translation: X:133.59, Y:-66.54, Z:-6.60 [[ 7.32273086e-01 6.79645827e-01 4.31007861e-02 1.33591583e+02] [-6.78375842e-01 7.33539465e-01 -4.15459963e-02 -6.65356235e+01] [-5.98526906e-02 1.18448285e-03 9.98206518e-01 -6.60069524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17864 meters Centerline goodness [0,1] 0.9980848556275781 Centerline is valid? [True, True] Translation: X:133.61, Y:-66.56, Z:-6.60 [[ 7.30777494e-01 6.81237765e-01 4.33516059e-02 1.33612945e+02] [-6.79953299e-01 7.32061418e-01 -4.18281194e-02 -6.65598474e+01] [-6.02309326e-02 1.08998082e-03 9.98183874e-01 -6.60186494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20864 meters Centerline goodness [0,1] 0.9982327818958323 Centerline is valid? [True, True] Translation: X:133.63, Y:-66.58, Z:-6.60 [[ 7.29593697e-01 6.82500476e-01 4.34297008e-02 1.33634503e+02] [-6.81211373e-01 7.30884445e-01 -4.19403578e-02 -6.65837042e+01] [-6.03664069e-02 1.01461457e-03 9.98175770e-01 -6.60245136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23864 meters Centerline goodness [0,1] 0.9982311320754716 Centerline is valid? [True, True] Translation: X:133.66, Y:-66.61, Z:-6.60 [[ 7.27277494e-01 6.84964249e-01 4.34904953e-02 1.33655597e+02] [-6.83673672e-01 7.28576196e-01 -4.20361354e-02 -6.66087062e+01] [-6.04793895e-02 8.38628634e-04 9.98169094e-01 -6.60365766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26864 meters Centerline goodness [0,1] 0.9982301755075955 Centerline is valid? [True, True] Translation: X:133.68, Y:-66.63, Z:-6.61 [[ 7.25446752e-01 6.86872132e-01 4.39736774e-02 1.33677915e+02] [-6.85553741e-01 7.26777931e-01 -4.25430054e-02 -6.66327146e+01] [-6.11807031e-02 7.16366056e-04 9.98126449e-01 -6.60587280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29864 meters Centerline goodness [0,1] 0.998328991988991 Centerline is valid? [True, True] Translation: X:133.70, Y:-66.66, Z:-6.61 [[ 7.22099698e-01 6.90404206e-01 4.37499623e-02 1.33697773e+02] [-6.89103584e-01 7.23423693e-01 -4.23604901e-02 -6.66584040e+01] [-6.08956198e-02 4.40241310e-04 9.98144043e-01 -6.60622595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32864 meters Centerline goodness [0,1] 0.9987222959359182 Centerline is valid? [True, True] Translation: X:133.72, Y:-66.68, Z:-6.61 [[ 7.20946789e-01 6.91576860e-01 4.42399662e-02 1.33720858e+02] [-6.90247656e-01 7.22302787e-01 -4.28585860e-02 -6.66815717e+01] [-6.15946572e-02 3.62226998e-04 9.98101181e-01 -6.60825573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35864 meters Centerline goodness [0,1] 0.9983304689418119 Centerline is valid? [True, True] Translation: X:133.74, Y:-66.71, Z:-6.61 [[ 7.19101060e-01 6.93490029e-01 4.43310910e-02 1.33743971e+02] [-6.92156178e-01 7.20466187e-01 -4.29918392e-02 -6.67053670e+01] [-6.17534638e-02 2.31438622e-04 9.98091407e-01 -6.60883596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38864 meters Centerline goodness [0,1] 0.9983287455760912 Centerline is valid? [True, True] Translation: X:133.77, Y:-66.73, Z:-6.61 [[ 7.17819179e-01 6.94817561e-01 4.43191135e-02 1.33767163e+02] [-6.93484183e-01 7.19186022e-01 -4.30250211e-02 -6.67288761e+01] [-6.17682271e-02 1.49581096e-04 9.98090509e-01 -6.61032814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41864 meters Centerline goodness [0,1] 0.9982307843522705 Centerline is valid? [True, True] Translation: X:133.79, Y:-66.75, Z:-6.61 [[ 7.17214943e-01 6.95408471e-01 4.48306066e-02 1.33790627e+02] [-6.94042376e-01 7.18614668e-01 -4.35676494e-02 -6.67522211e+01] [-6.25132440e-02 1.33028454e-04 9.98044126e-01 -6.61202796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44864 meters Centerline goodness [0,1] 0.9984771822960161 Centerline is valid? [True, True] Translation: X:133.81, Y:-66.78, Z:-6.61 [[ 7.16658996e-01 6.95980106e-01 4.48505869e-02 1.33813551e+02] [-6.94611037e-01 7.18061055e-01 -4.36328968e-02 -6.67763878e+01] [-6.25730879e-02 1.16195303e-04 9.98040378e-01 -6.61340870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47864 meters Centerline goodness [0,1] 0.9986726968832956 Centerline is valid? [True, True] Translation: X:133.84, Y:-66.80, Z:-6.62 [[ 7.16385137e-01 6.96225076e-01 4.54200341e-02 1.33836871e+02] [-6.94818498e-01 7.17823534e-01 -4.42337932e-02 -6.67993679e+01] [-6.34002454e-02 1.29752157e-04 9.97988172e-01 -6.61574862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50864 meters Centerline goodness [0,1] 0.9986728926026051 Centerline is valid? [True, True] Translation: X:133.86, Y:-66.82, Z:-6.62 [[ 7.16033815e-01 6.96555732e-01 4.58877809e-02 1.33860878e+02] [-6.95117638e-01 7.17502679e-01 -4.47367330e-02 -6.68226487e+01] [-6.40862335e-02 1.35607699e-04 9.97944355e-01 -6.61664607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53864000000002 meters Centerline goodness [0,1] 0.9984270546598506 Centerline is valid? [True, True] Translation: X:133.88, Y:-66.85, Z:-6.62 [[ 7.16090608e-01 6.96520038e-01 4.55420397e-02 1.33884006e+02] [-6.95100534e-01 7.17537321e-01 -4.44459199e-02 -6.68455840e+01] [-6.36355870e-02 1.71009725e-04 9.97973187e-01 -6.61835523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56864000000002 meters Centerline goodness [0,1] 0.9983280059011557 Centerline is valid? [True, True] Translation: X:133.91, Y:-66.87, Z:-6.62 [[ 7.15144137e-01 6.97449197e-01 4.61896181e-02 1.33907155e+02] [-6.95987856e-01 7.16634218e-01 -4.51254020e-02 -6.68690709e+01] [-6.45737362e-02 1.23753448e-04 9.97912931e-01 -6.62075206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59864000000002 meters Centerline goodness [0,1] 0.9984778552489443 Centerline is valid? [True, True] Translation: X:133.93, Y:-66.89, Z:-6.62 [[ 7.13483889e-01 6.99238363e-01 4.47934339e-02 1.33928489e+02] [-6.97864947e-01 7.14888601e-01 -4.38041554e-02 -6.68928933e+01] [-6.26518612e-02 -6.20821944e-06 9.98035442e-01 -6.62057225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62864000000002 meters Centerline goodness [0,1] 0.9983780595694486 Centerline is valid? [True, True] Translation: X:133.95, Y:-66.92, Z:-6.62 [[ 7.12228559e-01 7.00527590e-01 4.46270683e-02 1.33952194e+02] [-6.99164293e-01 7.13625313e-01 -4.36829954e-02 -6.69156671e+01] [-6.24481491e-02 -8.93757669e-05 9.98048206e-01 -6.62178051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65864000000002 meters Centerline goodness [0,1] 0.9982803517908908 Centerline is valid? [True, True] Translation: X:133.98, Y:-66.94, Z:-6.62 [[ 7.09352844e-01 7.03474360e-01 4.40722924e-02 1.33975456e+02] [-7.02147666e-01 7.10720569e-01 -4.31848105e-02 -6.69387958e+01] [-6.17024916e-02 -3.11989121e-04 9.98094537e-01 -6.62258015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68864000000002 meters Centerline goodness [0,1] 0.9980830670926517 Centerline is valid? [True, True] Translation: X:134.00, Y:-66.96, Z:-6.62 [[ 7.08100597e-01 7.04722843e-01 4.42635164e-02 1.33999040e+02] [-7.03384190e-01 7.09482602e-01 -4.34179449e-02 -6.69620601e+01] [-6.20018123e-02 -3.89984923e-04 9.98075961e-01 -6.62454104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71864000000002 meters Centerline goodness [0,1] 0.998130105304596 Centerline is valid? [True, True] Translation: X:134.02, Y:-66.98, Z:-6.63 [[ 7.06647555e-01 7.06196077e-01 4.40037900e-02 1.34022409e+02] [-7.04873155e-01 7.08016148e-01 -4.32084329e-02 -6.69848441e+01] [-6.16690197e-02 -4.83956805e-04 9.98096537e-01 -6.62580949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74864 meters Centerline goodness [0,1] 0.99827950646414 Centerline is valid? [True, True] Translation: X:134.05, Y:-67.01, Z:-6.63 [[ 7.05446522e-01 7.07347381e-01 4.47759649e-02 1.34045823e+02] [-7.05977050e-01 7.06865875e-01 -4.40118037e-02 -6.70073867e+01] [-6.27822357e-02 -5.62829820e-04 9.98027091e-01 -6.62837679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77864 meters Centerline goodness [0,1] 0.9985248561734769 Centerline is valid? [True, True] Translation: X:134.07, Y:-67.03, Z:-6.63 [[ 7.05487217e-01 7.07321345e-01 4.45454967e-02 1.34070724e+02] [-7.05962411e-01 7.06891955e-01 -4.38273630e-02 -6.70289499e+01] [-6.24888826e-02 -5.27801966e-04 9.98045520e-01 -6.62943112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80864 meters Centerline goodness [0,1] 0.9991642495452534 Centerline is valid? [True, True] Translation: X:134.10, Y:-67.05, Z:-6.63 [[ 7.05658575e-01 7.07144513e-01 4.46386898e-02 1.34095195e+02] [-7.05776611e-01 7.07068884e-01 -4.39655410e-02 -6.70507012e+01] [-6.26526197e-02 -4.80282201e-04 9.98035279e-01 -6.63093476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83864 meters Centerline goodness [0,1] 0.9990661555096825 Centerline is valid? [True, True] Translation: X:134.12, Y:-67.07, Z:-6.63 [[ 7.07078726e-01 7.05678681e-01 4.53571840e-02 1.34120015e+02] [-7.04260286e-01 7.08531929e-01 -4.47208496e-02 -6.70722120e+01] [-6.36955633e-02 -3.22102048e-04 9.97969324e-01 -6.63301838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86864 meters Centerline goodness [0,1] 0.9990661555096825 Centerline is valid? [True, True] Translation: X:134.14, Y:-67.09, Z:-6.63 [[ 7.06706617e-01 7.06052849e-01 4.53335686e-02 1.34143403e+02] [-7.04633687e-01 7.08159072e-01 -4.47447801e-02 -6.70948245e+01] [-6.36955573e-02 -3.22127419e-04 9.97969324e-01 -6.63439382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89864 meters Centerline goodness [0,1] 0.999705304518664 Centerline is valid? [True, True] Translation: X:134.17, Y:-67.12, Z:-6.64 [[ 7.07145677e-01 7.05660239e-01 4.45939290e-02 1.34165921e+02] [-7.04283503e-01 7.08550326e-01 -4.40588508e-02 -6.71173744e+01] [-6.26876221e-02 -2.50742674e-04 9.98033165e-01 -6.63538449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92864 meters Centerline goodness [0,1] 0.999901768172888 Centerline is valid? [True, True] Translation: X:134.19, Y:-67.14, Z:-6.64 [[ 7.07937292e-01 7.04781635e-01 4.59090205e-02 1.34188086e+02] [-7.03317805e-01 7.09424292e-01 -4.54008725e-02 -6.71400900e+01] [-6.45666754e-02 -1.47660799e-04 9.97913384e-01 -6.63810070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.21, Y:-67.17, Z:-6.64 [[ 7.08949276e-01 7.03790756e-01 4.54917119e-02 1.34210304e+02] [-7.02348626e-01 7.10407328e-01 -4.50315032e-02 -6.71651725e+01] [-6.40104012e-02 -2.59897539e-05 9.97949231e-01 -6.63972628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.23, Y:-67.19, Z:-6.64 [[ 7.09078370e-01 7.03652826e-01 4.56132334e-02 1.34233954e+02] [-7.02199627e-01 7.10543947e-01 -4.51993654e-02 -6.71884468e+01] [-6.42148681e-02 2.02968194e-05 9.97936095e-01 -6.64024160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.26, Y:-67.21, Z:-6.64 [[ 7.07562700e-01 7.05129198e-01 4.63447785e-02 1.34255951e+02] [-7.03629075e-01 7.09078844e-01 -4.59708322e-02 -6.72125131e+01] [-6.52774780e-02 -8.22875059e-05 9.97867148e-01 -6.64236292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.28, Y:-67.24, Z:-6.64 [[ 7.07229669e-01 7.05461901e-01 4.63648841e-02 1.34278909e+02] [-7.03958282e-01 7.08747839e-01 -4.60351698e-02 -6.72368081e+01] [-6.53370698e-02 -8.15063024e-05 9.97863247e-01 -6.64396409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.30, Y:-67.26, Z:-6.65 [[ 7.06510489e-01 7.06151113e-01 4.68351791e-02 1.34300991e+02] [-7.04615052e-01 7.08061150e-01 -4.65514362e-02 -6.72606879e+01] [-6.60345193e-02 -1.11694163e-04 9.97817333e-01 -6.64650000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:134.32, Y:-67.28, Z:-6.65 [[ 7.07071962e-01 7.05684361e-01 4.53742548e-02 1.34323290e+02] [-7.04239499e-01 7.08526345e-01 -4.51347621e-02 -6.72844577e+01] [-6.39997506e-02 -4.08176565e-05 9.97949914e-01 -6.64776857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.35, Y:-67.31, Z:-6.65 [[ 7.06612027e-01 7.06136849e-01 4.54993760e-02 1.34346312e+02] [-7.04683246e-01 7.08075382e-01 -4.52855057e-02 -6.73080850e+01] [-6.41947523e-02 -6.33650199e-05 9.97937388e-01 -6.64902180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.37, Y:-67.33, Z:-6.65 [[ 7.06436896e-01 7.06440666e-01 4.34568388e-02 1.34368494e+02] [-7.05112716e-01 7.07772267e-01 -4.32952185e-02 -6.73310527e+01] [-6.13430483e-02 -5.66298464e-05 9.98116740e-01 -6.64871214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.39, Y:-67.35, Z:-6.65 [[ 7.05849199e-01 7.06977434e-01 4.42698049e-02 1.34392644e+02] [-7.05597650e-01 7.07236101e-01 -4.41480913e-02 -6.73540906e+01] [-6.25209085e-02 -7.47754270e-05 9.98043652e-01 -6.65129239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.42, Y:-67.38, Z:-6.65 [[ 7.06037494e-01 7.06752391e-01 4.48566069e-02 1.34417657e+02] [-7.05332257e-01 7.07460994e-01 -4.47811357e-02 -6.73752131e+01] [-6.33834744e-02 -2.16509717e-05 9.97989246e-01 -6.65299299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:-67.40, Z:-6.65 [[ 7.06499109e-01 7.06235419e-01 4.57224513e-02 1.34440536e+02] [-7.04755760e-01 7.07977069e-01 -4.56923295e-02 -6.73979902e+01] [-6.46399885e-02 5.84291249e-05 9.97908647e-01 -6.65491395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.46, Y:-67.42, Z:-6.66 [[ 7.07280133e-01 7.05481331e-01 4.52869331e-02 1.34463801e+02] [-7.04025410e-01 7.08728486e-01 -4.53007097e-02 -6.74220053e+01] [-6.40549445e-02 1.57140313e-04 9.97946361e-01 -6.65575688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.45, Y:-67.57, Z:-4.90 [[ 7.50713910e-01 -6.60503091e-01 -1.28176843e-02 1.34454690e+02] [-6.60336531e-01 -7.50817808e-01 1.51090958e-02 -6.75685389e+01] [-1.96033501e-02 -2.87862317e-03 -9.99803692e-01 -4.90100694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.49, Y:-67.46, Z:-6.66 [[ 7.58726068e-01 6.49612675e-01 4.83541783e-02 1.34490263e+02] [-6.48256347e-01 7.60265173e-01 -4.19592145e-02 -6.74649346e+01] [-6.40192353e-02 4.89646853e-04 9.97948545e-01 -6.65654848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.51, Y:-67.49, Z:-6.66 [[ 7.59864636e-01 6.48338781e-01 4.75663858e-02 1.34512048e+02] [-6.47021151e-01 7.61351720e-01 -4.13181408e-02 -6.74899278e+01] [-6.30029026e-02 6.19736327e-04 9.98013151e-01 -6.65852062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.53, Y:-67.51, Z:-6.66 [[ 7.59812869e-01 6.48429946e-01 4.71487983e-02 1.34534994e+02] [-6.47132888e-01 7.61274061e-01 -4.09979158e-02 -6.75135924e+01] [-6.24774335e-02 6.39206019e-04 9.98046172e-01 -6.65995364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.56, Y:-67.54, Z:-6.66 [[ 7.59620559e-01 6.48712129e-01 4.63592575e-02 1.34558397e+02] [-6.47456256e-01 7.61033619e-01 -4.03512896e-02 -6.75363477e+01] [-6.14573244e-02 6.36077844e-04 9.98109509e-01 -6.66027853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46864000000002 meters Centerline goodness [0,1] 0.999901748870112 Centerline is valid? [True, True] Translation: X:134.58, Y:-67.56, Z:-6.66 [[ 7.58387118e-01 6.50220939e-01 4.54060575e-02 1.34579938e+02] [-6.49016795e-01 7.59744990e-01 -3.95569253e-02 -6.75611933e+01] [-6.02177658e-02 5.30168660e-04 9.98185123e-01 -6.66135002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.60, Y:-67.58, Z:-6.66 [[ 7.57822237e-01 6.50791414e-01 4.66475272e-02 1.34602081e+02] [-6.49519203e-01 7.59256385e-01 -4.06761293e-02 -6.75849711e+01] [-6.18891086e-02 5.26810609e-04 9.98082893e-01 -6.66365860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.62, Y:-67.61, Z:-6.67 [[ 7.55698492e-01 6.53263757e-01 4.65430305e-02 1.34621626e+02] [-6.51999621e-01 7.57130332e-01 -4.06220856e-02 -6.76117665e+01] [-6.17760764e-02 3.52010525e-04 9.98089972e-01 -6.66524428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.64, Y:-67.63, Z:-6.67 [[ 7.54396417e-01 6.54818098e-01 4.58181796e-02 1.34644656e+02] [-6.53593699e-01 7.55786476e-01 -4.00259819e-02 -6.76343852e+01] [-6.08384979e-02 2.48983819e-04 9.98147592e-01 -6.66713778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.67, Y:-67.66, Z:-6.67 [[ 7.52756847e-01 6.56713025e-01 4.56632432e-02 1.34668174e+02] [-6.55498037e-01 7.54140562e-01 -3.99291401e-02 -6.76569185e+01] [-6.06584903e-02 1.24767291e-04 9.98158571e-01 -6.66840240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:-67.68, Z:-6.67 [[ 7.49042496e-01 6.60920379e-01 4.60390251e-02 1.34690487e+02] [-6.59690546e-01 7.50456007e-01 -4.03009252e-02 -6.76814480e+01] [-6.11859657e-02 -1.84404036e-04 9.98126367e-01 -6.67023972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.71, Y:-67.70, Z:-6.67 [[ 7.45801245e-01 6.64476798e-01 4.74456325e-02 1.34714079e+02] [-6.63175078e-01 7.47308755e-01 -4.15745222e-02 -6.77026287e+01] [-6.30818420e-02 -4.58430626e-04 9.98008252e-01 -6.67158995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:-67.72, Z:-6.67 [[ 7.44624095e-01 6.65878317e-01 4.62711996e-02 1.34738679e+02] [-6.64640828e-01 7.46060171e-01 -4.05806635e-02 -6.77239261e+01] [-6.15428830e-02 -5.36388565e-04 9.98104296e-01 -6.67310189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70864 meters Centerline goodness [0,1] 0.9999015844897156 Centerline is valid? [True, True] Translation: X:134.76, Y:-67.75, Z:-6.68 [[ 7.43921942e-01 6.66622192e-01 4.68508029e-02 1.34763912e+02] [-6.65352415e-01 7.45395548e-01 -4.11295617e-02 -6.77453621e+01] [-6.23402585e-02 -5.75111402e-04 9.98054789e-01 -6.67541125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73864 meters Centerline goodness [0,1] 0.9996069761729305 Centerline is valid? [True, True] Translation: X:134.79, Y:-67.77, Z:-6.68 [[ 7.43377311e-01 6.67219016e-01 4.69995499e-02 1.34789389e+02] [-6.65939567e-01 7.44861351e-01 -4.13044992e-02 -6.77668151e+01] [-6.25672955e-02 -5.94032309e-04 9.98040571e-01 -6.67739652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76864 meters Centerline goodness [0,1] 0.99945953913428 Centerline is valid? [True, True] Translation: X:134.82, Y:-67.79, Z:-6.68 [[ 7.43015940e-01 6.67547905e-01 4.80323566e-02 1.34815210e+02] [-6.66209412e-01 7.44566606e-01 -4.22562218e-02 -6.77864017e+01] [-6.39713411e-02 -6.02561677e-04 9.97951554e-01 -6.68039500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79864 meters Centerline goodness [0,1] 0.9997542514499165 Centerline is valid? [True, True] Translation: X:134.84, Y:-67.81, Z:-6.68 [[ 7.42266593e-01 6.68211351e-01 5.03378082e-02 1.34840844e+02] [-6.66739790e-01 7.43971206e-01 -4.43271593e-02 -6.78065071e+01] [-6.70697908e-02 -6.59650164e-04 9.97748068e-01 -6.68341116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82864 meters Centerline goodness [0,1] 0.9997541910427216 Centerline is valid? [True, True] Translation: X:134.87, Y:-67.83, Z:-6.68 [[ 7.42361185e-01 6.68142094e-01 4.98599437e-02 1.34866770e+02] [-6.66695510e-01 7.44033441e-01 -4.39469581e-02 -6.78260903e+01] [-6.64602781e-02 -6.16884734e-04 9.97788881e-01 -6.68391564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85864 meters Centerline goodness [0,1] 0.9996067829933645 Centerline is valid? [True, True] Translation: X:134.89, Y:-67.85, Z:-6.68 [[ 7.42508655e-01 6.68110434e-01 4.80556472e-02 1.34891678e+02] [-6.66764232e-01 7.44061913e-01 -4.23948977e-02 -6.78458703e+01] [-6.40808503e-02 -5.63208270e-04 9.97944551e-01 -6.68466178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88864 meters Centerline goodness [0,1] 0.9996060277750418 Centerline is valid? [True, True] Translation: X:134.92, Y:-67.87, Z:-6.69 [[ 7.41578172e-01 6.69120894e-01 4.83636559e-02 1.34917927e+02] [-6.67756807e-01 7.43153309e-01 -4.27083959e-02 -6.78665323e+01] [-6.45186909e-02 -6.23546241e-04 9.97916304e-01 -6.68723328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91864 meters Centerline goodness [0,1] 0.9996065702763843 Centerline is valid? [True, True] Translation: X:134.95, Y:-67.88, Z:-6.69 [[ 7.41621962e-01 6.69132399e-01 4.75257672e-02 1.34945161e+02] [-6.67812540e-01 7.43142984e-01 -4.20109223e-02 -6.78844132e+01] [-6.34293097e-02 -5.82080704e-04 9.97986164e-01 -6.68889887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94864 meters Centerline goodness [0,1] 0.9998035266958102 Centerline is valid? [True, True] Translation: X:134.97, Y:-67.90, Z:-6.69 [[ 7.42080861e-01 6.68514674e-01 4.90318862e-02 1.34970783e+02] [-6.67105682e-01 7.43698773e-01 -4.33836905e-02 -6.79033527e+01] [-6.54675873e-02 -5.15243510e-04 9.97854563e-01 -6.68988081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97864 meters Centerline goodness [0,1] 0.9996554948570303 Centerline is valid? [True, True] Translation: X:135.00, Y:-67.92, Z:-6.69 [[ 7.42241919e-01 6.68326280e-01 4.91621605e-02 1.34996174e+02] [-6.66906549e-01 7.43868110e-01 -4.35418232e-02 -6.79241210e+01] [-6.56703081e-02 -4.68000388e-04 9.97841266e-01 -6.69102503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:135.02, Y:-67.94, Z:-6.69 [[ 7.43872576e-01 6.66544174e-01 4.87078530e-02 1.35021571e+02] [-6.65143912e-01 7.45465485e-01 -4.31831822e-02 -6.79439223e+01] [-6.50935218e-02 -2.74946899e-04 9.97879130e-01 -6.69256872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03864000000002 meters Centerline goodness [0,1] 0.9992624280867385 Centerline is valid? [True, True] Translation: X:135.05, Y:-67.96, Z:-6.69 [[ 7.44534351e-01 6.65824946e-01 4.84328608e-02 1.35047252e+02] [-6.64436211e-01 7.46107974e-01 -4.29815284e-02 -6.79649286e+01] [-6.47543175e-02 -1.79322116e-04 9.97901221e-01 -6.69375134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06864000000002 meters Centerline goodness [0,1] 0.9993111592206259 Centerline is valid? [True, True] Translation: X:135.07, Y:-67.99, Z:-6.70 [[ 7.46429830e-01 6.63728986e-01 4.80243915e-02 1.35073084e+02] [-6.62356332e-01 7.47973149e-01 -4.26644799e-02 -6.79854207e+01] [-6.42386073e-02 3.67806530e-05 9.97934567e-01 -6.69616210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09864000000002 meters Centerline goodness [0,1] 0.9991637973438269 Centerline is valid? [True, True] Translation: X:135.10, Y:-68.01, Z:-6.70 [[ 7.47634244e-01 6.62487169e-01 4.64089152e-02 1.35098417e+02] [-6.61200922e-01 7.49073243e-01 -4.12627829e-02 -6.80061664e+01] [-6.20997409e-02 1.63852039e-04 9.98069935e-01 -6.69591515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12864000000002 meters Centerline goodness [0,1] 0.9991635093244108 Centerline is valid? [True, True] Translation: X:135.12, Y:-68.03, Z:-6.70 [[ 7.49027554e-01 6.60854832e-01 4.72082019e-02 1.35123539e+02] [-6.59519200e-01 7.50513682e-01 -4.19956879e-02 -6.80264472e+01] [-6.31834547e-02 3.21211790e-04 9.98001878e-01 -6.69833368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15864000000002 meters Centerline goodness [0,1] 0.9989679068167298 Centerline is valid? [True, True] Translation: X:135.15, Y:-68.05, Z:-6.70 [[ 7.51759146e-01 6.57827362e-01 4.60580868e-02 1.35149645e+02] [-6.56547986e-01 7.53168515e-01 -4.10113444e-02 -6.80470680e+01] [-6.16678854e-02 5.91309095e-04 9.98096550e-01 -6.69968276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18864000000002 meters Centerline goodness [0,1] 0.9981797609091356 Centerline is valid? [True, True] Translation: X:135.17, Y:-68.07, Z:-6.70 [[ 7.53044066e-01 6.56330284e-01 4.64240548e-02 1.35173423e+02] [-6.55025030e-01 7.54473322e-01 -4.13789426e-02 -6.80685472e+01] [-6.21839640e-02 7.51249308e-04 9.98064422e-01 -6.70123396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21864000000002 meters Centerline goodness [0,1] 0.9984247317121198 Centerline is valid? [True, True] Translation: X:135.20, Y:-68.09, Z:-6.70 [[ 7.53578353e-01 6.55683319e-01 4.68940357e-02 1.35196928e+02] [-6.54347831e-01 7.55035547e-01 -4.18358654e-02 -6.80902526e+01] [-6.28377429e-02 8.41592022e-04 9.98023401e-01 -6.70361452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24864 meters Centerline goodness [0,1] 0.9977398909251708 Centerline is valid? [True, True] Translation: X:135.22, Y:-68.11, Z:-6.70 [[ 7.55899894e-01 6.53057123e-01 4.61708094e-02 1.35221059e+02] [-6.51755359e-01 7.57307893e-01 -4.12274988e-02 -6.81120956e+01] [-6.18894301e-02 1.07178951e-03 9.98082436e-01 -6.70398419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27864 meters Centerline goodness [0,1] 0.9979351032448378 Centerline is valid? [True, True] Translation: X:135.25, Y:-68.13, Z:-6.71 [[ 7.56122873e-01 6.52808548e-01 4.60347753e-02 1.35245471e+02] [-6.51511619e-01 7.57522112e-01 -4.11443927e-02 -6.81344611e+01] [-6.17317715e-02 1.11802547e-03 9.98092149e-01 -6.70617506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30864 meters Centerline goodness [0,1] 0.9974907749077491 Centerline is valid? [True, True] Translation: X:135.27, Y:-68.16, Z:-6.71 [[ 7.57199097e-01 6.51704631e-01 4.39386192e-02 1.35268528e+02] [-6.50519080e-01 7.58471935e-01 -3.93096742e-02 -6.81582412e+01] [-5.89445062e-02 1.18233966e-03 9.98260561e-01 -6.70726174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33864 meters Centerline goodness [0,1] 0.9972458564894506 Centerline is valid? [True, True] Translation: X:135.29, Y:-68.18, Z:-6.71 [[ 7.56922317e-01 6.52033279e-01 4.38316113e-02 1.35292429e+02] [-6.50851697e-01 7.58189423e-01 -3.92538792e-02 -6.81803912e+01] [-5.88274996e-02 1.18425862e-03 9.98267461e-01 -6.70765157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36864 meters Centerline goodness [0,1] 0.9968962459355601 Centerline is valid? [True, True] Translation: X:135.32, Y:-68.20, Z:-6.71 [[ 7.57125240e-01 6.51810038e-01 4.36468112e-02 1.35316916e+02] [-6.50635695e-01 7.58381282e-01 -3.91283056e-02 -6.82024792e+01] [-5.86051470e-02 1.22685443e-03 9.98280487e-01 -6.70865740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39864 meters Centerline goodness [0,1] 0.9966560118023113 Centerline is valid? [True, True] Translation: X:135.34, Y:-68.22, Z:-6.71 [[ 7.56414391e-01 6.52617336e-01 4.39076448e-02 1.35341324e+02] [-6.51427855e-01 7.57686721e-01 -3.94028334e-02 -6.82248797e+01] [-5.89832116e-02 1.20220741e-03 9.98258251e-01 -6.70997191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42864 meters Centerline goodness [0,1] 0.9970489868188078 Centerline is valid? [True, True] Translation: X:135.36, Y:-68.25, Z:-6.71 [[ 7.55798301e-01 6.53354740e-01 4.35489540e-02 1.35363556e+02] [-6.52183585e-01 7.57051007e-01 -3.91196134e-02 -6.82485833e+01] [-5.85277643e-02 1.16462441e-03 9.98285102e-01 -6.71226528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45864 meters Centerline goodness [0,1] 0.9973442187576845 Centerline is valid? [True, True] Translation: X:135.39, Y:-68.27, Z:-6.71 [[ 7.55470679e-01 6.53755636e-01 4.32159808e-02 1.35387781e+02] [-6.52600903e-01 7.56704857e-01 -3.88564215e-02 -6.82709652e+01] [-5.81043471e-02 1.15209902e-03 9.98309850e-01 -6.71287429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48864 meters Centerline goodness [0,1] 0.9968520977817127 Centerline is valid? [True, True] Translation: X:135.41, Y:-68.29, Z:-6.71 [[ 7.54758821e-01 6.54608160e-01 4.27466943e-02 1.35410901e+02] [-6.53477583e-01 7.55967552e-01 -3.84721756e-02 -6.82937963e+01] [-5.74993139e-02 1.10320743e-03 9.98344936e-01 -6.71331810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51864 meters Centerline goodness [0,1] 0.9971010220125787 Centerline is valid? [True, True] Translation: X:135.43, Y:-68.32, Z:-6.71 [[ 7.53630146e-01 6.55878654e-01 4.31832569e-02 1.35434199e+02] [-6.54724815e-01 7.54865618e-01 -3.89013586e-02 -6.83176352e+01] [-5.81121267e-02 1.04408668e-03 9.98309516e-01 -6.71486715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54864 meters Centerline goodness [0,1] 0.9969510695844603 Centerline is valid? [True, True] Translation: X:135.46, Y:-68.34, Z:-6.72 [[ 7.52633375e-01 6.57055007e-01 4.26816068e-02 1.35456769e+02] [-6.55927564e-01 7.53842009e-01 -3.84870913e-02 -6.83410642e+01] [-5.74633243e-02 9.70627056e-04 9.98347146e-01 -6.71591791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57864 meters Centerline goodness [0,1] 0.9972943722943723 Centerline is valid? [True, True] Translation: X:135.48, Y:-68.36, Z:-6.72 [[ 7.50822917e-01 6.59142257e-01 4.23843360e-02 1.35479035e+02] [-6.58031833e-01 7.52017815e-01 -3.82532693e-02 -6.83643298e+01] [-5.70881221e-02 8.31188952e-04 9.98368797e-01 -6.71575277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60864 meters Centerline goodness [0,1] 0.9968531812370931 Centerline is valid? [True, True] Translation: X:135.50, Y:-68.39, Z:-6.72 [[ 7.49944600e-01 6.60093896e-01 4.31178141e-02 1.35503660e+02] [-6.58944078e-01 7.51182674e-01 -3.89524501e-02 -6.83867725e+01] [-5.81016294e-02 7.99951315e-04 9.98310353e-01 -6.71726221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63864 meters Centerline goodness [0,1] 0.9972462627852084 Centerline is valid? [True, True] Translation: X:135.53, Y:-68.41, Z:-6.72 [[ 7.48434449e-01 6.61790293e-01 4.33530229e-02 1.35526970e+02] [-6.60628410e-01 7.49688679e-01 -3.92044412e-02 -6.84092459e+01] [-5.84463891e-02 7.01715722e-04 9.98290302e-01 -6.71838536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66864 meters Centerline goodness [0,1] 0.9970993117010816 Centerline is valid? [True, True] Translation: X:135.55, Y:-68.43, Z:-6.72 [[ 7.48305045e-01 6.61932396e-01 4.34173067e-02 1.35551061e+02] [-6.60765113e-01 7.49563196e-01 -3.92998745e-02 -6.84315987e+01] [-5.85578753e-02 7.19652849e-04 9.98283756e-01 -6.72007999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69864 meters Centerline goodness [0,1] 0.9971491767018924 Centerline is valid? [True, True] Translation: X:135.57, Y:-68.45, Z:-6.72 [[ 7.47082664e-01 6.63345137e-01 4.29036545e-02 1.35574384e+02] [-6.62205401e-01 7.48313325e-01 -3.88738297e-02 -6.84536025e+01] [-5.78921422e-02 6.30932487e-04 9.98322644e-01 -6.72143783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72864 meters Centerline goodness [0,1] 0.9963593427137656 Centerline is valid? [True, True] Translation: X:135.60, Y:-68.48, Z:-6.72 [[ 7.47058046e-01 6.63479977e-01 4.12140366e-02 1.35598509e+02] [-6.62426675e-01 7.48193782e-01 -3.73759911e-02 -6.84755138e+01] [-5.56343076e-02 6.20757596e-04 9.98451020e-01 -6.72237349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75864 meters Centerline goodness [0,1] 0.9964606990119451 Centerline is valid? [True, True] Translation: X:135.62, Y:-68.50, Z:-6.72 [[ 7.46460539e-01 6.64044031e-01 4.29207109e-02 1.35622346e+02] [-6.62900419e-01 7.47693204e-01 -3.89603290e-02 -6.84974427e+01] [-5.79628978e-02 6.30190945e-04 9.98318539e-01 -6.72486407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78864000000002 meters Centerline goodness [0,1] 0.9970507274872198 Centerline is valid? [True, True] Translation: X:135.65, Y:-68.52, Z:-6.73 [[ 7.46293932e-01 6.64309138e-01 4.16981670e-02 1.35646437e+02] [-6.63228302e-01 7.47457683e-01 -3.78844420e-02 -6.85188830e+01] [-5.63345963e-02 6.17524679e-04 9.98411755e-01 -6.72534842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81864000000002 meters Centerline goodness [0,1] 0.9970507274872198 Centerline is valid? [True, True] Translation: X:135.67, Y:-68.54, Z:-6.73 [[ 7.45948843e-01 6.64697728e-01 4.16803916e-02 1.35670705e+02] [-6.63616406e-01 7.47112142e-01 -3.79039907e-02 -6.85405082e+01] [-5.63346231e-02 6.14646347e-04 9.98411755e-01 -6.72672029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84864000000002 meters Centerline goodness [0,1] 0.9966034949544671 Centerline is valid? [True, True] Translation: X:135.70, Y:-68.56, Z:-6.73 [[ 7.45313014e-01 6.65360120e-01 4.24784947e-02 1.35695760e+02] [-6.64235673e-01 7.46522300e-01 -3.86707555e-02 -6.85624643e+01] [-5.74411220e-02 6.06085785e-04 9.98348712e-01 -6.72875902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87864000000002 meters Centerline goodness [0,1] 0.9968979270274263 Centerline is valid? [True, True] Translation: X:135.72, Y:-68.58, Z:-6.73 [[ 7.43802936e-01 6.67096865e-01 4.17009036e-02 1.35720081e+02] [-6.66013822e-01 7.44970826e-01 -3.80007565e-02 -6.85835573e+01] [-5.64161421e-02 4.91696037e-04 9.98407220e-01 -6.73009720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90864000000002 meters Centerline goodness [0,1] 0.9971003096279549 Centerline is valid? [True, True] Translation: X:135.75, Y:-68.60, Z:-6.73 [[ 7.42646595e-01 6.68369910e-01 4.19249198e-02 1.35745332e+02] [-6.67275145e-01 7.43828934e-01 -3.82413094e-02 -6.86048824e+01] [-5.67443089e-02 4.24321278e-04 9.98388653e-01 -6.73080227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93864000000002 meters Centerline goodness [0,1] 0.9973926304914645 Centerline is valid? [True, True] Translation: X:135.77, Y:-68.63, Z:-6.73 [[ 7.42279509e-01 6.68763380e-01 4.21505921e-02 1.35770994e+02] [-6.67655092e-01 7.43475191e-01 -3.84879167e-02 -6.86252148e+01] [-5.70772288e-02 4.26734467e-04 9.98369675e-01 -6.73321477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96864000000002 meters Centerline goodness [0,1] 0.9984270546598506 Centerline is valid? [True, True] Translation: X:135.80, Y:-68.65, Z:-6.73 [[ 7.40828979e-01 6.70301073e-01 4.32307101e-02 1.35797361e+02] [-6.69135332e-01 7.42089179e-01 -3.95165517e-02 -6.86456196e+01] [-5.85690292e-02 3.47811093e-04 9.98283300e-01 -6.73455755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99864 meters Centerline goodness [0,1] 0.9984274411518994 Centerline is valid? [True, True] Translation: X:135.82, Y:-68.67, Z:-6.74 [[ 7.40458476e-01 6.70726082e-01 4.29856820e-02 1.35821914e+02] [-6.69571836e-01 7.41705066e-01 -3.93338373e-02 -6.86676117e+01] [-5.82649287e-02 3.43071179e-04 9.98301097e-01 -6.73558594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02864 meters Centerline goodness [0,1] 0.9994098554145766 Centerline is valid? [True, True] Translation: X:135.85, Y:-68.69, Z:-6.74 [[ 7.41292791e-01 6.69736366e-01 4.40249682e-02 1.35846644e+02] [-6.68521350e-01 7.42598806e-01 -4.03263962e-02 -6.86875537e+01] [-5.97009429e-02 4.62035619e-04 9.98216201e-01 -6.73775289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05864 meters Centerline goodness [0,1] 0.9993115656963021 Centerline is valid? [True, True] Translation: X:135.87, Y:-68.71, Z:-6.74 [[ 7.41776522e-01 6.69309714e-01 4.23331860e-02 1.35871981e+02] [-6.68183668e-01 7.42983347e-01 -3.88114937e-02 -6.87079043e+01] [-5.74297620e-02 5.03111354e-04 9.98349422e-01 -6.73853794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08864 meters Centerline goodness [0,1] 0.9993604565356422 Centerline is valid? [True, True] Translation: X:135.90, Y:-68.73, Z:-6.74 [[ 7.42214396e-01 6.68797103e-01 4.27577562e-02 1.35897203e+02] [-6.67645302e-01 7.43444754e-01 -3.92383493e-02 -6.87285767e+01] [-5.80305239e-02 5.76252642e-04 9.98314643e-01 -6.73971036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11864 meters Centerline goodness [0,1] 0.999064269884265 Centerline is valid? [True, True] Translation: X:135.92, Y:-68.75, Z:-6.74 [[ 7.43234382e-01 6.67621646e-01 4.34049703e-02 1.35922062e+02] [-6.66430272e-01 7.44500393e-01 -3.98730153e-02 -6.87486420e+01] [-5.89351056e-02 7.08609690e-04 9.98261565e-01 -6.74071069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14864 meters Centerline goodness [0,1] 0.9992623918174666 Centerline is valid? [True, True] Translation: X:135.95, Y:-68.77, Z:-6.74 [[ 7.42877670e-01 6.67951334e-01 4.44272698e-02 1.35946410e+02] [-6.66701427e-01 7.44204600e-01 -4.08499798e-02 -6.87692875e+01] [-6.03487771e-02 7.26813674e-04 9.98177087e-01 -6.74181523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17864 meters Centerline goodness [0,1] 0.999213217938631 Centerline is valid? [True, True] Translation: X:135.97, Y:-68.79, Z:-6.74 [[ 7.42583848e-01 6.68301358e-01 4.40740704e-02 1.35972040e+02] [-6.67069594e-01 7.43890298e-01 -4.05633017e-02 -6.87906153e+01] [-5.98947830e-02 7.21180403e-04 9.98204435e-01 -6.74385888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20864 meters Centerline goodness [0,1] 0.9991634681625824 Centerline is valid? [True, True] Translation: X:136.00, Y:-68.81, Z:-6.75 [[ 7.41996801e-01 6.68838407e-01 4.57813521e-02 1.35997086e+02] [-6.67507606e-01 7.43407454e-01 -4.21776475e-02 -6.88105371e+01] [-6.22442290e-02 7.36278774e-04 9.98060676e-01 -6.74642496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23864 meters Centerline goodness [0,1] 0.9995078013486243 Centerline is valid? [True, True] Translation: X:136.02, Y:-68.83, Z:-6.75 [[ 7.41234624e-01 6.69697277e-01 4.55717909e-02 1.36022583e+02] [-6.68377808e-01 7.42633880e-01 -4.20241145e-02 -6.88323015e+01] [-6.19865909e-02 6.90555053e-04 9.98076743e-01 -6.74754098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26864 meters Centerline goodness [0,1] 0.9994100004916663 Centerline is valid? [True, True] Translation: X:136.05, Y:-68.85, Z:-6.75 [[ 7.40280507e-01 6.70759933e-01 4.54519996e-02 1.36048180e+02] [-6.69446709e-01 7.41674263e-01 -4.19570140e-02 -6.88532766e+01] [-6.18536622e-02 6.32268060e-04 9.98085029e-01 -6.74744177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29864 meters Centerline goodness [0,1] 0.9994590873328089 Centerline is valid? [True, True] Translation: X:136.07, Y:-68.87, Z:-6.75 [[ 7.39307949e-01 6.71854328e-01 4.51167311e-02 1.36073922e+02] [-6.70559912e-01 7.40683090e-01 -4.16888887e-02 -6.88721136e+01] [-6.14260601e-02 5.67455526e-04 9.98111475e-01 -6.74946590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32864 meters Centerline goodness [0,1] 0.9997050147492625 Centerline is valid? [True, True] Translation: X:136.10, Y:-68.89, Z:-6.75 [[ 7.39081943e-01 6.72081471e-01 4.54354169e-02 1.36099323e+02] [-6.70766628e-01 7.40476980e-01 -4.20234827e-02 -6.88936665e+01] [-6.18870843e-02 5.82235830e-04 9.98082987e-01 -6.75202183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35864 meters Centerline goodness [0,1] 0.9994103194103194 Centerline is valid? [True, True] Translation: X:136.12, Y:-68.91, Z:-6.75 [[ 7.39462197e-01 6.71583148e-01 4.66018717e-02 1.36124622e+02] [-6.70196090e-01 7.40928892e-01 -4.31460106e-02 -6.89132170e+01] [-6.35048068e-02 6.72451577e-04 9.97981306e-01 -6.75271940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38864 meters Centerline goodness [0,1] 0.9997050147492625 Centerline is valid? [True, True] Translation: X:136.15, Y:-68.93, Z:-6.75 [[ 7.39964930e-01 6.71049719e-01 4.63052669e-02 1.36150114e+02] [-6.69676688e-01 7.41411979e-01 -4.29116762e-02 -6.89341492e+01] [-6.31271478e-02 7.43577648e-04 9.98005216e-01 -6.75290172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41864 meters Centerline goodness [0,1] 0.9997044043748152 Centerline is valid? [True, True] Translation: X:136.18, Y:-68.95, Z:-6.75 [[ 7.40345865e-01 6.70580610e-01 4.70068673e-02 1.36175315e+02] [-6.69161898e-01 7.41836208e-01 -4.36049734e-02 -6.89548640e+01] [-6.41120459e-02 8.27557223e-04 9.97942363e-01 -6.75419603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44864 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:136.20, Y:-68.97, Z:-6.76 [[ 7.40649516e-01 6.70253203e-01 4.68928425e-02 1.36201766e+02] [-6.68838098e-01 7.42131971e-01 -4.35400578e-02 -6.89745262e+01] [-6.39835409e-02 8.84203129e-04 9.97950562e-01 -6.75539378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47864 meters Centerline goodness [0,1] 0.9998523912615627 Centerline is valid? [True, True] Translation: X:136.23, Y:-69.00, Z:-6.76 [[ 7.40377583e-01 6.70546944e-01 4.69875585e-02 1.36227776e+02] [-6.69123814e-01 7.41866562e-01 -4.36729328e-02 -6.89950327e+01] [-6.41432501e-02 8.93966066e-04 9.97940301e-01 -6.75734162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50864 meters Centerline goodness [0,1] 0.9998523185980113 Centerline is valid? [True, True] Translation: X:136.25, Y:-69.01, Z:-6.76 [[ 7.40176978e-01 6.70857638e-01 4.56954074e-02 1.36254687e+02] [-6.69510299e-01 7.41585650e-01 -4.25051029e-02 -6.90140831e+01] [-6.24019313e-02 8.67752720e-04 9.98050723e-01 -6.75868179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.28, Y:-69.04, Z:-6.76 [[ 7.39622537e-01 6.71485518e-01 4.54499911e-02 1.36279524e+02] [-6.70152378e-01 7.41017216e-01 -4.22998296e-02 -6.90360154e+01] [-6.20829489e-02 8.27487686e-04 9.98070650e-01 -6.76026429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56864000000002 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:136.30, Y:-69.06, Z:-6.76 [[ 7.39551462e-01 6.71577179e-01 4.52518365e-02 1.36304380e+02] [-6.70253163e-01 7.40934123e-01 -4.21583234e-02 -6.90580384e+01] [-6.18411976e-02 8.48063193e-04 9.98085641e-01 -6.76121898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.33, Y:-69.08, Z:-6.76 [[ 7.39685173e-01 6.71330734e-01 4.67000063e-02 1.36330447e+02] [-6.69917316e-01 7.41157328e-01 -4.35500395e-02 -6.90765289e+01] [-6.38485319e-02 9.28175664e-04 9.97959169e-01 -6.76340366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62864000000002 meters Centerline goodness [0,1] 0.9998525653626892 Centerline is valid? [True, True] Translation: X:136.36, Y:-69.10, Z:-6.76 [[ 7.39614918e-01 6.71426884e-01 4.64296457e-02 1.36356430e+02] [-6.70027549e-01 7.41070206e-01 -4.33362856e-02 -6.90974062e+01] [-6.35047743e-02 9.43021654e-04 9.97981089e-01 -6.76474386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65864000000002 meters Centerline goodness [0,1] 0.9999016715830875 Centerline is valid? [True, True] Translation: X:136.38, Y:-69.12, Z:-6.77 [[ 7.39946833e-01 6.71191895e-01 4.44985906e-02 1.36381863e+02] [-6.69903836e-01 7.41283032e-01 -4.15730228e-02 -6.91166729e+01] [-6.08895261e-02 9.52049966e-04 9.98144057e-01 -6.76639537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68864000000002 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:136.41, Y:-69.14, Z:-6.77 [[ 7.40409864e-01 6.70670096e-01 4.46638080e-02 1.36407381e+02] [-6.69369234e-01 7.41755060e-01 -4.17643309e-02 -6.91366395e+01] [-6.11396934e-02 1.02614359e-03 9.98128692e-01 -6.76774468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71864000000002 meters Centerline goodness [0,1] 0.9999015214929342 Centerline is valid? [True, True] Translation: X:136.43, Y:-69.16, Z:-6.77 [[ 7.40335038e-01 6.70721433e-01 4.51308204e-02 1.36433554e+02] [-6.69390859e-01 7.41708590e-01 -4.22403336e-02 -6.91568629e+01] [-6.18054142e-02 1.06184037e-03 9.98087653e-01 -6.76943300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74864 meters Centerline goodness [0,1] 0.9998034011599332 Centerline is valid? [True, True] Translation: X:136.46, Y:-69.18, Z:-6.77 [[ 7.40145062e-01 6.70901669e-01 4.55657572e-02 1.36459753e+02] [-6.69542921e-01 7.41545524e-01 -4.26908934e-02 -6.91775001e+01] [-6.24304749e-02 1.08922380e-03 9.98048721e-01 -6.77109229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77864 meters Centerline goodness [0,1] 0.9998034204835856 Centerline is valid? [True, True] Translation: X:136.49, Y:-69.20, Z:-6.77 [[ 7.41522735e-01 6.69358192e-01 4.58655079e-02 1.36485028e+02] [-6.67975895e-01 7.42938777e-01 -4.30136767e-02 -6.91976671e+01] [-6.28668212e-02 1.25856548e-03 9.98021131e-01 -6.77182904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80864 meters Centerline goodness [0,1] 0.999803362501229 Centerline is valid? [True, True] Translation: X:136.51, Y:-69.22, Z:-6.77 [[ 7.42572363e-01 6.68211718e-01 4.56002749e-02 1.36510204e+02] [-6.66840878e-01 7.43969896e-01 -4.28022929e-02 -6.92184952e+01] [-6.25262255e-02 1.37567242e-03 9.98042373e-01 -6.77293201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83864 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:136.54, Y:-69.24, Z:-6.77 [[ 7.45750090e-01 6.64627788e-01 4.61162195e-02 1.36536605e+02] [-6.63217009e-01 7.47172639e-01 -4.33156569e-02 -6.92374077e+01] [-6.32455667e-02 1.71759383e-03 9.97996517e-01 -6.77336644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86864 meters Centerline goodness [0,1] 0.9995574786114663 Centerline is valid? [True, True] Translation: X:136.56, Y:-69.26, Z:-6.77 [[ 7.46927706e-01 6.63344876e-01 4.55255748e-02 1.36561619e+02] [-6.61966469e-01 7.48311616e-01 -4.27798975e-02 -6.92581220e+01] [-6.24451422e-02 1.81708672e-03 9.98046744e-01 -6.77415818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89864 meters Centerline goodness [0,1] 0.9995569121701458 Centerline is valid? [True, True] Translation: X:136.59, Y:-69.28, Z:-6.78 [[ 7.47947243e-01 6.62200835e-01 4.54419937e-02 1.36585843e+02] [-6.60823087e-01 7.49323897e-01 -4.27380954e-02 -6.92798072e+01] [-6.23519742e-02 1.93672205e-03 9.98052344e-01 -6.77618496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:136.61, Y:-69.30, Z:-6.78 [[ 7.48878692e-01 6.61202876e-01 4.46257845e-02 1.36609355e+02] [-6.59870270e-01 7.50204449e-01 -4.20060847e-02 -6.93014772e+01] [-6.12530061e-02 2.01023334e-03 9.98120247e-01 -6.77703772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95864 meters Centerline goodness [0,1] 0.99965596893891 Centerline is valid? [True, True] Translation: X:136.63, Y:-69.32, Z:-6.78 [[ 7.49587230e-01 6.60456383e-01 4.37761410e-02 1.36633501e+02] [-6.59170730e-01 7.50861593e-01 -4.12409628e-02 -6.93223661e+01] [-6.01076801e-02 2.05774826e-03 9.98189778e-01 -6.77803145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98864 meters Centerline goodness [0,1] 0.9997539975399754 Centerline is valid? [True, True] Translation: X:136.66, Y:-69.34, Z:-6.78 [[ 7.49158252e-01 6.60928833e-01 4.39885269e-02 1.36658088e+02] [-6.59629250e-01 7.50445764e-01 -4.14777974e-02 -6.93437995e+01] [-6.04248759e-02 2.05731522e-03 9.98170628e-01 -6.77811404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01864 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:136.68, Y:-69.37, Z:-6.78 [[ 7.48584086e-01 6.61450342e-01 4.58836733e-02 1.36681218e+02] [-6.60034607e-01 7.49985929e-01 -4.33061789e-02 -6.93666710e+01] [-6.30569962e-02 2.13350413e-03 9.98007647e-01 -6.78071222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04864 meters Centerline goodness [0,1] 0.9997543480396973 Centerline is valid? [True, True] Translation: X:136.70, Y:-69.39, Z:-6.78 [[ 7.47808938e-01 6.62290466e-01 4.64018477e-02 1.36704858e+02] [-6.60841632e-01 7.49244194e-01 -4.38346284e-02 -6.93900662e+01] [-6.37975715e-02 2.11565415e-03 9.97960617e-01 -6.78291128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07864 meters Centerline goodness [0,1] 0.9994598841205932 Centerline is valid? [True, True] Translation: X:136.73, Y:-69.41, Z:-6.78 [[ 7.47416728e-01 6.62805563e-01 4.53543807e-02 1.36727501e+02] [-6.61419952e-01 7.48788732e-01 -4.28845280e-02 -6.94134419e+01] [-6.23849530e-02 2.05432129e-03 9.98050048e-01 -6.78335277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10864 meters Centerline goodness [0,1] 0.9995574133267765 Centerline is valid? [True, True] Translation: X:136.75, Y:-69.44, Z:-6.78 [[ 7.46895877e-01 6.63456952e-01 4.44007002e-02 1.36751189e+02] [-6.62128056e-01 7.48211826e-01 -4.20178528e-02 -6.94357387e+01] [-6.10981655e-02 1.98401168e-03 9.98129790e-01 -6.78374716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13864 meters Centerline goodness [0,1] 0.999803256111357 Centerline is valid? [True, True] Translation: X:136.78, Y:-69.46, Z:-6.79 [[ 7.46324915e-01 6.64065154e-01 4.49064985e-02 1.36775458e+02] [-6.62704497e-01 7.47672075e-01 -4.25349010e-02 -6.94587558e+01] [-6.18212805e-02 1.98511783e-03 9.98085261e-01 -6.78556448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16864 meters Centerline goodness [0,1] 0.9994585281811469 Centerline is valid? [True, True] Translation: X:136.80, Y:-69.48, Z:-6.79 [[ 7.45221766e-01 6.65303508e-01 4.48972406e-02 1.36797677e+02] [-6.63943165e-01 7.46570550e-01 -4.25662772e-02 -6.94819041e+01] [-6.18384512e-02 1.91210023e-03 9.98084340e-01 -6.78711969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19864 meters Centerline goodness [0,1] 0.9994096521867467 Centerline is valid? [True, True] Translation: X:136.82, Y:-69.50, Z:-6.79 [[ 7.44263615e-01 6.66409352e-01 4.43874651e-02 1.36820273e+02] [-6.65079522e-01 7.45583825e-01 -4.21187496e-02 -6.95046056e+01] [-6.11629046e-02 1.82625877e-03 9.98126126e-01 -6.78820857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22864 meters Centerline goodness [0,1] 0.9997050872450234 Centerline is valid? [True, True] Translation: X:136.84, Y:-69.53, Z:-6.79 [[ 7.41893336e-01 6.68998552e-01 4.51133538e-02 1.36843023e+02] [-6.67627272e-01 7.43261836e-01 -4.28446970e-02 -6.95278271e+01] [-6.21940744e-02 1.66728989e-03 9.98062682e-01 -6.79077942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25864 meters Centerline goodness [0,1] 0.9997543601080816 Centerline is valid? [True, True] Translation: X:136.87, Y:-69.55, Z:-6.79 [[ 7.40257477e-01 6.70730121e-01 4.62598387e-02 1.36866195e+02] [-6.69289614e-01 7.41699803e-01 -4.39637871e-02 -6.95508838e+01] [-6.37987495e-02 1.58329244e-03 9.97961529e-01 -6.79186770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28864000000002 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:136.89, Y:-69.57, Z:-6.79 [[ 7.38332647e-01 6.72886202e-01 4.57062463e-02 1.36888929e+02] [-6.71482763e-01 7.39744692e-01 -4.34590481e-02 -6.95743090e+01] [-6.30539469e-02 1.39627748e-03 9.98009143e-01 -6.79235814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31864000000002 meters Centerline goodness [0,1] 0.9997052321296979 Centerline is valid? [True, True] Translation: X:136.91, Y:-69.60, Z:-6.79 [[ 7.37372973e-01 6.73883536e-01 4.64981671e-02 1.36913072e+02] [-6.72430330e-01 7.38836328e-01 -4.42530375e-02 -6.95973742e+01] [-6.41759285e-02 1.36421596e-03 9.97937668e-01 -6.79476508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34864000000002 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:136.94, Y:-69.62, Z:-6.80 [[ 7.36452399e-01 6.74861605e-01 4.69007127e-02 1.36936813e+02] [-6.73382155e-01 7.37943129e-01 -4.46812206e-02 -6.96203714e+01] [-6.47636989e-02 1.32348915e-03 9.97899750e-01 -6.79583163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37864000000002 meters Centerline goodness [0,1] 0.9999017536965171 Centerline is valid? [True, True] Translation: X:136.96, Y:-69.64, Z:-6.80 [[ 7.35858410e-01 6.75530947e-01 4.65869023e-02 1.36960249e+02] [-6.74069872e-01 7.37330511e-01 -4.44243844e-02 -6.96418377e+01] [-6.43599909e-02 1.28722961e-03 9.97925916e-01 -6.79737392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40864000000002 meters Centerline goodness [0,1] 0.9997543721752801 Centerline is valid? [True, True] Translation: X:136.98, Y:-69.66, Z:-6.80 [[ 7.34202535e-01 6.77360683e-01 4.61426312e-02 1.36984214e+02] [-6.75928524e-01 7.35650186e-01 -4.40390079e-02 -6.96629232e+01] [-6.37751277e-02 1.14443064e-03 9.97963638e-01 -6.79884450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43864000000002 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:137.01, Y:-69.68, Z:-6.80 [[ 7.33046303e-01 6.78614084e-01 4.61090392e-02 1.37008405e+02] [-6.77184020e-01 7.34494245e-01 -4.40455202e-02 -6.96836081e+01] [-6.37567342e-02 1.06310121e-03 9.97964904e-01 -6.79999067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46864000000002 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:137.03, Y:-69.70, Z:-6.80 [[ 7.30217775e-01 6.81613485e-01 4.67446011e-02 1.37034052e+02] [-6.80147234e-01 7.31711929e-01 -4.46921920e-02 -6.97037078e+01] [-6.46663830e-02 8.41821806e-04 9.97906584e-01 -6.80114219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49864 meters Centerline goodness [0,1] 0.9998035652899867 Centerline is valid? [True, True] Translation: X:137.06, Y:-69.73, Z:-6.80 [[ 7.28616976e-01 6.83286395e-01 4.72969851e-02 1.37058895e+02] [-6.81785997e-01 7.30150098e-01 -4.52624525e-02 -6.97252447e+01] [-6.54611163e-02 7.32569095e-04 9.97854852e-01 -6.80291743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52864 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:137.08, Y:-69.75, Z:-6.80 [[ 7.27275879e-01 6.84720688e-01 4.71950826e-02 1.37083432e+02] [-6.83226892e-01 7.28805308e-01 -4.52088116e-02 -6.97456016e+01] [-6.53514353e-02 6.34328590e-04 9.97862108e-01 -6.80433974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.11, Y:-69.76, Z:-6.80 [[ 7.27105273e-01 6.84924983e-01 4.68581783e-02 1.37112608e+02] [-6.83450152e-01 7.28613310e-01 -4.49281136e-02 -6.97631119e+01] [-6.49138798e-02 6.42239199e-04 9.97890663e-01 -6.80482155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:137.14, Y:-69.78, Z:-6.81 [[ 7.26847168e-01 6.85257131e-01 4.59984625e-02 1.37138269e+02] [-6.83833921e-01 7.28300943e-01 -4.41464006e-02 -6.97828476e+01] [-6.37523595e-02 6.32377327e-04 9.97965549e-01 -6.80611244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.17, Y:-69.80, Z:-6.81 [[ 7.28889267e-01 6.82972402e-01 4.76354367e-02 1.37165668e+02] [-6.81438317e-01 7.30443633e-01 -4.57593552e-02 -6.98002236e+01] [-6.60473782e-02 8.92891023e-04 9.97816089e-01 -6.80859741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.19, Y:-69.82, Z:-6.81 [[ 7.30448654e-01 6.81369204e-01 4.66987322e-02 1.37192689e+02] [-6.79888949e-01 7.31939143e-01 -4.49010920e-02 -6.98205225e+01] [-6.47748514e-02 1.04799021e-03 9.97899354e-01 -6.80950413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.22, Y:-69.84, Z:-6.81 [[ 7.30108145e-01 6.81735601e-01 4.66761992e-02 1.37216379e+02] [-6.80254597e-01 7.31597889e-01 -4.49245077e-02 -6.98428527e+01] [-6.47748451e-02 1.04804989e-03 9.97899354e-01 -6.81087624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70864 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:137.24, Y:-69.86, Z:-6.81 [[ 7.32044865e-01 6.79615337e-01 4.72578892e-02 1.37242404e+02] [-6.78089844e-01 7.33567547e-01 -4.55282116e-02 -6.98620584e+01] [-6.56085247e-02 1.28359879e-03 9.97844614e-01 -6.81224225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73864 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:137.27, Y:-69.88, Z:-6.81 [[ 7.36837840e-01 6.74447928e-01 4.67973300e-02 1.37269658e+02] [-6.72939509e-01 7.38320340e-01 -4.51164392e-02 -6.98795294e+01] [-6.49801095e-02 1.75172736e-03 9.97885022e-01 -6.81286467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76864 meters Centerline goodness [0,1] 0.9998524348253812 Centerline is valid? [True, True] Translation: X:137.29, Y:-69.90, Z:-6.81 [[ 7.38792050e-01 6.72287194e-01 4.70769056e-02 1.37294530e+02] [-6.70754579e-01 7.40287806e-01 -4.54121064e-02 -6.99006657e+01] [-6.53804367e-02 1.97305321e-03 9.97858460e-01 -6.81399731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79864 meters Centerline goodness [0,1] 0.9993107522646711 Centerline is valid? [True, True] Translation: X:137.32, Y:-69.92, Z:-6.82 [[ 7.40534449e-01 6.70412311e-01 4.64334202e-02 1.37319083e+02] [-6.68915236e-01 7.41985690e-01 -4.48290420e-02 -6.99216104e+01] [-6.45068750e-02 2.13742772e-03 9.97914974e-01 -6.81512057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82864 meters Centerline goodness [0,1] 0.9994108983799705 Centerline is valid? [True, True] Translation: X:137.34, Y:-69.94, Z:-6.82 [[ 7.44629021e-01 6.65918089e-01 4.56149139e-02 1.37342581e+02] [-6.64463274e-01 7.46020667e-01 -4.40649743e-02 -6.99420463e+01] [-6.33733319e-02 2.50262360e-03 9.97986752e-01 -6.81696289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85864 meters Centerline goodness [0,1] 0.9990177299739699 Centerline is valid? [True, True] Translation: X:137.37, Y:-69.96, Z:-6.82 [[ 7.46699546e-01 6.63659913e-01 4.46688791e-02 1.37365141e+02] [-6.62259914e-01 7.48029745e-01 -4.31660304e-02 -6.99648160e+01] [-6.20612142e-02 2.64964724e-03 9.98068828e-01 -6.81793184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88864 meters Centerline goodness [0,1] 0.9971903189234486 Centerline is valid? [True, True] Translation: X:137.38, Y:-69.99, Z:-6.82 [[ 7.50865356e-01 6.58983459e-01 4.40683315e-02 1.37383479e+02] [-6.57611311e-01 7.52151388e-01 -4.26104835e-02 -6.99902658e+01] [-6.12256605e-02 3.01490266e-03 9.98119396e-01 -6.81923750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91864 meters Centerline goodness [0,1] 0.9972967659490809 Centerline is valid? [True, True] Translation: X:137.41, Y:-70.01, Z:-6.82 [[ 7.52492663e-01 6.57120899e-01 4.41238668e-02 1.37405392e+02] [-6.55741796e-01 7.53778514e-01 -4.26690621e-02 -7.00138478e+01] [-6.12983552e-02 3.17429251e-03 9.98114440e-01 -6.82070442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94864 meters Centerline goodness [0,1] 0.9971995676525499 Centerline is valid? [True, True] Translation: X:137.43, Y:-70.04, Z:-6.82 [[ 7.53273174e-01 6.56245886e-01 4.38276443e-02 1.37427316e+02] [-6.54882718e-01 7.54540164e-01 -4.24000737e-02 -7.00379604e+01] [-6.08945919e-02 3.23687126e-03 9.98138954e-01 -6.82235554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97864 meters Centerline goodness [0,1] 0.9974922554949107 Centerline is valid? [True, True] Translation: X:137.44, Y:-70.07, Z:-6.82 [[ 7.53923376e-01 6.55590191e-01 4.24387059e-02 1.37443906e+02] [-6.54309187e-01 7.55110057e-01 -4.10887867e-02 -7.00667352e+01] [-5.89832992e-02 3.20976162e-03 9.98253809e-01 -6.82322791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00864 meters Centerline goodness [0,1] 0.9979798975167521 Centerline is valid? [True, True] Translation: X:137.46, Y:-70.09, Z:-6.82 [[ 7.53338915e-01 6.56251937e-01 4.25896035e-02 1.37461829e+02] [-6.54961241e-01 7.54535103e-01 -4.12619923e-02 -7.00945285e+01] [-5.92136132e-02 3.18972493e-03 9.98240238e-01 -6.82444591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03864000000002 meters Centerline goodness [0,1] 0.9977881543376751 Centerline is valid? [True, True] Translation: X:137.48, Y:-70.12, Z:-6.83 [[ 7.52497447e-01 6.57209543e-01 4.26990460e-02 1.37477749e+02] [-6.55912633e-01 7.53701386e-01 -4.13864426e-02 -7.01241628e+01] [-5.93818952e-02 3.13634869e-03 9.98230411e-01 -6.82590139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06864000000002 meters Centerline goodness [0,1] 0.9978848991637973 Centerline is valid? [True, True] Translation: X:137.50, Y:-70.15, Z:-6.83 [[ 7.51745540e-01 6.58073842e-01 4.26316947e-02 1.37497479e+02] [-6.56780392e-01 7.52947062e-01 -4.13550275e-02 -7.01504115e+01] [-5.93140711e-02 3.08879634e-03 9.98234592e-01 -6.82688039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09864000000002 meters Centerline goodness [0,1] 0.9984748597854964 Centerline is valid? [True, True] Translation: X:137.52, Y:-70.18, Z:-6.83 [[ 7.50786197e-01 6.59106443e-01 4.35750142e-02 1.37516609e+02] [-6.57755069e-01 7.52043293e-01 -4.22983956e-02 -7.01775556e+01] [-6.06494423e-02 3.09536514e-03 9.98154329e-01 -6.82866438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12864000000002 meters Centerline goodness [0,1] 0.9984251968503937 Centerline is valid? [True, True] Translation: X:137.54, Y:-70.20, Z:-6.83 [[ 7.49550883e-01 6.60437262e-01 4.46776839e-02 1.37535660e+02] [-6.59017632e-01 7.50874918e-01 -4.33891492e-02 -7.02034535e+01] [-6.22031631e-02 3.07899364e-03 9.98058759e-01 -6.83026277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15864000000002 meters Centerline goodness [0,1] 0.9985250012291657 Centerline is valid? [True, True] Translation: X:137.55, Y:-70.23, Z:-6.83 [[ 7.46682314e-01 6.63783131e-01 4.30984606e-02 1.37551612e+02] [-6.62466167e-01 7.47920152e-01 -4.18810686e-02 -7.02325218e+01] [-6.00341540e-02 2.72058118e-03 9.98192616e-01 -6.82985732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18864000000002 meters Centerline goodness [0,1] 0.9992128308570304 Centerline is valid? [True, True] Translation: X:137.57, Y:-70.26, Z:-6.83 [[ 7.44610108e-01 6.66148935e-01 4.24427144e-02 1.37570947e+02] [-6.64875204e-01 7.45814565e-01 -4.12504275e-02 -7.02578778e+01] [-5.91333229e-02 2.49637685e-03 9.98246973e-01 -6.83131575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21864000000002 meters Centerline goodness [0,1] 0.9993603621334383 Centerline is valid? [True, True] Translation: X:137.59, Y:-70.29, Z:-6.83 [[ 7.39848529e-01 6.71410187e-01 4.28078801e-02 1.37586098e+02] [-6.70122795e-01 7.41082960e-01 -4.16111298e-02 -7.02875950e+01] [-5.96623269e-02 2.09939687e-03 9.98216409e-01 -6.83144873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24864 meters Centerline goodness [0,1] 0.999655816697807 Centerline is valid? [True, True] Translation: X:137.61, Y:-70.31, Z:-6.83 [[ 7.36731322e-01 6.74814035e-01 4.30462333e-02 1.37605292e+02] [-6.73517560e-01 7.37985523e-01 -4.18505036e-02 -7.03130038e+01] [-6.00088042e-02 1.84018285e-03 9.98196152e-01 -6.83230629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27864 meters Centerline goodness [0,1] 0.999604743083004 Centerline is valid? [True, True] Translation: X:137.63, Y:-70.34, Z:-6.83 [[ 7.33478356e-01 6.78413902e-01 4.20009445e-02 1.37626261e+02] [-6.77184651e-01 7.34678343e-01 -4.08494775e-02 -7.03373266e+01] [-5.85700378e-02 1.51981264e-03 9.98282145e-01 -6.83273655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30864 meters Centerline goodness [0,1] 0.9999016328939603 Centerline is valid? [True, True] Translation: X:137.65, Y:-70.36, Z:-6.83 [[ 7.28024125e-01 6.84294366e-01 4.14981202e-02 1.37646021e+02] [-6.83102318e-01 7.29205120e-01 -4.03870799e-02 -7.03621190e+01] [-5.78972929e-02 1.05530641e-03 9.98321987e-01 -6.83363674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33864 meters Centerline goodness [0,1] 0.999753961224289 Centerline is valid? [True, True] Translation: X:137.67, Y:-70.39, Z:-6.83 [[ 7.25448153e-01 6.87043350e-01 4.11875320e-02 1.37667656e+02] [-6.85873089e-01 7.26615950e-01 -4.00919862e-02 -7.03866839e+01] [-5.74724502e-02 8.35237513e-04 9.98346743e-01 -6.83490615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36864 meters Centerline goodness [0,1] 0.9999017150719937 Centerline is valid? [True, True] Translation: X:137.69, Y:-70.41, Z:-6.84 [[ 7.22834188e-01 6.89714557e-01 4.24801857e-02 1.37690046e+02] [-6.88472897e-01 7.24081070e-01 -4.13723877e-02 -7.04110697e+01] [-5.92942363e-02 6.58919747e-04 9.98240331e-01 -6.83662595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.71, Y:-70.43, Z:-6.84 [[ 7.18822524e-01 6.93899698e-01 4.23956107e-02 1.37712692e+02] [-6.92667768e-01 7.20071587e-01 -4.13312470e-02 -7.04343951e+01] [-5.92076145e-02 3.43758277e-04 9.98245631e-01 -6.83765648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.74, Y:-70.46, Z:-6.84 [[ 7.16046649e-01 6.96759634e-01 4.24642211e-02 1.37736061e+02] [-6.95526373e-01 7.17304673e-01 -4.14375417e-02 -7.04575005e+01] [-5.93317907e-02 1.36227146e-04 9.98238308e-01 -6.83979946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45864 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:137.76, Y:-70.48, Z:-6.84 [[ 7.15071021e-01 6.97818266e-01 4.15102728e-02 1.37758988e+02] [-6.96639255e-01 7.16274851e-01 -4.05473283e-02 -7.04799509e+01] [-5.80274308e-02 7.65339260e-05 9.98314986e-01 -6.84101271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.78, Y:-70.50, Z:-6.84 [[ 7.14386454e-01 6.98552788e-01 4.09389418e-02 1.37783307e+02] [-6.97405053e-01 7.15558524e-01 -4.00273884e-02 -7.05029324e+01] [-5.72554524e-02 4.39991979e-05 9.98359560e-01 -6.84132231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51864 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:137.81, Y:-70.52, Z:-6.84 [[ 7.12388323e-01 7.00497339e-01 4.25012318e-02 1.37807625e+02] [-6.99261085e-01 7.13655008e-01 -4.15988527e-02 -7.05242567e+01] [-5.94711025e-02 -8.49205943e-05 9.98230024e-01 -6.84104543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.83, Y:-70.55, Z:-6.84 [[ 7.11240586e-01 7.01665370e-01 4.24563125e-02 1.37831434e+02] [-7.00431394e-01 7.12506621e-01 -4.15954007e-02 -7.05470836e+01] [-5.94364560e-02 -1.53396993e-04 9.98232079e-01 -6.84240534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.86, Y:-70.57, Z:-6.84 [[ 7.08581259e-01 7.04379479e-01 4.19779652e-02 1.37855131e+02] [-7.03175341e-01 7.09823521e-01 -4.11704818e-02 -7.05702284e+01] [-5.87965896e-02 -3.45238189e-04 9.98269924e-01 -6.84297389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.88, Y:-70.59, Z:-6.84 [[ 7.06770321e-01 7.06224590e-01 4.15035221e-02 1.37879340e+02] [-7.05048193e-01 7.07987722e-01 -4.07483827e-02 -7.05920993e+01] [-5.81614940e-02 -4.62235704e-04 9.98307080e-01 -6.84406875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63864 meters Centerline goodness [0,1] 0.9999013855332577 Centerline is valid? [True, True] Translation: X:137.90, Y:-70.61, Z:-6.84 [[ 7.05304954e-01 7.07723116e-01 4.09012605e-02 1.37904157e+02] [-7.06581067e-01 7.06489693e-01 -4.01933982e-02 -7.06142171e+01] [-5.73421160e-02 -5.51453446e-04 9.98354435e-01 -6.84482697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66864 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:137.93, Y:-70.64, Z:-6.85 [[ 7.03054916e-01 7.09942511e-01 4.11754439e-02 1.37928740e+02] [-7.08787471e-01 7.04259266e-01 -4.04871366e-02 -7.06355048e+01] [-5.77417273e-02 -7.19958348e-04 9.98331295e-01 -6.84631199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69864 meters Centerline goodness [0,1] 0.9998525291254977 Centerline is valid? [True, True] Translation: X:137.95, Y:-70.66, Z:-6.85 [[ 7.01895555e-01 7.11070978e-01 4.14812504e-02 1.37952866e+02] [-7.09898335e-01 7.03119790e-01 -4.08278662e-02 -7.06578448e+01] [-5.81977988e-02 -7.90572802e-04 9.98304759e-01 -6.84890662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72864 meters Centerline goodness [0,1] 0.9998031786645672 Centerline is valid? [True, True] Translation: X:137.98, Y:-70.68, Z:-6.85 [[ 7.01850512e-01 7.11106655e-01 4.16315237e-02 1.37977934e+02] [-7.09922998e-01 7.03083735e-01 -4.10194816e-02 -7.06794095e+01] [-5.84396735e-02 -7.65632008e-04 9.98290648e-01 -6.85002143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75864 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:138.00, Y:-70.70, Z:-6.85 [[ 7.01981928e-01 7.10895600e-01 4.29978958e-02 1.38004109e+02] [-7.09629813e-01 7.03297161e-01 -4.24102794e-02 -7.06989661e+01] [-6.03895790e-02 -7.41339128e-04 9.98174609e-01 -6.85068608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78864000000002 meters Centerline goodness [0,1] 0.999803343166175 Centerline is valid? [True, True] Translation: X:138.03, Y:-70.72, Z:-6.85 [[ 7.01711743e-01 7.11120593e-01 4.36821616e-02 1.38028556e+02] [-7.09811991e-01 7.03069662e-01 -4.31275758e-02 -7.07211968e+01] [-6.13805099e-02 -7.42995712e-04 9.98114162e-01 -6.85160404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.05, Y:-70.74, Z:-6.85 [[ 7.01710311e-01 7.11064345e-01 4.46109453e-02 1.38053516e+02] [-7.09696351e-01 7.03126573e-01 -4.40920712e-02 -7.07428966e+01] [-6.27194408e-02 -7.20364081e-04 9.98030938e-01 -6.85314923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.08, Y:-70.76, Z:-6.85 [[ 7.01268852e-01 7.11445726e-01 4.54640095e-02 1.38077836e+02] [-7.10022692e-01 7.02740661e-01 -4.49815556e-02 -7.07639815e+01] [-6.39513436e-02 -7.36314547e-04 9.97952746e-01 -6.85440746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.10, Y:-70.79, Z:-6.86 [[ 7.00353574e-01 7.12398740e-01 4.46419846e-02 1.38102867e+02] [-7.11026010e-01 7.01774486e-01 -4.42106684e-02 -7.07855117e+01] [-6.28242302e-02 -7.78512560e-04 9.98024303e-01 -6.85580722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.13, Y:-70.81, Z:-6.86 [[ 7.00879291e-01 7.11894933e-01 4.44277340e-02 1.38128175e+02] [-7.10531556e-01 7.02285637e-01 -4.40430717e-02 -7.08060792e+01] [-6.25549991e-02 -6.98430039e-04 9.98041274e-01 -6.85701180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.15, Y:-70.83, Z:-6.86 [[ 7.00668621e-01 7.12055124e-01 4.51772617e-02 1.38151755e+02] [-7.10642829e-01 7.02123223e-01 -4.48302365e-02 -7.08289541e+01] [-6.36416042e-02 -6.93757128e-04 9.97972577e-01 -6.85954175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.18, Y:-70.85, Z:-6.86 [[ 7.02485558e-01 7.10290735e-01 4.47337893e-02 1.38175912e+02] [-7.08899626e-01 7.03908250e-01 -4.44352946e-02 -7.08509093e+01] [-6.30504614e-02 -4.96613799e-04 9.98010217e-01 -6.86091475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.20, Y:-70.87, Z:-6.86 [[ 7.03076055e-01 7.09717049e-01 4.45619937e-02 1.38200145e+02] [-7.08332764e-01 7.04486721e-01 -4.43075206e-02 -7.08737751e+01] [-6.28391356e-02 -4.13163367e-04 9.98023583e-01 -6.86210547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02864 meters Centerline goodness [0,1] 0.9998524856173477 Centerline is valid? [True, True] Translation: X:138.22, Y:-70.90, Z:-6.86 [[ 7.04310027e-01 7.08466927e-01 4.49666478e-02 1.38224234e+02] [-7.07051781e-01 7.05743962e-01 -4.47575648e-02 -7.08963186e+01] [-6.34441946e-02 -2.70546718e-04 9.97985351e-01 -6.86373752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05864 meters Centerline goodness [0,1] 0.9998525073746313 Centerline is valid? [True, True] Translation: X:138.25, Y:-70.92, Z:-6.86 [[ 7.05965243e-01 7.06841648e-01 4.45865491e-02 1.38247011e+02] [-7.05444151e-01 7.07371809e-01 -4.44260376e-02 -7.09199920e+01] [-6.29414415e-02 -9.00818009e-05 9.98017218e-01 -6.86356792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.27, Y:-70.94, Z:-6.87 [[ 7.06531956e-01 7.06239867e-01 4.51424992e-02 1.38270444e+02] [-7.04802980e-01 7.07972634e-01 -4.50278675e-02 -7.09429522e+01] [-6.37601292e-02 -2.94071199e-06 9.97965253e-01 -6.86585729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.29, Y:-70.97, Z:-6.87 [[ 7.06803168e-01 7.05959389e-01 4.52838060e-02 1.38293064e+02] [-7.04509838e-01 7.08252312e-01 -4.52167039e-02 -7.09667206e+01] [-6.39935170e-02 5.64227244e-05 9.97950313e-01 -6.86762006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.31, Y:-70.99, Z:-6.87 [[ 7.05897667e-01 7.06814639e-01 4.60602762e-02 1.38314956e+02] [-7.05313649e-01 7.07398802e-01 -4.60390154e-02 -7.09904670e+01] [-6.51240343e-02 1.18921329e-05 9.97877177e-01 -6.87014582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.33, Y:-71.12, Z:-5.13 [[ 7.56215860e-01 -6.54204866e-01 -1.23921984e-02 1.38326652e+02] [-6.54045625e-01 -7.56311235e-01 1.47524787e-02 -7.11176616e+01] [-1.90235022e-02 -3.05099526e-03 -9.99814382e-01 -5.12885015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.34, Y:-71.04, Z:-6.87 [[ 7.53394020e-01 6.55806481e-01 4.81176701e-02 1.38341722e+02] [-6.54484291e-01 7.54929031e-01 -4.16229652e-02 -7.10367715e+01] [-6.36220364e-02 -1.33766180e-04 9.97974057e-01 -6.87153289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.37, Y:-71.06, Z:-6.87 [[ 7.52160760e-01 6.57229538e-01 4.79950688e-02 1.38366158e+02] [-6.55914400e-01 7.53690444e-01 -4.15573726e-02 -7.10592864e+01] [-6.34861575e-02 -2.22831836e-04 9.97982694e-01 -6.87258464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.39, Y:-71.08, Z:-6.87 [[ 7.50407032e-01 6.59261080e-01 4.75827164e-02 1.38388902e+02] [-6.57970293e-01 7.51914021e-01 -4.12358798e-02 -7.10831404e+01] [-6.29633223e-02 -3.64319663e-04 9.98015775e-01 -6.87345793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.41, Y:-71.11, Z:-6.88 [[ 7.48673065e-01 6.61109376e-01 4.92243380e-02 1.38412099e+02] [-6.59730071e-01 7.50289362e-01 -4.26861429e-02 -7.11056065e+01] [-6.51527064e-02 -5.16810571e-04 9.97875171e-01 -6.87536176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.44, Y:-71.13, Z:-6.88 [[ 7.46727801e-01 6.63213810e-01 5.04483288e-02 1.38436200e+02] [-6.61766979e-01 7.48429670e-01 -4.37892122e-02 -7.11276124e+01] [-6.67986363e-02 -6.86416038e-04 9.97766241e-01 -6.87604684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35864 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:138.46, Y:-71.15, Z:-6.88 [[ 7.43620280e-01 6.66638658e-01 5.12033144e-02 1.38461411e+02] [-6.65153393e-01 7.45380403e-01 -4.44861623e-02 -7.11483660e+01] [-6.78221427e-02 -9.77245904e-04 9.97696949e-01 -6.87599446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.49, Y:-71.17, Z:-6.88 [[ 7.41558029e-01 6.68950416e-01 5.09610663e-02 1.38486555e+02] [-6.67481856e-01 7.43306137e-01 -4.43165805e-02 -7.11687050e+01] [-6.75252683e-02 -1.15227102e-03 9.97716899e-01 -6.87721685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.51, Y:-71.19, Z:-6.88 [[ 7.38087999e-01 6.72833150e-01 5.02161101e-02 1.38512416e+02] [-6.71413506e-01 7.39792833e-01 -4.37089019e-02 -7.11876483e+01] [-6.65583165e-02 -1.45475864e-03 9.97781476e-01 -6.87760269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.54, Y:-71.21, Z:-6.88 [[ 7.36524040e-01 6.74522544e-01 5.05141269e-02 1.38538049e+02] [-6.73087187e-01 7.38252545e-01 -4.40092932e-02 -7.12073415e+01] [-6.69774432e-02 -1.58650914e-03 9.97753229e-01 -6.88043664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.56, Y:-71.23, Z:-6.88 [[ 7.34603282e-01 6.76602309e-01 5.06688660e-02 1.38564684e+02] [-6.75160303e-01 7.36346555e-01 -4.41850269e-02 -7.12253276e+01] [-6.72055362e-02 -1.75114116e-03 9.97737616e-01 -6.88142934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.59, Y:-71.25, Z:-6.88 [[ 7.34256287e-01 6.76990417e-01 5.05141498e-02 1.38591027e+02] [-6.75555265e-01 7.35989751e-01 -4.40927528e-02 -7.12451939e+01] [-6.70282677e-02 -1.74971884e-03 9.97749543e-01 -6.88235485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.62, Y:-71.26, Z:-6.88 [[ 7.34317238e-01 6.76987917e-01 4.96543513e-02 1.38617061e+02] [-6.75598393e-01 7.35992195e-01 -4.33854738e-02 -7.12640763e+01] [-6.59166566e-02 -1.68769869e-03 9.97823705e-01 -6.88270998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.65, Y:-71.28, Z:-6.88 [[ 7.35250776e-01 6.75922953e-01 5.03433885e-02 1.38646305e+02] [-6.74489313e-01 7.36970591e-01 -4.40285720e-02 -7.12798521e+01] [-6.68615191e-02 -1.58403576e-03 9.97761008e-01 -6.88427507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.67, Y:-71.30, Z:-6.89 [[ 7.35325715e-01 6.75779083e-01 5.11734714e-02 1.38673243e+02] [-6.74294357e-01 7.37102560e-01 -4.47988296e-02 -7.12986209e+01] [-6.79942088e-02 -1.56425161e-03 9.97684490e-01 -6.88640640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.70, Y:-71.32, Z:-6.89 [[ 7.34972512e-01 6.76164994e-01 5.11498538e-02 1.38697921e+02] [-6.74679327e-01 7.36748570e-01 -4.48257847e-02 -7.13198252e+01] [-6.79942081e-02 -1.56402938e-03 9.97684490e-01 -6.88777516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65864000000002 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:138.73, Y:-71.34, Z:-6.89 [[ 7.35541911e-01 6.75674914e-01 4.94116155e-02 1.38726551e+02] [-6.74284692e-01 7.37198312e-01 -4.33451629e-02 -7.13363628e+01] [-6.57133987e-02 -1.43531199e-03 9.97837506e-01 -6.88918099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.75, Y:-71.36, Z:-6.89 [[ 7.35636905e-01 6.75573330e-01 4.93864300e-02 1.38752617e+02] [-6.74181522e-01 7.37291483e-01 -4.33652315e-02 -7.13561055e+01] [-6.57085881e-02 -1.39435386e-03 9.97837881e-01 -6.89143665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.78, Y:-71.38, Z:-6.89 [[ 7.35818606e-01 6.75367769e-01 4.94909624e-02 1.38778837e+02] [-6.73966536e-01 7.37479877e-01 -4.35033366e-02 -7.13767548e+01] [-6.58793403e-02 -1.34468798e-03 9.97826691e-01 -6.89320570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:138.80, Y:-71.40, Z:-6.90 [[ 7.36704070e-01 6.74419935e-01 4.92429127e-02 1.38804235e+02] [-6.73027718e-01 7.38346978e-01 -4.33293227e-02 -7.13968015e+01] [-6.55805148e-02 -1.22095674e-03 9.97846534e-01 -6.89542977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77864 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:138.83, Y:-71.42, Z:-6.90 [[ 7.37112613e-01 6.73989477e-01 4.90222410e-02 1.38829105e+02] [-6.72606569e-01 7.38740046e-01 -4.31688197e-02 -7.14171733e+01] [-6.53100228e-02 -1.15239979e-03 9.97864356e-01 -6.89672693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.85, Y:-71.44, Z:-6.90 [[ 7.37759872e-01 6.73226066e-01 4.97698299e-02 1.38854623e+02] [-6.71796762e-01 7.39435935e-01 -4.38589522e-02 -7.14381482e+01] [-6.63285906e-02 -1.07783564e-03 9.97797252e-01 -6.89863854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.88, Y:-71.46, Z:-6.90 [[ 7.37746674e-01 6.73155810e-01 5.09028403e-02 1.38879072e+02] [-6.71657276e-01 7.39499918e-01 -4.49040634e-02 -7.14585026e+01] [-6.78700774e-02 -1.06143964e-03 9.97693603e-01 -6.90052290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.90, Y:-71.48, Z:-6.90 [[ 7.36682352e-01 6.74332852e-01 5.07377183e-02 1.38904427e+02] [-6.72843856e-01 7.38426651e-01 -4.48020825e-02 -7.14800182e+01] [-6.76775994e-02 -1.13365849e-03 9.97706599e-01 -6.90166453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.93, Y:-71.50, Z:-6.90 [[ 7.36069408e-01 6.75039237e-01 5.02379782e-02 1.38930155e+02] [-6.73577948e-01 7.37780930e-01 -4.44077376e-02 -7.15007462e+01] [-6.70415876e-02 -1.15201709e-03 9.97749517e-01 -6.90255977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92864 meters Centerline goodness [0,1] 0.9995079950799508 Centerline is valid? [True, True] Translation: X:138.96, Y:-71.52, Z:-6.90 [[ 7.35050783e-01 6.76154686e-01 5.01516393e-02 1.38955004e+02] [-6.74697844e-01 7.36758685e-01 -4.43785876e-02 -7.15230475e+01] [-6.69564458e-02 -1.21668733e-03 9.97755157e-01 -6.90407286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95864 meters Centerline goodness [0,1] 0.9999014923902871 Centerline is valid? [True, True] Translation: X:138.98, Y:-71.54, Z:-6.91 [[ 7.33449856e-01 6.77872156e-01 5.04048535e-02 1.38979688e+02] [-6.76401541e-01 7.35178567e-01 -4.46478433e-02 -7.15437444e+01] [-6.73220978e-02 -1.34696633e-03 9.97730385e-01 -6.90566026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.00, Y:-71.56, Z:-6.91 [[ 7.32138440e-01 6.79258255e-01 5.08087443e-02 1.39004400e+02] [-6.77764435e-01 7.33897884e-01 -4.50473666e-02 -7.15637184e+01] [-6.78872256e-02 -1.45545122e-03 9.97691940e-01 -6.90761076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01864 meters Centerline goodness [0,1] 0.9997541910427216 Centerline is valid? [True, True] Translation: X:139.03, Y:-71.58, Z:-6.91 [[ 7.31600609e-01 6.79879424e-01 5.02445866e-02 1.39029756e+02] [-6.78417171e-01 7.33322456e-01 -4.45905454e-02 -7.15846851e+01] [-6.71616779e-02 -1.46432012e-03 9.97741031e-01 -6.90825868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04864 meters Centerline goodness [0,1] 0.9997542031265362 Centerline is valid? [True, True] Translation: X:139.05, Y:-71.60, Z:-6.91 [[ 7.32309829e-01 6.79100913e-01 5.04407069e-02 1.39054333e+02] [-6.77622294e-01 7.34043655e-01 -4.48100349e-02 -7.16049183e+01] [-6.74562164e-02 -1.36491853e-03 9.97721302e-01 -6.90979463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07864 meters Centerline goodness [0,1] 0.9996065702763843 Centerline is valid? [True, True] Translation: X:139.08, Y:-71.63, Z:-6.91 [[ 7.32822137e-01 6.78581577e-01 4.99875887e-02 1.39079182e+02] [-6.77125485e-01 7.34523939e-01 -4.44483915e-02 -7.16258510e+01] [-6.68789402e-02 -1.27510500e-03 9.97760283e-01 -6.91033087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:139.10, Y:-71.65, Z:-6.91 [[ 7.32426634e-01 6.78937709e-01 5.09393074e-02 1.39104342e+02] [-6.77423544e-01 7.34194725e-01 -4.53370456e-02 -7.16462530e+01] [-6.81804007e-02 -1.30142645e-03 9.97672160e-01 -6.91215100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13864 meters Centerline goodness [0,1] 0.9998524565976491 Centerline is valid? [True, True] Translation: X:139.13, Y:-71.66, Z:-6.91 [[ 7.32378416e-01 6.78950046e-01 5.14654313e-02 1.39130495e+02] [-6.77402227e-01 7.34183331e-01 -4.58373098e-02 -7.16646353e+01] [-6.89063054e-02 -1.29254139e-03 9.97622298e-01 -6.91383224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16864 meters Centerline goodness [0,1] 0.999901768172888 Centerline is valid? [True, True] Translation: X:139.16, Y:-71.69, Z:-6.92 [[ 7.31961788e-01 6.79397464e-01 5.14881312e-02 1.39155880e+02] [-6.77847420e-01 7.33769282e-01 -4.58859092e-02 -7.16863946e+01] [-6.89551794e-02 -1.31436475e-03 9.97618893e-01 -6.91734686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19864 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:139.18, Y:-71.71, Z:-6.92 [[ 7.31742409e-01 6.79702958e-01 5.05661555e-02 1.39180888e+02] [-6.78205647e-01 7.33486357e-01 -4.51094717e-02 -7.17069610e+01] [-6.77506266e-02 -1.28573870e-03 9.97701458e-01 -6.91880867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22864 meters Centerline goodness [0,1] 0.9997543480396973 Centerline is valid? [True, True] Translation: X:139.21, Y:-71.73, Z:-6.92 [[ 7.31335967e-01 6.80159354e-01 5.03086180e-02 1.39206370e+02] [-6.78675409e-01 7.33063156e-01 -4.49232562e-02 -7.17274260e+01] [-6.74343672e-02 -1.28922884e-03 9.97722879e-01 -6.91900486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25864 meters Centerline goodness [0,1] 0.9998033818324813 Centerline is valid? [True, True] Translation: X:139.23, Y:-71.75, Z:-6.92 [[ 7.32709133e-01 6.78611112e-01 5.12277789e-02 1.39231878e+02] [-6.77065234e-01 7.34496888e-01 -4.57929150e-02 -7.17482970e+01] [-6.87022252e-02 -1.13166108e-03 9.97636569e-01 -6.91972591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.26, Y:-71.77, Z:-6.92 [[ 7.33615811e-01 6.77587949e-01 5.17920292e-02 1.39256970e+02] [-6.76001795e-01 7.35441058e-01 -4.63467734e-02 -7.17698268e+01] [-6.94939999e-02 -1.01077898e-03 9.97581857e-01 -6.92212876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31864000000002 meters Centerline goodness [0,1] 0.9998035266958102 Centerline is valid? [True, True] Translation: X:139.28, Y:-71.79, Z:-6.92 [[ 7.34876685e-01 6.76232697e-01 5.16294319e-02 1.39281526e+02] [-6.74649944e-01 7.36687603e-01 -4.62474751e-02 -7.17908278e+01] [-6.93088173e-02 -8.45602156e-04 9.97594894e-01 -6.92301048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34864000000002 meters Centerline goodness [0,1] 0.9999013903954245 Centerline is valid? [True, True] Translation: X:139.31, Y:-71.81, Z:-6.93 [[ 7.37222764e-01 6.73701301e-01 5.12752695e-02 1.39306500e+02] [-6.72131183e-01 7.39003539e-01 -4.59722003e-02 -7.18116342e+01] [-6.88641368e-02 -5.71954927e-04 9.97625884e-01 -6.92538994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37864000000002 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:139.33, Y:-71.83, Z:-6.93 [[ 7.38306962e-01 6.72484065e-01 5.16528007e-02 1.39331152e+02] [-6.70884581e-01 7.40111478e-01 -4.63560094e-02 -7.18340194e+01] [-6.94025082e-02 -4.28103059e-04 9.97588647e-01 -6.92831696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40864000000002 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:139.35, Y:-71.86, Z:-6.93 [[ 7.39399145e-01 6.71378939e-01 5.03907147e-02 1.39354705e+02] [-6.69851142e-01 7.41114188e-01 -4.52681833e-02 -7.18564762e+01] [-6.77373785e-02 -2.83021729e-04 9.97703146e-01 -6.92911603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43864000000002 meters Centerline goodness [0,1] 0.9999016764170886 Centerline is valid? [True, True] Translation: X:139.38, Y:-71.88, Z:-6.93 [[ 7.39235767e-01 6.71591780e-01 4.99495818e-02 1.39379448e+02] [-6.70088218e-01 7.40921324e-01 -4.49151594e-02 -7.18782309e+01] [-6.71733622e-02 -2.67733952e-04 9.97741283e-01 -6.93048301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.40, Y:-71.90, Z:-6.93 [[ 7.37921243e-01 6.72988965e-01 5.05775848e-02 1.39403721e+02] [-6.71447459e-01 7.39652431e-01 -4.55257163e-02 -7.18997147e+01] [-6.80481383e-02 -3.65797572e-04 9.97681972e-01 -6.93317968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.43, Y:-71.92, Z:-6.93 [[ 7.36373533e-01 6.74680771e-01 5.05952226e-02 1.39428796e+02] [-6.73139175e-01 7.38109489e-01 -4.55854576e-02 -7.19218683e+01] [-6.81004455e-02 -4.89701863e-04 9.97678350e-01 -6.93387095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:139.45, Y:-71.94, Z:-6.94 [[ 7.35375107e-01 6.75775755e-01 5.05032892e-02 1.39454019e+02] [-6.74239090e-01 7.37107063e-01 -4.55502792e-02 -7.19439323e+01] [-6.80081055e-02 -5.54750269e-04 9.97684614e-01 -6.93509973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55864 meters Centerline goodness [0,1] 0.9997541910427216 Centerline is valid? [True, True] Translation: X:139.48, Y:-71.96, Z:-6.94 [[ 7.33071664e-01 6.78345571e-01 4.95300034e-02 1.39480122e+02] [-6.76870378e-01 7.34742631e-01 -4.47186510e-02 -7.19640626e+01] [-6.67265038e-02 -7.43416272e-04 9.97771026e-01 -6.93518170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58864 meters Centerline goodness [0,1] 0.9999016812506145 Centerline is valid? [True, True] Translation: X:139.51, Y:-71.99, Z:-6.94 [[ 7.32488505e-01 6.78990018e-01 4.93269174e-02 1.39505175e+02] [-6.77525288e-01 7.34147104e-01 -4.45815375e-02 -7.19850008e+01] [-6.64836325e-02 -7.64770086e-04 9.97787223e-01 -6.93725203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61864 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:139.53, Y:-72.01, Z:-6.94 [[ 7.31553843e-01 6.80020362e-01 4.90028702e-02 1.39529744e+02] [-6.78574083e-01 7.33192769e-01 -4.43348338e-02 -7.20066623e+01] [-6.60771398e-02 -8.18759586e-04 9.97814182e-01 -6.93900993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.56, Y:-72.03, Z:-6.94 [[ 7.30828492e-01 6.80810486e-01 4.88548596e-02 1.39555683e+02] [-6.79371630e-01 7.32459114e-01 -4.42474257e-02 -7.20275102e+01] [-6.59082986e-02 -8.53326179e-04 9.97825319e-01 -6.93998611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67864 meters Centerline goodness [0,1] 0.9998033721673303 Centerline is valid? [True, True] Translation: X:139.58, Y:-72.04, Z:-6.94 [[ 7.29456455e-01 6.82283165e-01 4.88156079e-02 1.39583937e+02] [-6.80846838e-01 7.31087394e-01 -4.42583981e-02 -7.20449844e+01] [-6.58852355e-02 -9.51378083e-04 9.97826754e-01 -6.94161292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70864 meters Centerline goodness [0,1] 0.9999014487040505 Centerline is valid? [True, True] Translation: X:139.61, Y:-72.06, Z:-6.94 [[ 7.29172386e-01 6.82614381e-01 4.84276617e-02 1.39610080e+02] [-6.81198544e-01 7.30778163e-01 -4.39524777e-02 -7.20649331e+01] [-6.53924710e-02 -9.39919614e-04 9.97859179e-01 -6.94277825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73864 meters Centerline goodness [0,1] 0.9997542997542997 Centerline is valid? [True, True] Translation: X:139.64, Y:-72.09, Z:-6.94 [[ 7.28317520e-01 6.83500033e-01 4.87985166e-02 1.39636463e+02] [-6.82061307e-01 7.29949805e-01 -4.43357063e-02 -7.20855886e+01] [-6.59239244e-02 -9.93108427e-04 9.97824158e-01 -6.94469217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.66, Y:-72.10, Z:-6.95 [[ 7.28390265e-01 6.83431933e-01 4.86663536e-02 1.39664049e+02] [-6.81997778e-01 7.30013623e-01 -4.42621822e-02 -7.21039214e+01] [-6.57772898e-02 -9.50202368e-04 9.97833877e-01 -6.94634742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.69, Y:-72.12, Z:-6.95 [[ 7.28712989e-01 6.82996225e-01 4.99353265e-02 1.39689583e+02] [-6.81482055e-01 7.30421348e-01 -4.54627759e-02 -7.21230584e+01] [-6.75247328e-02 -9.00713577e-04 9.97717194e-01 -6.94852198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:139.72, Y:-72.14, Z:-6.95 [[ 7.30726183e-01 6.80866855e-01 4.95940652e-02 1.39716381e+02] [-6.79365644e-01 7.32406908e-01 -4.51933938e-02 -7.21408484e+01] [-6.70937199e-02 -6.68507930e-04 9.97746454e-01 -6.94955177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.74, Y:-72.16, Z:-6.95 [[ 7.32313681e-01 6.79218782e-01 4.87700635e-02 1.39741710e+02] [-6.77760769e-01 7.33935703e-01 -4.44828384e-02 -7.21603782e+01] [-6.60076702e-02 -4.79044590e-04 9.97819001e-01 -6.95083662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.77, Y:-72.18, Z:-6.95 [[ 7.34436107e-01 6.76939565e-01 4.85430711e-02 1.39767326e+02] [-6.75487451e-01 7.36038563e-01 -4.43163214e-02 -7.21804078e+01] [-6.57290437e-02 -2.42728802e-04 9.97837479e-01 -6.95347206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.79, Y:-72.20, Z:-6.95 [[ 7.36471264e-01 6.74711070e-01 4.87344904e-02 1.39793531e+02] [-6.73239735e-01 7.38081955e-01 -4.45341131e-02 -7.22007547e+01] [-6.60177070e-02 -1.19008920e-05 9.97818452e-01 -6.95475174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.82, Y:-72.22, Z:-6.96 [[ 7.40055842e-01 6.70847270e-01 4.77628618e-02 1.39820246e+02] [-6.69423087e-01 7.41595449e-01 -4.36911940e-02 -7.22201206e+01] [-6.47308392e-02 3.60361000e-04 9.97902695e-01 -6.95702795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.85, Y:-72.24, Z:-6.96 [[ 7.43129173e-01 6.67401316e-01 4.83168255e-02 1.39845155e+02] [-6.65933675e-01 7.44697919e-01 -4.42419410e-02 -7.22410191e+01] [-6.55085690e-02 7.01675855e-04 9.97851760e-01 -6.95866019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.87, Y:-72.26, Z:-6.96 [[ 7.44727064e-01 6.65640927e-01 4.79974610e-02 1.39868942e+02] [-6.64186441e-01 7.46271654e-01 -4.39885212e-02 -7.22621624e+01] [-6.50997046e-02 8.80179460e-04 9.97878376e-01 -6.96027341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.89, Y:-72.28, Z:-6.96 [[ 7.46325308e-01 6.63879213e-01 4.75702080e-02 1.39892356e+02] [-6.62444469e-01 7.47839074e-01 -4.36353704e-02 -7.22836999e+01] [-6.45434757e-02 1.05356006e-03 9.97914340e-01 -6.96192018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.92, Y:-72.31, Z:-6.96 [[ 7.48137564e-01 6.61871654e-01 4.70754616e-02 1.39915657e+02] [-6.60460239e-01 7.49616149e-01 -4.32192299e-02 -7.23055639e+01] [-6.38941094e-02 1.24245868e-03 9.97955910e-01 -6.96353785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.94, Y:-72.33, Z:-6.96 [[ 7.49615669e-01 6.60228369e-01 4.66352807e-02 1.39937009e+02] [-6.58837779e-01 7.51063612e-01 -4.28512840e-02 -7.23292461e+01] [-6.33176958e-02 1.39690915e-03 9.97992444e-01 -6.96484486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12864000000002 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:139.96, Y:-72.35, Z:-6.97 [[ 7.48730671e-01 6.61210639e-01 4.69347756e-02 1.39959759e+02] [-6.59801636e-01 7.50199084e-01 -4.31640466e-02 -7.23527875e+01] [-6.37509525e-02 1.35060383e-03 9.97964925e-01 -6.96606615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.98, Y:-72.38, Z:-6.97 [[ 7.47011485e-01 6.63171120e-01 4.66680475e-02 1.39983221e+02] [-6.61779336e-01 7.48466838e-01 -4.29593098e-02 -7.23751550e+01] [-6.34188595e-02 1.20714832e-03 9.97986268e-01 -6.96666632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.01, Y:-72.40, Z:-6.97 [[ 7.45142935e-01 6.65346079e-01 4.55697485e-02 1.40006857e+02] [-6.64021393e-01 7.46534364e-01 -4.19765819e-02 -7.23977462e+01] [-6.19483374e-02 1.01926557e-03 9.98078837e-01 -6.96814955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.03, Y:-72.42, Z:-6.97 [[ 7.39965818e-01 6.71095850e-01 4.56174178e-02 1.40029927e+02] [-6.69777930e-01 7.41370388e-01 -4.20413275e-02 -7.24200971e+01] [-6.20331631e-02 5.55605610e-04 9.98073934e-01 -6.97113739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.05, Y:-72.44, Z:-6.97 [[ 7.37358907e-01 6.73925980e-01 4.61043977e-02 1.40054533e+02] [-6.72582757e-01 7.38798789e-01 -4.25298038e-02 -7.24425845e+01] [-6.27238129e-02 3.50706771e-04 9.98030861e-01 -6.97283356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.08, Y:-72.46, Z:-6.97 [[ 7.32769260e-01 6.78935215e-01 4.57841168e-02 1.40078558e+02] [-6.77617733e-01 7.34198183e-01 -4.22757150e-02 -7.24634126e+01] [-6.23170870e-02 -4.57850310e-05 9.98056400e-01 -6.97365896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.10, Y:-72.48, Z:-6.97 [[ 7.31029427e-01 6.80790149e-01 4.60515995e-02 1.40104251e+02] [-6.79458334e-01 7.32478493e-01 -4.25632521e-02 -7.24849727e+01] [-6.27084489e-02 -1.75153249e-04 9.98031873e-01 -6.97462315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.13, Y:-72.51, Z:-6.98 [[ 7.30210092e-01 6.81685750e-01 4.58013153e-02 1.40129813e+02] [-6.80367383e-01 7.31645058e-01 -4.23760951e-02 -7.25054472e+01] [-6.23974862e-02 -2.18268710e-04 9.98051354e-01 -6.97506806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.16, Y:-72.52, Z:-6.98 [[ 7.28841737e-01 6.83069986e-01 4.69586699e-02 1.40156506e+02] [-6.81684112e-01 7.30352858e-01 -4.34910917e-02 -7.25239172e+01] [-6.40038581e-02 -3.12856372e-04 9.97949602e-01 -6.97686376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.18, Y:-72.54, Z:-6.98 [[ 7.27424078e-01 6.84574920e-01 4.70254115e-02 1.40182676e+02] [-6.83185566e-01 7.28942388e-01 -4.35944557e-02 -7.25442120e+01] [-6.41224868e-02 -4.15425683e-04 9.97941949e-01 -6.97747881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.21, Y:-72.56, Z:-6.98 [[ 7.24635554e-01 6.87463309e-01 4.79323734e-02 1.40211082e+02] [-6.86023150e-01 7.26218820e-01 -4.44799165e-02 -7.25607641e+01] [-6.53877022e-02 -6.50988824e-04 9.97859722e-01 -6.97965182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.24, Y:-72.58, Z:-6.98 [[ 7.22546067e-01 6.89694597e-01 4.74188159e-02 1.40237374e+02] [-6.88287237e-01 7.24099926e-01 -4.40451688e-02 -7.25808273e+01] [-6.47136760e-02 -8.13102247e-04 9.97903542e-01 -6.98120988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.26, Y:-72.60, Z:-6.98 [[ 7.22190465e-01 6.90068509e-01 4.73960424e-02 1.40261451e+02] [-6.88660347e-01 7.23743595e-01 -4.40696657e-02 -7.26027591e+01] [-6.47136706e-02 -8.13082622e-04 9.97903542e-01 -6.98257831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.29, Y:-72.62, Z:-6.98 [[ 7.20526390e-01 6.91902420e-01 4.59648041e-02 1.40287321e+02] [-6.90579089e-01 7.21990444e-01 -4.27822504e-02 -7.26234560e+01] [-6.27872920e-02 -9.16592106e-04 9.98026511e-01 -6.98326835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.31, Y:-72.64, Z:-6.98 [[ 7.17235208e-01 6.95328282e-01 4.57409726e-02 1.40314794e+02] [-6.94022106e-01 7.18691303e-01 -4.26160363e-02 -7.26415108e+01] [-6.25057745e-02 -1.17952449e-03 9.98043905e-01 -6.98481030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.34, Y:-72.66, Z:-6.99 [[ 7.16154574e-01 6.96415475e-01 4.61314702e-02 1.40340677e+02] [-6.95087238e-01 7.17637715e-01 -4.30097937e-02 -7.26610639e+01] [-6.30583687e-02 -1.26373575e-03 9.98009041e-01 -6.98671509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.37, Y:-72.68, Z:-6.99 [[ 7.15894510e-01 6.96593534e-01 4.74605082e-02 1.40367825e+02] [-6.95186974e-01 7.17464804e-01 -4.42642813e-02 -7.26783264e+01] [-6.48854563e-02 -1.30537109e-03 9.97891865e-01 -6.98883496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.39, Y:-72.70, Z:-6.99 [[ 7.16159873e-01 6.96317668e-01 4.75051859e-02 1.40392763e+02] [-6.94906659e-01 7.17732608e-01 -4.43242375e-02 -7.26980495e+01] [-6.49597707e-02 -1.26842973e-03 9.97887077e-01 -6.99016610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.42, Y:-72.72, Z:-6.99 [[ 7.19385174e-01 6.93049535e-01 4.65544169e-02 1.40420661e+02] [-6.91686922e-01 7.20889346e-01 -4.34482799e-02 -7.27153703e+01] [-6.36723933e-02 -9.45032908e-04 9.97970407e-01 -6.99092956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.45, Y:-72.73, Z:-6.99 [[ 7.21382506e-01 6.91000754e-01 4.61002981e-02 1.40445813e+02] [-6.89659731e-01 7.22853649e-01 -4.30355388e-02 -7.27349036e+01] [-6.30613584e-02 -7.48434333e-04 9.98009371e-01 -6.99239391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.47, Y:-72.76, Z:-6.99 [[ 7.23788310e-01 6.88501358e-01 4.57860437e-02 1.40470940e+02] [-6.87172864e-01 7.25234866e-01 -4.27532889e-02 -7.27553168e+01] [-6.26413327e-02 -5.18596014e-04 9.98035969e-01 -6.99486945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75864 meters Centerline goodness [0,1] 0.9999508768482586 Centerline is valid? [True, True] Translation: X:140.50, Y:-72.77, Z:-7.00 [[ 7.27874339e-01 6.84223829e-01 4.51297905e-02 1.40497334e+02] [-6.82924243e-01 7.29272057e-01 -4.21514635e-02 -7.27746136e+01] [-6.17529309e-02 -1.39259292e-04 9.98091457e-01 -6.99578696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.52, Y:-72.80, Z:-7.00 [[ 7.29852155e-01 6.82101444e-01 4.53150204e-02 1.40521834e+02] [-6.80786371e-01 7.31257559e-01 -4.23355603e-02 -7.27952164e+01] [-6.20140981e-02 4.88516242e-05 9.98075272e-01 -6.99871230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.55, Y:-72.82, Z:-7.00 [[ 7.32266469e-01 6.79475103e-01 4.58192393e-02 1.40547359e+02] [-6.78124713e-01 7.33698511e-01 -4.28178515e-02 -7.28151908e+01] [-6.27111717e-02 2.82918397e-04 9.98031677e-01 -6.99917655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.57, Y:-72.84, Z:-7.00 [[ 7.32558527e-01 6.79161796e-01 4.57958325e-02 1.40571657e+02] [-6.77811380e-01 7.33988524e-01 -4.28086407e-02 -7.28371904e+01] [-6.26876088e-02 3.18898394e-04 9.98033147e-01 -7.00094017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.59, Y:-72.86, Z:-7.00 [[ 7.32227266e-01 6.79568860e-01 4.50488251e-02 1.40594748e+02] [-6.78262069e-01 7.33611669e-01 -4.21246335e-02 -7.28590627e+01] [-6.16749329e-02 2.89895876e-04 9.98096247e-01 -7.00230889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90864000000002 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:140.62, Y:-72.88, Z:-7.00 [[ 7.31579653e-01 6.80284624e-01 4.47665230e-02 1.40617712e+02] [-6.78994858e-01 7.32948002e-01 -4.18713364e-02 -7.28813148e+01] [-6.12959600e-02 2.35978813e-04 9.98119607e-01 -7.00363548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.64, Y:-72.90, Z:-7.00 [[ 7.30765966e-01 6.81178424e-01 4.44641176e-02 1.40640846e+02] [-6.79907045e-01 7.32117427e-01 -4.15990842e-02 -7.29032741e+01] [-6.08893540e-02 1.67728179e-04 9.98144508e-01 -7.00400172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.67, Y:-72.93, Z:-7.00 [[ 7.28437844e-01 6.83613341e-01 4.52891545e-02 1.40665039e+02] [-6.82298295e-01 7.29844366e-01 -4.23820448e-02 -7.29250096e+01] [-6.20269655e-02 -2.80275388e-05 9.98074474e-01 -7.00494781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.69, Y:-72.95, Z:-7.01 [[ 7.27079683e-01 6.85004159e-01 4.60916226e-02 1.40689098e+02] [-6.83644120e-01 7.28539143e-01 -4.31443408e-02 -7.29459077e+01] [-6.31336041e-02 -1.40893182e-04 9.98005074e-01 -7.00638238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02864 meters Centerline goodness [0,1] 0.9997548298519172 Centerline is valid? [True, True] Translation: X:140.71, Y:-72.97, Z:-7.01 [[ 7.26228023e-01 6.85872390e-01 4.66038997e-02 1.40713591e+02] [-6.84482976e-01 7.27721802e-01 -4.36352531e-02 -7.29671308e+01] [-6.38428892e-02 -2.10432321e-04 9.97959940e-01 -7.00830064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.74, Y:-72.99, Z:-7.01 [[ 7.26192069e-01 6.85902984e-01 4.67137537e-02 1.40737328e+02] [-6.84506344e-01 7.27692967e-01 -4.37494084e-02 -7.29893629e+01] [-6.40011199e-02 -2.05387354e-04 9.97949806e-01 -7.01011358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:140.76, Y:-73.01, Z:-7.01 [[ 7.26896168e-01 6.85263770e-01 4.51168127e-02 1.40761103e+02] [-6.83959193e-01 7.28294959e-01 -4.22643572e-02 -7.30109673e+01] [-6.18205800e-02 -1.36259490e-04 9.98087269e-01 -7.01019236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:140.79, Y:-73.03, Z:-7.01 [[ 7.28032127e-01 6.84071102e-01 4.48993276e-02 1.40787991e+02] [-6.82776150e-01 7.29415332e-01 -4.20713944e-02 -7.30299506e+01] [-6.15300830e-02 -2.68633219e-05 9.98105229e-01 -7.01113368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:140.81, Y:-73.05, Z:-7.01 [[ 7.28145338e-01 6.83906608e-01 4.55644319e-02 1.40811934e+02] [-6.82571994e-01 7.29569566e-01 -4.27050604e-02 -7.30495251e+01] [-6.24486958e-02 -5.51447400e-06 9.98048175e-01 -7.01169100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.84, Y:-73.07, Z:-7.01 [[ 7.27991341e-01 6.84014677e-01 4.63953479e-02 1.40835688e+02] [-6.82630540e-01 7.29468246e-01 -4.34928023e-02 -7.30707110e+01] [-6.35936481e-02 -8.49793081e-06 9.97975875e-01 -7.01234772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:140.86, Y:-73.09, Z:-7.01 [[ 7.26988670e-01 6.85030940e-01 4.71177767e-02 1.40858205e+02] [-6.83604945e-01 7.28513969e-01 -4.41777784e-02 -7.30922955e+01] [-6.45891036e-02 -9.32008061e-05 9.97911940e-01 -7.01396619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23864 meters Centerline goodness [0,1] 0.9999018308545624 Centerline is valid? [True, True] Translation: X:140.88, Y:-73.11, Z:-7.01 [[ 7.25036438e-01 6.87090237e-01 4.72140843e-02 1.40882342e+02] [-6.85662637e-01 7.26572040e-01 -4.42698361e-02 -7.31100153e+01] [-6.47218057e-02 -2.75689232e-04 9.97903308e-01 -7.01459466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.91, Y:-73.13, Z:-7.02 [[ 7.23689080e-01 6.88532347e-01 4.68756178e-02 1.40905421e+02] [-6.87128551e-01 7.25205518e-01 -4.39466961e-02 -7.31292401e+01] [-6.42531785e-02 -4.05831316e-04 9.97933547e-01 -7.01771710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:140.93, Y:-73.15, Z:-7.02 [[ 7.21178898e-01 6.91179626e-01 4.66017425e-02 1.40928947e+02] [-6.89798006e-01 7.22682720e-01 -4.36852099e-02 -7.31479258e+01] [-6.38726011e-02 -6.40937543e-04 9.97957855e-01 -7.01950830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.95, Y:-73.17, Z:-7.02 [[ 7.19573165e-01 6.92836292e-01 4.68223629e-02 1.40950458e+02] [-6.91446029e-01 7.21094466e-01 -4.38766518e-02 -7.31667174e+01] [-6.41626835e-02 -8.02675634e-04 9.97939129e-01 -7.01988584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.97, Y:-73.19, Z:-7.02 [[ 7.18396080e-01 6.94052272e-01 4.68883308e-02 1.40973119e+02] [-6.92663197e-01 7.19923995e-01 -4.38991674e-02 -7.31850664e+01] [-6.42243513e-02 -9.40831307e-04 9.97935042e-01 -7.02095108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.00, Y:-73.20, Z:-7.02 [[ 7.16411107e-01 6.96077779e-01 4.72318987e-02 1.40998087e+02] [-6.94675207e-01 7.17965447e-01 -4.41811476e-02 -7.32004801e+01] [-6.46643863e-02 -1.15896413e-03 9.97906395e-01 -7.02170024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.02, Y:-73.22, Z:-7.02 [[ 7.16468701e-01 6.96079710e-01 4.63210279e-02 1.41019769e+02] [-6.94733323e-01 7.17963563e-01 -4.32889370e-02 -7.32178869e+01] [-6.33893610e-02 -1.16559318e-03 9.97988191e-01 -7.02236063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.04, Y:-73.23, Z:-7.02 [[ 7.17774253e-01 6.94823849e-01 4.49437532e-02 1.41043930e+02] [-6.93556437e-01 7.19179193e-01 -4.19613707e-02 -7.32336272e+01] [-6.14783732e-02 -1.05223791e-03 9.98107861e-01 -7.02364502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.07, Y:-73.25, Z:-7.02 [[ 7.19382583e-01 6.93160249e-01 4.49173631e-02 1.41067067e+02] [-6.91893393e-01 7.20782903e-01 -4.18991613e-02 -7.32502641e+01] [-6.14185005e-02 -9.36499878e-04 9.98111662e-01 -7.02499677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50864 meters Centerline goodness [0,1] 0.9998528401844403 Centerline is valid? [True, True] Translation: X:141.09, Y:-73.27, Z:-7.03 [[ 7.20182740e-01 6.92306749e-01 4.52568957e-02 1.41089803e+02] [-6.91021450e-01 7.21602769e-01 -4.21758093e-02 -7.32673924e+01] [-6.18560987e-02 -8.99195847e-04 9.98084673e-01 -7.02663633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53864000000002 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:141.11, Y:-73.28, Z:-7.03 [[ 7.21978608e-01 6.90330501e-01 4.68047973e-02 1.41114650e+02] [-6.88954488e-01 7.23493731e-01 -4.35721744e-02 -7.32815998e+01] [-6.39421784e-02 -7.88197321e-04 9.97953294e-01 -7.02807753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.14, Y:-73.30, Z:-7.03 [[ 7.22963657e-01 6.89326225e-01 4.63994255e-02 1.41138164e+02] [-6.87974563e-01 7.24450710e-01 -4.31528605e-02 -7.32982784e+01] [-6.33604952e-02 -7.23674623e-04 9.97990443e-01 -7.02847558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59864000000002 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:141.16, Y:-73.31, Z:-7.03 [[ 7.24665924e-01 6.87634504e-01 4.49231327e-02 1.41164064e+02] [-6.86366539e-01 7.26056781e-01 -4.17435647e-02 -7.33128246e+01] [-6.13210605e-02 -5.83596264e-04 9.98117922e-01 -7.03006122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.19, Y:-73.33, Z:-7.03 [[ 7.25939807e-01 6.86261379e-01 4.53510299e-02 1.41185378e+02] [-6.84968889e-01 7.27354844e-01 -4.21016896e-02 -7.33303407e+01] [-6.18790549e-02 -5.00752150e-04 9.98083529e-01 -7.03181729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65864000000002 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:141.21, Y:-73.35, Z:-7.03 [[ 7.26257496e-01 6.85958339e-01 4.48464849e-02 1.41206537e+02] [-6.84696472e-01 7.27640644e-01 -4.15912677e-02 -7.33489434e+01] [-6.11620021e-02 -5.00260088e-04 9.98127727e-01 -7.03353928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68864000000002 meters Centerline goodness [0,1] 0.9999510020089176 Centerline is valid? [True, True] Translation: X:141.23, Y:-73.36, Z:-7.04 [[ 7.27999677e-01 6.84023439e-01 4.61346505e-02 1.41231216e+02] [-6.82686757e-01 7.29459932e-01 -4.27434217e-02 -7.33639288e+01] [-6.28908813e-02 -3.78317741e-04 9.98020337e-01 -7.03549939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.25, Y:-73.38, Z:-7.04 [[ 7.28285619e-01 6.83670975e-01 4.68407563e-02 1.41254204e+02] [-6.82294403e-01 7.29790282e-01 -4.33646285e-02 -7.33813073e+01] [-6.38310666e-02 -3.77350605e-04 9.97960647e-01 -7.03710145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.28, Y:-73.40, Z:-7.04 [[ 7.29819929e-01 6.82040562e-01 4.67283967e-02 1.41276861e+02] [-6.80669106e-01 7.31314301e-01 -4.32314874e-02 -7.33974871e+01] [-6.36587727e-02 -2.55374945e-04 9.97971691e-01 -7.03843244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.30, Y:-73.42, Z:-7.04 [[ 7.30749344e-01 6.81022117e-01 4.70560565e-02 1.41298623e+02] [-6.79632085e-01 7.32262819e-01 -4.34901376e-02 -7.34152713e+01] [-6.40751462e-02 -2.00416254e-04 9.97945056e-01 -7.03977137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.32, Y:-73.43, Z:-7.04 [[ 7.31270210e-01 6.80517498e-01 4.62581448e-02 1.41320743e+02] [-6.79175821e-01 7.32731808e-01 -4.27118459e-02 -7.34330945e+01] [-6.29609726e-02 -1.83512995e-04 9.98015973e-01 -7.04047225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.34, Y:-73.45, Z:-7.04 [[ 7.31182233e-01 6.80631914e-01 4.59645544e-02 1.41343189e+02] [-6.79309912e-01 7.32625518e-01 -4.24015808e-02 -7.34501481e+01] [-6.25346746e-02 -2.20894924e-04 9.98042767e-01 -7.04279274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.36, Y:-73.47, Z:-7.04 [[ 7.30752691e-01 6.81140270e-01 4.52596562e-02 1.41363743e+02] [-6.79862095e-01 7.32152885e-01 -4.17095276e-02 -7.34684235e+01] [-6.15470268e-02 -2.90975155e-04 9.98104142e-01 -7.04280604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.39, Y:-73.49, Z:-7.04 [[ 7.29153003e-01 6.82841063e-01 4.54310598e-02 1.41386643e+02] [-6.81559003e-01 7.30566812e-01 -4.18265448e-02 -7.34863314e+01] [-6.17513068e-02 -4.65997056e-04 9.98091458e-01 -7.04324112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.41, Y:-73.50, Z:-7.04 [[ 7.28192745e-01 6.83778468e-01 4.67154425e-02 1.41408829e+02] [-6.82427206e-01 7.29689427e-01 -4.29703272e-02 -7.35046566e+01] [-6.34699489e-02 -5.89208312e-04 9.97983576e-01 -7.04429100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.43, Y:-73.52, Z:-7.04 [[ 7.27419309e-01 6.84610806e-01 4.65746010e-02 1.41430396e+02] [-6.83271886e-01 7.28908479e-01 -4.28014000e-02 -7.35222734e+01] [-6.32509225e-02 -6.88550662e-04 9.97997418e-01 -7.04465365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.45, Y:-73.54, Z:-7.05 [[ 7.26316273e-01 6.85744751e-01 4.71042226e-02 1.41454357e+02] [-6.84380240e-01 7.27841640e-01 -4.32462099e-02 -7.35384783e+01] [-6.39402760e-02 -8.26773185e-04 9.97953384e-01 -7.04598696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.48, Y:-73.56, Z:-7.05 [[ 7.25847336e-01 6.86254899e-01 4.69026534e-02 1.41475872e+02] [-6.84905640e-01 7.27360577e-01 -4.30215594e-02 -7.35556068e+01] [-6.36388970e-02 -8.96807611e-04 9.97972588e-01 -7.04661259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.50, Y:-73.57, Z:-7.05 [[ 7.27371733e-01 6.84632521e-01 4.69965277e-02 1.41499915e+02] [-6.83277135e-01 7.28887983e-01 -4.30658154e-02 -7.35722581e+01] [-6.37394621e-02 -7.86795996e-04 9.97966263e-01 -7.04775743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07864 meters Centerline goodness [0,1] 0.9999510619555643 Centerline is valid? [True, True] Translation: X:141.52, Y:-73.59, Z:-7.05 [[ 7.28842706e-01 6.83035449e-01 4.74434818e-02 1.41521511e+02] [-6.81653370e-01 7.30384904e-01 -4.34347240e-02 -7.35901635e+01] [-6.43194592e-02 -6.82927405e-04 9.97929126e-01 -7.05003650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.54, Y:-73.61, Z:-7.05 [[ 7.30609650e-01 6.81110755e-01 4.79341005e-02 1.41543801e+02] [-6.79698671e-01 7.32180193e-01 -4.38392711e-02 -7.36071960e+01] [-6.49557981e-02 -5.51349841e-04 9.97887990e-01 -7.05088305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.57, Y:-73.62, Z:-7.05 [[ 7.33264850e-01 6.78284684e-01 4.74610006e-02 1.41569112e+02] [-6.76897101e-01 7.34799142e-01 -4.33651381e-02 -7.36217847e+01] [-6.42882115e-02 -3.28082268e-04 9.97931319e-01 -7.05121163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.59, Y:-73.64, Z:-7.05 [[ 7.33817941e-01 6.77707424e-01 4.71580035e-02 1.41590921e+02] [-6.76338864e-01 7.35331595e-01 -4.30486548e-02 -7.36390640e+01] [-6.38511629e-02 -3.04915334e-04 9.97959386e-01 -7.05233789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.61, Y:-73.66, Z:-7.05 [[ 7.34775148e-01 6.76721303e-01 4.64086251e-02 1.41614801e+02] [-6.75396505e-01 7.36239240e-01 -4.23242476e-02 -7.36560681e+01] [-6.28095708e-02 -2.45417939e-04 9.98025499e-01 -7.05229488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.64, Y:-73.67, Z:-7.06 [[ 7.35765453e-01 6.75578575e-01 4.73580686e-02 1.41636978e+02] [-6.74199069e-01 7.37287974e-01 -4.31515744e-02 -7.36736182e+01] [-6.40688136e-02 -1.79328133e-04 9.97945467e-01 -7.05590230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:141.66, Y:-73.69, Z:-7.06 [[ 7.37679216e-01 6.73481159e-01 4.74605405e-02 1.41660467e+02] [-6.72093903e-01 7.39204389e-01 -4.32048262e-02 -7.36887470e+01] [-6.41806762e-02 -2.66375903e-05 9.97938295e-01 -7.05716069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28864000000002 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:141.68, Y:-73.71, Z:-7.06 [[ 7.39475167e-01 6.71470555e-01 4.79976173e-02 1.41683673e+02] [-6.70050189e-01 7.41031227e-01 -4.36516256e-02 -7.37062772e+01] [-6.48785145e-02 1.18480533e-04 9.97893163e-01 -7.05822628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.71, Y:-73.72, Z:-7.06 [[ 7.40530164e-01 6.70282896e-01 4.83313154e-02 1.41705867e+02] [-6.68842801e-01 7.42105654e-01 -4.39147444e-02 -7.37232909e+01] [-6.53022444e-02 1.94140480e-04 9.97865512e-01 -7.05905222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.73, Y:-73.74, Z:-7.06 [[ 7.41719881e-01 6.69009737e-01 4.77241006e-02 1.41728744e+02] [-6.67605772e-01 7.43253590e-01 -4.33201399e-02 -7.37387634e+01] [-6.44527045e-02 2.70524005e-04 9.97920726e-01 -7.06001626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.75, Y:-73.76, Z:-7.06 [[ 7.42577222e-01 6.68043733e-01 4.79232658e-02 1.41750417e+02] [-6.66628799e-01 7.44121943e-01 -4.34577788e-02 -7.37558011e+01] [-6.46924505e-02 3.23727493e-04 9.97905197e-01 -7.06129076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40864000000002 meters Centerline goodness [0,1] 0.9999510403916768 Centerline is valid? [True, True] Translation: X:141.77, Y:-73.77, Z:-7.06 [[ 7.44053174e-01 6.66350942e-01 4.85931721e-02 1.41774657e+02] [-6.64895270e-01 7.45638131e-01 -4.40233733e-02 -7.37719451e+01] [-6.55679383e-02 4.46360329e-04 9.97848008e-01 -7.06160339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43864000000002 meters Centerline goodness [0,1] 0.9999510403916768 Centerline is valid? [True, True] Translation: X:141.79, Y:-73.79, Z:-7.06 [[ 7.44377006e-01 6.65987730e-01 4.86129389e-02 1.41794673e+02] [-6.64532709e-01 7.45962561e-01 -4.40015385e-02 -7.37905396e+01] [-6.55679171e-02 4.48845414e-04 9.97848008e-01 -7.06275913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.82, Y:-73.81, Z:-7.06 [[ 7.45801800e-01 6.64372743e-01 4.88726252e-02 1.41817193e+02] [-6.62901386e-01 7.47401191e-01 -4.41951540e-02 -7.38084694e+01] [-6.58895140e-02 5.63094399e-04 9.97826766e-01 -7.06364364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.84, Y:-73.83, Z:-7.07 [[ 7.47640798e-01 6.62319958e-01 4.86365063e-02 1.41839444e+02] [-6.60860910e-01 7.49220772e-01 -4.39441950e-02 -7.38263835e+01] [-6.55445982e-02 7.12507223e-04 9.97849386e-01 -7.06547707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.86, Y:-73.84, Z:-7.07 [[ 7.50904701e-01 6.58624244e-01 4.85410707e-02 1.41862327e+02] [-6.57165620e-01 7.52471325e-01 -4.38207025e-02 -7.38433225e+01] [-6.53871408e-02 1.00564873e-03 9.97859464e-01 -7.06716939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.88, Y:-73.86, Z:-7.07 [[ 7.52674771e-01 6.56634893e-01 4.80760476e-02 1.41884001e+02] [-6.55202413e-01 7.54207742e-01 -4.33645098e-02 -7.38614599e+01] [-6.47339775e-02 1.13983006e-03 9.97901905e-01 -7.06865591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.91, Y:-73.88, Z:-7.07 [[ 7.56432027e-01 6.52248310e-01 4.88132153e-02 1.41906537e+02] [-6.50764807e-01 7.58003864e-01 -4.39921382e-02 -7.38790173e+01] [-6.56944036e-02 1.51113968e-03 9.97838645e-01 -7.07067499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.93, Y:-73.90, Z:-7.07 [[ 7.57796879e-01 6.50660926e-01 4.88287760e-02 1.41928078e+02] [-6.49175598e-01 7.59366664e-01 -4.39694514e-02 -7.38978195e+01] [-6.56881487e-02 1.62146318e-03 9.97838884e-01 -7.07211741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.95, Y:-73.92, Z:-7.07 [[ 7.58003275e-01 6.50349324e-01 4.97673833e-02 1.41949158e+02] [-6.48808118e-01 7.59633483e-01 -4.47771962e-02 -7.39173130e+01] [-6.69257900e-02 1.65177908e-03 9.97756589e-01 -7.07365459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.97, Y:-73.94, Z:-7.08 [[ 7.59211179e-01 6.48989297e-01 4.91047675e-02 1.41970086e+02] [-6.47488570e-01 7.60795595e-01 -4.41431210e-02 -7.39357930e+01] [-6.60071039e-02 1.71917526e-03 9.97817672e-01 -7.07572244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.99, Y:-73.96, Z:-7.08 [[ 7.59934298e-01 6.48145744e-01 4.90607516e-02 1.41990736e+02] [-6.46648567e-01 7.61514277e-01 -4.40639986e-02 -7.39562482e+01] [-6.59203559e-02 1.76067912e-03 9.97823334e-01 -7.07765393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73864 meters Centerline goodness [0,1] 0.999902095163501 Centerline is valid? [True, True] Translation: X:142.01, Y:-73.98, Z:-7.08 [[ 7.61029550e-01 6.46786471e-01 5.00128397e-02 1.42010070e+02] [-6.45230116e-01 7.62668802e-01 -4.48820237e-02 -7.39778081e+01] [-6.71723182e-02 1.88675599e-03 9.97739605e-01 -7.07912228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76864 meters Centerline goodness [0,1] 0.9999019944136815 Centerline is valid? [True, True] Translation: X:142.03, Y:-74.00, Z:-7.08 [[ 7.61772545e-01 6.45912700e-01 4.99937380e-02 1.42030996e+02] [-6.44358130e-01 7.63408829e-01 -4.48281210e-02 -7.39975447e+01] [-6.71207136e-02 1.93496030e-03 9.97742986e-01 -7.08035568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79864 meters Centerline goodness [0,1] 0.9999021430668363 Centerline is valid? [True, True] Translation: X:142.05, Y:-74.02, Z:-7.08 [[ 7.62195998e-01 6.45291959e-01 5.15320151e-02 1.42051337e+02] [-6.43640728e-01 7.63933355e-01 -4.61783745e-02 -7.40171301e+01] [-6.91655590e-02 2.02886853e-03 9.97603132e-01 -7.08233219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:142.07, Y:-74.04, Z:-7.08 [[ 7.63489727e-01 6.43792260e-01 5.11367079e-02 1.42070236e+02] [-6.42164487e-01 7.65197351e-01 -4.58015872e-02 -7.40394662e+01] [-6.86163807e-02 2.13086344e-03 9.97640843e-01 -7.08407491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85864 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:142.09, Y:-74.06, Z:-7.09 [[ 7.63625803e-01 6.43692628e-01 5.03530929e-02 1.42089848e+02] [-6.42116675e-01 7.65281307e-01 -4.50632437e-02 -7.40602435e+01] [-6.75411585e-02 2.07889506e-03 9.97714323e-01 -7.08541224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88864 meters Centerline goodness [0,1] 0.9999021334899197 Centerline is valid? [True, True] Translation: X:142.11, Y:-74.08, Z:-7.09 [[ 7.64675443e-01 6.42405628e-01 5.08574087e-02 1.42109307e+02] [-6.40797637e-01 7.66361684e-01 -4.54770007e-02 -7.40813009e+01] [-6.81898505e-02 2.18583834e-03 9.97669969e-01 -7.08680187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:142.13, Y:-74.10, Z:-7.09 [[ 7.65528248e-01 6.41387283e-01 5.08807838e-02 1.42129422e+02] [-6.39778104e-01 7.67213983e-01 -4.54607819e-02 -7.41020843e+01] [-6.81944161e-02 2.24910132e-03 9.97669516e-01 -7.08778824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94864 meters Centerline goodness [0,1] 0.999901768172888 Centerline is valid? [True, True] Translation: X:142.15, Y:-74.12, Z:-7.09 [[ 7.66349615e-01 6.40340990e-01 5.16883301e-02 1.42148042e+02] [-6.38680506e-01 7.68087164e-01 -4.61445562e-02 -7.41238623e+01] [-6.92493937e-02 2.35053406e-03 9.97596610e-01 -7.08886437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97864 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:142.16, Y:-74.15, Z:-7.09 [[ 7.67451465e-01 6.39042982e-01 5.14034537e-02 1.42163733e+02] [-6.37400417e-01 7.69167201e-01 -4.58532991e-02 -7.41493673e+01] [-6.88400796e-02 2.42559875e-03 9.97624759e-01 -7.08999666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00864 meters Centerline goodness [0,1] 0.9995088891071604 Centerline is valid? [True, True] Translation: X:142.18, Y:-74.17, Z:-7.09 [[ 7.67534339e-01 6.38917256e-01 5.17279315e-02 1.42181903e+02] [-6.37256327e-01 7.69271652e-01 -4.61031315e-02 -7.41704895e+01] [-6.92489176e-02 2.42178496e-03 9.97596473e-01 -7.09052449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03864000000002 meters Centerline goodness [0,1] 0.9995588235294117 Centerline is valid? [True, True] Translation: X:142.20, Y:-74.19, Z:-7.09 [[ 7.68409533e-01 6.37930943e-01 5.09009022e-02 1.42198602e+02] [-6.36323448e-01 7.70089714e-01 -4.53244080e-02 -7.41939890e+01] [-6.81121036e-02 2.43826957e-03 9.97674695e-01 -7.09251120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06864000000002 meters Centerline goodness [0,1] 0.9996566102526367 Centerline is valid? [True, True] Translation: X:142.22, Y:-74.22, Z:-7.09 [[ 7.69120562e-01 6.37206093e-01 4.92133715e-02 1.42216780e+02] [-6.35704501e-01 7.70689743e-01 -4.37847868e-02 -7.42164421e+01] [-6.58281735e-02 2.39061809e-03 9.97828110e-01 -7.09250930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09864000000002 meters Centerline goodness [0,1] 0.9995096356592948 Centerline is valid? [True, True] Translation: X:142.24, Y:-74.24, Z:-7.09 [[ 7.68892319e-01 6.37487844e-01 4.91309488e-02 1.42235352e+02] [-6.35994085e-01 7.70456871e-01 -4.36776138e-02 -7.42388877e+01] [-6.56972249e-02 2.33638892e-03 9.97836868e-01 -7.09414764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.25, Y:-74.26, Z:-7.09 [[ 7.67137855e-01 6.39622826e-01 4.88072953e-02 1.42251531e+02] [-6.38154900e-01 7.68685994e-01 -4.33608724e-02 -7.42646254e+01] [-6.52520881e-02 2.11715198e-03 9.97866566e-01 -7.09475912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15864000000002 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:142.27, Y:-74.29, Z:-7.10 [[ 7.65211838e-01 6.41883048e-01 4.93659437e-02 1.42270236e+02] [-6.40387596e-01 7.66800128e-01 -4.38325346e-02 -7.42871266e+01] [-6.59891728e-02 1.92783637e-03 9.97818477e-01 -7.09687767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18864000000002 meters Centerline goodness [0,1] 0.9998527462818436 Centerline is valid? [True, True] Translation: X:142.29, Y:-74.31, Z:-7.10 [[ 7.62446702e-01 6.45144175e-01 4.96388978e-02 1.42286154e+02] [-6.43641361e-01 7.64059123e-01 -4.40392547e-02 -7.43132418e+01] [-6.63387214e-02 1.62793679e-03 9.97795833e-01 -7.09860530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21864000000002 meters Centerline goodness [0,1] 0.9998038350252563 Centerline is valid? [True, True] Translation: X:142.30, Y:-74.34, Z:-7.10 [[ 7.60791633e-01 6.47054789e-01 5.01616483e-02 1.42304969e+02] [-6.45526638e-01 7.62442128e-01 -4.44675338e-02 -7.43359026e+01] [-6.70182846e-02 1.44984745e-03 9.97750694e-01 -7.09983543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.32, Y:-74.36, Z:-7.10 [[ 7.59901254e-01 6.48030639e-01 5.10526816e-02 1.42324169e+02] [-6.46452610e-01 7.61613057e-01 -4.52169595e-02 -7.43567644e+01] [-6.81843641e-02 1.35728497e-03 9.97671815e-01 -7.10103509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27864 meters Centerline goodness [0,1] 0.999754986034204 Centerline is valid? [True, True] Translation: X:142.34, Y:-74.38, Z:-7.10 [[ 7.57688505e-01 6.50525419e-01 5.21996984e-02 1.42341961e+02] [-6.48884498e-01 7.59483648e-01 -4.61897882e-02 -7.43802689e+01] [-6.96924487e-02 1.12589647e-03 9.97567890e-01 -7.10144294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30864 meters Centerline goodness [0,1] 0.9998530420299794 Centerline is valid? [True, True] Translation: X:142.36, Y:-74.40, Z:-7.10 [[ 7.57061787e-01 6.51269213e-01 5.20179103e-02 1.42360694e+02] [-6.49644186e-01 7.58846074e-01 -4.59898630e-02 -7.44019289e+01] [-6.94253688e-02 1.02403492e-03 9.97586623e-01 -7.10293805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33864 meters Centerline goodness [0,1] 0.9997548659116536 Centerline is valid? [True, True] Translation: X:142.38, Y:-74.43, Z:-7.10 [[ 7.55614403e-01 6.52980723e-01 5.16047390e-02 1.42379142e+02] [-6.51388018e-01 7.57374071e-01 -4.55869118e-02 -7.44252727e+01] [-6.88514659e-02 8.31418433e-04 9.97626576e-01 -7.10299671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36864 meters Centerline goodness [0,1] 0.9997057092407299 Centerline is valid? [True, True] Translation: X:142.40, Y:-74.45, Z:-7.11 [[ 7.55256820e-01 6.53403674e-01 5.14856778e-02 1.42398711e+02] [-6.51822014e-01 7.57009286e-01 -4.54422992e-02 -7.44453405e+01] [-6.86673014e-02 7.61108235e-04 9.97639325e-01 -7.10514752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39864 meters Centerline goodness [0,1] 0.999803950399451 Centerline is valid? [True, True] Translation: X:142.42, Y:-74.47, Z:-7.11 [[ 7.54868258e-01 6.53856284e-01 5.14380499e-02 1.42418668e+02] [-6.52281676e-01 7.56618457e-01 -4.53555489e-02 -7.44654658e+01] [-6.85749886e-02 6.85366813e-04 9.97645729e-01 -7.10681267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42864 meters Centerline goodness [0,1] 0.9999020424156341 Centerline is valid? [True, True] Translation: X:142.44, Y:-74.49, Z:-7.11 [[ 7.53047015e-01 6.55825316e-01 5.30409963e-02 1.42437356e+02] [-6.54158957e-01 7.54912522e-01 -4.67241174e-02 -7.44874013e+01] [-7.06841714e-02 4.88214385e-04 9.97498626e-01 -7.10869233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45864 meters Centerline goodness [0,1] 0.9997549740272469 Centerline is valid? [True, True] Translation: X:142.46, Y:-74.51, Z:-7.11 [[ 7.52745720e-01 6.56198963e-01 5.26953634e-02 1.42458009e+02] [-6.54557940e-01 7.54587797e-01 -4.63805880e-02 -7.45081529e+01] [-7.01981720e-02 4.20620593e-04 9.97532977e-01 -7.10911907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48864 meters Centerline goodness [0,1] 0.9996070147860687 Centerline is valid? [True, True] Translation: X:142.48, Y:-74.53, Z:-7.11 [[ 7.51963643e-01 6.57120425e-01 5.23777291e-02 1.42477743e+02] [-6.55503548e-01 7.53785548e-01 -4.60700230e-02 -7.45293782e+01] [-6.97551283e-02 3.09195120e-04 9.97564096e-01 -7.11025448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51864 meters Centerline goodness [0,1] 0.9997057669674382 Centerline is valid? [True, True] Translation: X:142.50, Y:-74.55, Z:-7.11 [[ 7.52337622e-01 6.56733105e-01 5.18626237e-02 1.42498418e+02] [-6.55149001e-01 7.54123018e-01 -4.55879325e-02 -7.45490933e+01] [-6.90499028e-02 3.19770542e-04 9.97613156e-01 -7.11261883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54864 meters Centerline goodness [0,1] 0.9997057525378844 Centerline is valid? [True, True] Translation: X:142.52, Y:-74.57, Z:-7.11 [[ 7.52446921e-01 6.56613413e-01 5.17924476e-02 1.42518343e+02] [-6.55036253e-01 7.54227245e-01 -4.54837353e-02 -7.45687421e+01] [-6.89285058e-02 2.98165785e-04 9.97621558e-01 -7.11489075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57864 meters Centerline goodness [0,1] 0.9999015844897156 Centerline is valid? [True, True] Translation: X:142.54, Y:-74.59, Z:-7.12 [[ 7.52792359e-01 6.56260002e-01 5.12491380e-02 1.42538147e+02] [-6.54717903e-01 7.54534773e-01 -4.49638049e-02 -7.45893559e+01] [-6.81772033e-02 2.94680616e-04 9.97673184e-01 -7.11556871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60864 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:142.56, Y:-74.61, Z:-7.12 [[ 7.53203978e-01 6.55845798e-01 5.04980882e-02 1.42558555e+02] [-6.54350287e-01 7.54894827e-01 -4.42662573e-02 -7.46091820e+01] [-6.71525844e-02 2.98082536e-04 9.97742673e-01 -7.11749048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63864 meters Centerline goodness [0,1] 0.9999017971128351 Centerline is valid? [True, True] Translation: X:142.58, Y:-74.63, Z:-7.12 [[ 7.51873065e-01 6.57364229e-01 5.05881948e-02 1.42577166e+02] [-6.55869584e-01 7.53572991e-01 -4.43038985e-02 -7.46300131e+01] [-6.72456953e-02 1.31649656e-04 9.97736438e-01 -7.11890615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66864 meters Centerline goodness [0,1] 0.9996568795647273 Centerline is valid? [True, True] Translation: X:142.60, Y:-74.65, Z:-7.12 [[ 7.51768024e-01 6.57558422e-01 4.96161322e-02 1.42598176e+02] [-6.56123873e-01 7.53403554e-01 -4.34113813e-02 -7.46494790e+01] [-6.59264897e-02 8.09595072e-05 9.97824479e-01 -7.11868959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69864 meters Centerline goodness [0,1] 0.9998034398034398 Centerline is valid? [True, True] Translation: X:142.62, Y:-74.67, Z:-7.12 [[ 7.51338852e-01 6.57987458e-01 5.04225586e-02 1.42619389e+02] [-6.56509457e-01 7.53028887e-01 -4.40775145e-02 -7.46683382e+01] [-6.69720949e-02 1.42626091e-05 9.97754849e-01 -7.12034739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:142.64, Y:-74.69, Z:-7.12 [[ 7.50386618e-01 6.59052844e-01 5.06879846e-02 1.42639539e+02] [-6.57564464e-01 7.52096627e-01 -4.42678120e-02 -7.46877356e+01] [-6.72970896e-02 -1.12643695e-04 9.97732975e-01 -7.12191568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75864 meters Centerline goodness [0,1] 0.9998034494619429 Centerline is valid? [True, True] Translation: X:142.66, Y:-74.71, Z:-7.12 [[ 7.50600763e-01 6.58905835e-01 4.94125067e-02 1.42661182e+02] [-6.57493895e-01 7.52225421e-01 -4.31125749e-02 -7.47067842e+01] [-6.55764708e-02 -1.28089901e-04 9.97847538e-01 -7.12263918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78864000000002 meters Centerline goodness [0,1] 0.9997043169722057 Centerline is valid? [True, True] Translation: X:142.68, Y:-74.72, Z:-7.12 [[ 7.50955999e-01 6.58506356e-01 4.93403152e-02 1.42682922e+02] [-6.57100329e-01 7.52575155e-01 -4.30092223e-02 -7.47248910e+01] [-6.54541416e-02 -1.23503816e-04 9.97855571e-01 -7.12323177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81864000000002 meters Centerline goodness [0,1] 0.9996571148665198 Centerline is valid? [True, True] Translation: X:142.70, Y:-74.74, Z:-7.13 [[ 7.51668404e-01 6.57669879e-01 4.96481587e-02 1.42703738e+02] [-6.56247351e-01 7.53306261e-01 -4.32329949e-02 -7.47433359e+01] [-6.58333074e-02 -8.45963276e-05 9.97830631e-01 -7.12520330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84864000000002 meters Centerline goodness [0,1] 0.9996561886051081 Centerline is valid? [True, True] Translation: X:142.72, Y:-74.76, Z:-7.13 [[ 7.52340820e-01 6.56908503e-01 4.95430098e-02 1.42724721e+02] [-6.55493271e-01 7.53970302e-01 -4.30970457e-02 -7.47621719e+01] [-6.56647739e-02 -5.14428312e-05 9.97841738e-01 -7.12663372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87864000000002 meters Centerline goodness [0,1] 0.9996565765588972 Centerline is valid? [True, True] Translation: X:142.75, Y:-74.78, Z:-7.13 [[ 7.53349054e-01 6.55704572e-01 5.01668983e-02 1.42746439e+02] [-6.54253623e-01 7.55017559e-01 -4.35968174e-02 -7.47816041e+01] [-6.64635216e-02 2.17461445e-05 9.97788855e-01 -7.12810221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90864000000002 meters Centerline goodness [0,1] 0.9998036231528303 Centerline is valid? [True, True] Translation: X:142.77, Y:-74.80, Z:-7.13 [[ 7.53804772e-01 6.55108792e-01 5.10963428e-02 1.42767784e+02] [-6.53604871e-01 7.55534558e-01 -4.43644486e-02 -7.48005114e+01] [-6.76685931e-02 4.53144937e-05 9.97707853e-01 -7.12824857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93864000000002 meters Centerline goodness [0,1] 0.9998037098832073 Centerline is valid? [True, True] Translation: X:142.79, Y:-74.82, Z:-7.13 [[ 7.54179107e-01 6.54702606e-01 5.07776751e-02 1.42788288e+02] [-6.53219275e-01 7.55886563e-01 -4.40463765e-02 -7.48198646e+01] [-6.72194397e-02 4.99007619e-05 9.97738214e-01 -7.12998271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96864000000002 meters Centerline goodness [0,1] 0.9998037098832073 Centerline is valid? [True, True] Translation: X:142.81, Y:-74.84, Z:-7.13 [[ 7.56947108e-01 6.51698404e-01 4.81691413e-02 1.42808653e+02] [-6.50360083e-01 7.58478158e-01 -4.17450089e-02 -7.48410534e+01] [-6.37403973e-02 2.71476985e-04 9.97966476e-01 -7.13081192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99864 meters Centerline goodness [0,1] 0.9994115050757687 Centerline is valid? [True, True] Translation: X:142.83, Y:-74.86, Z:-7.13 [[ 7.59721716e-01 6.48477025e-01 4.79631360e-02 1.42828102e+02] [-6.47145928e-01 7.61234054e-01 -4.15314662e-02 -7.48628564e+01] [-6.34433741e-02 5.13208636e-04 9.97985308e-01 -7.13340425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02864 meters Centerline goodness [0,1] 0.9996567617926841 Centerline is valid? [True, True] Translation: X:142.85, Y:-74.88, Z:-7.13 [[ 7.60507515e-01 6.47456330e-01 4.92810306e-02 1.42848616e+02] [-6.46051361e-01 7.62102328e-01 -4.26342731e-02 -7.48829338e+01] [-6.51610181e-02 5.85608202e-04 9.97874591e-01 -7.13391924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05864 meters Centerline goodness [0,1] 0.999558390578999 Centerline is valid? [True, True] Translation: X:142.87, Y:-74.90, Z:-7.13 [[ 7.61349670e-01 6.46476213e-01 4.91445482e-02 1.42869117e+02] [-6.45079540e-01 7.62933876e-01 -4.24769142e-02 -7.49023403e+01] [-6.49543553e-02 6.37641992e-04 9.97888032e-01 -7.13489023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08864 meters Centerline goodness [0,1] 0.9996566270970274 Centerline is valid? [True, True] Translation: X:142.89, Y:-74.92, Z:-7.14 [[ 7.61609727e-01 6.46157690e-01 4.93037964e-02 1.42888729e+02] [-6.44754092e-01 7.63203668e-01 -4.25713873e-02 -7.49216780e+01] [-6.51366675e-02 6.33958161e-04 9.97876151e-01 -7.13539609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11864 meters Centerline goodness [0,1] 0.9995584988962473 Centerline is valid? [True, True] Translation: X:142.91, Y:-74.94, Z:-7.14 [[ 7.61470932e-01 6.46431364e-01 4.78383837e-02 1.42907431e+02] [-6.45113053e-01 7.62971936e-01 -4.12670980e-02 -7.49433592e+01] [-6.31756907e-02 5.62529814e-04 9.98002262e-01 -7.13759525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14864 meters Centerline goodness [0,1] 0.999460466941338 Centerline is valid? [True, True] Translation: X:142.93, Y:-74.96, Z:-7.14 [[ 7.61579400e-01 6.46300266e-01 4.78830207e-02 1.42927625e+02] [-6.44981646e-01 7.63083003e-01 -4.12674977e-02 -7.49626478e+01] [-6.32099140e-02 5.44806652e-04 9.98000105e-01 -7.13850715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17864 meters Centerline goodness [0,1] 0.9997545048362547 Centerline is valid? [True, True] Translation: X:142.95, Y:-74.98, Z:-7.14 [[ 7.61432246e-01 6.46420549e-01 4.85943279e-02 1.42949184e+02] [-6.45065296e-01 7.62981135e-01 -4.18395953e-02 -7.49819865e+01] [-6.41225297e-02 5.11502493e-04 9.97941902e-01 -7.14013454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20864 meters Centerline goodness [0,1] 0.9997546975420694 Centerline is valid? [True, True] Translation: X:142.97, Y:-75.00, Z:-7.14 [[ 7.62106261e-01 6.45557371e-01 4.94947287e-02 1.42970209e+02] [-6.44152057e-01 7.63711569e-01 -4.25765981e-02 -7.50013905e+01] [-6.52853337e-02 5.65760692e-04 9.97866477e-01 -7.14195200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.99, Y:-75.02, Z:-7.14 [[ 7.62329321e-01 6.45281194e-01 4.96607245e-02 1.42990330e+02] [-6.43868442e-01 7.63944937e-01 -4.26797757e-02 -7.50211197e+01] [-6.54785156e-02 5.61071127e-04 9.97853822e-01 -7.14380743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26864 meters Centerline goodness [0,1] 0.9998528113040919 Centerline is valid? [True, True] Translation: X:143.01, Y:-75.04, Z:-7.14 [[ 7.63783063e-01 6.43504253e-01 5.03756754e-02 1.43011485e+02] [-6.42048975e-01 7.65442219e-01 -4.32587925e-02 -7.50399674e+01] [-6.63968857e-02 6.96682271e-04 9.97793049e-01 -7.14308753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29864 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:143.03, Y:-75.06, Z:-7.14 [[ 7.65024909e-01 6.42081489e-01 4.96814775e-02 1.43032819e+02] [-6.40664931e-01 7.66635990e-01 -4.26345435e-02 -7.50577192e+01] [-6.54624599e-02 7.87307446e-04 9.97854722e-01 -7.14393470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32864 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:143.05, Y:-75.08, Z:-7.15 [[ 7.65339485e-01 6.41704858e-01 4.97025880e-02 1.43053375e+02] [-6.40289106e-01 7.66951273e-01 -4.26099234e-02 -7.50757996e+01] [-6.54624581e-02 7.87031224e-04 9.97854722e-01 -7.14509132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.07, Y:-75.10, Z:-7.15 [[ 7.66261536e-01 6.40605917e-01 4.96721032e-02 1.43073682e+02] [-6.39192365e-01 7.67869351e-01 -4.25415196e-02 -7.50956577e+01] [-6.53940348e-02 8.47901038e-04 9.97859159e-01 -7.14577584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38864 meters Centerline goodness [0,1] 0.9998527245949926 Centerline is valid? [True, True] Translation: X:143.09, Y:-75.11, Z:-7.15 [[ 7.66831418e-01 6.39953781e-01 4.92821984e-02 1.43093742e+02] [-6.38563722e-01 7.68412917e-01 -4.21658827e-02 -7.51148759e+01] [-6.48532939e-02 8.64299568e-04 9.97894435e-01 -7.14624328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.11, Y:-75.13, Z:-7.15 [[ 7.67500973e-01 6.39137314e-01 4.94545246e-02 1.43114170e+02] [-6.37738562e-01 7.69092112e-01 -4.22711540e-02 -7.51342410e+01] [-6.50521566e-02 9.04094493e-04 9.97881456e-01 -7.14786393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:143.13, Y:-75.16, Z:-7.15 [[ 7.68036155e-01 6.38496162e-01 4.94278836e-02 1.43133534e+02] [-6.37100210e-01 7.69624449e-01 -4.22081726e-02 -7.51553574e+01] [-6.49906639e-02 9.26887625e-04 9.97885442e-01 -7.14899767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.15, Y:-75.18, Z:-7.15 [[ 7.68408980e-01 6.38006402e-01 4.99546926e-02 1.43153419e+02] [-6.36581937e-01 7.70030473e-01 -4.26205181e-02 -7.51755391e+01] [-6.56587990e-02 9.49733844e-04 9.97841681e-01 -7.15076341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.17, Y:-75.20, Z:-7.15 [[ 7.68851687e-01 6.37496948e-01 4.96460057e-02 1.43174096e+02] [-6.36090417e-01 7.70452270e-01 -4.23353364e-02 -7.52002386e+01] [-6.52385255e-02 9.70246364e-04 9.97869227e-01 -7.15202427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53864000000002 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:143.20, Y:-75.22, Z:-7.15 [[ 7.68955708e-01 6.37434304e-01 4.88326341e-02 1.43196223e+02] [-6.36073078e-01 7.70504107e-01 -4.16468411e-02 -7.52226214e+01] [-6.41728703e-02 9.63452307e-04 9.97938332e-01 -7.15223575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.22, Y:-75.25, Z:-7.15 [[ 7.67760237e-01 6.38848399e-01 4.91623973e-02 1.43216880e+02] [-6.37471142e-01 7.69332171e-01 -4.19351152e-02 -7.52474067e+01] [-6.46123951e-02 8.56504401e-04 9.97910068e-01 -7.15397984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59864000000002 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:143.24, Y:-75.27, Z:-7.16 [[ 7.66770984e-01 6.39958279e-01 5.01563597e-02 1.43239599e+02] [-6.38526358e-01 7.68409255e-01 -4.27937789e-02 -7.52698782e+01] [-6.59268440e-02 7.86870243e-04 9.97824149e-01 -7.15522684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.26, Y:-75.29, Z:-7.16 [[ 7.65599467e-01 6.41430868e-01 4.92331003e-02 1.43262206e+02] [-6.40053594e-01 7.67180560e-01 -4.20164819e-02 -7.52924365e+01] [-6.47213459e-02 6.55973319e-04 9.97903160e-01 -7.15653493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.28, Y:-75.32, Z:-7.16 [[ 7.64003106e-01 6.43256829e-01 5.01986584e-02 1.43284729e+02] [-6.41828081e-01 7.65650299e-01 -4.28524609e-02 -7.53160955e+01] [-6.59997560e-02 5.20504641e-04 9.97819503e-01 -7.15797788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.31, Y:-75.34, Z:-7.16 [[ 7.60049752e-01 6.48035463e-01 4.87279509e-02 1.43306000e+02] [-6.46698274e-01 7.61610153e-01 -4.16090994e-02 -7.53406717e+01] [-6.40758741e-02 1.12703960e-04 9.97945023e-01 -7.15862113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:-75.36, Z:-7.16 [[ 7.57033238e-01 6.51531847e-01 4.90604705e-02 1.43329522e+02] [-6.50182923e-01 7.58621264e-01 -4.19039899e-02 -7.53625132e+01] [-6.45201001e-02 -1.75566913e-04 9.97916392e-01 -7.15991313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.35, Y:-75.38, Z:-7.16 [[ 7.55824080e-01 6.52940240e-01 4.89796135e-02 1.43353979e+02] [-6.51597879e-01 7.57409375e-01 -4.18478559e-02 -7.53847837e+01] [-6.44217675e-02 -2.85395065e-04 9.97922720e-01 -7.16046944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.38, Y:-75.41, Z:-7.16 [[ 7.55238833e-01 6.53573063e-01 4.95636578e-02 1.43377124e+02] [-6.52198842e-01 7.56863357e-01 -4.23618878e-02 -7.54068363e+01] [-6.51995052e-02 -3.32017487e-04 9.97872193e-01 -7.16258030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.40, Y:-75.43, Z:-7.16 [[ 7.54996058e-01 6.53795921e-01 5.03174590e-02 1.43401338e+02] [-6.52379267e-01 7.56670849e-01 -4.30176578e-02 -7.54286326e+01] [-6.61985236e-02 -3.47904946e-04 9.97806411e-01 -7.16351159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.43, Y:-75.45, Z:-7.16 [[ 7.54775462e-01 6.54068677e-01 5.00816104e-02 1.43427107e+02] [-6.52665013e-01 7.56435084e-01 -4.28292566e-02 -7.54490452e+01] [-6.58967624e-02 -3.60042942e-04 9.97826381e-01 -7.16430441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.45, Y:-75.47, Z:-7.17 [[ 7.54951396e-01 6.53911791e-01 4.94748282e-02 1.43452677e+02] [-6.52540617e-01 7.56570724e-01 -4.23259113e-02 -7.54693484e+01] [-6.51086191e-02 -3.30329118e-04 9.97878128e-01 -7.16639313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.48, Y:-75.49, Z:-7.17 [[ 7.55273442e-01 6.53571048e-01 4.90603053e-02 1.43477316e+02] [-6.52221242e-01 7.56865115e-01 -4.19839129e-02 -7.54892991e+01] [-6.45715036e-02 -2.88838881e-04 9.97913041e-01 -7.16791258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.50, Y:-75.51, Z:-7.17 [[ 7.56073193e-01 6.52667789e-01 4.87655990e-02 1.43502272e+02] [-6.51331590e-01 7.57644189e-01 -4.17425797e-02 -7.55092656e+01] [-6.41910099e-02 -2.02129665e-04 9.97937610e-01 -7.16915525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.53, Y:-75.53, Z:-7.17 [[ 7.56553794e-01 6.52139953e-01 4.83718792e-02 1.43527259e+02] [-6.50823500e-01 7.58098582e-01 -4.14163270e-02 -7.55298923e+01] [-6.36798946e-02 -1.47876406e-04 9.97970365e-01 -7.16925541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.55, Y:-75.55, Z:-7.17 [[ 7.58144014e-01 6.50183865e-01 4.97854991e-02 1.43552359e+02] [-6.48784167e-01 7.59776902e-01 -4.26399276e-02 -7.55492425e+01] [-6.55496652e-02 2.71622740e-05 9.97849308e-01 -7.17165334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.58, Y:-75.57, Z:-7.17 [[ 7.58636048e-01 6.49567484e-01 5.03331920e-02 1.43576033e+02] [-6.48134448e-01 7.60303936e-01 -4.31238005e-02 -7.55703931e+01] [-6.62803425e-02 9.25940120e-05 9.97801036e-01 -7.17215376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04864 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:143.60, Y:-75.59, Z:-7.17 [[ 7.60234518e-01 6.47673894e-01 5.06162572e-02 1.43599413e+02] [-6.46219721e-01 7.61917617e-01 -4.33775996e-02 -7.55918883e+01] [-6.66599569e-02 2.67924889e-04 9.97775715e-01 -7.17404698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.62, Y:-75.61, Z:-7.18 [[ 7.61359061e-01 6.46377036e-01 5.02902230e-02 1.43624164e+02] [-6.44937852e-01 7.63018070e-01 -4.31113936e-02 -7.56133777e+01] [-6.62385637e-02 3.89181741e-04 9.97803739e-01 -7.17610885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.65, Y:-75.64, Z:-7.18 [[ 7.62808231e-01 6.44672451e-01 5.02099020e-02 1.43646882e+02] [-6.43233262e-01 7.64458718e-01 -4.30562214e-02 -7.56355431e+01] [-6.61405571e-02 5.46960976e-04 9.97810166e-01 -7.17699198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13864 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:143.67, Y:-75.66, Z:-7.18 [[ 7.63774703e-01 6.43509451e-01 5.04359971e-02 1.43669463e+02] [-6.42054103e-01 7.65437883e-01 -4.32594016e-02 -7.56579786e+01] [-6.64434567e-02 6.57797734e-04 9.97789975e-01 -7.17880651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.69, Y:-75.68, Z:-7.18 [[ 7.65174388e-01 6.41889809e-01 4.98560871e-02 1.43693128e+02] [-6.40463492e-01 7.66796476e-01 -4.27747609e-02 -7.56813192e+01] [-6.56861549e-02 7.99147865e-04 9.97840012e-01 -7.17952140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.72, Y:-75.71, Z:-7.18 [[ 7.66944628e-01 6.39828925e-01 4.91414671e-02 1.43715019e+02] [-6.38438102e-01 7.68516754e-01 -4.21756982e-02 -7.57058708e+01] [-6.47512725e-02 9.72640201e-04 9.97900960e-01 -7.18078130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22864 meters Centerline goodness [0,1] 0.9998523694700064 Centerline is valid? [True, True] Translation: X:143.74, Y:-75.73, Z:-7.18 [[ 7.67581071e-01 6.39078139e-01 4.89737977e-02 1.43738079e+02] [-6.37694590e-01 7.69141112e-01 -4.20423570e-02 -7.57287852e+01] [-6.45361124e-02 1.04059155e-03 9.97914830e-01 -7.18227666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25864 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:143.76, Y:-75.75, Z:-7.18 [[ 7.68240646e-01 6.38219779e-01 4.98179013e-02 1.43758591e+02] [-6.36785551e-01 7.69853371e-01 -4.27779023e-02 -7.57547901e+01] [-6.56541826e-02 1.14040358e-03 9.97841785e-01 -7.18399409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28864000000002 meters Centerline goodness [0,1] 0.9998029944838456 Centerline is valid? [True, True] Translation: X:143.78, Y:-75.78, Z:-7.19 [[ 7.68452410e-01 6.37998243e-01 4.93876047e-02 1.43781300e+02] [-6.36586820e-01 7.70036936e-01 -4.24303954e-02 -7.57783544e+01] [-6.51007975e-02 1.16624144e-03 9.97878012e-01 -7.18547219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31864000000002 meters Centerline goodness [0,1] 0.9995578264714552 Centerline is valid? [True, True] Translation: X:143.80, Y:-75.80, Z:-7.19 [[ 7.67797457e-01 6.38751922e-01 4.98301956e-02 1.43803918e+02] [-6.37313794e-01 7.69411899e-01 -4.28539135e-02 -7.58021806e+01] [-6.57129650e-02 1.14565475e-03 9.97837910e-01 -7.18670148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34864000000002 meters Centerline goodness [0,1] 0.9995576526098496 Centerline is valid? [True, True] Translation: X:143.83, Y:-75.83, Z:-7.19 [[ 7.67223258e-01 6.39459740e-01 4.95954974e-02 1.43825915e+02] [-6.38034510e-01 7.68823791e-01 -4.26842230e-02 -7.58262050e+01] [-6.54250404e-02 1.10468969e-03 9.97856875e-01 -7.18675503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37864000000002 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:143.85, Y:-75.85, Z:-7.19 [[ 7.65838459e-01 6.41185689e-01 4.87069545e-02 1.43846462e+02] [-6.39813223e-01 7.67385169e-01 -4.19409318e-02 -7.58512360e+01] [-6.42689198e-02 9.56625052e-04 9.97932157e-01 -7.18777287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40864000000002 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:143.87, Y:-75.88, Z:-7.19 [[ 7.63792950e-01 6.43710738e-01 4.75059578e-02 1.43866199e+02] [-6.42408281e-01 7.65268533e-01 -4.09349895e-02 -7.58778327e+01] [-6.27051069e-02 7.47635731e-04 9.98031818e-01 -7.18848974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.89, Y:-75.90, Z:-7.19 [[ 7.62508731e-01 6.45282845e-01 4.68026183e-02 1.43888818e+02] [-6.44020399e-01 7.63943492e-01 -4.03492981e-02 -7.59004477e+01] [-6.17912655e-02 6.24851201e-04 9.98088898e-01 -7.19024220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.91, Y:-75.92, Z:-7.19 [[ 7.60889882e-01 6.47206066e-01 4.65928572e-02 1.43912663e+02] [-6.45956277e-01 7.62314937e-01 -4.02047878e-02 -7.59226619e+01] [-6.15392136e-02 4.94467660e-04 9.98104544e-01 -7.19136926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49864 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:143.94, Y:-75.94, Z:-7.19 [[ 7.59139171e-01 6.49189599e-01 4.75455940e-02 1.43937392e+02] [-6.47889530e-01 7.60626536e-01 -4.10661641e-02 -7.59447744e+01] [-6.28241671e-02 3.70641258e-04 9.98024542e-01 -7.19283862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.96, Y:-75.97, Z:-7.19 [[ 7.56341045e-01 6.52342174e-01 4.89684861e-02 1.43959571e+02] [-6.50966870e-01 7.57924579e-01 -4.23375283e-02 -7.59678263e+01] [-6.47329744e-02 1.44748238e-04 9.97902611e-01 -7.19386680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.98, Y:-75.99, Z:-7.20 [[ 7.54245980e-01 6.54764137e-01 4.89584144e-02 1.43983758e+02] [-6.53391876e-01 7.55833265e-01 -4.23690066e-02 -7.59909265e+01] [-6.47461042e-02 -3.23772798e-05 9.97901769e-01 -7.19517869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.01, Y:-76.01, Z:-7.20 [[ 7.51064629e-01 6.58471772e-01 4.81336623e-02 1.44008809e+02] [-6.57150240e-01 7.52605360e-01 -4.16981284e-02 -7.60132587e+01] [-6.36826927e-02 -3.13058404e-04 9.97970148e-01 -7.19556978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.03, Y:-76.03, Z:-7.20 [[ 7.49660710e-01 6.60098872e-01 4.77315329e-02 1.44034495e+02] [-6.58799935e-01 7.51178611e-01 -4.13925025e-02 -7.60340768e+01] [-6.31780509e-02 -4.15197991e-04 9.98002185e-01 -7.19619039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.06, Y:-76.05, Z:-7.20 [[ 7.46945418e-01 6.63110542e-01 4.85484472e-02 1.44058740e+02] [-6.61770306e-01 7.48521201e-01 -4.21434895e-02 -7.60547886e+01] [-6.42853342e-02 -6.49034334e-04 9.97931348e-01 -7.19754067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.08, Y:-76.08, Z:-7.20 [[ 7.45781926e-01 6.64407205e-01 4.87071283e-02 1.44082738e+02] [-6.63058830e-01 7.47370404e-01 -4.23139122e-02 -7.60754642e+01] [-6.45159343e-02 -7.38740594e-04 9.97916404e-01 -7.19886459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.11, Y:-76.10, Z:-7.20 [[ 7.44192704e-01 6.66164812e-01 4.90067659e-02 1.44107436e+02] [-6.64801772e-01 7.45804047e-01 -4.26019701e-02 -7.60957122e+01] [-6.49293778e-02 -8.75709497e-04 9.97889477e-01 -7.19875307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.13, Y:-76.12, Z:-7.20 [[ 7.41492498e-01 6.69171672e-01 4.89708974e-02 1.44133060e+02] [-6.67814620e-01 7.43107020e-01 -4.26097370e-02 -7.61153535e+01] [-6.49038466e-02 -1.10868088e-03 9.97890907e-01 -7.19944781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.16, Y:-76.14, Z:-7.20 [[ 7.40209979e-01 6.70570877e-01 4.92329695e-02 1.44158775e+02] [-6.69199749e-01 7.41844484e-01 -4.28772378e-02 -7.61354979e+01] [-6.52754338e-02 -1.20853158e-03 9.97866553e-01 -7.20037073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:-76.16, Z:-7.20 [[ 7.39458515e-01 6.71388407e-01 4.93833040e-02 1.44184816e+02] [-6.70007960e-01 7.41104605e-01 -4.30499464e-02 -7.61552880e+01] [-6.55014289e-02 -1.25355735e-03 9.97851688e-01 -7.20212445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:-76.18, Z:-7.20 [[ 7.38913609e-01 6.72023057e-01 4.89049041e-02 1.44210775e+02] [-6.70667723e-01 7.40529144e-01 -4.26777609e-02 -7.61756556e+01] [-6.48959461e-02 -1.26376237e-03 9.97891236e-01 -7.20356457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.24, Y:-76.20, Z:-7.21 [[ 7.38416123e-01 6.72514707e-01 4.96547906e-02 1.44235877e+02] [-6.71115655e-01 7.40082626e-01 -4.33760901e-02 -7.61955182e+01] [-6.59197064e-02 -1.29450308e-03 9.97824091e-01 -7.20600283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:144.26, Y:-76.21, Z:-7.21 [[ 7.37728007e-01 6.73243629e-01 5.00040330e-02 1.44263425e+02] [-6.71823653e-01 7.39419520e-01 -4.37236029e-02 -7.62146785e+01] [-6.64105952e-02 -1.33776564e-03 9.97791483e-01 -7.20712625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:144.29, Y:-76.23, Z:-7.21 [[ 7.36584843e-01 6.74476922e-01 5.02359498e-02 1.44288982e+02] [-6.73043713e-01 7.38294558e-01 -4.39693683e-02 -7.62336036e+01] [-6.67452525e-02 -1.42381992e-03 9.97769033e-01 -7.20834231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94864 meters Centerline goodness [0,1] 0.9998035749361619 Centerline is valid? [True, True] Translation: X:144.32, Y:-76.25, Z:-7.21 [[ 7.34384025e-01 6.76890131e-01 4.99985534e-02 1.44316822e+02] [-6.75473478e-01 7.36082311e-01 -4.37996736e-02 -7.62513670e+01] [-6.64506175e-02 -1.60691625e-03 9.97788421e-01 -7.20910452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.34, Y:-76.27, Z:-7.21 [[ 7.33703456e-01 6.77707487e-01 4.89060435e-02 1.44342890e+02] [-6.76351427e-01 7.35329826e-01 -4.28811695e-02 -7.62701270e+01] [-6.50229621e-02 -1.61561006e-03 9.97882460e-01 -7.21116414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00864 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:144.37, Y:-76.29, Z:-7.21 [[ 7.33497460e-01 6.77941743e-01 4.87490566e-02 1.44369745e+02] [-6.76592225e-01 7.35113890e-01 -4.27846891e-02 -7.62896665e+01] [-6.48416353e-02 -1.60077193e-03 9.97894283e-01 -7.21254745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.40, Y:-76.31, Z:-7.21 [[ 7.34658257e-01 6.76674581e-01 4.88749160e-02 1.44397788e+02] [-6.75313099e-01 7.36280760e-01 -4.29285662e-02 -7.63063941e+01] [-6.50343298e-02 -1.46804532e-03 9.97881947e-01 -7.21435931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.42, Y:-76.33, Z:-7.22 [[ 7.35607749e-01 6.75661003e-01 4.86153197e-02 1.44423512e+02] [-6.74311021e-01 7.37211199e-01 -4.27117688e-02 -7.63253377e+01] [-6.46984346e-02 -1.36273776e-03 9.97903931e-01 -7.21512277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.45, Y:-76.34, Z:-7.22 [[ 7.38917746e-01 6.72033594e-01 4.86971614e-02 1.44452504e+02] [-6.70670429e-01 7.40519933e-01 -4.27949150e-02 -7.63408371e+01] [-6.48208392e-02 -1.03782405e-03 9.97896378e-01 -7.21599947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.48, Y:-76.36, Z:-7.22 [[ 7.40491439e-01 6.70269254e-01 4.91076051e-02 1.44479432e+02] [-6.68878357e-01 7.42117477e-01 -4.31670484e-02 -7.63594324e+01] [-6.53771573e-02 -8.82184479e-04 9.97860235e-01 -7.21786737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.51, Y:-76.38, Z:-7.22 [[ 7.41877065e-01 6.68743212e-01 4.89993600e-02 1.44505393e+02] [-6.67354375e-01 7.43493089e-01 -4.30832442e-02 -7.63787775e+01] [-6.52423126e-02 -7.37466487e-04 9.97869178e-01 -7.21953129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.53, Y:-76.40, Z:-7.22 [[ 7.45069776e-01 6.65168627e-01 4.92110489e-02 1.44532276e+02] [-6.63759178e-01 7.46693059e-01 -4.32808219e-02 -7.63975127e+01] [-6.55345935e-02 -4.17053089e-04 9.97850211e-01 -7.22172502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.56, Y:-76.42, Z:-7.22 [[ 7.46938504e-01 6.63116366e-01 4.85752620e-02 1.44557884e+02] [-6.61738069e-01 7.48516288e-01 -4.27328278e-02 -7.64166468e+01] [-6.46962123e-02 -2.25305620e-04 9.97904980e-01 -7.22287984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.58, Y:-76.44, Z:-7.22 [[ 7.46809340e-01 6.63262306e-01 4.85687482e-02 1.44582338e+02] [-6.61883835e-01 7.48386973e-01 -4.27402302e-02 -7.64380796e+01] [-6.46962021e-02 -2.28066184e-04 9.97904980e-01 -7.22424806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.61, Y:-76.46, Z:-7.23 [[ 7.48303283e-01 6.61554783e-01 4.88616933e-02 1.44609556e+02] [-6.60154863e-01 7.49896836e-01 -4.30150275e-02 -7.64572091e+01] [-6.50980264e-02 -6.79981318e-05 9.97878872e-01 -7.22617612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.63, Y:-76.48, Z:-7.23 [[ 7.49067714e-01 6.60714259e-01 4.85203808e-02 1.44634329e+02] [-6.59331129e-01 7.50637507e-01 -4.27293275e-02 -7.64780988e+01] [-6.46530937e-02 1.61622851e-05 9.97907800e-01 -7.22778072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.66, Y:-76.50, Z:-7.23 [[ 7.48897199e-01 6.60858419e-01 4.91847162e-02 1.44658424e+02] [-6.59436465e-01 7.50510593e-01 -4.33289507e-02 -7.64986666e+01] [-6.55479524e-02 1.47343659e-05 9.97849420e-01 -7.22945173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36864 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:144.68, Y:-76.52, Z:-7.23 [[ 7.48931969e-01 6.60887826e-01 4.82512975e-02 1.44684482e+02] [-6.59518380e-01 7.50484698e-01 -4.25232243e-02 -7.65180307e+01] [-6.43149417e-02 2.43845353e-05 9.97929651e-01 -7.23000398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39864 meters Centerline goodness [0,1] 0.9998034880864652 Centerline is valid? [True, True] Translation: X:144.71, Y:-76.54, Z:-7.23 [[ 7.49235558e-01 6.60539674e-01 4.83054576e-02 1.44709723e+02] [-6.59165717e-01 7.50791139e-01 -4.25819587e-02 -7.65382204e+01] [-6.43943827e-02 6.26159946e-05 9.97924526e-01 -7.23143480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42864 meters Centerline goodness [0,1] 0.9998035170448963 Centerline is valid? [True, True] Translation: X:144.73, Y:-76.56, Z:-7.23 [[ 7.51211046e-01 6.58257831e-01 4.87708155e-02 1.44733977e+02] [-6.56851700e-01 7.52792505e-01 -4.30033522e-02 -7.65592172e+01] [-6.50215977e-02 2.69400110e-04 9.97883821e-01 -7.23315148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:144.76, Y:-76.58, Z:-7.24 [[ 7.52298998e-01 6.56892323e-01 5.03854513e-02 1.44758439e+02] [-6.55387584e-01 7.53984290e-01 -4.44387804e-02 -7.65804046e+01] [-6.71813324e-02 4.09250776e-04 9.97740698e-01 -7.23570760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.78, Y:-76.60, Z:-7.24 [[ 7.53195097e-01 6.55890714e-01 5.00451494e-02 1.44783853e+02] [-6.54403151e-01 7.54855692e-01 -4.41520084e-02 -7.66014921e+01] [-6.67357582e-02 5.05372789e-04 9.97770556e-01 -7.23603758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51864 meters Centerline goodness [0,1] 0.9995580001964444 Centerline is valid? [True, True] Translation: X:144.81, Y:-76.62, Z:-7.24 [[ 7.55218197e-01 6.53539831e-01 5.03106814e-02 1.44808360e+02] [-6.52030192e-01 7.56891774e-01 -4.44012491e-02 -7.66224772e+01] [-6.70977258e-02 7.28547984e-04 9.97746142e-01 -7.23680457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54864 meters Centerline goodness [0,1] 0.9998526812021213 Centerline is valid? [True, True] Translation: X:144.83, Y:-76.64, Z:-7.24 [[ 7.55807482e-01 6.52925862e-01 4.94253790e-02 1.44832201e+02] [-6.51466908e-01 7.57421424e-01 -4.36308877e-02 -7.66445494e+01] [-6.59235759e-02 7.77552566e-04 9.97824372e-01 -7.23931222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57864 meters Centerline goodness [0,1] 0.9998035556428642 Centerline is valid? [True, True] Translation: X:144.86, Y:-76.67, Z:-7.24 [[ 7.56631710e-01 6.52049026e-01 4.83789569e-02 1.44856193e+02] [-6.50648781e-01 7.58176336e-01 -4.27177677e-02 -7.66659398e+01] [-6.45338590e-02 8.43908314e-04 9.97915161e-01 -7.24068803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60864 meters Centerline goodness [0,1] 0.9998527173646227 Centerline is valid? [True, True] Translation: X:144.88, Y:-76.69, Z:-7.24 [[ 7.56191165e-01 6.52616144e-01 4.76139771e-02 1.44880521e+02] [-6.51260337e-01 7.57688289e-01 -4.20527004e-02 -7.66875380e+01] [-6.35208240e-02 7.90785738e-04 9.97980200e-01 -7.24116996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63864 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:144.90, Y:-76.71, Z:-7.24 [[ 7.56313836e-01 6.52406158e-01 4.85343838e-02 1.44904340e+02] [-6.50996236e-01 7.57869060e-01 -4.28764319e-02 -7.67096995e+01] [-6.47555561e-02 8.32337535e-04 9.97900809e-01 -7.24304949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66864 meters Centerline goodness [0,1] 0.9997545891822912 Centerline is valid? [True, True] Translation: X:144.93, Y:-76.73, Z:-7.24 [[ 7.56637484e-01 6.52006657e-01 4.88573150e-02 1.44925778e+02] [-6.50576348e-01 7.58212730e-01 -4.31725789e-02 -7.67344860e+01] [-6.51930470e-02 8.80577950e-04 9.97872282e-01 -7.24438379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69864 meters Centerline goodness [0,1] 0.9997543842412929 Centerline is valid? [True, True] Translation: X:144.95, Y:-76.76, Z:-7.25 [[ 7.56499277e-01 6.52198526e-01 4.84347735e-02 1.44948219e+02] [-6.50792576e-01 7.58047713e-01 -4.28099000e-02 -7.67570993e+01] [-6.46364230e-02 8.64667316e-04 9.97908505e-01 -7.24541703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72864 meters Centerline goodness [0,1] 0.9995581737849779 Centerline is valid? [True, True] Translation: X:144.97, Y:-76.78, Z:-7.25 [[ 7.57032239e-01 6.51725165e-01 4.64381087e-02 1.44970018e+02] [-6.50431341e-01 7.58454707e-01 -4.10551758e-02 -7.67812625e+01] [-6.19778934e-02 8.75290295e-04 9.98077139e-01 -7.24618071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75864 meters Centerline goodness [0,1] 0.999557173784688 Centerline is valid? [True, True] Translation: X:144.99, Y:-76.80, Z:-7.25 [[ 7.57023304e-01 6.51781196e-01 4.57929002e-02 1.44992899e+02] [-6.50522593e-01 7.58406568e-01 -4.04948703e-02 -7.68039841e+01] [-6.11234313e-02 8.66244340e-04 9.98129839e-01 -7.24680234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78864000000002 meters Centerline goodness [0,1] 0.9998035556428642 Centerline is valid? [True, True] Translation: X:145.02, Y:-76.83, Z:-7.25 [[ 7.56448925e-01 6.52375834e-01 4.68059310e-02 1.45015659e+02] [-6.51061346e-01 7.57895150e-01 -4.14012844e-02 -7.68270361e+01] [-6.24831855e-02 8.44424649e-04 9.98045660e-01 -7.24884410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81864000000002 meters Centerline goodness [0,1] 0.9997051886792453 Centerline is valid? [True, True] Translation: X:145.04, Y:-76.85, Z:-7.25 [[ 7.55029644e-01 6.53914502e-01 4.82292555e-02 1.45038656e+02] [-6.52521187e-01 7.56568084e-01 -4.26712518e-02 -7.68502123e+01] [-6.43920658e-02 7.47448958e-04 9.97924398e-01 -7.24981472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84864000000002 meters Centerline goodness [0,1] 0.9995572173570796 Centerline is valid? [True, True] Translation: X:145.06, Y:-76.87, Z:-7.25 [[ 7.53960824e-01 6.55124080e-01 4.85336449e-02 1.45062879e+02] [-6.53714768e-01 7.55521017e-01 -4.29534158e-02 -7.68721121e+01] [-6.48080058e-02 6.58032382e-04 9.97897535e-01 -7.25087166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87864000000002 meters Centerline goodness [0,1] 0.9997053624042428 Centerline is valid? [True, True] Translation: X:145.09, Y:-76.89, Z:-7.25 [[ 7.53267912e-01 6.55924018e-01 4.84885109e-02 1.45086817e+02] [-6.54518044e-01 7.54826684e-01 -4.29279208e-02 -7.68929574e+01] [-6.47578762e-02 5.99619899e-04 9.97900826e-01 -7.25311908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90864000000002 meters Centerline goodness [0,1] 0.9995085995085995 Centerline is valid? [True, True] Translation: X:145.11, Y:-76.91, Z:-7.25 [[ 7.51204243e-01 6.58299500e-01 4.83110155e-02 1.45110858e+02] [-6.56907999e-01 7.52756008e-01 -4.27816949e-02 -7.69149564e+01] [-6.45295755e-02 4.01898207e-04 9.97915714e-01 -7.25395732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93864000000002 meters Centerline goodness [0,1] 0.9997055359246172 Centerline is valid? [True, True] Translation: X:145.13, Y:-76.94, Z:-7.26 [[ 7.51221697e-01 6.58233238e-01 4.89383860e-02 1.45134845e+02] [-6.56804450e-01 7.52813939e-01 -4.33484501e-02 -7.69358786e+01] [-6.53748898e-02 4.21346536e-04 9.97860685e-01 -7.25518998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96864000000002 meters Centerline goodness [0,1] 0.9996075930740178 Centerline is valid? [True, True] Translation: X:145.16, Y:-76.96, Z:-7.26 [[ 7.50887252e-01 6.58504255e-01 5.04031868e-02 1.45159463e+02] [-6.56988378e-01 7.52576887e-01 -4.46575824e-02 -7.69561837e+01] [-6.73394814e-02 4.18501390e-04 9.97730033e-01 -7.25586173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99864 meters Centerline goodness [0,1] 0.9998526305447758 Centerline is valid? [True, True] Translation: X:145.19, Y:-76.98, Z:-7.26 [[ 7.50781312e-01 6.58625291e-01 5.03998715e-02 1.45185528e+02] [-6.57108971e-01 7.52470964e-01 -4.46682174e-02 -7.69767269e+01] [-6.73440576e-02 4.17855212e-04 9.97729725e-01 -7.25720213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02864 meters Centerline goodness [0,1] 0.9997544083697627 Centerline is valid? [True, True] Translation: X:145.21, Y:-77.00, Z:-7.26 [[ 7.50224773e-01 6.59263489e-01 5.03432389e-02 1.45211215e+02] [-6.57750852e-01 7.51911905e-01 -4.46352337e-02 -7.69971949e+01] [-6.72800605e-02 3.73149794e-04 9.97734060e-01 -7.25807217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05864 meters Centerline goodness [0,1] 0.9998528401844403 Centerline is valid? [True, True] Translation: X:145.24, Y:-77.02, Z:-7.26 [[ 7.49553137e-01 6.60005090e-01 5.06297924e-02 1.45236971e+02] [-6.58475674e-01 7.51261058e-01 -4.49066767e-02 -7.70184740e+01] [-6.76748266e-02 3.21453770e-04 9.97707379e-01 -7.26110513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08864 meters Centerline goodness [0,1] 0.9999016522423289 Centerline is valid? [True, True] Translation: X:145.26, Y:-77.04, Z:-7.26 [[ 7.49767572e-01 6.59791887e-01 5.02319987e-02 1.45260841e+02] [-6.58284882e-01 7.51448297e-01 -4.45698388e-02 -7.70394420e+01] [-6.71535679e-02 3.50054470e-04 9.97742590e-01 -7.26243801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.29, Y:-77.06, Z:-7.26 [[ 7.51278094e-01 6.58226439e-01 4.81578658e-02 1.45286270e+02] [-6.56837430e-01 7.52819849e-01 -4.27418512e-02 -7.70597454e+01] [-6.43880138e-02 4.79127723e-04 9.97924824e-01 -7.26223972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14864 meters Centerline goodness [0,1] 0.9998526884360422 Centerline is valid? [True, True] Translation: X:145.31, Y:-77.08, Z:-7.26 [[ 7.52220150e-01 6.57093516e-01 4.89178657e-02 1.45310669e+02] [-6.55657133e-01 7.53808835e-01 -4.34276995e-02 -7.70801425e+01] [-6.54107790e-02 5.93843080e-04 9.97858245e-01 -7.26442963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.34, Y:-77.10, Z:-7.27 [[ 7.53633374e-01 6.55518268e-01 4.82963480e-02 1.45335310e+02] [-6.54114126e-01 7.55178962e-01 -4.28887559e-02 -7.71019387e+01] [-6.45867489e-02 7.31074345e-04 9.97911828e-01 -7.26598819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20864 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:145.36, Y:-77.12, Z:-7.27 [[ 7.55580828e-01 6.53185374e-01 4.94619020e-02 1.45358317e+02] [-6.51706564e-01 7.57197422e-01 -4.39387984e-02 -7.71244797e+01] [-6.61526051e-02 9.64667423e-04 9.97809051e-01 -7.26831103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23864 meters Centerline goodness [0,1] 0.9996070147860687 Centerline is valid? [True, True] Translation: X:145.38, Y:-77.15, Z:-7.27 [[ 7.57068268e-01 6.51462879e-01 4.94343495e-02 1.45382326e+02] [-6.49981310e-01 7.58679680e-01 -4.39254008e-02 -7.71460800e+01] [-6.61206045e-02 1.12312389e-03 9.97811006e-01 -7.26962678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26864 meters Centerline goodness [0,1] 0.9999505782346545 Centerline is valid? [True, True] Translation: X:145.41, Y:-77.17, Z:-7.27 [[ 7.59112769e-01 6.49106700e-01 4.90744024e-02 1.45405017e+02] [-6.47641008e-01 7.60696215e-01 -4.36164365e-02 -7.71689881e+01] [-6.56424333e-02 1.32719840e-03 9.97842327e-01 -7.27165750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.43, Y:-77.19, Z:-7.27 [[ 7.59070730e-01 6.49213512e-01 4.83057201e-02 1.45427727e+02] [-6.47792958e-01 7.60605096e-01 -4.29438189e-02 -7.71920509e+01] [-6.46212843e-02 1.30529070e-03 9.97909007e-01 -7.27366668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:145.45, Y:-77.22, Z:-7.28 [[ 7.59209257e-01 6.49052993e-01 4.82857900e-02 1.45451163e+02] [-6.47632468e-01 7.60742038e-01 -4.29387700e-02 -7.72150957e+01] [-6.46025675e-02 1.32806632e-03 9.97910189e-01 -7.27578742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.47, Y:-77.24, Z:-7.28 [[ 7.58506360e-01 6.49918967e-01 4.76805942e-02 1.45473490e+02] [-6.48534675e-01 7.60002484e-01 -4.24146144e-02 -7.72389775e+01] [-6.38034324e-02 1.24923610e-03 9.97961703e-01 -7.27631017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38864 meters Centerline goodness [0,1] 0.9997542876799843 Centerline is valid? [True, True] Translation: X:145.50, Y:-77.26, Z:-7.28 [[ 7.57732754e-01 6.50781935e-01 4.82073181e-02 1.45497346e+02] [-6.49367781e-01 7.59263745e-01 -4.28958183e-02 -7.72618516e+01] [-6.45178925e-02 1.19928737e-03 9.97915830e-01 -7.27738155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41864 meters Centerline goodness [0,1] 0.999803536345776 Centerline is valid? [True, True] Translation: X:145.52, Y:-77.28, Z:-7.28 [[ 7.56898256e-01 6.51694930e-01 4.89770195e-02 1.45521295e+02] [-6.50236016e-01 7.58480316e-01 -4.35973934e-02 -7.72847399e+01] [-6.55603055e-02 1.15216901e-03 9.97847944e-01 -7.27875277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:145.54, Y:-77.31, Z:-7.28 [[ 7.55153639e-01 6.53562161e-01 5.09851248e-02 1.45543308e+02] [-6.51983460e-01 7.56872114e-01 -4.54111428e-02 -7.73078786e+01] [-6.82682238e-02 1.05093167e-03 9.97666450e-01 -7.28025859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47864 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:145.57, Y:-77.33, Z:-7.28 [[ 7.54208302e-01 6.54575058e-01 5.19743275e-02 1.45566387e+02] [-6.52933970e-01 7.55996346e-01 -4.63331006e-02 -7.73308012e+01] [-6.96208937e-02 1.00900509e-03 9.97573011e-01 -7.28232003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.59, Y:-77.36, Z:-7.28 [[ 7.52247128e-01 6.56664965e-01 5.39942764e-02 1.45588002e+02] [-6.54895886e-01 7.54181907e-01 -4.81770671e-02 -7.73553611e+01] [-7.23576985e-02 8.80430887e-04 9.97378358e-01 -7.28498130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.61, Y:-77.38, Z:-7.29 [[ 7.51255134e-01 6.57720461e-01 5.49501494e-02 1.45610892e+02] [-6.55887699e-01 7.53261650e-01 -4.90735386e-02 -7.73774074e+01] [-7.36685106e-02 8.25620789e-04 9.97282442e-01 -7.28738529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.63, Y:-77.40, Z:-7.29 [[ 7.49932744e-01 6.59258660e-01 5.45792862e-02 1.45634018e+02] [-6.57451519e-01 7.51915904e-01 -4.87849813e-02 -7.73994270e+01] [-7.32009547e-02 7.02220282e-04 9.97316964e-01 -7.28894947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.66, Y:-77.42, Z:-7.29 [[ 7.48782995e-01 6.60667332e-01 5.33170008e-02 1.45655059e+02] [-6.58943526e-01 7.50678584e-01 -4.76979325e-02 -7.74237240e+01] [-7.15363965e-02 5.82508191e-04 9.97437820e-01 -7.29123133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.68, Y:-77.45, Z:-7.29 [[ 7.47881940e-01 6.61673335e-01 5.34883342e-02 1.45677961e+02] [-6.59937752e-01 7.49792055e-01 -4.78961113e-02 -7.74479873e+01] [-7.17967078e-02 5.21665557e-04 9.97419150e-01 -7.29244058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.70, Y:-77.47, Z:-7.29 [[ 7.47162802e-01 6.62467930e-01 5.37027744e-02 1.45700345e+02] [-6.60716887e-01 7.49090119e-01 -4.81371816e-02 -7.74728619e+01] [-7.21175568e-02 4.83981621e-04 9.97396022e-01 -7.29282824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.72, Y:-77.49, Z:-7.29 [[ 7.46367825e-01 6.63286363e-01 5.46467850e-02 1.45723637e+02] [-6.61471805e-01 7.48365553e-01 -4.90311207e-02 -7.74949201e+01] [-7.34174451e-02 4.47943395e-04 9.97301197e-01 -7.29398199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.75, Y:-77.52, Z:-7.30 [[ 7.43475799e-01 6.66431534e-01 5.57920008e-02 1.45745163e+02] [-6.64545401e-01 7.45566214e-01 -5.01041942e-02 -7.75187220e+01] [-7.49876458e-02 1.74938313e-04 9.97184448e-01 -7.29684452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.77, Y:-77.54, Z:-7.30 [[ 7.41611051e-01 6.68476376e-01 5.61460905e-02 1.45768179e+02] [-6.66569542e-01 7.43733376e-01 -5.04550399e-02 -7.75418313e+01] [-7.54857237e-02 -7.25861332e-06 9.97146883e-01 -7.29856931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.79, Y:-77.56, Z:-7.30 [[ 7.40251038e-01 6.70068084e-01 5.51104656e-02 1.45791665e+02] [-6.68233322e-01 7.42299630e-01 -4.95528654e-02 -7.75637784e+01] [-7.41122719e-02 -1.45089450e-04 9.97249894e-01 -7.29890329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80864 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:145.82, Y:-77.59, Z:-7.30 [[ 7.38184020e-01 6.72471359e-01 5.35408572e-02 1.45815201e+02] [-6.70742938e-01 7.40123067e-01 -4.81846207e-02 -7.75862258e+01] [-7.20296008e-02 -3.43034846e-04 9.97402436e-01 -7.30013037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.84, Y:-77.61, Z:-7.30 [[ 7.36983426e-01 6.73771992e-01 5.37283304e-02 1.45838763e+02] [-6.72031490e-01 7.38939180e-01 -4.84000470e-02 -7.76093221e+01] [-7.23125644e-02 -4.37097498e-04 9.97381924e-01 -7.30259224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.86, Y:-77.63, Z:-7.30 [[ 7.36779922e-01 6.74049458e-01 5.30346686e-02 1.45861893e+02] [-6.72351034e-01 7.38686097e-01 -4.78219418e-02 -7.76322041e+01] [-7.14103262e-02 -4.23667735e-04 9.97446934e-01 -7.30289423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89864 meters Centerline goodness [0,1] 0.9998526667321481 Centerline is valid? [True, True] Translation: X:145.89, Y:-77.65, Z:-7.30 [[ 7.36434185e-01 6.74446342e-01 5.27903660e-02 1.45886921e+02] [-6.72761320e-01 7.38323743e-01 -4.76472105e-02 -7.76543753e+01] [-7.11118674e-02 -4.26281686e-04 9.97468255e-01 -7.30328658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92864 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:145.91, Y:-77.68, Z:-7.30 [[ 7.36926363e-01 6.73949365e-01 5.22665271e-02 1.45911249e+02] [-6.72293133e-01 7.38777462e-01 -4.72208124e-02 -7.76756525e+01] [-7.04377687e-02 -3.40165775e-04 9.97516118e-01 -7.30483171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95864 meters Centerline goodness [0,1] 0.9998526377836723 Centerline is valid? [True, True] Translation: X:145.94, Y:-77.70, Z:-7.31 [[ 7.37324386e-01 6.73515000e-01 5.22522141e-02 1.45935400e+02] [-6.71855366e-01 7.39173508e-01 -4.72534975e-02 -7.76988406e+01] [-7.04493918e-02 -2.64774411e-04 9.97515320e-01 -7.30621570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98864 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:145.96, Y:-77.72, Z:-7.31 [[ 7.37095664e-01 6.73743247e-01 5.25358860e-02 1.45959689e+02] [-6.72062560e-01 7.38965475e-01 -4.75598694e-02 -7.77218404e+01] [-7.08653469e-02 -2.51228550e-04 9.97485859e-01 -7.30760186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:145.98, Y:-77.74, Z:-7.31 [[ 7.36119514e-01 6.74852589e-01 5.19811984e-02 1.45983924e+02] [-6.73206583e-01 7.37952493e-01 -4.71064141e-02 -7.77444230e+01] [-7.01495405e-02 -3.18134320e-04 9.97536436e-01 -7.30799309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:146.01, Y:-77.77, Z:-7.31 [[ 7.35109122e-01 6.75999980e-01 5.13673637e-02 1.46008922e+02] [-6.74392120e-01 7.36901539e-01 -4.65981804e-02 -7.77666293e+01] [-6.93530583e-02 -3.86997780e-04 9.97592103e-01 -7.30923243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:146.03, Y:-77.79, Z:-7.31 [[ 7.34124277e-01 6.77009238e-01 5.21539803e-02 1.46032986e+02] [-6.75350906e-01 7.35974378e-01 -4.73589318e-02 -7.77885984e+01] [-7.04464275e-02 -4.54896245e-04 9.97515460e-01 -7.31109741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10864 meters Centerline goodness [0,1] 0.9996068216444685 Centerline is valid? [True, True] Translation: X:146.06, Y:-77.81, Z:-7.31 [[ 7.33717414e-01 6.77435441e-01 5.23448157e-02 1.46057673e+02] [-6.75762769e-01 7.35582088e-01 -4.75780668e-02 -7.78111846e+01] [-7.07349775e-02 -4.63821470e-04 9.97495036e-01 -7.31183370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13864 meters Centerline goodness [0,1] 0.9996068216444685 Centerline is valid? [True, True] Translation: X:146.08, Y:-77.83, Z:-7.31 [[ 7.33366069e-01 6.77817679e-01 5.23201834e-02 1.46081983e+02] [-6.76144047e-01 7.35229881e-01 -4.76051446e-02 -7.78328449e+01] [-7.07349709e-02 -4.63982731e-04 9.97495037e-01 -7.31320223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:146.11, Y:-77.85, Z:-7.31 [[ 7.33037032e-01 6.78177641e-01 5.22665993e-02 1.46106719e+02] [-6.76504834e-01 7.34897867e-01 -4.76060451e-02 -7.78547242e+01] [-7.06959677e-02 -4.61613044e-04 9.97497803e-01 -7.31375661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.13, Y:-77.88, Z:-7.32 [[ 7.33091259e-01 6.78066799e-01 5.29397877e-02 1.46131569e+02] [-6.76346628e-01 7.35000163e-01 -4.82700615e-02 -7.78767329e+01] [-7.16410787e-02 -4.19286736e-04 9.97430389e-01 -7.31604705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22864 meters Centerline goodness [0,1] 0.9998525581166757 Centerline is valid? [True, True] Translation: X:146.16, Y:-77.90, Z:-7.32 [[ 7.32484881e-01 6.78699310e-01 5.32272956e-02 1.46155449e+02] [-6.76958358e-01 7.34416127e-01 -4.85832668e-02 -7.78994638e+01] [-7.20644139e-02 -4.46154238e-04 9.97399880e-01 -7.31787746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25864 meters Centerline goodness [0,1] 0.9998526377836723 Centerline is valid? [True, True] Translation: X:146.18, Y:-77.92, Z:-7.32 [[ 7.32075981e-01 6.79193011e-01 5.25510321e-02 1.46179241e+02] [-6.77493979e-01 7.33959568e-01 -4.80131292e-02 -7.79209457e+01] [-7.11805146e-02 -4.53749169e-04 9.97463347e-01 -7.31922638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28864000000002 meters Centerline goodness [0,1] 0.9996562054908894 Centerline is valid? [True, True] Translation: X:146.20, Y:-77.94, Z:-7.32 [[ 7.29852835e-01 6.81699265e-01 5.09995282e-02 1.46204193e+02] [-6.80102415e-01 7.31632213e-01 -4.66370162e-02 -7.79412168e+01] [-6.91053173e-02 -6.46743813e-04 9.97609160e-01 -7.31854199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31864000000002 meters Centerline goodness [0,1] 0.9997542876799843 Centerline is valid? [True, True] Translation: X:146.23, Y:-77.96, Z:-7.32 [[ 7.27858342e-01 6.83886095e-01 5.02199407e-02 1.46228989e+02] [-6.82339973e-01 7.29588346e-01 -4.59674602e-02 -7.79624039e+01] [-6.80763903e-02 -8.09273575e-04 9.97679783e-01 -7.31895934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34864000000002 meters Centerline goodness [0,1] 0.9995083579154376 Centerline is valid? [True, True] Translation: X:146.25, Y:-77.98, Z:-7.32 [[ 7.25809884e-01 6.86122405e-01 4.93564351e-02 1.46253875e+02] [-6.84631090e-01 7.27485470e-01 -4.52234641e-02 -7.79835825e+01] [-6.69349214e-02 -9.67312655e-04 9.97756875e-01 -7.32086279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37864000000002 meters Centerline goodness [0,1] 0.9995079466614181 Centerline is valid? [True, True] Translation: X:146.28, Y:-78.00, Z:-7.32 [[ 7.23931266e-01 6.88105651e-01 4.93369495e-02 1.46278963e+02] [-6.86617095e-01 7.25609650e-01 -4.52504158e-02 -7.80042010e+01] [-6.69364335e-02 -1.11740217e-03 9.97756616e-01 -7.32280320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40864000000002 meters Centerline goodness [0,1] 0.9991166077738516 Centerline is valid? [True, True] Translation: X:146.31, Y:-78.02, Z:-7.32 [[ 7.21724142e-01 6.90321177e-01 5.07043956e-02 1.46305009e+02] [-6.88751334e-01 7.23501837e-01 -4.65477387e-02 -7.80235088e+01] [-6.88176132e-02 -1.32809332e-03 9.97628374e-01 -7.32402464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43864000000002 meters Centerline goodness [0,1] 0.9993617439120188 Centerline is valid? [True, True] Translation: X:146.33, Y:-78.04, Z:-7.33 [[ 7.19879445e-01 6.92232435e-01 5.08708142e-02 1.46330153e+02] [-6.90654062e-01 7.21673092e-01 -4.67430773e-02 -7.80442890e+01] [-6.90691720e-02 -1.48475389e-03 9.97610768e-01 -7.32562415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46864000000002 meters Centerline goodness [0,1] 0.9994103773584906 Centerline is valid? [True, True] Translation: X:146.36, Y:-78.06, Z:-7.32 [[ 7.19059375e-01 6.93113175e-01 5.04751611e-02 1.46357426e+02] [-6.91558420e-01 7.20827165e-01 -4.64236050e-02 -7.80637825e+01] [-6.85606795e-02 -1.52519424e-03 9.97645782e-01 -7.32479025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49864 meters Centerline goodness [0,1] 0.9989693757361602 Centerline is valid? [True, True] Translation: X:146.38, Y:-78.08, Z:-7.33 [[ 7.18162353e-01 6.94083530e-01 4.99087888e-02 1.46383257e+02] [-6.92562623e-01 7.19892772e-01 -4.59500922e-02 -7.80843045e+01] [-6.78221785e-02 -1.56533531e-03 9.97696197e-01 -7.32513827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52864 meters Centerline goodness [0,1] 0.9994600431965442 Centerline is valid? [True, True] Translation: X:146.41, Y:-78.10, Z:-7.33 [[ 7.17495094e-01 6.94798875e-01 4.95511276e-02 1.46409593e+02] [-6.93298222e-01 7.19202339e-01 -4.56680491e-02 -7.81039036e+01] [-6.73673960e-02 -1.58710746e-03 9.97726974e-01 -7.32534578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55864 meters Centerline goodness [0,1] 0.9997051741929144 Centerline is valid? [True, True] Translation: X:146.44, Y:-78.12, Z:-7.33 [[ 7.17413777e-01 6.94897829e-01 4.93404493e-02 1.46438165e+02] [-6.93406984e-01 7.19106798e-01 -4.55210662e-02 -7.81211478e+01] [-6.71135426e-02 -1.55557209e-03 9.97744132e-01 -7.32678773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58864 meters Centerline goodness [0,1] 0.999410087503687 Centerline is valid? [True, True] Translation: X:146.46, Y:-78.14, Z:-7.33 [[ 7.17272247e-01 6.95015093e-01 4.97447863e-02 1.46464304e+02] [-6.93496696e-01 7.18993487e-01 -4.59423388e-02 -7.81422386e+01] [-6.76967962e-02 -1.54468037e-03 9.97704745e-01 -7.32877962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61864 meters Centerline goodness [0,1] 0.9993621823177313 Centerline is valid? [True, True] Translation: X:146.49, Y:-78.16, Z:-7.33 [[ 7.17183575e-01 6.95081237e-01 5.00978322e-02 1.46489591e+02] [-6.93538015e-01 7.18929581e-01 -4.63171598e-02 -7.81635078e+01] [-6.82110023e-02 -1.52684482e-03 9.97669749e-01 -7.33108728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64864 meters Centerline goodness [0,1] 0.9996073234182496 Centerline is valid? [True, True] Translation: X:146.52, Y:-78.18, Z:-7.33 [[ 7.17896480e-01 6.94294746e-01 5.07882729e-02 1.46516958e+02] [-6.92703251e-01 7.19689337e-01 -4.70049464e-02 -7.81830790e+01] [-6.91870658e-02 -1.43651616e-03 9.97602670e-01 -7.33192755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67864 meters Centerline goodness [0,1] 0.9997053624042428 Centerline is valid? [True, True] Translation: X:146.54, Y:-78.20, Z:-7.33 [[ 7.17576193e-01 6.94605626e-01 5.10630281e-02 1.46543400e+02] [-6.92994202e-01 7.19389293e-01 -4.73083731e-02 -7.82034034e+01] [-6.95948577e-02 -1.43902016e-03 9.97574300e-01 -7.33305294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:-78.22, Z:-7.34 [[ 7.17600315e-01 6.94605008e-01 5.07313677e-02 1.46570184e+02] [-6.93011276e-01 7.19389973e-01 -4.70471912e-02 -7.82224323e+01] [-6.91748518e-02 -1.39633064e-03 9.97603574e-01 -7.33522409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:146.60, Y:-78.24, Z:-7.34 [[ 7.16699698e-01 6.95532541e-01 5.07545745e-02 1.46595776e+02] [-6.93936544e-01 7.18493125e-01 -4.71137251e-02 -7.82441163e+01] [-6.92359417e-02 -1.45406145e-03 9.97599253e-01 -7.33707771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.62, Y:-78.26, Z:-7.34 [[ 7.16626976e-01 6.95570996e-01 5.12520000e-02 1.46621411e+02] [-6.93941191e-01 7.18455911e-01 -4.76101631e-02 -7.82642908e+01] [-6.99385509e-02 -1.44714667e-03 9.97550252e-01 -7.33924276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.65, Y:-78.28, Z:-7.34 [[ 7.16215088e-01 6.95934807e-01 5.20643027e-02 1.46648680e+02] [-6.94252926e-01 7.18103407e-01 -4.83773953e-02 -7.82815087e+01] [-7.10550664e-02 -1.49717400e-03 9.97471271e-01 -7.34104691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.67, Y:-78.30, Z:-7.34 [[ 7.16250465e-01 6.95840314e-01 5.28349199e-02 1.46673825e+02] [-6.94107031e-01 7.18194963e-01 -4.91062516e-02 -7.83012183e+01] [-7.21158829e-02 -1.50071385e-03 9.97395131e-01 -7.34243528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.70, Y:-78.32, Z:-7.34 [[ 7.16434229e-01 6.95637916e-01 5.30083577e-02 1.46698964e+02] [-6.93891551e-01 7.18391061e-01 -4.92828395e-02 -7.83221884e+01] [-7.23637422e-02 -1.47413843e-03 9.97377218e-01 -7.34382640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.72, Y:-78.34, Z:-7.34 [[ 7.16906618e-01 6.95227092e-01 5.20018383e-02 1.46724779e+02] [-6.93544277e-01 7.18788806e-01 -4.83630886e-02 -7.83422861e+01] [-7.10016687e-02 -1.39375902e-03 9.97475223e-01 -7.34471709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.75, Y:-78.36, Z:-7.35 [[ 7.16957008e-01 6.95250453e-01 5.09848574e-02 1.46750508e+02] [-6.93632099e-01 7.18766275e-01 -4.74294556e-02 -7.83619054e+01] [-6.96215465e-02 -1.35985301e-03 9.97572549e-01 -7.34532099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.78, Y:-78.38, Z:-7.35 [[ 7.18544012e-01 6.93586779e-01 5.13018770e-02 1.46778546e+02] [-6.91942982e-01 7.20372091e-01 -4.77384573e-02 -7.83795968e+01] [-7.00672033e-02 -1.19579106e-03 9.97541557e-01 -7.34836807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.80, Y:-78.40, Z:-7.35 [[ 7.19107779e-01 6.92991710e-01 5.14440774e-02 1.46803222e+02] [-6.91336204e-01 7.20944667e-01 -4.78856919e-02 -7.84007720e+01] [-7.02727208e-02 -1.13017969e-03 9.97527176e-01 -7.34997837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.83, Y:-78.42, Z:-7.35 [[ 7.19776474e-01 6.92256564e-01 5.19872775e-02 1.46827297e+02] [-6.90563055e-01 7.21650695e-01 -4.84039414e-02 -7.84215293e+01] [-7.10246011e-02 -1.06047488e-03 9.97474000e-01 -7.35146598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.85, Y:-78.44, Z:-7.35 [[ 7.21607501e-01 6.90354849e-01 5.18921694e-02 1.46852512e+02] [-6.88661729e-01 7.23470414e-01 -4.83278793e-02 -7.84412830e+01] [-7.09058351e-02 -8.62390907e-04 9.97482641e-01 -7.35287573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.88, Y:-78.46, Z:-7.35 [[ 7.22753120e-01 6.89226955e-01 5.09326186e-02 1.46877351e+02] [-6.87592215e-01 7.24545150e-01 -4.74475707e-02 -7.84625706e+01] [-6.96051265e-02 -7.27992342e-04 9.97574356e-01 -7.35360181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.90, Y:-78.48, Z:-7.35 [[ 7.25398000e-01 6.86568286e-01 4.92110877e-02 1.46902330e+02] [-6.85035278e-01 7.27065189e-01 -4.58571604e-02 -7.84831820e+01] [-6.72637408e-02 -4.46638700e-04 9.97735130e-01 -7.35381278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.93, Y:-78.50, Z:-7.35 [[ 7.26412872e-01 6.85522708e-01 4.88155214e-02 1.46926903e+02] [-6.84011066e-01 7.28051167e-01 -4.55012004e-02 -7.85047864e+01] [-6.67323035e-02 -3.37699141e-04 9.97770858e-01 -7.35453921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15864000000002 meters Centerline goodness [0,1] 0.9997053768720845 Centerline is valid? [True, True] Translation: X:146.95, Y:-78.52, Z:-7.36 [[ 7.28116837e-01 6.83690335e-01 4.91263527e-02 1.46951808e+02] [-6.82154415e-01 7.29772225e-01 -4.58023393e-02 -7.85243178e+01] [-6.71656644e-02 -1.62303995e-04 9.97741824e-01 -7.35767084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.98, Y:-78.55, Z:-7.36 [[ 7.28329235e-01 6.83448727e-01 4.93392638e-02 1.46975525e+02] [-6.81898344e-01 7.29998507e-01 -4.60090066e-02 -7.85453336e+01] [-6.74623859e-02 -1.34657747e-04 9.97721809e-01 -7.36080229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21864000000002 meters Centerline goodness [0,1] 0.9998528401844403 Centerline is valid? [True, True] Translation: X:147.00, Y:-78.57, Z:-7.36 [[ 7.28202401e-01 6.83574108e-01 4.94742532e-02 1.46999421e+02] [-6.82014709e-01 7.29881100e-01 -4.61466918e-02 -7.85670856e+01] [-6.76550060e-02 -1.38036586e-04 9.97708766e-01 -7.36156868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24864 meters Centerline goodness [0,1] 0.9999018212164351 Centerline is valid? [True, True] Translation: X:147.02, Y:-78.59, Z:-7.36 [[ 7.28297709e-01 6.83489781e-01 4.92358168e-02 1.47023313e+02] [-6.81944564e-01 7.29960070e-01 -4.59337408e-02 -7.85879650e+01] [-6.73354227e-02 -1.22659409e-04 9.97730387e-01 -7.36212767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27864 meters Centerline goodness [0,1] 0.9998525581166757 Centerline is valid? [True, True] Translation: X:147.05, Y:-78.61, Z:-7.36 [[ 7.28680694e-01 6.83086092e-01 4.91715021e-02 1.47046344e+02] [-6.81543601e-01 7.30337856e-01 -4.58795844e-02 -7.86089228e+01] [-6.72515155e-02 -8.09551640e-05 9.97736051e-01 -7.36289268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30864 meters Centerline goodness [0,1] 0.9997054202670856 Centerline is valid? [True, True] Translation: X:147.07, Y:-78.63, Z:-7.36 [[ 7.29980518e-01 6.81763404e-01 4.82400735e-02 1.47069033e+02] [-6.80275595e-01 7.31572730e-01 -4.50161762e-02 -7.86299060e+01] [-6.59815038e-02 4.43868936e-05 9.97820845e-01 -7.36357980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33864 meters Centerline goodness [0,1] 0.9996074968109115 Centerline is valid? [True, True] Translation: X:147.09, Y:-78.65, Z:-7.36 [[ 7.30626525e-01 6.81089458e-01 4.79794869e-02 1.47091774e+02] [-6.79615872e-01 7.32200204e-01 -4.47786590e-02 -7.86514776e+01] [-6.56288627e-02 1.08855193e-04 9.97844096e-01 -7.36487068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36864 meters Centerline goodness [0,1] 0.9997546373540093 Centerline is valid? [True, True] Translation: X:147.11, Y:-78.67, Z:-7.37 [[ 7.30961604e-01 6.80701483e-01 4.83800049e-02 1.47114535e+02] [-6.79201934e-01 7.32560898e-01 -4.51582037e-02 -7.86729103e+01] [-6.61805561e-02 1.49120112e-04 9.97807653e-01 -7.36679589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39864 meters Centerline goodness [0,1] 0.9996564248552077 Centerline is valid? [True, True] Translation: X:147.14, Y:-78.69, Z:-7.37 [[ 7.31103613e-01 6.80394310e-01 5.05083216e-02 1.47138181e+02] [-6.78758445e-01 7.32846196e-01 -4.71532235e-02 -7.86944977e+01] [-6.90976163e-02 1.90942265e-04 9.97609885e-01 -7.36882346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42864 meters Centerline goodness [0,1] 0.9998528762689421 Centerline is valid? [True, True] Translation: X:147.16, Y:-78.72, Z:-7.37 [[ 7.30960160e-01 6.80515531e-01 5.09495492e-02 1.47161157e+02] [-6.78850376e-01 7.32733632e-01 -4.75772108e-02 -7.87166414e+01] [-6.97094791e-02 1.89924971e-04 9.97567317e-01 -7.37031179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45864 meters Centerline goodness [0,1] 0.9996074005005644 Centerline is valid? [True, True] Translation: X:147.18, Y:-78.74, Z:-7.37 [[ 7.30475945e-01 6.81026760e-01 5.10631598e-02 1.47183778e+02] [-6.79354560e-01 7.32258513e-01 -4.76954157e-02 -7.87389279e+01] [-6.98732878e-02 1.50363387e-04 9.97555864e-01 -7.37117788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48864 meters Centerline goodness [0,1] 0.9996560703581782 Centerline is valid? [True, True] Translation: X:147.21, Y:-78.76, Z:-7.37 [[ 7.29770639e-01 6.81988848e-01 4.82288846e-02 1.47206994e+02] [-6.80498758e-01 7.31362569e-01 -4.50581098e-02 -7.87604409e+01] [-6.60019294e-02 6.23895433e-05 9.97819493e-01 -7.37058897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51864 meters Centerline goodness [0,1] 0.9995068547194004 Centerline is valid? [True, True] Translation: X:147.23, Y:-78.78, Z:-7.37 [[ 7.29888676e-01 6.81879863e-01 4.79830506e-02 1.47230220e+02] [-6.80404208e-01 7.31464180e-01 -4.48360158e-02 -7.87813325e+01] [-6.56706591e-02 7.74306722e-05 9.97841349e-01 -7.37264652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54864 meters Centerline goodness [0,1] 0.9995583038869258 Centerline is valid? [True, True] Translation: X:147.25, Y:-78.80, Z:-7.38 [[ 7.30015498e-01 6.81652882e-01 4.92617643e-02 1.47252415e+02] [-6.80096515e-01 7.31675705e-01 -4.60368659e-02 -7.88035822e+01] [-6.74247985e-02 1.04871370e-04 9.97724353e-01 -7.37526763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57864 meters Centerline goodness [0,1] 0.9995571302037201 Centerline is valid? [True, True] Translation: X:147.28, Y:-78.83, Z:-7.38 [[ 7.31169990e-01 6.80321114e-01 5.05334273e-02 1.47276158e+02] [-6.78679492e-01 7.32914132e-01 -4.72336990e-02 -7.88257447e+01] [-6.91707457e-02 2.39862475e-04 9.97604807e-01 -7.37545459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60864 meters Centerline goodness [0,1] 0.9996074005005644 Centerline is valid? [True, True] Translation: X:147.30, Y:-78.85, Z:-7.38 [[ 7.32267393e-01 6.79099228e-01 5.10754723e-02 1.47300192e+02] [-6.77418329e-01 7.34046390e-01 -4.77525349e-02 -7.88476682e+01] [-6.99204757e-02 3.68163174e-04 9.97552501e-01 -7.37744335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63864 meters Centerline goodness [0,1] 0.9996556134999508 Centerline is valid? [True, True] Translation: X:147.32, Y:-78.87, Z:-7.38 [[ 7.34500257e-01 6.76830046e-01 4.90964415e-02 1.47323449e+02] [-6.75271117e-01 7.36139092e-01 -4.59146609e-02 -7.88706487e+01] [-6.72182319e-02 5.70921322e-04 9.97738134e-01 -7.37751817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66864 meters Centerline goodness [0,1] 0.9994100294985251 Centerline is valid? [True, True] Translation: X:147.35, Y:-78.89, Z:-7.38 [[ 7.35057353e-01 6.76273214e-01 4.84275510e-02 1.47346021e+02] [-6.74754446e-01 7.36650630e-01 -4.53021740e-02 -7.88937437e+01] [-6.63108328e-02 6.22990823e-04 9.97798820e-01 -7.37964381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69864 meters Centerline goodness [0,1] 0.9991149572229324 Centerline is valid? [True, True] Translation: X:147.37, Y:-78.92, Z:-7.38 [[ 7.36666629e-01 6.74528700e-01 4.83043594e-02 1.47368271e+02] [-6.73013148e-01 7.38248207e-01 -4.51983205e-02 -7.89171899e+01] [-6.61481711e-02 7.86625389e-04 9.97809501e-01 -7.38086590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72864 meters Centerline goodness [0,1] 0.9986263062355885 Centerline is valid? [True, True] Translation: X:147.39, Y:-78.94, Z:-7.38 [[ 7.37572739e-01 6.73607452e-01 4.73228850e-02 1.47391065e+02] [-6.72150321e-01 7.39088805e-01 -4.42909107e-02 -7.89398153e+01] [-6.48105021e-02 8.59675971e-04 9.97897219e-01 -7.38165934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75864 meters Centerline goodness [0,1] 0.9991639207200118 Centerline is valid? [True, True] Translation: X:147.41, Y:-78.96, Z:-7.38 [[ 7.37919711e-01 6.73159892e-01 4.82727691e-02 1.47412917e+02] [-6.71641833e-01 7.39496384e-01 -4.51923181e-02 -7.89635365e+01] [-6.61191941e-02 9.26291162e-04 9.97811302e-01 -7.38428288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78864000000002 meters Centerline goodness [0,1] 0.9988187813761197 Centerline is valid? [True, True] Translation: X:147.43, Y:-78.99, Z:-7.39 [[ 7.37923051e-01 6.73096312e-01 4.91011715e-02 1.47432746e+02] [-6.71524601e-01 7.39554215e-01 -4.59812329e-02 -7.89890481e+01] [-6.72627766e-02 9.57967036e-04 9.97734835e-01 -7.38659151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81864000000002 meters Centerline goodness [0,1] 0.9988697233279277 Centerline is valid? [True, True] Translation: X:147.46, Y:-79.01, Z:-7.39 [[ 7.37905052e-01 6.73136261e-01 4.88232226e-02 1.47455455e+02] [-6.71581636e-01 7.39517854e-01 -4.57323688e-02 -7.90120608e+01] [-6.68897606e-02 9.57366292e-04 9.97759913e-01 -7.38633375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84864000000002 meters Centerline goodness [0,1] 0.9992149165848871 Centerline is valid? [True, True] Translation: X:147.48, Y:-79.04, Z:-7.39 [[ 7.36254566e-01 6.74899140e-01 4.94000495e-02 1.47477078e+02] [-6.73310681e-01 7.37909537e-01 -4.62843549e-02 -7.90352337e+01] [-6.76900391e-02 8.15486626e-04 9.97706066e-01 -7.38916209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87864000000002 meters Centerline goodness [0,1] 0.9991164776910617 Centerline is valid? [True, True] Translation: X:147.50, Y:-79.06, Z:-7.39 [[ 7.35296383e-01 6.75955980e-01 4.92213599e-02 1.47499357e+02] [-6.74380586e-01 7.36941645e-01 -4.61284794e-02 -7.90582702e+01] [-6.74540915e-02 7.24174519e-04 9.97722116e-01 -7.39098746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90864000000002 meters Centerline goodness [0,1] 0.999607265586647 Centerline is valid? [True, True] Translation: X:147.52, Y:-79.08, Z:-7.39 [[ 7.33089917e-01 6.78411654e-01 4.83404809e-02 1.47521037e+02] [-6.76896708e-01 7.34681822e-01 -4.53151986e-02 -7.90818284e+01] [-6.62572314e-02 4.98602790e-04 9.97802451e-01 -7.39163763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93864000000002 meters Centerline goodness [0,1] 0.9998529267575252 Centerline is valid? [True, True] Translation: X:147.54, Y:-79.10, Z:-7.39 [[ 7.31103624e-01 6.80472847e-01 4.94388119e-02 1.47544123e+02] [-6.78891960e-01 7.32773223e-01 -4.63584924e-02 -7.91043423e+01] [-6.77731329e-02 3.29249864e-04 9.97700704e-01 -7.39296464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96864000000002 meters Centerline goodness [0,1] 0.9997053479349801 Centerline is valid? [True, True] Translation: X:147.57, Y:-79.13, Z:-7.39 [[ 7.29826471e-01 6.81873871e-01 4.90035328e-02 1.47567657e+02] [-6.80323096e-01 7.31469741e-01 -4.59619821e-02 -7.91265077e+01] [-6.71848761e-02 2.06036028e-04 9.97740522e-01 -7.39383443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99864 meters Centerline goodness [0,1] 0.9999018212164351 Centerline is valid? [True, True] Translation: X:147.59, Y:-79.15, Z:-7.39 [[ 7.28854588e-01 6.82897876e-01 4.92085434e-02 1.47591442e+02] [-6.81335459e-01 7.30513844e-01 -4.61683459e-02 -7.91493165e+01] [-6.74757875e-02 1.22485219e-04 9.97720904e-01 -7.39472798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02864 meters Centerline goodness [0,1] 0.9999018212164351 Centerline is valid? [True, True] Translation: X:147.62, Y:-79.17, Z:-7.40 [[ 7.28722594e-01 6.83039368e-01 4.91996178e-02 1.47615201e+02] [-6.81476632e-01 7.30381548e-01 -4.61778562e-02 -7.91715214e+01] [-6.74757868e-02 1.22457331e-04 9.97720904e-01 -7.39609587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05864 meters Centerline goodness [0,1] 0.9998528329654157 Centerline is valid? [True, True] Translation: X:147.64, Y:-79.19, Z:-7.40 [[ 7.26039756e-01 6.85848379e-01 4.97822642e-02 1.47638268e+02] [-6.84253847e-01 7.27744450e-01 -4.67406421e-02 -7.91938774e+01] [-6.82857601e-02 -1.28141375e-04 9.97665795e-01 -7.39888993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.66, Y:-79.22, Z:-7.40 [[ 7.24799211e-01 6.87155557e-01 4.98331658e-02 1.47662673e+02] [-6.85559853e-01 7.26510277e-01 -4.68028427e-02 -7.92155977e+01] [-6.83651406e-02 -2.40954366e-04 9.97660338e-01 -7.39943530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.69, Y:-79.24, Z:-7.40 [[ 7.22127537e-01 6.89992731e-01 4.94150948e-02 1.47688592e+02] [-6.88429107e-01 7.23816129e-01 -4.64281814e-02 -7.92355464e+01] [-6.78025503e-02 -4.91721310e-04 9.97698638e-01 -7.40010798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.71, Y:-79.26, Z:-7.40 [[ 7.20989633e-01 6.91154403e-01 4.97949830e-02 1.47713219e+02] [-6.89568099e-01 7.22706885e-01 -4.68038057e-02 -7.92560199e+01] [-6.83358334e-02 -5.91973009e-04 9.97662199e-01 -7.40131978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.74, Y:-79.28, Z:-7.40 [[ 7.21206034e-01 6.90945327e-01 4.95622063e-02 1.47738292e+02] [-6.89372225e-01 7.22906802e-01 -4.66013995e-02 -7.92765983e+01] [-6.80278753e-02 -5.57597897e-04 9.97683265e-01 -7.40283663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:147.76, Y:-79.30, Z:-7.40 [[ 7.21192143e-01 6.90919862e-01 5.01162278e-02 1.47762787e+02] [-6.89310436e-01 7.22931144e-01 -4.71347436e-02 -7.92969629e+01] [-6.87969124e-02 -5.52432123e-04 9.97630533e-01 -7.40437370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.79, Y:-79.32, Z:-7.41 [[ 7.21405680e-01 6.90720590e-01 4.97886678e-02 1.47789561e+02] [-6.89130856e-01 7.23121563e-01 -4.68387398e-02 -7.93157942e+01] [-6.83557413e-02 -5.21174370e-04 9.97660875e-01 -7.40607058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.82, Y:-79.34, Z:-7.41 [[ 7.21698565e-01 6.90407108e-01 4.98919446e-02 1.47815227e+02] [-6.88809181e-01 7.23420895e-01 -4.69480707e-02 -7.93359662e+01] [-6.85061569e-02 -4.83674143e-04 9.97650576e-01 -7.40752129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.84, Y:-79.35, Z:-7.41 [[ 7.22471603e-01 6.89622481e-01 4.95541813e-02 1.47842224e+02] [-6.88043476e-01 7.24168955e-01 -4.66422598e-02 -7.93545215e+01] [-6.80511506e-02 -3.97722979e-04 9.97681754e-01 -7.40906642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.87, Y:-79.37, Z:-7.41 [[ 7.23036798e-01 6.89046867e-01 4.93173844e-02 1.47866393e+02] [-6.87480939e-01 7.24716706e-01 -4.64290301e-02 -7.93747002e+01] [-6.77329100e-02 -3.34864489e-04 9.97703433e-01 -7.41034048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.89, Y:-79.39, Z:-7.41 [[ 7.23309407e-01 6.88772569e-01 4.91512945e-02 1.47890476e+02] [-6.87216152e-01 7.24977417e-01 -4.62785527e-02 -7.93946564e+01] [-6.75089762e-02 -3.03850972e-04 9.97718621e-01 -7.41178986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.92, Y:-79.41, Z:-7.41 [[ 7.24692326e-01 6.87347028e-01 4.87349485e-02 1.47915588e+02] [-6.85813570e-01 7.26329150e-01 -4.58880377e-02 -7.94116050e+01] [-6.69386201e-02 -1.68380284e-04 9.97757081e-01 -7.41105203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.94, Y:-79.43, Z:-7.41 [[ 7.25433958e-01 6.86517979e-01 4.93825585e-02 1.47937092e+02] [-6.84942857e-01 7.27112820e-01 -4.64782697e-02 -7.94301227e+01] [-6.78148592e-02 -1.07315574e-04 9.97697917e-01 -7.41374067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.96, Y:-79.45, Z:-7.42 [[ 7.28202797e-01 6.83550311e-01 4.97961679e-02 1.47959279e+02] [-6.81944587e-01 7.29903386e-01 -4.68255075e-02 -7.94483135e+01] [-6.83539818e-02 1.40238366e-04 9.97661122e-01 -7.41535485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.98, Y:-79.47, Z:-7.42 [[ 7.29684137e-01 6.82007674e-01 4.92604558e-02 1.47981045e+02] [-6.80435594e-01 7.31344972e-01 -4.62810226e-02 -7.94676456e+01] [-6.75903993e-02 2.51960469e-04 9.97713122e-01 -7.41643589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.00, Y:-79.49, Z:-7.42 [[ 7.32553322e-01 6.78953472e-01 4.88652540e-02 1.48002527e+02] [-6.77402586e-01 7.34181132e-01 -4.58672239e-02 -7.94851714e+01] [-6.70176584e-02 4.98737900e-04 9.97751665e-01 -7.41778645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.02, Y:-79.50, Z:-7.42 [[ 7.33306310e-01 6.78180817e-01 4.82973706e-02 1.48022503e+02] [-6.76667129e-01 7.34894890e-01 -4.52890467e-02 -7.95040634e+01] [-6.62076536e-02 5.29500656e-04 9.97805726e-01 -7.41875224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.04, Y:-79.52, Z:-7.42 [[ 7.34573452e-01 6.76836790e-01 4.78936544e-02 1.48043282e+02] [-6.75348405e-01 7.36132858e-01 -4.48658845e-02 -7.95232571e+01] [-6.56229740e-02 6.12384588e-04 9.97844302e-01 -7.41931933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59864000000002 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:148.07, Y:-79.54, Z:-7.42 [[ 7.35723633e-01 6.75573716e-01 4.80717115e-02 1.48065235e+02] [-6.74074375e-01 7.37292120e-01 -4.49896345e-02 -7.95424347e+01] [-6.58367086e-02 6.96028452e-04 9.97830168e-01 -7.42153228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.09, Y:-79.56, Z:-7.42 [[ 7.35896905e-01 6.75403148e-01 4.78156186e-02 1.48085075e+02] [-6.73922082e-01 7.37448391e-01 -4.47090358e-02 -7.95614905e+01] [-6.54581745e-02 6.77239853e-04 9.97855084e-01 -7.42175576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.11, Y:-79.58, Z:-7.42 [[ 7.35947627e-01 6.75233609e-01 4.94030675e-02 1.48105442e+02] [-6.73655108e-01 7.37603625e-01 -4.61485426e-02 -7.95817492e+01] [-6.76009286e-02 6.82281654e-04 9.97712207e-01 -7.42447108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.13, Y:-79.60, Z:-7.43 [[ 7.36362380e-01 6.74770531e-01 4.95497374e-02 1.48125707e+02] [-6.73184483e-01 7.38027267e-01 -4.62428963e-02 -7.96006421e+01] [-6.77724009e-02 6.95414785e-04 9.97700565e-01 -7.42562993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.15, Y:-79.62, Z:-7.43 [[ 7.36294632e-01 6.74822186e-01 4.98521157e-02 1.48146268e+02] [-6.73219988e-01 7.37980069e-01 -4.64786675e-02 -7.96191777e+01] [-6.81547037e-02 6.60552641e-04 9.97674546e-01 -7.42662230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.17, Y:-79.64, Z:-7.43 [[ 7.36657804e-01 6.74514314e-01 4.86386689e-02 1.48167595e+02] [-6.72991399e-01 7.38261491e-01 -4.53050517e-02 -7.96390526e+01] [-6.64669621e-02 6.40914055e-04 9.97788421e-01 -7.42735717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:148.19, Y:-79.66, Z:-7.43 [[ 7.38362764e-01 6.72650759e-01 4.85940917e-02 1.48188531e+02] [-6.71129204e-01 7.39959695e-01 -4.52243462e-02 -7.96583999e+01] [-6.63778600e-02 7.79059144e-04 9.97794254e-01 -7.42836004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80864 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:148.21, Y:-79.68, Z:-7.43 [[ 7.41381084e-01 6.69351018e-01 4.82006395e-02 1.48209710e+02] [-6.67849588e-01 7.42945582e-01 -4.48195365e-02 -7.96783634e+01] [-6.58104545e-02 1.03757939e-03 9.97831603e-01 -7.42878560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:148.23, Y:-79.70, Z:-7.43 [[ 7.42570510e-01 6.67959471e-01 4.91851903e-02 1.48230318e+02] [-6.66395637e-01 7.44196756e-01 -4.56951149e-02 -7.96987324e+01] [-6.71259438e-02 1.15504853e-03 9.97743842e-01 -7.43039550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:148.25, Y:-79.72, Z:-7.43 [[ 7.43845698e-01 6.66605222e-01 4.82810188e-02 1.48249808e+02] [-6.65098205e-01 7.45409941e-01 -4.48151387e-02 -7.97184607e+01] [-6.58631568e-02 1.22392920e-03 9.97827914e-01 -7.43057477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89864 meters Centerline goodness [0,1] 0.9998527896363903 Centerline is valid? [True, True] Translation: X:148.27, Y:-79.74, Z:-7.43 [[ 7.44677785e-01 6.65597669e-01 4.93430788e-02 1.48269942e+02] [-6.64024248e-01 7.46309606e-01 -4.57577383e-02 -7.97394128e+01] [-6.72814576e-02 1.30977040e-03 9.97733176e-01 -7.43195695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92864 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:148.29, Y:-79.76, Z:-7.43 [[ 7.44755916e-01 6.65520693e-01 4.92019607e-02 1.48289779e+02] [-6.63958718e-01 7.46378295e-01 -4.55879641e-02 -7.97608095e+01] [-6.70630090e-02 1.28383525e-03 9.97747916e-01 -7.43231776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95864 meters Centerline goodness [0,1] 0.9997055214723927 Centerline is valid? [True, True] Translation: X:148.31, Y:-79.78, Z:-7.43 [[ 7.44844515e-01 6.65503992e-01 4.80737563e-02 1.48309469e+02] [-6.64015262e-01 7.46393279e-01 -4.45062211e-02 -7.97825842e+01] [-6.55009964e-02 1.22850670e-03 9.97851748e-01 -7.43326897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98864 meters Centerline goodness [0,1] 0.9998037869125871 Centerline is valid? [True, True] Translation: X:148.33, Y:-79.80, Z:-7.43 [[ 7.44151973e-01 6.66288668e-01 4.79296505e-02 1.48329382e+02] [-6.64812852e-01 7.45693058e-01 -4.43366192e-02 -7.98028928e+01] [-6.52817946e-02 1.12893508e-03 9.97866230e-01 -7.43465647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01864 meters Centerline goodness [0,1] 0.9998030332873744 Centerline is valid? [True, True] Translation: X:148.35, Y:-79.82, Z:-7.44 [[ 7.43257835e-01 6.67344975e-01 4.71006790e-02 1.48350323e+02] [-6.65923599e-01 7.44748069e-01 -4.35439309e-02 -7.98239530e+01] [-6.41369632e-02 9.98914133e-04 9.97940606e-01 -7.43502325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:148.37, Y:-79.84, Z:-7.44 [[ 7.40923283e-01 6.69881132e-01 4.78743957e-02 1.48369818e+02] [-6.68419015e-01 7.42467953e-01 -4.42420522e-02 -7.98447062e+01] [-6.51821206e-02 7.79810171e-04 9.97873080e-01 -7.43684917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.39, Y:-79.87, Z:-7.44 [[ 7.40032016e-01 6.70808577e-01 4.86669186e-02 1.48391531e+02] [-6.69301404e-01 7.41630216e-01 -4.49472226e-02 -7.98655884e+01] [-6.62438398e-02 6.89546776e-04 9.97803226e-01 -7.43773431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.41, Y:-79.89, Z:-7.44 [[ 7.39156532e-01 6.71902188e-01 4.68515812e-02 1.48413165e+02] [-6.70507999e-01 7.40639676e-01 -4.32653755e-02 -7.98854134e+01] [-6.37702404e-02 5.65524998e-04 9.97964447e-01 -7.43890104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13864 meters Centerline goodness [0,1] 0.9999019078915101 Centerline is valid? [True, True] Translation: X:148.43, Y:-79.91, Z:-7.44 [[ 7.39105610e-01 6.71938923e-01 4.71272783e-02 1.48434200e+02] [-6.70529415e-01 7.40606358e-01 -4.35031815e-02 -7.99051511e+01] [-6.41342428e-02 5.53219200e-04 9.97941127e-01 -7.44075335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16864 meters Centerline goodness [0,1] 0.9998036809815951 Centerline is valid? [True, True] Translation: X:148.46, Y:-79.92, Z:-7.44 [[ 7.40154514e-01 6.70790459e-01 4.70261187e-02 1.48455358e+02] [-6.69387121e-01 7.41646662e-01 -4.33717666e-02 -7.99240916e+01] [-6.39701312e-02 6.23130630e-04 9.97951619e-01 -7.44262852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19864 meters Centerline goodness [0,1] 0.9998529123357521 Centerline is valid? [True, True] Translation: X:148.48, Y:-79.94, Z:-7.44 [[ 7.42224940e-01 6.68440191e-01 4.78523798e-02 1.48477299e+02] [-6.66984688e-01 7.43765455e-01 -4.40950518e-02 -7.99424603e+01] [-6.50658519e-02 8.11642519e-04 9.97880642e-01 -7.44424908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:148.50, Y:-79.96, Z:-7.45 [[ 7.43470143e-01 6.67086400e-01 4.74118217e-02 1.48498495e+02] [-6.65656543e-01 7.44979812e-01 -4.36628613e-02 -7.99630048e+01] [-6.44477510e-02 9.02044362e-04 9.97920675e-01 -7.44514960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25864 meters Centerline goodness [0,1] 0.999754649393984 Centerline is valid? [True, True] Translation: X:148.52, Y:-79.98, Z:-7.45 [[ 7.45324867e-01 6.65046600e-01 4.69453096e-02 1.48518697e+02] [-6.63641756e-01 7.46801115e-01 -4.32170677e-02 -7.99835268e+01] [-6.38001735e-02 1.05588752e-03 9.97962135e-01 -7.44566822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28864000000002 meters Centerline goodness [0,1] 0.9991141296323638 Centerline is valid? [True, True] Translation: X:148.54, Y:-80.00, Z:-7.45 [[ 7.47883988e-01 6.62195337e-01 4.65497135e-02 1.48538490e+02] [-6.60810385e-01 7.49330188e-01 -4.28241145e-02 -8.00039290e+01] [-6.32390345e-02 1.26693550e-03 9.97997605e-01 -7.44580933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31864000000002 meters Centerline goodness [0,1] 0.9995095875631406 Centerline is valid? [True, True] Translation: X:148.56, Y:-80.02, Z:-7.45 [[ 7.48462581e-01 6.61511573e-01 4.69702430e-02 1.48559848e+02] [-6.60100791e-01 7.49933779e-01 -4.32003663e-02 -8.00248926e+01] [-6.38021141e-02 1.32876309e-03 9.97961685e-01 -7.44727228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34864000000002 meters Centerline goodness [0,1] 0.999607265586647 Centerline is valid? [True, True] Translation: X:148.58, Y:-80.05, Z:-7.45 [[ 7.50331206e-01 6.59379339e-01 4.71377596e-02 1.48580458e+02] [-6.57954311e-01 7.51808880e-01 -4.33535820e-02 -8.00479754e+01] [-6.40250425e-02 1.51505341e-03 9.97947142e-01 -7.44903944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37864000000002 meters Centerline goodness [0,1] 0.999656374257523 Centerline is valid? [True, True] Translation: X:148.60, Y:-80.07, Z:-7.45 [[ 7.51079006e-01 6.58506091e-01 4.74347432e-02 1.48602353e+02] [-6.57060846e-01 7.52573686e-01 -4.36336084e-02 -8.00710456e+01] [-6.44311364e-02 1.60477467e-03 9.97920865e-01 -7.45069043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40864000000002 meters Centerline goodness [0,1] 0.9996561886051081 Centerline is valid? [True, True] Translation: X:148.62, Y:-80.10, Z:-7.45 [[ 7.51522245e-01 6.57977178e-01 4.77529894e-02 1.48624441e+02] [-6.56510921e-01 7.53036025e-01 -4.39335310e-02 -8.00950321e+01] [-6.48669821e-02 1.66666678e-03 9.97892528e-01 -7.45207557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43864000000002 meters Centerline goodness [0,1] 0.9995090578820757 Centerline is valid? [True, True] Translation: X:148.65, Y:-80.12, Z:-7.45 [[ 7.52778648e-01 6.56578895e-01 4.72065902e-02 1.48645612e+02] [-6.55142620e-01 7.54255266e-01 -4.34412417e-02 -8.01192393e+01] [-6.41284217e-02 1.77458998e-03 9.97940077e-01 -7.45256156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46864000000002 meters Centerline goodness [0,1] 0.99950874435056 Centerline is valid? [True, True] Translation: X:148.67, Y:-80.14, Z:-7.45 [[ 7.53718633e-01 6.55444913e-01 4.79602754e-02 1.48667677e+02] [-6.53959365e-01 7.55240572e-01 -4.41455318e-02 -8.01424257e+01] [-6.51565101e-02 1.90923860e-03 9.97873230e-01 -7.45419146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49864 meters Centerline goodness [0,1] 0.9995576743500271 Centerline is valid? [True, True] Translation: X:148.69, Y:-80.17, Z:-7.46 [[ 7.54053606e-01 6.55034565e-01 4.82998736e-02 1.48688982e+02] [-6.53526341e-01 7.55596355e-01 -4.44687595e-02 -8.01662450e+01] [-6.56237830e-02 1.96658881e-03 9.97842498e-01 -7.45553026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52864 meters Centerline goodness [0,1] 0.9993111592206259 Centerline is valid? [True, True] Translation: X:148.71, Y:-80.19, Z:-7.46 [[ 7.55141289e-01 6.53840621e-01 4.74771215e-02 1.48708510e+02] [-6.52380375e-01 7.56629546e-01 -4.37215832e-02 -8.01920234e+01] [-6.45095400e-02 2.04283038e-03 9.97914999e-01 -7.45705248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55864 meters Centerline goodness [0,1] 0.9991648653959521 Centerline is valid? [True, True] Translation: X:148.73, Y:-80.22, Z:-7.46 [[ 7.54468311e-01 6.54609363e-01 4.75830925e-02 1.48730461e+02] [-6.53143424e-01 7.55964698e-01 -4.38297123e-02 -8.02154659e+01] [-6.46624782e-02 1.98954503e-03 9.97905209e-01 -7.45915526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58864 meters Centerline goodness [0,1] 0.999655223366005 Centerline is valid? [True, True] Translation: X:148.75, Y:-80.24, Z:-7.46 [[ 7.53302486e-01 6.55863160e-01 4.87737685e-02 1.48751233e+02] [-6.54324736e-01 7.54877316e-01 -4.49374982e-02 -8.02408849e+01] [-6.62910610e-02 1.93764597e-03 9.97798447e-01 -7.46092176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61864 meters Centerline goodness [0,1] 0.9995086719402545 Centerline is valid? [True, True] Translation: X:148.77, Y:-80.26, Z:-7.46 [[ 7.52351227e-01 6.56902674e-01 4.94621980e-02 1.48773198e+02] [-6.55321952e-01 7.53973037e-01 -4.55828722e-02 -8.02639359e+01] [-6.72366743e-02 1.88066564e-03 9.97735282e-01 -7.46230468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64864 meters Centerline goodness [0,1] 0.9994108694584909 Centerline is valid? [True, True] Translation: X:148.80, Y:-80.29, Z:-7.46 [[ 7.50689751e-01 6.58765708e-01 4.99263455e-02 1.48795362e+02] [-6.57158483e-01 7.52346143e-01 -4.60218377e-02 -8.02875714e+01] [-6.78795020e-02 1.73860044e-03 9.97692012e-01 -7.46416526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67864 meters Centerline goodness [0,1] 0.9998037484054558 Centerline is valid? [True, True] Translation: X:148.82, Y:-80.31, Z:-7.47 [[ 7.48144661e-01 6.61695920e-01 4.93768700e-02 1.48816457e+02] [-6.60128837e-01 7.49770858e-01 -4.55365542e-02 -8.03121273e+01] [-6.71526903e-02 1.47283414e-03 9.97741623e-01 -7.46530674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70864 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:148.84, Y:-80.34, Z:-7.47 [[ 7.46169731e-01 6.63929863e-01 4.92734179e-02 1.48839472e+02] [-6.62372166e-01 7.47793733e-01 -4.54713761e-02 -8.03353623e+01] [-6.70361576e-02 1.29202390e-03 9.97749710e-01 -7.46642989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:148.86, Y:-80.36, Z:-7.47 [[ 7.42655340e-01 6.67786508e-01 5.02416701e-02 1.48861804e+02] [-6.66173890e-01 7.44352211e-01 -4.63911028e-02 -8.03582998e+01] [-6.83768508e-02 9.82911374e-04 9.97659080e-01 -7.46891223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76864 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:148.89, Y:-80.38, Z:-7.47 [[ 7.40203829e-01 6.70421977e-01 5.13094888e-02 1.48885087e+02] [-6.68743199e-01 7.41979616e-01 -4.74213462e-02 -8.03823164e+01] [-6.98629075e-02 7.88590339e-04 9.97556290e-01 -7.47039306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79864 meters Centerline goodness [0,1] 0.9998034011599332 Centerline is valid? [True, True] Translation: X:148.91, Y:-80.41, Z:-7.47 [[ 7.38908597e-01 6.71845888e-01 5.13535663e-02 1.48908551e+02] [-6.70165222e-01 7.40690651e-01 -4.74966893e-02 -8.04050839e+01] [-6.99475618e-02 6.80337911e-04 9.97550438e-01 -7.47157202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82864 meters Centerline goodness [0,1] 0.9998525073746313 Centerline is valid? [True, True] Translation: X:148.93, Y:-80.43, Z:-7.47 [[ 7.36136479e-01 6.74899898e-01 5.11195797e-02 1.48932729e+02] [-6.73240817e-01 7.37909187e-01 -4.72951896e-02 -8.04270057e+01] [-6.96411261e-02 3.99926770e-04 9.97572029e-01 -7.47267369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85864 meters Centerline goodness [0,1] 0.9998035459947939 Centerline is valid? [True, True] Translation: X:148.96, Y:-80.45, Z:-7.47 [[ 7.34401211e-01 6.76790780e-01 5.10793546e-02 1.48958085e+02] [-6.75136909e-01 7.36175374e-01 -4.72860734e-02 -8.04485585e+01] [-6.96061415e-02 2.41392006e-04 9.97574522e-01 -7.47377270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:148.98, Y:-80.47, Z:-7.48 [[ 7.32900362e-01 6.78402255e-01 5.12585577e-02 1.48983229e+02] [-6.76737269e-01 7.34690659e-01 -4.75005708e-02 -8.04707177e+01] [-6.98836779e-02 1.24609175e-04 9.97555139e-01 -7.47574719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.01, Y:-80.49, Z:-7.48 [[ 7.31545986e-01 6.79841993e-01 5.15299327e-02 1.49009030e+02] [-6.78159413e-01 7.33358619e-01 -4.78011145e-02 -8.04918874e+01] [-7.02871252e-02 2.32044635e-05 9.97526801e-01 -7.47781779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.03, Y:-80.51, Z:-7.48 [[ 7.31200566e-01 6.80215338e-01 5.15055942e-02 1.49033141e+02] [-6.78531836e-01 7.33012342e-01 -4.78273302e-02 -8.05137978e+01] [-7.02871198e-02 2.31854901e-05 9.97526802e-01 -7.47918628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.06, Y:-80.53, Z:-7.48 [[ 7.31588426e-01 6.79863077e-01 5.06415928e-02 1.49057962e+02] [-6.78231678e-01 7.33339068e-01 -4.70701922e-02 -8.05347579e+01] [-6.91387442e-02 8.92754015e-05 9.97607050e-01 -7.48053458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.08, Y:-80.56, Z:-7.48 [[ 7.32333241e-01 6.79025373e-01 5.11132708e-02 1.49083429e+02] [-6.77358217e-01 7.34114774e-01 -4.75535879e-02 -8.05555425e+01] [-6.98131000e-02 2.03079191e-04 9.97560068e-01 -7.48241485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.11, Y:-80.58, Z:-7.48 [[ 7.32768639e-01 6.78536321e-01 5.13671334e-02 1.49107713e+02] [-6.76847918e-01 7.34566797e-01 -4.78384426e-02 -8.05776917e+01] [-7.01927115e-02 2.86773139e-04 9.97533408e-01 -7.48323636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.13, Y:-80.60, Z:-7.48 [[ 7.33314731e-01 6.77988316e-01 5.08069704e-02 1.49132243e+02] [-6.76331947e-01 7.35072585e-01 -4.73644539e-02 -8.05998521e+01] [-6.94593574e-02 3.70674544e-04 9.97584713e-01 -7.48490954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09864000000002 meters Centerline goodness [0,1] 0.9999017102417928 Centerline is valid? [True, True] Translation: X:149.16, Y:-80.62, Z:-7.49 [[ 7.34412993e-01 6.76845572e-01 5.01759643e-02 1.49157011e+02] [-6.75225093e-01 7.36124870e-01 -4.68107853e-02 -8.06212185e+01] [-6.86194479e-02 4.98378775e-04 9.97642783e-01 -7.48606498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.18, Y:-80.64, Z:-7.49 [[ 7.34939120e-01 6.76319493e-01 4.95624092e-02 1.49181030e+02] [-6.74736345e-01 7.36608200e-01 -4.62517513e-02 -8.06430639e+01] [-6.77890380e-02 5.50662556e-04 9.97699525e-01 -7.48655701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15864000000002 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:149.20, Y:-80.67, Z:-7.49 [[ 7.36182797e-01 6.74907366e-01 5.03481575e-02 1.49203866e+02] [-6.73269429e-01 7.37902132e-01 -4.69970111e-02 -8.06657175e+01] [-6.88706417e-02 7.00515821e-04 9.97625353e-01 -7.48832356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18864000000002 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:149.23, Y:-80.69, Z:-7.49 [[ 7.35725524e-01 6.75376119e-01 5.07449580e-02 1.49227489e+02] [-6.73711522e-01 7.37473141e-01 -4.73935766e-02 -8.06889149e+01] [-6.94315334e-02 6.81201123e-04 9.97586487e-01 -7.48984642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21864000000002 meters Centerline goodness [0,1] 0.9999017826449934 Centerline is valid? [True, True] Translation: X:149.25, Y:-80.71, Z:-7.49 [[ 7.36225615e-01 6.74760095e-01 5.16784179e-02 1.49251277e+02] [-6.73028787e-01 7.38036716e-01 -4.83120875e-02 -8.07100683e+01] [-7.07396386e-02 7.87533451e-04 9.97494503e-01 -7.49166347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.28, Y:-80.73, Z:-7.49 [[ 7.37037996e-01 6.73946408e-01 5.07073163e-02 1.49275257e+02] [-6.72274855e-01 7.38779714e-01 -4.74452726e-02 -8.07322541e+01] [-6.94371077e-02 8.79714952e-04 9.97585943e-01 -7.49284493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.30, Y:-80.75, Z:-7.50 [[ 7.37492867e-01 6.73470662e-01 5.04136758e-02 1.49298889e+02] [-6.71814308e-01 7.39213341e-01 -4.72141139e-02 -8.07546428e+01] [-6.90637822e-02 9.51443526e-04 9.97611793e-01 -7.49510747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30864 meters Centerline goodness [0,1] 0.9999017295597484 Centerline is valid? [True, True] Translation: X:149.32, Y:-80.78, Z:-7.50 [[ 7.39124369e-01 6.71730727e-01 4.97292428e-02 1.49321830e+02] [-6.70111990e-01 7.40794537e-01 -4.66194680e-02 -8.07780558e+01] [-6.81548805e-02 1.13342301e-03 9.97674109e-01 -7.49536880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33864 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:149.35, Y:-80.80, Z:-7.50 [[ 7.39284665e-01 6.71553571e-01 4.97391605e-02 1.49346375e+02] [-6.69930633e-01 7.40955058e-01 -4.66749259e-02 -8.08010012e+01] [-6.81991958e-02 1.18426969e-03 9.97671022e-01 -7.49530913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.37, Y:-80.82, Z:-7.50 [[ 7.38744756e-01 6.72115847e-01 5.01644669e-02 1.49370411e+02] [-6.70463070e-01 7.40445071e-01 -4.71207897e-02 -8.08240318e+01] [-6.88146618e-02 1.17681381e-03 9.97628767e-01 -7.49652382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39864 meters Centerline goodness [0,1] 0.9999018260357353 Centerline is valid? [True, True] Translation: X:149.39, Y:-80.85, Z:-7.50 [[ 7.37983879e-01 6.72885045e-01 5.10441973e-02 1.49392785e+02] [-6.71172339e-01 7.39746155e-01 -4.79928902e-02 -8.08479164e+01] [-7.00534468e-02 1.15852593e-03 9.97542567e-01 -7.49851929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.42, Y:-80.87, Z:-7.50 [[ 7.38174902e-01 6.72726107e-01 5.03725953e-02 1.49416923e+02] [-6.71054851e-01 7.39890646e-01 -4.74048410e-02 -8.08706202e+01] [-6.91606863e-02 1.19028942e-03 9.97604823e-01 -7.50073076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.44, Y:-80.89, Z:-7.50 [[ 7.38098328e-01 6.72762405e-01 5.10059270e-02 1.49439599e+02] [-6.71045679e-01 7.39857567e-01 -4.80466140e-02 -8.08933311e+01] [-7.00610766e-02 1.23581850e-03 9.97541938e-01 -7.50295956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.46, Y:-80.92, Z:-7.50 [[ 7.38287068e-01 6.72539251e-01 5.12168094e-02 1.49460476e+02] [-6.70804818e-01 7.40060325e-01 -4.82867739e-02 -8.09176920e+01] [-7.03782793e-02 1.29301822e-03 9.97519537e-01 -7.50407617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51864 meters Centerline goodness [0,1] 0.9999018790168277 Centerline is valid? [True, True] Translation: X:149.48, Y:-80.94, Z:-7.51 [[ 7.37999753e-01 6.72896872e-01 5.06573311e-02 1.49483360e+02] [-6.71198155e-01 7.39735205e-01 -4.78002521e-02 -8.09408411e+01] [-6.96376513e-02 1.27546705e-03 9.97571537e-01 -7.50527871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.50, Y:-80.96, Z:-7.51 [[ 7.35812993e-01 6.75359493e-01 4.96869781e-02 1.49504592e+02] [-6.73728147e-01 7.37487931e-01 -4.69247915e-02 -8.09649544e+01] [-6.83346500e-02 1.05235562e-03 9.97661901e-01 -7.50544294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57864 meters Centerline goodness [0,1] 0.9998527101335428 Centerline is valid? [True, True] Translation: X:149.53, Y:-80.99, Z:-7.51 [[ 7.35117249e-01 6.76144581e-01 4.93065544e-02 1.49527445e+02] [-6.74537173e-01 7.36768283e-01 -4.66057959e-02 -8.09880406e+01] [-6.78397617e-02 1.00162064e-03 9.97695727e-01 -7.50629110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60864 meters Centerline goodness [0,1] 0.9998522167487685 Centerline is valid? [True, True] Translation: X:149.55, Y:-81.01, Z:-7.51 [[ 7.33692836e-01 6.77698947e-01 4.91829256e-02 1.49550130e+02] [-6.76100325e-01 7.35338938e-01 -4.65295385e-02 -8.10111820e+01] [-6.76991395e-02 8.85797105e-04 9.97705388e-01 -7.50747441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63864 meters Centerline goodness [0,1] 0.9998523985239852 Centerline is valid? [True, True] Translation: X:149.57, Y:-81.04, Z:-7.51 [[ 7.32876191e-01 6.78530465e-01 4.98888418e-02 1.49573642e+02] [-6.76884458e-01 7.34571766e-01 -4.72414120e-02 -8.10350764e+01] [-6.87016719e-02 8.53124440e-04 9.97636884e-01 -7.50936551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66864 meters Centerline goodness [0,1] 0.9999016764170886 Centerline is valid? [True, True] Translation: X:149.59, Y:-81.06, Z:-7.51 [[ 7.30955674e-01 6.80482270e-01 5.14556397e-02 1.49594249e+02] [-6.78732550e-01 7.32764186e-01 -4.87726653e-02 -8.10595970e+01] [-7.08937840e-02 7.26038841e-04 9.97483606e-01 -7.51270221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69864 meters Centerline goodness [0,1] 0.9999508768482586 Centerline is valid? [True, True] Translation: X:149.62, Y:-81.08, Z:-7.51 [[ 7.30103964e-01 6.81364757e-01 5.18678152e-02 1.49616688e+02] [-6.79585759e-01 7.31943718e-01 -4.92096556e-02 -8.10833239e+01] [-7.14940465e-02 6.79536089e-04 9.97440795e-01 -7.51425294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:149.64, Y:-81.11, Z:-7.52 [[ 7.29164610e-01 6.82313735e-01 5.26016975e-02 1.49638977e+02] [-6.80482930e-01 7.31059211e-01 -4.99541025e-02 -8.11068598e+01] [-7.25393257e-02 6.30206368e-04 9.97365354e-01 -7.51563001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75864 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:149.66, Y:-81.13, Z:-7.52 [[ 7.28748421e-01 6.82923922e-01 5.04049182e-02 1.49661456e+02] [-6.81241613e-01 7.30489278e-01 -4.79090762e-02 -8.11300607e+01] [-6.95385065e-02 5.75735836e-04 9.97579102e-01 -7.51601522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78864000000002 meters Centerline goodness [0,1] 0.9998037387763112 Centerline is valid? [True, True] Translation: X:149.68, Y:-81.15, Z:-7.52 [[ 7.27404600e-01 6.84402954e-01 4.97508254e-02 1.49684804e+02] [-6.82764660e-01 7.29103824e-01 -4.73289808e-02 -8.11529032e+01] [-6.86656113e-02 4.59212933e-04 9.97639626e-01 -7.51717809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81864000000002 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:149.71, Y:-81.18, Z:-7.52 [[ 7.24920734e-01 6.86960464e-01 5.07469223e-02 1.49708404e+02] [-6.85258840e-01 7.26694747e-01 -4.83225279e-02 -8.11761959e+01] [-7.00731881e-02 2.55225306e-04 9.97541820e-01 -7.51981885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84864000000002 meters Centerline goodness [0,1] 0.9999014778325123 Centerline is valid? [True, True] Translation: X:149.73, Y:-81.20, Z:-7.52 [[ 7.23372369e-01 6.88508497e-01 5.18504080e-02 1.49732114e+02] [-6.86732463e-01 7.25228260e-01 -4.94216129e-02 -8.11980409e+01] [-7.16305816e-02 1.42870840e-04 9.97431220e-01 -7.52266171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87864000000002 meters Centerline goodness [0,1] 0.9999012638230648 Centerline is valid? [True, True] Translation: X:149.76, Y:-81.22, Z:-7.52 [[ 7.22662813e-01 6.89194732e-01 5.26220481e-02 1.49756121e+02] [-6.87363885e-01 7.24576159e-01 -5.02023973e-02 -8.12188510e+01] [-7.27279092e-02 1.08910287e-04 9.97351813e-01 -7.52491001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.78, Y:-81.24, Z:-7.53 [[ 7.21812502e-01 6.90071246e-01 5.28051852e-02 1.49781248e+02] [-6.88226427e-01 7.23741440e-01 -5.04253217e-02 -8.12398556e+01] [-7.30143653e-02 5.57037039e-05 9.97330888e-01 -7.52597123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93864000000002 meters Centerline goodness [0,1] 0.9999017295597484 Centerline is valid? [True, True] Translation: X:149.81, Y:-81.26, Z:-7.53 [[ 7.21911012e-01 6.89957210e-01 5.29484639e-02 1.49806260e+02] [-6.88098203e-01 7.23850149e-01 -5.06144767e-02 -8.12614571e+01] [-7.32485766e-02 1.05405260e-04 9.97313709e-01 -7.52724213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96864000000002 meters Centerline goodness [0,1] 0.9999015263417036 Centerline is valid? [True, True] Translation: X:149.83, Y:-81.28, Z:-7.53 [[ 7.22277157e-01 6.89685113e-01 5.14796379e-02 1.49831331e+02] [-6.87923891e-01 7.24109397e-01 -4.92575032e-02 -8.12824304e+01] [-7.12490562e-02 1.63496585e-04 9.97458543e-01 -7.52680715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.86, Y:-81.30, Z:-7.53 [[ 7.22777302e-01 6.89207459e-01 5.08532264e-02 1.49857754e+02] [-6.87484666e-01 7.24564021e-01 -4.87012565e-02 -8.13018288e+01] [-7.04116875e-02 2.39349392e-04 9.97517988e-01 -7.52790428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02864 meters Centerline goodness [0,1] 0.9994595125786163 Centerline is valid? [True, True] Translation: X:149.88, Y:-81.32, Z:-7.53 [[ 7.22430545e-01 6.89596889e-01 5.04998803e-02 1.49883258e+02] [-6.87895749e-01 7.24193397e-01 -4.84082921e-02 -8.13230409e+01] [-6.99538875e-02 2.32975823e-04 9.97550199e-01 -7.52906578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05864 meters Centerline goodness [0,1] 0.9997541064227402 Centerline is valid? [True, True] Translation: X:149.91, Y:-81.34, Z:-7.53 [[ 7.21735771e-01 6.90237983e-01 5.16624094e-02 1.49911151e+02] [-6.88455669e-01 7.23582395e-01 -4.95712453e-02 -8.13406380e+01] [-7.15979663e-02 2.10062312e-04 9.97433550e-01 -7.53179211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08864 meters Centerline goodness [0,1] 0.9993610223642172 Centerline is valid? [True, True] Translation: X:149.94, Y:-81.36, Z:-7.53 [[ 7.21083195e-01 6.90888371e-01 5.20795962e-02 1.49936915e+02] [-6.89075376e-01 7.22961427e-01 -5.00189995e-02 -8.13618940e+01] [-7.22090843e-02 1.81092617e-04 9.97389500e-01 -7.53305935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11864 meters Centerline goodness [0,1] 0.998919237571232 Centerline is valid? [True, True] Translation: X:149.96, Y:-81.38, Z:-7.53 [[ 7.21034635e-01 6.90865981e-01 5.30400943e-02 1.49961686e+02] [-6.88981691e-01 7.22982812e-01 -5.09910078e-02 -8.13829628e+01] [-7.35750291e-02 2.22628850e-04 9.97289660e-01 -7.53452339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14864 meters Centerline goodness [0,1] 0.9965634051745299 Centerline is valid? [True, True] Translation: X:149.99, Y:-81.40, Z:-7.53 [[ 7.22673535e-01 6.89237930e-01 5.19041211e-02 1.49986982e+02] [-6.87426240e-01 7.24534959e-01 -4.99425403e-02 -8.14028493e+01] [-7.20286434e-02 4.11897351e-04 9.97402479e-01 -7.53366258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17864 meters Centerline goodness [0,1] 0.9966615935981148 Centerline is valid? [True, True] Translation: X:150.01, Y:-81.42, Z:-7.53 [[ 7.23571857e-01 6.88367510e-01 5.09307236e-02 1.50012290e+02] [-6.86618044e-01 7.25361910e-01 -4.90485610e-02 -8.14231130e+01] [-7.07066428e-02 5.20204564e-04 9.97497018e-01 -7.53333768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20864 meters Centerline goodness [0,1] 0.9972445013039414 Centerline is valid? [True, True] Translation: X:150.04, Y:-81.44, Z:-7.54 [[ 7.26265840e-01 6.85614360e-01 4.97079374e-02 1.50038766e+02] [-6.83938521e-01 7.27964495e-01 -4.79144311e-02 -8.14429136e+01] [-6.90364356e-02 8.01441359e-04 9.97613817e-01 -7.53526716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23864 meters Centerline goodness [0,1] 0.9988215074883379 Centerline is valid? [True, True] Translation: X:150.06, Y:-81.46, Z:-7.54 [[ 7.27844448e-01 6.83926801e-01 4.98657172e-02 1.50062752e+02] [-6.82233171e-01 7.29549954e-01 -4.81120093e-02 -8.14645494e+01] [-6.92846243e-02 9.98012446e-04 9.97596434e-01 -7.53725331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26864 meters Centerline goodness [0,1] 0.9987222959359182 Centerline is valid? [True, True] Translation: X:150.09, Y:-81.49, Z:-7.54 [[ 7.29521858e-01 6.82053275e-01 5.10018589e-02 1.50085953e+02] [-6.80273835e-01 7.31301447e-01 -4.92514294e-02 -8.14865484e+01] [-7.08898319e-02 1.23476407e-03 9.97483387e-01 -7.54025111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29864 meters Centerline goodness [0,1] 0.9987217305801377 Centerline is valid? [True, True] Translation: X:150.11, Y:-81.51, Z:-7.54 [[ 7.30768529e-01 6.80739125e-01 5.07109605e-02 1.50109533e+02] [-6.78973813e-01 7.32524624e-01 -4.90126099e-02 -8.15088297e+01] [-7.05118284e-02 1.38545860e-03 9.97509981e-01 -7.54077017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32864 meters Centerline goodness [0,1] 0.9968565815324165 Centerline is valid? [True, True] Translation: X:150.13, Y:-81.53, Z:-7.54 [[ 7.32419142e-01 6.78876403e-01 5.18558574e-02 1.50133738e+02] [-6.77022565e-01 7.34250751e-01 -5.01625570e-02 -8.15301622e+01] [-7.21293784e-02 1.63243141e-03 9.97393948e-01 -7.54020947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35864 meters Centerline goodness [0,1] 0.996949119181183 Centerline is valid? [True, True] Translation: X:150.16, Y:-81.55, Z:-7.54 [[ 7.33362882e-01 6.77962645e-01 5.04532961e-02 1.50156855e+02] [-6.76202833e-01 7.35094377e-01 -4.88465438e-02 -8.15532600e+01] [-7.02040663e-02 1.70558038e-03 9.97531193e-01 -7.54105127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38864 meters Centerline goodness [0,1] 0.9962626014261126 Centerline is valid? [True, True] Translation: X:150.18, Y:-81.58, Z:-7.54 [[ 7.33797836e-01 6.77456683e-01 5.09232722e-02 1.50175711e+02] [-6.75659703e-01 7.35560466e-01 -4.93433542e-02 -8.15799445e+01] [-7.08851309e-02 1.80124358e-03 9.97482859e-01 -7.54255938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41864 meters Centerline goodness [0,1] 0.997100024576063 Centerline is valid? [True, True] Translation: X:150.20, Y:-81.61, Z:-7.54 [[ 7.33185723e-01 6.78121374e-01 5.08929999e-02 1.50197354e+02] [-6.76325002e-01 7.34947804e-01 -4.93580429e-02 -8.16053167e+01] [-7.08744424e-02 1.76840403e-03 9.97483677e-01 -7.54432336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44864 meters Centerline goodness [0,1] 0.9977401129943503 Centerline is valid? [True, True] Translation: X:150.22, Y:-81.63, Z:-7.55 [[ 7.31890957e-01 6.79334398e-01 5.32954283e-02 1.50217360e+02] [-6.77363768e-01 7.33826723e-01 -5.17365090e-02 -8.16306070e+01] [-7.42559997e-02 1.76509092e-03 9.97237650e-01 -7.54656378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47864 meters Centerline goodness [0,1] 0.9978851072201456 Centerline is valid? [True, True] Translation: X:150.24, Y:-81.65, Z:-7.55 [[ 7.30244082e-01 6.81073989e-01 5.36824174e-02 1.50238821e+02] [-6.79075965e-01 7.32212781e-01 -5.21562758e-02 -8.16542595e+01] [-7.48292350e-02 1.63237239e-03 9.97195027e-01 -7.54758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50864 meters Centerline goodness [0,1] 0.9980792908150702 Centerline is valid? [True, True] Translation: X:150.26, Y:-81.68, Z:-7.55 [[ 7.28516092e-01 6.82907386e-01 5.38684183e-02 1.50259974e+02] [-6.80898071e-01 7.30503480e-01 -5.23687190e-02 -8.16794184e+01] [-7.51140520e-02 1.47255243e-03 9.97173862e-01 -7.54866191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53864000000002 meters Centerline goodness [0,1] 0.9971946057682842 Centerline is valid? [True, True] Translation: X:150.28, Y:-81.70, Z:-7.55 [[ 7.26391196e-01 6.85150712e-01 5.40770969e-02 1.50280809e+02] [-6.83130748e-01 7.28400248e-01 -5.25876456e-02 -8.17048483e+01] [-7.54202336e-02 1.25747511e-03 9.97151045e-01 -7.55020770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56864000000002 meters Centerline goodness [0,1] 0.9972905069215232 Centerline is valid? [True, True] Translation: X:150.30, Y:-81.73, Z:-7.55 [[ 7.22101035e-01 6.89698529e-01 5.37218257e-02 1.50301207e+02] [-6.87715371e-01 7.24096195e-01 -5.22711103e-02 -8.17304276e+01] [-7.49510775e-02 7.99697569e-04 9.97186891e-01 -7.55074039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59864000000002 meters Centerline goodness [0,1] 0.9970491319529828 Centerline is valid? [True, True] Translation: X:150.32, Y:-81.75, Z:-7.55 [[ 7.19433732e-01 6.92411381e-01 5.46038847e-02 1.50323812e+02] [-6.90366425e-01 7.21502712e-01 -5.31792859e-02 -8.17543683e+01] [-7.62187937e-02 5.62283490e-04 9.97090958e-01 -7.55285298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62864000000002 meters Centerline goodness [0,1] 0.9988696677806173 Centerline is valid? [True, True] Translation: X:150.34, Y:-81.78, Z:-7.56 [[ 7.16008671e-01 6.95857834e-01 5.57983731e-02 1.50343905e+02] [-6.93728607e-01 7.18179517e-01 -5.43948641e-02 -8.17799012e+01] [-7.79243409e-02 2.38266711e-04 9.96959247e-01 -7.55653818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65864000000002 meters Centerline goodness [0,1] 0.9987218562579884 Centerline is valid? [True, True] Translation: X:150.37, Y:-81.80, Z:-7.56 [[ 7.13643145e-01 6.98209451e-01 5.67188204e-02 1.50365084e+02] [-6.96012857e-01 7.15893541e-01 -5.53402254e-02 -8.18036383e+01] [-7.92437056e-02 1.61442539e-05 9.96855273e-01 -7.55797660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68864000000002 meters Centerline goodness [0,1] 0.9988220280749975 Centerline is valid? [True, True] Translation: X:150.39, Y:-81.83, Z:-7.56 [[ 7.11811371e-01 6.99975665e-01 5.79537812e-02 1.50387920e+02] [-6.97684043e-01 7.14166680e-01 -5.65944261e-02 -8.18265330e+01] [-8.10033806e-02 -1.48872341e-04 9.96713816e-01 -7.55886374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71864000000002 meters Centerline goodness [0,1] 0.9987704716470762 Centerline is valid? [True, True] Translation: X:150.41, Y:-81.85, Z:-7.56 [[ 7.06194802e-01 7.05674301e-01 5.75559109e-02 1.50411656e+02] [-7.03429676e-01 7.08535951e-01 -5.62449808e-02 -8.18478857e+01] [-8.04710696e-02 -7.66622640e-04 9.96756650e-01 -7.55786408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74864 meters Centerline goodness [0,1] 0.9977888064468576 Centerline is valid? [True, True] Translation: X:150.44, Y:-81.87, Z:-7.56 [[ 7.02696859e-01 7.09210063e-01 5.69052813e-02 1.50435806e+02] [-7.07024184e-01 7.04996322e-01 -5.56505990e-02 -8.18708604e+01] [-7.95859789e-02 -1.12790894e-03 9.96827367e-01 -7.55919580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77864 meters Centerline goodness [0,1] 0.99798268057469 Centerline is valid? [True, True] Translation: X:150.46, Y:-81.89, Z:-7.56 [[ 6.96638699e-01 7.15079830e-01 5.79254664e-02 1.50460437e+02] [-7.12831732e-01 6.99040480e-01 -5.66862388e-02 -8.18920730e+01] [-8.10274318e-02 -1.80128289e-03 9.96710244e-01 -7.55995449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80864 meters Centerline goodness [0,1] 0.998470872589158 Centerline is valid? [True, True] Translation: X:150.49, Y:-81.91, Z:-7.56 [[ 6.93910968e-01 7.17682398e-01 5.84768650e-02 1.50485855e+02] [-7.15397897e-01 6.96367396e-01 -5.72564223e-02 -8.19114761e+01] [-8.18133087e-02 -2.10336682e-03 9.96645453e-01 -7.56088379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83864 meters Centerline goodness [0,1] 0.998470872589158 Centerline is valid? [True, True] Translation: X:150.51, Y:-81.93, Z:-7.56 [[ 6.93542325e-01 7.18040807e-01 5.84503435e-02 1.50509352e+02] [-7.15755297e-01 6.95997814e-01 -5.72834901e-02 -8.19340585e+01] [-8.18131948e-02 -2.10761799e-03 9.96645453e-01 -7.56225376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86864 meters Centerline goodness [0,1] 0.9985747284611982 Centerline is valid? [True, True] Translation: X:150.53, Y:-81.95, Z:-7.56 [[ 6.90912456e-01 7.20473177e-01 5.96521510e-02 1.50534531e+02] [-7.18098340e-01 6.93478590e-01 -5.84997336e-02 -8.19543088e+01] [-8.35149784e-02 -2.41791603e-03 9.96503589e-01 -7.56369074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89864 meters Centerline goodness [0,1] 0.9985764775181621 Centerline is valid? [True, True] Translation: X:150.56, Y:-81.97, Z:-7.57 [[ 6.89066985e-01 7.22216236e-01 5.99199347e-02 1.50559698e+02] [-7.19823690e-01 6.91662387e-01 -5.87962397e-02 -8.19746844e+01] [-8.39079640e-02 -2.61724088e-03 9.96470072e-01 -7.56527956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92864 meters Centerline goodness [0,1] 0.9985257985257985 Centerline is valid? [True, True] Translation: X:150.59, Y:-81.99, Z:-7.57 [[ 6.87262744e-01 7.23782231e-01 6.17187335e-02 1.50585331e+02] [-7.21246850e-01 6.90022501e-01 -6.05964553e-02 -8.19945065e+01] [-8.64459524e-02 -2.86875598e-03 9.96252412e-01 -7.56709041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95864 meters Centerline goodness [0,1] 0.998282377189969 Centerline is valid? [True, True] Translation: X:150.61, Y:-82.01, Z:-7.57 [[ 6.87070484e-01 7.23913991e-01 6.23111874e-02 1.50610764e+02] [-7.21326991e-01 6.89884187e-01 -6.12142242e-02 -8.20147635e+01] [-8.73013362e-02 -2.88825465e-03 9.96177763e-01 -7.56907072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98864 meters Centerline goodness [0,1] 0.9991654803396985 Centerline is valid? [True, True] Translation: X:150.64, Y:-82.03, Z:-7.57 [[ 6.87634108e-01 7.23514787e-01 6.07098593e-02 1.50636515e+02] [-7.21053208e-01 6.90303494e-01 -5.96938701e-02 -8.20340559e+01] [-8.50976257e-02 -2.72749762e-03 9.96368885e-01 -7.56971768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01864 meters Centerline goodness [0,1] 0.9994106090373281 Centerline is valid? [True, True] Translation: X:150.66, Y:-82.05, Z:-7.57 [[ 6.88580711e-01 7.22761862e-01 5.89227938e-02 1.50664334e+02] [-7.20436298e-01 6.91092567e-01 -5.79879617e-02 -8.20520463e+01] [-8.26325920e-02 -2.52072758e-03 9.96576892e-01 -7.57103791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04864 meters Centerline goodness [0,1] 0.9991160438049403 Centerline is valid? [True, True] Translation: X:150.69, Y:-82.07, Z:-7.57 [[ 6.89221714e-01 7.22213165e-01 5.81512894e-02 1.50689745e+02] [-7.19942071e-01 6.91666426e-01 -5.72797379e-02 -8.20726438e+01] [-8.15894753e-02 -2.38712061e-03 9.96663162e-01 -7.57233784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07864 meters Centerline goodness [0,1] 0.9996062992125985 Centerline is valid? [True, True] Translation: X:150.71, Y:-82.09, Z:-7.57 [[ 6.89525716e-01 7.21947957e-01 5.78397337e-02 1.50714640e+02] [-7.19696090e-01 6.91943511e-01 -5.70238203e-02 -8.20930736e+01] [-8.11900590e-02 -2.30763964e-03 9.96695966e-01 -7.57366406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10864 meters Centerline goodness [0,1] 0.9998527968596663 Centerline is valid? [True, True] Translation: X:150.74, Y:-82.11, Z:-7.58 [[ 6.91511047e-01 7.19955332e-01 5.89643311e-02 1.50742159e+02] [-7.17603290e-01 6.94017294e-01 -5.81851626e-02 -8.21107686e+01] [-8.28129836e-02 -2.07731536e-03 9.96562941e-01 -7.57544705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13864 meters Centerline goodness [0,1] 0.9996566944580677 Centerline is valid? [True, True] Translation: X:150.77, Y:-82.13, Z:-7.58 [[ 6.92345798e-01 7.19148337e-01 5.90166494e-02 1.50767363e+02] [-7.16784865e-01 6.94853856e-01 -5.82887327e-02 -8.21315358e+01] [-8.29261916e-02 -1.94628187e-03 9.96553791e-01 -7.57710622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16864 meters Centerline goodness [0,1] 0.9992136432889369 Centerline is valid? [True, True] Translation: X:150.79, Y:-82.15, Z:-7.58 [[ 6.94038706e-01 7.17588329e-01 5.81142340e-02 1.50792270e+02] [-7.15287079e-01 6.96465440e-01 -5.74481095e-02 -8.21522690e+01] [-8.16986485e-02 -1.69714904e-03 9.96655633e-01 -7.57785487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19864 meters Centerline goodness [0,1] 0.9984781541482572 Centerline is valid? [True, True] Translation: X:150.82, Y:-82.17, Z:-7.58 [[ 6.97734825e-01 7.14225958e-01 5.52032081e-02 1.50816797e+02] [-7.12137055e-01 6.99914138e-01 -5.45986736e-02 -8.21718419e+01] [-7.76332957e-02 -1.21685402e-03 9.96981239e-01 -7.57808674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22864 meters Centerline goodness [0,1] 0.9974433354638871 Centerline is valid? [True, True] Translation: X:150.84, Y:-82.19, Z:-7.58 [[ 6.99975046e-01 7.12036479e-01 5.51270172e-02 1.50841813e+02] [-7.09945749e-01 7.02141810e-01 -5.45335777e-02 -8.21926556e+01] [-7.75368803e-02 -9.65048020e-04 9.96989017e-01 -7.57929056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25864 meters Centerline goodness [0,1] 0.9964171779141104 Centerline is valid? [True, True] Translation: X:150.87, Y:-82.21, Z:-7.58 [[ 7.01962678e-01 7.10093018e-01 5.49208900e-02 1.50866247e+02] [-7.08010884e-01 7.04107493e-01 -5.43435905e-02 -8.22134028e+01] [-7.72592143e-02 -7.37415567e-04 9.97010767e-01 -7.57994302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28864000000002 meters Centerline goodness [0,1] 0.9966538726503297 Centerline is valid? [True, True] Translation: X:150.89, Y:-82.23, Z:-7.58 [[ 7.06940163e-01 7.05064813e-01 5.58499383e-02 1.50891862e+02] [-7.02894366e-01 7.09142848e-01 -5.52804837e-02 -8.22345142e+01] [-7.85819082e-02 -1.76612707e-04 9.96907645e-01 -7.58193679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31864000000002 meters Centerline goodness [0,1] 0.9974468502970492 Centerline is valid? [True, True] Translation: X:150.92, Y:-82.26, Z:-7.58 [[ 7.09028607e-01 7.03044307e-01 5.48373671e-02 1.50915325e+02] [-7.00944437e-01 7.11146046e-01 -5.42973113e-02 -8.22572598e+01] [-7.71707924e-02 6.03995916e-05 9.97017886e-01 -7.58370528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34864000000002 meters Centerline goodness [0,1] 0.9969060013751105 Centerline is valid? [True, True] Translation: X:150.94, Y:-82.28, Z:-7.58 [[ 7.12460177e-01 6.99584320e-01 5.46102153e-02 1.50940810e+02] [-6.97490196e-01 7.14549913e-01 -5.40911044e-02 -8.22789269e+01] [-7.68630131e-02 4.47667951e-04 9.97041562e-01 -7.58479418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37864000000002 meters Centerline goodness [0,1] 0.9963659578647547 Centerline is valid? [True, True] Translation: X:150.96, Y:-82.30, Z:-7.59 [[ 7.13985912e-01 6.98018703e-01 5.47175281e-02 1.50964261e+02] [-6.95910380e-01 7.16079251e-01 -5.42148382e-02 -8.23008009e+01] [-7.70250576e-02 6.30134977e-04 9.97028958e-01 -7.58598504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40864000000002 meters Centerline goodness [0,1] 0.995090578820757 Centerline is valid? [True, True] Translation: X:150.99, Y:-82.32, Z:-7.59 [[ 7.15180219e-01 6.96873690e-01 5.37058036e-02 1.50987010e+02] [-6.94838496e-01 7.17193487e-01 -5.32256161e-02 -8.23236847e+01] [-7.56089841e-02 7.49047989e-04 9.97137263e-01 -7.58679391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43864000000002 meters Centerline goodness [0,1] 0.9934605172583342 Centerline is valid? [True, True] Translation: X:151.01, Y:-82.35, Z:-7.59 [[ 7.17515732e-01 6.94551881e-01 5.26199568e-02 1.51009358e+02] [-6.92591056e-01 7.19441949e-01 -5.21623505e-02 -8.23474796e+01] [-7.40864629e-02 9.83195681e-04 9.97251337e-01 -7.58648999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46864000000002 meters Centerline goodness [0,1] 0.9936662247753719 Centerline is valid? [True, True] Translation: X:151.03, Y:-82.37, Z:-7.59 [[ 7.18011425e-01 6.93967842e-01 5.35558422e-02 1.51031908e+02] [-6.91933918e-01 7.20005198e-01 -5.31033663e-02 -8.23706638e+01] [-7.54125133e-02 1.07171995e-03 9.97151846e-01 -7.58857930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49864 meters Centerline goodness [0,1] 0.9942517441289181 Centerline is valid? [True, True] Translation: X:151.05, Y:-82.39, Z:-7.59 [[ 7.18431804e-01 6.93445923e-01 5.46671239e-02 1.51054641e+02] [-6.91324035e-01 7.20507742e-01 -5.42187452e-02 -8.23939018e+01] [-7.69858538e-02 1.15977431e-03 9.97031511e-01 -7.58997133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52864 meters Centerline goodness [0,1] 0.99547422274695 Centerline is valid? [True, True] Translation: X:151.08, Y:-82.42, Z:-7.59 [[ 7.18241101e-01 6.93572807e-01 5.55561160e-02 1.51076282e+02] [-6.91380548e-01 7.20385578e-01 -5.51140379e-02 -8.24173253e+01] [-7.82474227e-02 1.17474931e-03 9.96933278e-01 -7.59217672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55864 meters Centerline goodness [0,1] 0.9950395363685477 Centerline is valid? [True, True] Translation: X:151.10, Y:-82.44, Z:-7.59 [[ 7.16875051e-01 6.94878883e-01 5.68638623e-02 1.51096666e+02] [-6.92584995e-01 7.19125997e-01 -5.64253878e-02 -8.24420368e+01] [-8.01010921e-02 1.06689498e-03 9.96786174e-01 -7.59473424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58864 meters Centerline goodness [0,1] 0.9954371504268472 Centerline is valid? [True, True] Translation: X:151.12, Y:-82.47, Z:-7.60 [[ 7.15626142e-01 6.96141786e-01 5.71475142e-02 1.51119228e+02] [-6.93827394e-01 7.17903700e-01 -5.67258801e-02 -8.24665644e+01] [-8.05156674e-02 9.44011932e-04 9.96752896e-01 -7.59601892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61864 meters Centerline goodness [0,1] 0.9968550368550368 Centerline is valid? [True, True] Translation: X:151.14, Y:-82.49, Z:-7.60 [[ 7.12734652e-01 6.99092524e-01 5.72621923e-02 1.51140663e+02] [-6.96775322e-01 7.15030933e-01 -5.68763111e-02 -8.24908594e+01] [-8.07060426e-02 6.38835322e-04 9.96737742e-01 -7.59910195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64864 meters Centerline goodness [0,1] 0.9972017673048601 Centerline is valid? [True, True] Translation: X:151.16, Y:-82.51, Z:-7.60 [[ 7.11561066e-01 7.00325817e-01 5.67855621e-02 1.51163059e+02] [-6.98047086e-01 7.13823136e-01 -5.64517174e-02 -8.25137885e+01] [-8.00694431e-02 5.29848141e-04 9.96789147e-01 -7.60046906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67864 meters Centerline goodness [0,1] 0.9977913026406204 Centerline is valid? [True, True] Translation: X:151.19, Y:-82.54, Z:-7.60 [[ 7.09664119e-01 7.02218242e-01 5.71522472e-02 1.51185956e+02] [-6.99911764e-01 7.11961666e-01 -5.68692265e-02 -8.25373132e+01] [-8.06248174e-02 3.56519357e-04 9.96744457e-01 -7.60263325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70864 meters Centerline goodness [0,1] 0.9964184083995683 Centerline is valid? [True, True] Translation: X:151.21, Y:-82.56, Z:-7.61 [[ 7.06896367e-01 7.04836320e-01 5.91885923e-02 1.51208159e+02] [-7.02366813e-01 7.09369969e-01 -5.89500464e-02 -8.25598728e+01] [-8.35367436e-02 9.94707261e-05 9.96504693e-01 -7.60552017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73864 meters Centerline goodness [0,1] 0.9958770982624914 Centerline is valid? [True, True] Translation: X:151.23, Y:-82.58, Z:-7.61 [[ 7.04929698e-01 7.06741313e-01 5.99235954e-02 1.51230834e+02] [-7.04212508e-01 7.07472055e-01 -5.97330303e-02 -8.25830929e+01] [-8.46100695e-02 -9.13584050e-05 9.96414135e-01 -7.60660378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76864 meters Centerline goodness [0,1] 0.9963108706345303 Centerline is valid? [True, True] Translation: X:151.25, Y:-82.61, Z:-7.61 [[ 7.03670396e-01 7.08021086e-01 5.96163965e-02 1.51254400e+02] [-7.05518027e-01 7.06191263e-01 -5.94828904e-02 -8.26064196e+01] [-8.42157190e-02 -2.04093343e-04 9.96447525e-01 -7.60820700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79864 meters Centerline goodness [0,1] 0.9959748674651483 Centerline is valid? [True, True] Translation: X:151.28, Y:-82.63, Z:-7.61 [[ 7.03521312e-01 7.08316653e-01 5.78384146e-02 1.51280745e+02] [-7.05958415e-01 7.05894807e-01 -5.77515161e-02 -8.26264838e+01] [-8.17341970e-02 -2.02093131e-04 9.96654143e-01 -7.60851236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82864 meters Centerline goodness [0,1] 0.9960276592614389 Centerline is valid? [True, True] Translation: X:151.30, Y:-82.65, Z:-7.61 [[ 7.02085210e-01 7.09803147e-01 5.70600535e-02 1.51304889e+02] [-7.07509871e-01 7.04400010e-01 -5.70123426e-02 -8.26477473e+01] [-8.06606425e-02 -3.43028565e-04 9.96741563e-01 -7.60982531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85864 meters Centerline goodness [0,1] 0.9965165341968404 Centerline is valid? [True, True] Translation: X:151.33, Y:-82.67, Z:-7.61 [[ 7.00255314e-01 7.11693518e-01 5.59895714e-02 1.51330784e+02] [-7.09487783e-01 7.02489908e-01 -5.59911989e-02 -8.26677453e+01] [-7.91806821e-02 -5.15782331e-04 9.96860147e-01 -7.61061829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88864 meters Centerline goodness [0,1] 0.9974960722702279 Centerline is valid? [True, True] Translation: X:151.16, Y:-82.98, Z:-5.86 [[ 7.60326151e-01 -6.49540631e-01 -1.05462920e-03 1.51155396e+02] [-6.49529368e-01 -7.60320881e-01 4.87415718e-03 -8.29846074e+01] [-3.96781973e-03 -3.02093653e-03 -9.99987565e-01 -5.86164313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91864 meters Centerline goodness [0,1] 0.9974958263772955 Centerline is valid? [True, True] Translation: X:151.35, Y:-82.70, Z:-7.61 [[ 7.47254624e-01 6.61768495e-01 6.06051627e-02 1.51352482e+02] [-6.59676287e-01 7.49707936e-01 -5.25852339e-02 -8.26960001e+01] [-8.02354226e-02 -6.85229593e-04 9.96775706e-01 -7.61210472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94864 meters Centerline goodness [0,1] 0.9958764910902754 Centerline is valid? [True, True] Translation: X:151.38, Y:-82.71, Z:-7.62 [[ 7.48166176e-01 6.60724632e-01 6.07481226e-02 1.51381780e+02] [-6.58616019e-01 7.50628179e-01 -5.27472880e-02 -8.27129405e+01] [-8.04506851e-02 -5.45949870e-04 9.96758441e-01 -7.61546930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97864 meters Centerline goodness [0,1] 0.9963179341155678 Centerline is valid? [True, True] Translation: X:151.41, Y:-82.73, Z:-7.62 [[ 7.49583099e-01 6.59290711e-01 5.88297187e-02 1.51407770e+02] [-6.57307677e-01 7.51888039e-01 -5.10978791e-02 -8.27316515e+01] [-7.79217189e-02 -3.67119192e-04 9.96959413e-01 -7.61537505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00864 meters Centerline goodness [0,1] 0.995769590240543 Centerline is valid? [True, True] Translation: X:151.43, Y:-82.75, Z:-7.62 [[ 7.50774289e-01 6.58021453e-01 5.78423250e-02 1.51433652e+02] [-6.56099781e-01 7.52999149e-01 -5.02529508e-02 -8.27507195e+01] [-7.66227412e-02 -2.21713333e-04 9.97060132e-01 -7.61642988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03864000000002 meters Centerline goodness [0,1] 0.9968573533022342 Centerline is valid? [True, True] Translation: X:151.46, Y:-82.77, Z:-7.62 [[ 7.54089075e-01 6.54403551e-01 5.57284427e-02 1.51460908e+02] [-6.52609349e-01 7.56145469e-01 -4.84258910e-02 -8.27673257e+01] [-7.38288845e-02 1.48532621e-04 9.97270913e-01 -7.61577963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06864000000002 meters Centerline goodness [0,1] 0.9972019046684012 Centerline is valid? [True, True] Translation: X:151.48, Y:-82.79, Z:-7.62 [[ 7.55432554e-01 6.52857084e-01 5.56712156e-02 1.51484996e+02] [-6.51062306e-01 7.57481048e-01 -4.83770118e-02 -8.27850504e+01] [-7.37531656e-02 3.00139616e-04 9.97276481e-01 -7.61786114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09864000000002 meters Centerline goodness [0,1] 0.9973506034736532 Centerline is valid? [True, True] Translation: X:151.51, Y:-82.80, Z:-7.62 [[ 7.56083779e-01 6.52079367e-01 5.59447803e-02 1.51509188e+02] [-6.50265215e-01 7.58150618e-01 -4.86085467e-02 -8.28029859e+01] [-7.41112001e-02 3.73189091e-04 9.97249914e-01 -7.62012173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12864000000002 meters Centerline goodness [0,1] 0.9962154723287132 Centerline is valid? [True, True] Translation: X:151.53, Y:-82.82, Z:-7.62 [[ 7.57910436e-01 6.49951298e-01 5.59917985e-02 1.51534339e+02] [-6.48129920e-01 7.59975652e-01 -4.86273100e-02 -8.28184257e+01] [-7.41577868e-02 5.65185781e-04 9.97246360e-01 -7.62065614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15864000000002 meters Centerline goodness [0,1] 0.9964641752197614 Centerline is valid? [True, True] Translation: X:151.56, Y:-82.84, Z:-7.62 [[ 7.58024517e-01 6.49734943e-01 5.69502884e-02 1.51557224e+02] [-6.47852354e-01 7.60160625e-01 -4.94282402e-02 -8.28351401e+01] [-7.54066217e-02 5.72439445e-04 9.97152703e-01 -7.62191456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18864000000002 meters Centerline goodness [0,1] 0.9969021979643016 Centerline is valid? [True, True] Translation: X:151.58, Y:-82.85, Z:-7.62 [[ 7.59857138e-01 6.47540456e-01 5.75194517e-02 1.51580726e+02] [-6.45615872e-01 7.62030678e-01 -4.98937978e-02 -8.28513015e+01] [-7.61398394e-02 7.76687484e-04 9.97096847e-01 -7.62305569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21864000000002 meters Centerline goodness [0,1] 0.9961760956956565 Centerline is valid? [True, True] Translation: X:151.60, Y:-82.87, Z:-7.62 [[ 7.61236724e-01 6.45886800e-01 5.78696047e-02 1.51603155e+02] [-6.43937295e-01 7.63432646e-01 -5.01533131e-02 -8.28693295e+01] [-7.65729084e-02 9.14147023e-04 9.97063566e-01 -7.62423334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24864 meters Centerline goodness [0,1] 0.9970563705048324 Centerline is valid? [True, True] Translation: X:151.63, Y:-82.89, Z:-7.63 [[ 7.62272389e-01 6.44591426e-01 5.86745158e-02 1.51625411e+02] [-6.42586849e-01 7.64526548e-01 -5.08064813e-02 -8.28869496e+01] [-7.76076472e-02 1.02490564e-03 9.96983452e-01 -7.62555331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27864 meters Centerline goodness [0,1] 0.9970049590023077 Centerline is valid? [True, True] Translation: X:151.65, Y:-82.90, Z:-7.63 [[ 7.63283831e-01 6.43358957e-01 5.90512132e-02 1.51648328e+02] [-6.41328279e-01 7.65563837e-01 -5.10886416e-02 -8.29042909e+01] [-7.80758086e-02 1.12392109e-03 9.96946791e-01 -7.62655079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30864 meters Centerline goodness [0,1] 0.9972093023255814 Centerline is valid? [True, True] Translation: X:151.67, Y:-82.92, Z:-7.63 [[ 7.64351545e-01 6.42144664e-01 5.84546486e-02 1.51672366e+02] [-6.40154898e-01 7.66582540e-01 -5.05263899e-02 -8.29195327e+01] [-7.72555647e-02 1.19989464e-03 9.97010601e-01 -7.62762647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33864 meters Centerline goodness [0,1] 0.9980401763841255 Centerline is valid? [True, True] Translation: X:151.69, Y:-82.94, Z:-7.63 [[ 7.64456759e-01 6.42022210e-01 5.84238462e-02 1.51693918e+02] [-6.40037922e-01 7.66685139e-01 -5.04515287e-02 -8.29379839e+01] [-7.71836966e-02 1.17453500e-03 9.97016197e-01 -7.62863369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36864 meters Centerline goodness [0,1] 0.999411707030101 Centerline is valid? [True, True] Translation: X:151.72, Y:-82.96, Z:-7.63 [[ 7.64493032e-01 6.42041893e-01 5.77287796e-02 1.51716857e+02] [-6.40108045e-01 7.66668731e-01 -4.98071038e-02 -8.29556236e+01] [-7.62370974e-02 1.12452749e-03 9.97089083e-01 -7.63055276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39864 meters Centerline goodness [0,1] 0.9994119664820895 Centerline is valid? [True, True] Translation: X:151.74, Y:-82.97, Z:-7.63 [[ 7.64657202e-01 6.41951643e-01 5.65460126e-02 1.51739871e+02] [-6.40099209e-01 7.66744368e-01 -4.87450130e-02 -8.29731773e+01] [-7.46482779e-02 1.07816732e-03 9.97209342e-01 -7.63086204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42864 meters Centerline goodness [0,1] 0.9996064541519087 Centerline is valid? [True, True] Translation: X:151.76, Y:-82.99, Z:-7.63 [[ 7.64762622e-01 6.41782605e-01 5.70370080e-02 1.51762234e+02] [-6.39900560e-01 7.66885872e-01 -4.91256828e-02 -8.29916107e+01] [-7.52688843e-02 1.07147262e-03 9.97162698e-01 -7.63234996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45864 meters Centerline goodness [0,1] 0.9992158784611614 Centerline is valid? [True, True] Translation: X:151.78, Y:-83.01, Z:-7.63 [[ 7.63786245e-01 6.43015232e-01 5.62315149e-02 1.51783000e+02] [-6.41192442e-01 7.65852853e-01 -4.83907071e-02 -8.30114129e+01] [-7.41810279e-02 9.04934088e-04 9.97244381e-01 -7.63330972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48864 meters Centerline goodness [0,1] 0.9992141839791758 Centerline is valid? [True, True] Translation: X:151.80, Y:-83.03, Z:-7.63 [[ 7.63710014e-01 6.43098429e-01 5.63154053e-02 1.51804038e+02] [-6.41273726e-01 7.65783040e-01 -4.84184267e-02 -8.30303312e+01] [-7.42631964e-02 8.64047621e-04 9.97238302e-01 -7.63341576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51864 meters Centerline goodness [0,1] 0.9992645616787605 Centerline is valid? [True, True] Translation: X:151.82, Y:-83.05, Z:-7.63 [[ 7.63360008e-01 6.43509569e-01 5.63642787e-02 1.51824950e+02] [-6.41686406e-01 7.65437661e-01 -4.84122179e-02 -8.30482843e+01] [-7.42970672e-02 7.87759664e-04 9.97235842e-01 -7.63454224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54864 meters Centerline goodness [0,1] 0.9994109562144119 Centerline is valid? [True, True] Translation: X:151.85, Y:-83.07, Z:-7.64 [[ 7.62867714e-01 6.44098767e-01 5.62994628e-02 1.51845798e+02] [-6.42284988e-01 7.64942023e-01 -4.83083413e-02 -8.30660011e+01] [-7.41811680e-02 6.92574022e-04 9.97244541e-01 -7.63635524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57864 meters Centerline goodness [0,1] 0.9996077085274359 Centerline is valid? [True, True] Translation: X:151.87, Y:-83.08, Z:-7.64 [[ 7.61673739e-01 6.45655091e-01 5.46133561e-02 1.51867338e+02] [-6.43955589e-01 7.63629008e-01 -4.68181307e-02 -8.30846268e+01] [-7.19327074e-02 4.91564801e-04 9.97409366e-01 -7.63566484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60864 meters Centerline goodness [0,1] 0.9993139945119561 Centerline is valid? [True, True] Translation: X:151.89, Y:-83.10, Z:-7.64 [[ 7.60742199e-01 6.46852777e-01 5.34115376e-02 1.51888658e+02] [-6.45233070e-01 7.62614824e-01 -4.57483993e-02 -8.31034718e+01] [-7.03249095e-02 3.39847444e-04 9.97524081e-01 -7.63566302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63864 meters Centerline goodness [0,1] 0.9996079776547263 Centerline is valid? [True, True] Translation: X:151.91, Y:-83.12, Z:-7.64 [[ 7.58989668e-01 6.48977208e-01 5.25667844e-02 1.51910324e+02] [-6.47416184e-01 7.60807841e-01 -4.49857078e-02 -8.31223643e+01] [-6.91879208e-02 1.11100500e-04 9.97603638e-01 -7.63500175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66864 meters Centerline goodness [0,1] 0.9995099480544938 Centerline is valid? [True, True] Translation: X:151.93, Y:-83.14, Z:-7.64 [[ 7.58269661e-01 6.49849685e-01 5.21776666e-02 1.51931227e+02] [-6.48316629e-01 7.60062752e-01 -4.46112225e-02 -8.31408381e+01] [-6.86488898e-02 -3.12431627e-07 9.97640882e-01 -7.63525991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69864 meters Centerline goodness [0,1] 0.9997060840599589 Centerline is valid? [True, True] Translation: X:151.95, Y:-83.16, Z:-7.64 [[ 7.58405402e-01 6.49671947e-01 5.24176275e-02 1.51952056e+02] [-6.48127485e-01 7.60214681e-01 -4.47705576e-02 -8.31595183e+01] [-6.89348253e-02 -1.90722979e-05 9.97621165e-01 -7.63695886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.97, Y:-83.18, Z:-7.64 [[ 7.59326889e-01 6.48551590e-01 5.29481943e-02 1.51974305e+02] [-6.46976029e-01 7.61170699e-01 -4.51794821e-02 -8.31780765e+01] [-6.96038391e-02 4.97831112e-05 9.97574711e-01 -7.63803497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.99, Y:-83.20, Z:-7.64 [[ 7.59654954e-01 6.48165570e-01 5.29692927e-02 1.51994898e+02] [-6.46590796e-01 7.61499436e-01 -4.51547371e-02 -8.31960905e+01] [-6.96038324e-02 5.25625953e-05 9.97574711e-01 -7.63918799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78864000000002 meters Centerline goodness [0,1] 0.9996077854586459 Centerline is valid? [True, True] Translation: X:152.02, Y:-83.21, Z:-7.64 [[ 7.60688590e-01 6.47022882e-01 5.20985545e-02 1.52016695e+02] [-6.45499779e-01 7.62470573e-01 -4.43695850e-02 -8.32143599e+01] [-6.84317515e-02 1.21831681e-04 9.97655793e-01 -7.63986910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81864000000002 meters Centerline goodness [0,1] 0.9999021047479197 Centerline is valid? [True, True] Translation: X:152.04, Y:-83.23, Z:-7.64 [[ 7.63142458e-01 6.44425743e-01 4.82602385e-02 1.52038141e+02] [-6.43116031e-01 7.64666836e-01 -4.10657985e-02 -8.32330946e+01] [-6.33668616e-02 3.02121349e-04 9.97990255e-01 -7.63937978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84864000000002 meters Centerline goodness [0,1] 0.9994611277127321 Centerline is valid? [True, True] Translation: X:152.06, Y:-83.25, Z:-7.64 [[ 7.64464074e-01 6.42882195e-01 4.79287311e-02 1.52058519e+02] [-6.41589773e-01 7.65964963e-01 -4.07460305e-02 -8.32518607e+01] [-6.29066263e-02 3.98292771e-04 9.98019337e-01 -7.64127485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87864000000002 meters Centerline goodness [0,1] 0.9994605992252243 Centerline is valid? [True, True] Translation: X:152.08, Y:-83.27, Z:-7.64 [[ 7.66588007e-01 6.40459276e-01 4.64192091e-02 1.52080283e+02] [-6.39244886e-01 7.67991936e-01 -3.94253985e-02 -8.32711215e+01] [-6.08999404e-02 5.49795623e-04 9.98143725e-01 -7.64143275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90864000000002 meters Centerline goodness [0,1] 0.9989201924020811 Centerline is valid? [True, True] Translation: X:152.10, Y:-83.29, Z:-7.64 [[ 7.67778227e-01 6.39028101e-01 4.64723741e-02 1.52101504e+02] [-6.37810426e-01 7.69183125e-01 -3.94357682e-02 -8.32903247e+01] [-6.09463300e-02 6.37359486e-04 9.98140841e-01 -7.64295578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93864000000002 meters Centerline goodness [0,1] 0.999558325563135 Centerline is valid? [True, True] Translation: X:152.12, Y:-83.31, Z:-7.64 [[ 7.68664325e-01 6.37968261e-01 4.63859214e-02 1.52121679e+02] [-6.36755398e-01 7.70062348e-01 -3.93261189e-02 -8.33098028e+01] [-6.08088672e-02 6.92098806e-04 9.98149189e-01 -7.64258358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96864 meters Centerline goodness [0,1] 0.9995099960799686 Centerline is valid? [True, True] Translation: X:152.14, Y:-83.33, Z:-7.64 [[ 7.68230161e-01 6.38408716e-01 4.75050716e-02 1.52142230e+02] [-6.37139863e-01 7.69697277e-01 -4.02355183e-02 -8.33295613e+01] [-6.22512298e-02 6.42763848e-04 9.98060304e-01 -7.64493844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99864 meters Centerline goodness [0,1] 0.9991661352822877 Centerline is valid? [True, True] Translation: X:152.16, Y:-83.35, Z:-7.65 [[ 7.67489788e-01 6.39345070e-01 4.68754458e-02 1.52162868e+02] [-6.38113539e-01 7.68919760e-01 -3.96675289e-02 -8.33491689e+01] [-6.14046956e-02 5.32566727e-04 9.98112809e-01 -7.64557914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02864 meters Centerline goodness [0,1] 0.9988723831936069 Centerline is valid? [True, True] Translation: X:152.18, Y:-83.37, Z:-7.65 [[ 7.67733946e-01 6.39105224e-01 4.61421769e-02 1.52184528e+02] [-6.37913598e-01 7.69119136e-01 -3.90127779e-02 -8.33678064e+01] [-6.04221014e-02 5.16711861e-04 9.98172782e-01 -7.64649292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05864 meters Centerline goodness [0,1] 0.9991664214965186 Centerline is valid? [True, True] Translation: X:152.21, Y:-83.39, Z:-7.65 [[ 7.67785158e-01 6.39049341e-01 4.60639771e-02 1.52205360e+02] [-6.37863838e-01 7.69165585e-01 -3.89105106e-02 -8.33860561e+01] [-6.02965620e-02 4.92367365e-04 9.98180386e-01 -7.64636394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08864 meters Centerline goodness [0,1] 0.9991655622637805 Centerline is valid? [True, True] Translation: X:152.23, Y:-83.40, Z:-7.65 [[ 7.67741691e-01 6.39166250e-01 4.51575186e-02 1.52227487e+02] [-6.38029365e-01 7.69068467e-01 -3.81080308e-02 -8.34047678e+01] [-5.90865908e-02 4.45301055e-04 9.98252762e-01 -7.64688168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11864 meters Centerline goodness [0,1] 0.9990188864361049 Centerline is valid? [True, True] Translation: X:152.25, Y:-83.42, Z:-7.65 [[ 7.68213909e-01 6.38549555e-01 4.58459996e-02 1.52249408e+02] [-6.37378699e-01 7.69580562e-01 -3.86542606e-02 -8.34237265e+01] [-5.99648511e-02 4.73477026e-04 9.98200377e-01 -7.64807296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14864 meters Centerline goodness [0,1] 0.9994605727736368 Centerline is valid? [True, True] Translation: X:152.27, Y:-83.44, Z:-7.65 [[ 7.68903798e-01 6.37699640e-01 4.61098521e-02 1.52271177e+02] [-6.36515904e-01 7.70284950e-01 -3.88406975e-02 -8.34412513e+01] [-6.02864239e-02 5.15105703e-04 9.98180986e-01 -7.64960956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17864 meters Centerline goodness [0,1] 0.9991663397410749 Centerline is valid? [True, True] Translation: X:152.29, Y:-83.46, Z:-7.65 [[ 7.69777405e-01 6.36741116e-01 4.47604580e-02 1.52294859e+02] [-6.35626201e-01 7.71077463e-01 -3.76679983e-02 -8.34581076e+01] [-5.84985437e-02 5.45054090e-04 9.98287345e-01 -7.64987147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20864 meters Centerline goodness [0,1] 0.9990676676971392 Centerline is valid? [True, True] Translation: X:152.32, Y:-83.48, Z:-7.65 [[ 7.70031982e-01 6.36434465e-01 4.47428135e-02 1.52316280e+02] [-6.35321942e-01 7.71330590e-01 -3.76185005e-02 -8.34755947e+01] [-5.84532109e-02 5.41357329e-04 9.98290002e-01 -7.65179847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23864 meters Centerline goodness [0,1] 0.9991180793728565 Centerline is valid? [True, True] Translation: X:152.34, Y:-83.49, Z:-7.65 [[ 7.70838144e-01 6.35495657e-01 4.42020894e-02 1.52338340e+02] [-6.34410493e-01 7.72104227e-01 -3.71266639e-02 -8.34927977e+01] [-5.77224538e-02 5.76379357e-04 9.98332503e-01 -7.65186069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26864 meters Centerline goodness [0,1] 0.9986751067275136 Centerline is valid? [True, True] Translation: X:152.36, Y:-83.51, Z:-7.65 [[ 7.73697969e-01 6.32083953e-01 4.31431123e-02 1.52361651e+02] [-6.31046845e-01 7.74899516e-01 -3.62024802e-02 -8.35091498e+01] [-5.63145836e-02 7.84460524e-04 9.98412766e-01 -7.65205235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29864 meters Centerline goodness [0,1] 0.9984297561214976 Centerline is valid? [True, True] Translation: X:152.38, Y:-83.53, Z:-7.65 [[ 7.75604611e-01 6.29753580e-01 4.29873907e-02 1.52383437e+02] [-6.28722146e-01 7.76794421e-01 -3.60401369e-02 -8.35271964e+01] [-5.60887704e-02 9.25771843e-04 9.98425357e-01 -7.65279280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32864 meters Centerline goodness [0,1] 0.9972534209622835 Centerline is valid? [True, True] Translation: X:152.40, Y:-83.55, Z:-7.66 [[ 7.79739712e-01 6.24713160e-01 4.17067047e-02 1.52404110e+02] [-6.23736714e-01 7.80853354e-01 -3.49363872e-02 -8.35467023e+01] [-5.43920411e-02 1.22728555e-03 9.98518903e-01 -7.65517433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35864 meters Centerline goodness [0,1] 0.997250184139455 Centerline is valid? [True, True] Translation: X:152.43, Y:-83.57, Z:-7.66 [[ 7.82069360e-01 6.21799307e-01 4.16309816e-02 1.52425493e+02] [-6.20823914e-01 7.83175364e-01 -3.48427530e-02 -8.35658328e+01] [-5.42695588e-02 1.40394060e-03 9.98525335e-01 -7.65653373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38864 meters Centerline goodness [0,1] 0.9966665032599638 Centerline is valid? [True, True] Translation: X:152.45, Y:-83.58, Z:-7.66 [[ 7.84064601e-01 6.19343461e-01 4.06986477e-02 1.52447291e+02] [-6.18409513e-01 7.85118704e-01 -3.40337431e-02 -8.35845636e+01] [-5.30318457e-02 1.51622228e-03 9.98591671e-01 -7.65729180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41864 meters Centerline goodness [0,1] 0.9962182603997839 Centerline is valid? [True, True] Translation: X:152.47, Y:-83.60, Z:-7.66 [[ 7.85805400e-01 6.17133936e-01 4.06887981e-02 1.52469030e+02] [-6.16199019e-01 7.86856409e-01 -3.39964893e-02 -8.36039024e+01] [-5.29966288e-02 1.64222738e-03 9.98593341e-01 -7.65800510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44864 meters Centerline goodness [0,1] 0.9951800118040527 Centerline is valid? [True, True] Translation: X:152.49, Y:-83.63, Z:-7.66 [[ 7.87215209e-01 6.15347234e-01 4.04968764e-02 1.52487730e+02] [-6.14420267e-01 7.88254263e-01 -3.38075865e-02 -8.36256857e+01] [-5.27252403e-02 1.73174464e-03 9.98607556e-01 -7.65899760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47864 meters Centerline goodness [0,1] 0.9951463450507427 Centerline is valid? [True, True] Translation: X:152.51, Y:-83.65, Z:-7.66 [[ 7.87457495e-01 6.15074182e-01 3.99304782e-02 1.52507510e+02] [-6.14174124e-01 7.88467406e-01 -3.33060773e-02 -8.36458093e+01] [-5.19695889e-02 1.70285376e-03 9.98647216e-01 -7.65959589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50864 meters Centerline goodness [0,1] 0.9954848841774637 Centerline is valid? [True, True] Translation: X:152.53, Y:-83.67, Z:-7.66 [[ 7.86053835e-01 6.16814686e-01 4.07309542e-02 1.52526482e+02] [-6.15882210e-01 7.87106792e-01 -3.39411568e-02 -8.36683845e+01] [-5.29950147e-02 1.59410644e-03 9.98593505e-01 -7.66256655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53864000000002 meters Centerline goodness [0,1] 0.9956288983841658 Centerline is valid? [True, True] Translation: X:152.55, Y:-83.69, Z:-7.66 [[ 7.85489894e-01 6.17577681e-01 4.00429010e-02 1.52547044e+02] [-6.16678891e-01 7.86508470e-01 -3.33402436e-02 -8.36893762e+01] [-5.20842711e-02 1.49481267e-03 9.98641574e-01 -7.66336075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56864000000002 meters Centerline goodness [0,1] 0.9959263803680981 Centerline is valid? [True, True] Translation: X:152.57, Y:-83.71, Z:-7.67 [[ 7.84496536e-01 6.18791716e-01 4.07676042e-02 1.52567370e+02] [-6.17863177e-01 7.85553818e-01 -3.39159768e-02 -8.37103402e+01] [-5.30120727e-02 1.41816482e-03 9.98592864e-01 -7.66526911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59864000000002 meters Centerline goodness [0,1] 0.9961740324716731 Centerline is valid? [True, True] Translation: X:152.59, Y:-83.73, Z:-7.67 [[ 7.81784142e-01 6.22207094e-01 4.08887343e-02 1.52586542e+02] [-6.21279203e-01 7.82851818e-01 -3.39879834e-02 -8.37329084e+01] [-5.31573844e-02 1.16794615e-03 9.98585464e-01 -7.66618933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62864000000002 meters Centerline goodness [0,1] 0.9957710464201416 Centerline is valid? [True, True] Translation: X:152.61, Y:-83.75, Z:-7.67 [[ 7.80937443e-01 6.23329866e-01 3.99573308e-02 1.52607789e+02] [-6.22446644e-01 7.81958301e-01 -3.31872135e-02 -8.37528071e+01] [-5.19315479e-02 1.04583116e-03 9.98650099e-01 -7.66737844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65864000000002 meters Centerline goodness [0,1] 0.9958154876187663 Centerline is valid? [True, True] Translation: X:152.63, Y:-83.77, Z:-7.67 [[ 7.79526386e-01 6.25104646e-01 3.97843630e-02 1.52628716e+02] [-6.24232856e-01 7.80540435e-01 -3.30147148e-02 -8.37727637e+01] [-5.16909556e-02 9.01134788e-04 9.98662722e-01 -7.66858295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68864000000002 meters Centerline goodness [0,1] 0.9970398144950416 Centerline is valid? [True, True] Translation: X:152.65, Y:-83.79, Z:-7.67 [[ 7.77173125e-01 6.27957572e-01 4.08805797e-02 1.52649156e+02] [-6.27042599e-01 7.78247253e-01 -3.38938248e-02 -8.37933425e+01] [-5.30990828e-02 7.07504738e-04 9.98588998e-01 -7.67059175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71864 meters Centerline goodness [0,1] 0.9964143621985363 Centerline is valid? [True, True] Translation: X:152.67, Y:-83.81, Z:-7.67 [[ 7.76426775e-01 6.28882036e-01 4.08515285e-02 1.52670991e+02] [-6.27971239e-01 7.77500482e-01 -3.38396632e-02 -8.38124204e+01] [-5.30432394e-02 6.20435624e-04 9.98592024e-01 -7.67139619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74864 meters Centerline goodness [0,1] 0.997498037676609 Centerline is valid? [True, True] Translation: X:152.69, Y:-83.83, Z:-7.67 [[ 7.74964820e-01 6.30587005e-01 4.23031445e-02 1.52690678e+02] [-6.29614641e-01 7.76118408e-01 -3.50088649e-02 -8.38316294e+01] [-5.49083844e-02 4.95959473e-04 9.98491274e-01 -7.67283105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77864 meters Centerline goodness [0,1] 0.9981357927786499 Centerline is valid? [True, True] Translation: X:152.71, Y:-83.85, Z:-7.67 [[ 7.73950191e-01 6.31780670e-01 4.30614326e-02 1.52710596e+02] [-6.30777013e-01 7.75147104e-01 -3.55995288e-02 -8.38507721e+01] [-5.58700390e-02 3.90100223e-04 9.98437973e-01 -7.67428207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80864 meters Centerline goodness [0,1] 0.9982297403619197 Centerline is valid? [True, True] Translation: X:152.73, Y:-83.87, Z:-7.68 [[ 7.73453699e-01 6.32427144e-01 4.24886298e-02 1.52730844e+02] [-6.31452976e-01 7.74619785e-01 -3.50902951e-02 -8.38696856e+01] [-5.51045884e-02 3.11146778e-04 9.98480539e-01 -7.67557614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83864 meters Centerline goodness [0,1] 0.9979370303060072 Centerline is valid? [True, True] Translation: X:152.75, Y:-83.89, Z:-7.68 [[ 7.71750507e-01 6.34497817e-01 4.25872567e-02 1.52751538e+02] [-6.33524276e-01 7.72924642e-01 -3.51353156e-02 -8.38879610e+01] [-5.52100212e-02 1.35636699e-04 9.98474754e-01 -7.67759143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86864 meters Centerline goodness [0,1] 0.9986718480987752 Centerline is valid? [True, True] Translation: X:152.77, Y:-83.91, Z:-7.68 [[ 7.70404466e-01 6.36096893e-01 4.31010578e-02 1.52772956e+02] [-6.35104284e-01 7.71609190e-01 -3.55219068e-02 -8.39061784e+01] [-5.58525469e-02 -7.43086594e-06 9.98439028e-01 -7.67898478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89864 meters Centerline goodness [0,1] 0.9986753017368266 Centerline is valid? [True, True] Translation: X:152.79, Y:-83.92, Z:-7.68 [[ 7.68855086e-01 6.37940449e-01 4.35182790e-02 1.52794064e+02] [-6.36933588e-01 7.70085680e-01 -3.58280600e-02 -8.39237985e+01] [-5.63689722e-02 -1.71667474e-04 9.98409991e-01 -7.68002628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92864 meters Centerline goodness [0,1] 0.9993622448979592 Centerline is valid? [True, True] Translation: X:152.82, Y:-83.94, Z:-7.68 [[ 7.65321524e-01 6.42194501e-01 4.32341067e-02 1.52816244e+02] [-6.41209227e-01 7.66541563e-01 -3.55634636e-02 -8.39414593e+01] [-5.59794005e-02 -5.04623965e-04 9.98431796e-01 -7.67993725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95864 meters Centerline goodness [0,1] 0.9998037965370089 Centerline is valid? [True, True] Translation: X:152.84, Y:-83.96, Z:-7.68 [[ 7.63870166e-01 6.43841449e-01 4.43909665e-02 1.52837896e+02] [-6.42806503e-01 7.65158649e-01 -3.64971475e-02 -8.39596756e+01] [-5.74645083e-02 -6.55719811e-04 9.98347335e-01 -7.68222629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98864 meters Centerline goodness [0,1] 0.9997055214723927 Centerline is valid? [True, True] Translation: X:152.86, Y:-83.98, Z:-7.68 [[ 7.61857712e-01 6.46218919e-01 4.44289856e-02 1.52859833e+02] [-6.45188154e-01 7.63151601e-01 -3.64949219e-02 -8.39782309e+01] [-5.74897605e-02 -8.61117468e-04 9.98345725e-01 -7.68401440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01864 meters Centerline goodness [0,1] 0.9996565428585448 Centerline is valid? [True, True] Translation: X:152.88, Y:-84.00, Z:-7.69 [[ 7.61476475e-01 6.46658278e-01 4.45718443e-02 1.52882775e+02] [-6.45623561e-01 7.62779274e-01 -3.65786534e-02 -8.39956545e+01] [-5.76523680e-02 -9.22848749e-04 9.98336292e-01 -7.68598647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04864 meters Centerline goodness [0,1] 0.9994111874386653 Centerline is valid? [True, True] Translation: X:152.91, Y:-84.01, Z:-7.69 [[ 7.61479462e-01 6.46680772e-01 4.41928551e-02 1.52905367e+02] [-6.45665585e-01 7.62760179e-01 -3.62334405e-02 -8.40122768e+01] [-5.71400194e-02 -9.42784868e-04 9.98365729e-01 -7.68663035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07864 meters Centerline goodness [0,1] 0.9995094913425222 Centerline is valid? [True, True] Translation: X:152.93, Y:-84.03, Z:-7.69 [[ 7.60363636e-01 6.47949818e-01 4.48126622e-02 1.52928081e+02] [-6.46909963e-01 7.61682266e-01 -3.67100270e-02 -8.40290779e+01] [-5.79192654e-02 -1.07678802e-03 9.98320690e-01 -7.68856124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10864 meters Centerline goodness [0,1] 0.9996560534591195 Centerline is valid? [True, True] Translation: X:152.95, Y:-84.05, Z:-7.69 [[ 7.59014582e-01 6.49576636e-01 4.41254855e-02 1.52952256e+02] [-6.48572182e-01 7.60295182e-01 -3.61297698e-02 -8.40451232e+01] [-5.70174483e-02 -1.19554033e-03 9.98372466e-01 -7.68928964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13864 meters Centerline goodness [0,1] 0.9996072463056606 Centerline is valid? [True, True] Translation: X:152.98, Y:-84.06, Z:-7.69 [[ 7.58351855e-01 6.50337955e-01 4.43058560e-02 1.52975375e+02] [-6.49328467e-01 7.59643929e-01 -3.62442271e-02 -8.40626401e+01] [-5.72276710e-02 -1.28317665e-03 9.98360329e-01 -7.69128341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16864 meters Centerline goodness [0,1] 0.9997544686702023 Centerline is valid? [True, True] Translation: X:153.00, Y:-84.08, Z:-7.69 [[ 7.56186142e-01 6.52862921e-01 4.41873931e-02 1.53000548e+02] [-6.51864685e-01 7.57474610e-01 -3.61199129e-02 -8.40764799e+01] [-5.70521802e-02 -1.49082357e-03 9.98370085e-01 -7.69271311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19864 meters Centerline goodness [0,1] 0.9997054202670856 Centerline is valid? [True, True] Translation: X:153.02, Y:-84.09, Z:-7.69 [[ 7.56476636e-01 6.52454919e-01 4.52291756e-02 1.53024816e+02] [-6.51409365e-01 7.57826038e-01 -3.69531634e-02 -8.40921362e+01] [-5.83861202e-02 -1.50850381e-03 9.98292936e-01 -7.69457409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22864 meters Centerline goodness [0,1] 0.999803536345776 Centerline is valid? [True, True] Translation: X:153.05, Y:-84.11, Z:-7.70 [[ 7.56302715e-01 6.52599401e-01 4.60458940e-02 1.53048543e+02] [-6.51518053e-01 7.57701488e-01 -3.75856585e-02 -8.41085252e+01] [-5.94174206e-02 -1.57359564e-03 9.98231984e-01 -7.69603663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:153.08, Y:-84.12, Z:-7.70 [[ 7.57869417e-01 6.50770863e-01 4.61652519e-02 1.53075554e+02] [-6.49682517e-01 7.59272779e-01 -3.76493538e-02 -8.41215950e+01] [-5.95531216e-02 -1.45946323e-03 9.98224071e-01 -7.69742564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28864000000002 meters Centerline goodness [0,1] 0.9999020376175548 Centerline is valid? [True, True] Translation: X:153.10, Y:-84.14, Z:-7.70 [[ 7.59277442e-01 6.49116351e-01 4.63220135e-02 1.53099927e+02] [-6.48019488e-01 7.60687922e-01 -3.77442481e-02 -8.41367746e+01] [-5.97370048e-02 -1.35921127e-03 9.98213225e-01 -7.69897279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31864000000002 meters Centerline goodness [0,1] 0.9999509683746016 Centerline is valid? [True, True] Translation: X:153.12, Y:-84.15, Z:-7.70 [[ 7.60962257e-01 6.47113408e-01 4.66977591e-02 1.53124228e+02] [-6.45997014e-01 7.62392749e-01 -3.80151919e-02 -8.41518401e+01] [-6.02021733e-02 -1.23848674e-03 9.98185436e-01 -7.70137792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34864000000002 meters Centerline goodness [0,1] 0.9999021047479197 Centerline is valid? [True, True] Translation: X:153.15, Y:-84.16, Z:-7.70 [[ 7.64340706e-01 6.43035142e-01 4.78444403e-02 1.53151275e+02] [-6.41857428e-01 7.65836060e-01 -3.89123601e-02 -8.41645923e+01] [-6.16630126e-02 -9.67008592e-04 9.98096557e-01 -7.70336478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37864000000002 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:153.17, Y:-84.18, Z:-7.70 [[ 7.65904978e-01 6.41127533e-01 4.84257232e-02 1.53174776e+02] [-6.39919552e-01 7.67433880e-01 -3.93472546e-02 -8.41796389e+01] [-6.23901489e-02 -8.52308926e-04 9.98051473e-01 -7.70427805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:-84.19, Z:-7.71 [[ 7.68360466e-01 6.38217322e-01 4.79671140e-02 1.53199360e+02] [-6.37028838e-01 7.69855987e-01 -3.89360723e-02 -8.41949917e+01] [-6.17774457e-02 -6.39496228e-04 9.98089745e-01 -7.70562529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43864000000002 meters Centerline goodness [0,1] 0.9998529195469922 Centerline is valid? [True, True] Translation: X:153.23, Y:-84.21, Z:-7.71 [[ 7.72961168e-01 6.32663431e-01 4.76236840e-02 1.53226209e+02] [-6.31483489e-01 7.74426842e-01 -3.86221315e-02 -8.42071274e+01] [-6.13158695e-02 -2.20162302e-04 9.98118388e-01 -7.70682104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46864 meters Centerline goodness [0,1] 0.9998041903270022 Centerline is valid? [True, True] Translation: X:153.25, Y:-84.22, Z:-7.71 [[ 7.75474094e-01 6.29596156e-01 4.74195090e-02 1.53249046e+02] [-6.28422788e-01 7.76922571e-01 -3.84202865e-02 -8.42223844e+01] [-6.10305515e-02 -5.56315479e-06 9.98135898e-01 -7.70837056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49864 meters Centerline goodness [0,1] 0.99955854220827 Centerline is valid? [True, True] Translation: X:153.27, Y:-84.24, Z:-7.71 [[ 7.78753834e-01 6.25525303e-01 4.75453636e-02 1.53272737e+02] [-6.24340517e-01 7.80203829e-01 -3.84825227e-02 -8.42374913e+01] [-6.11668664e-02 2.83915166e-04 9.98127514e-01 -7.70962436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52864 meters Centerline goodness [0,1] 0.9998042478222571 Centerline is valid? [True, True] Translation: X:153.30, Y:-84.25, Z:-7.71 [[ 7.80106860e-01 6.23849866e-01 4.73775428e-02 1.53295766e+02] [-6.22672734e-01 7.81544112e-01 -3.83075512e-02 -8.42534611e+01] [-6.09258003e-02 3.83279438e-04 9.98142224e-01 -7.71136956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55864 meters Centerline goodness [0,1] 0.9996572659616138 Centerline is valid? [True, True] Translation: X:153.32, Y:-84.27, Z:-7.71 [[ 7.82006025e-01 6.21477190e-01 4.72512435e-02 1.53319771e+02] [-6.20304263e-01 7.83432074e-01 -3.81681467e-02 -8.42688788e+01] [-6.07387722e-02 5.37572893e-04 9.98153552e-01 -7.71227732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58864 meters Centerline goodness [0,1] 0.9998039407901186 Centerline is valid? [True, True] Translation: X:153.34, Y:-84.29, Z:-7.71 [[ 7.83908494e-01 6.19093739e-01 4.70150517e-02 1.53343045e+02] [-6.17930246e-01 7.85316791e-01 -3.79440132e-02 -8.42859413e+01] [-6.04126106e-02 6.92611757e-04 9.98173250e-01 -7.71335291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61864 meters Centerline goodness [0,1] 0.9998530924048773 Centerline is valid? [True, True] Translation: X:153.36, Y:-84.31, Z:-7.72 [[ 7.84860598e-01 6.17816689e-01 4.79205597e-02 1.53364362e+02] [-6.16607651e-01 7.86321774e-01 -3.86403017e-02 -8.43050826e+01] [-6.15536028e-02 7.79066523e-04 9.98103475e-01 -7.71564158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64864 meters Centerline goodness [0,1] 0.9998530924048773 Centerline is valid? [True, True] Translation: X:153.39, Y:-84.32, Z:-7.72 [[ 7.85163580e-01 6.17430239e-01 4.79380033e-02 1.53385436e+02] [-6.16221803e-01 7.86625253e-01 -3.86186518e-02 -8.43225015e+01] [-6.15535674e-02 7.81516028e-04 9.98103475e-01 -7.71679443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67864 meters Centerline goodness [0,1] 0.9998041136141038 Centerline is valid? [True, True] Translation: X:153.41, Y:-84.34, Z:-7.72 [[ 7.86371770e-01 6.15950812e-01 4.71596988e-02 1.53406432e+02] [-6.14780962e-01 7.87784152e-01 -3.79539012e-02 -8.43406621e+01] [-6.05293996e-02 8.52991454e-04 9.98166050e-01 -7.71706834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70864 meters Centerline goodness [0,1] 0.9997058102476097 Centerline is valid? [True, True] Translation: X:153.43, Y:-84.36, Z:-7.72 [[ 7.87818302e-01 6.14147985e-01 4.65250078e-02 1.53428295e+02] [-6.13008522e-01 7.89190315e-01 -3.74058645e-02 -8.43582318e+01] [-5.96898218e-02 9.48798334e-04 9.98216522e-01 -7.71759094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73864 meters Centerline goodness [0,1] 0.9998531786815446 Centerline is valid? [True, True] Translation: X:153.45, Y:-84.38, Z:-7.72 [[ 7.88197599e-01 6.13653507e-01 4.66252915e-02 1.53448953e+02] [-6.12510510e-01 7.89574856e-01 -3.74489110e-02 -8.43769321e+01] [-5.97948134e-02 9.58660677e-04 9.98210229e-01 -7.71937833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76864 meters Centerline goodness [0,1] 0.9998531930511377 Centerline is valid? [True, True] Translation: X:153.47, Y:-84.40, Z:-7.72 [[ 7.89678920e-01 6.11708700e-01 4.71133625e-02 1.53468740e+02] [-6.10540374e-01 7.91082348e-01 -3.78043854e-02 -8.43976343e+01] [-6.03958209e-02 1.08871630e-03 9.98173912e-01 -7.72139818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79864 meters Centerline goodness [0,1] 0.9999510308016257 Centerline is valid? [True, True] Translation: X:153.49, Y:-84.42, Z:-7.72 [[ 7.90850416e-01 6.10237906e-01 4.65329814e-02 1.53489873e+02] [-6.09097681e-01 7.92217365e-01 -3.73049775e-02 -8.44165226e+01] [-5.96291472e-02 1.15952591e-03 9.98219926e-01 -7.72273239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:153.51, Y:-84.44, Z:-7.72 [[ 7.91826471e-01 6.08948455e-01 4.68254150e-02 1.53511207e+02] [-6.07793758e-01 7.93208832e-01 -3.75032799e-02 -8.44354952e+01] [-5.99798971e-02 1.23589481e-03 9.98198820e-01 -7.72331865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85864 meters Centerline goodness [0,1] 0.9996566607808515 Centerline is valid? [True, True] Translation: X:153.53, Y:-84.46, Z:-7.72 [[ 7.94478763e-01 6.05458804e-01 4.71500864e-02 1.53531487e+02] [-6.04283858e-01 7.95875263e-01 -3.77304180e-02 -8.44563003e+01] [-6.03698012e-02 1.48397973e-03 9.98174977e-01 -7.72454566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88864 meters Centerline goodness [0,1] 0.9996060277750418 Centerline is valid? [True, True] Translation: X:153.55, Y:-84.48, Z:-7.73 [[ 7.95682713e-01 6.03826075e-01 4.77817053e-02 1.53552241e+02] [-6.02618502e-01 7.97114485e-01 -3.82026069e-02 -8.44756217e+01] [-6.11552196e-02 1.60301426e-03 9.98126981e-01 -7.72623652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91864 meters Centerline goodness [0,1] 0.9994610749105874 Centerline is valid? [True, True] Translation: X:153.57, Y:-84.50, Z:-7.73 [[ 7.95922381e-01 6.03479483e-01 4.81671844e-02 1.53572741e+02] [-6.02253847e-01 7.97376891e-01 -3.84759363e-02 -8.44951305e+01] [-6.16268379e-02 1.61498667e-03 9.98097953e-01 -7.72716710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94864 meters Centerline goodness [0,1] 0.9996059889676912 Centerline is valid? [True, True] Translation: X:153.59, Y:-84.52, Z:-7.73 [[ 7.95539754e-01 6.04054156e-01 4.72765964e-02 1.53592536e+02] [-6.02876605e-01 7.96941834e-01 -3.77294686e-02 -8.45162332e+01] [-6.04673398e-02 1.51333824e-03 9.98169029e-01 -7.72758264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97864 meters Centerline goodness [0,1] 0.9995584988962473 Centerline is valid? [True, True] Translation: X:153.61, Y:-84.54, Z:-7.73 [[ 7.94952859e-01 6.04814600e-01 4.74262871e-02 1.53613553e+02] [-6.03632903e-01 7.96365019e-01 -3.78163398e-02 -8.45350972e+01] [-6.06405104e-02 1.43414003e-03 9.98158641e-01 -7.72971016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:153.63, Y:-84.56, Z:-7.73 [[ 7.93957998e-01 6.06175213e-01 4.67151942e-02 1.53634318e+02] [-6.05032973e-01 7.95330095e-01 -3.72174859e-02 -8.45550368e+01] [-5.97143173e-02 1.28488776e-03 9.98214681e-01 -7.73098633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03864000000002 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:153.65, Y:-84.58, Z:-7.73 [[ 7.91347017e-01 6.09340188e-01 4.97436809e-02 1.53652772e+02] [-6.08053488e-01 7.92908165e-01 -3.95929053e-02 -8.45765070e+01] [-6.35677191e-02 1.08490884e-03 9.97976938e-01 -7.73309644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:-84.60, Z:-7.73 [[ 7.90998021e-01 6.09754482e-01 5.02155611e-02 1.53672620e+02] [-6.08446633e-01 7.92589686e-01 -3.99284851e-02 -8.45956273e+01] [-6.41469085e-02 1.02986359e-03 9.97939935e-01 -7.73441463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09864000000002 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:153.69, Y:-84.62, Z:-7.74 [[ 7.90770169e-01 6.10107419e-01 4.95124003e-02 1.53693606e+02] [-6.08839045e-01 7.92318131e-01 -3.93318803e-02 -8.46150904e+01] [-6.32262444e-02 9.57395097e-04 9.97998760e-01 -7.73562900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12864000000002 meters Centerline goodness [0,1] 0.9998040368410739 Centerline is valid? [True, True] Translation: X:153.71, Y:-84.64, Z:-7.74 [[ 7.90384509e-01 6.10660017e-01 4.88535695e-02 1.53713454e+02] [-6.09428390e-01 7.91892404e-01 -3.87744535e-02 -8.46363999e+01] [-6.23647791e-02 8.73975226e-04 9.98053040e-01 -7.73718207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15864000000002 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:153.73, Y:-84.65, Z:-7.74 [[ 7.90768914e-01 6.10208332e-01 4.82733405e-02 1.53733903e+02] [-6.09007138e-01 7.92240514e-01 -3.82788820e-02 -8.46547570e+01] [-6.16021888e-02 8.70941001e-04 9.98100402e-01 -7.73793405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18864000000002 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:153.75, Y:-84.67, Z:-7.74 [[ 7.90072344e-01 6.11040069e-01 4.91500341e-02 1.53754258e+02] [-6.09798910e-01 7.91599275e-01 -3.89342803e-02 -8.46736560e+01] [-6.26975366e-02 7.89260916e-04 9.98032262e-01 -7.73936113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:-84.69, Z:-7.74 [[ 7.89785061e-01 6.11327115e-01 5.01868139e-02 1.53775721e+02] [-6.10036064e-01 7.91377655e-01 -3.97165891e-02 -8.46923775e+01] [-6.39965510e-02 7.51802254e-04 9.97949837e-01 -7.74146325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:-84.71, Z:-7.74 [[ 7.89184334e-01 6.12096005e-01 5.02649726e-02 1.53796447e+02] [-6.10804859e-01 7.90783183e-01 -3.97414321e-02 -8.47107918e+01] [-6.40742669e-02 6.61226122e-04 9.97944914e-01 -7.74282613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:-84.73, Z:-7.74 [[ 7.88519945e-01 6.12955693e-01 5.02156862e-02 1.53817315e+02] [-6.11671405e-01 7.90117084e-01 -3.96621619e-02 -8.47295513e+01] [-6.39874194e-02 5.58906370e-04 9.97950549e-01 -7.74415989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30864 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:153.84, Y:-84.75, Z:-7.74 [[ 7.88677231e-01 6.12848117e-01 4.90449863e-02 1.53839968e+02] [-6.11625185e-01 7.90200550e-01 -3.87004313e-02 -8.47473212e+01] [-6.24728616e-02 5.25000155e-04 9.98046525e-01 -7.74431725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33864 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:153.86, Y:-84.76, Z:-7.75 [[ 7.88880641e-01 6.12565836e-01 4.92993989e-02 1.53861417e+02] [-6.11331920e-01 7.90419398e-01 -3.88646177e-02 -8.47642286e+01] [-6.27743382e-02 5.21248318e-04 9.98027610e-01 -7.74664023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36864 meters Centerline goodness [0,1] 0.9999510020089176 Centerline is valid? [True, True] Translation: X:153.88, Y:-84.78, Z:-7.75 [[ 7.89665293e-01 6.11447906e-01 5.05982541e-02 1.53883464e+02] [-6.10148320e-01 7.91284465e-01 -3.98487444e-02 -8.47818706e+01] [-6.44030438e-02 5.94730674e-04 9.97923792e-01 -7.74920370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:153.91, Y:-84.80, Z:-7.75 [[ 7.90992146e-01 6.09719627e-01 5.07287085e-02 1.53905702e+02] [-6.08412074e-01 7.92616852e-01 -3.99158448e-02 -8.47994747e+01] [-6.45459032e-02 7.09160983e-04 9.97914487e-01 -7.75051495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:-84.82, Z:-7.75 [[ 7.92925554e-01 6.07203418e-01 5.07254857e-02 1.53928633e+02] [-6.05893161e-01 7.94545924e-01 -3.98779784e-02 -8.48170000e+01] [-6.45177727e-02 8.86043238e-04 9.97916165e-01 -7.75114587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45864 meters Centerline goodness [0,1] 0.9997062711117638 Centerline is valid? [True, True] Translation: X:153.95, Y:-84.83, Z:-7.75 [[ 7.95814404e-01 6.03408718e-01 5.07676506e-02 1.53952231e+02] [-6.02090818e-01 7.97431224e-01 -3.98759249e-02 -8.48338207e+01] [-6.45451905e-02 1.16709909e-03 9.97914103e-01 -7.75245050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:153.97, Y:-84.85, Z:-7.75 [[ 7.96700129e-01 6.02263669e-01 5.04715498e-02 1.53973156e+02] [-6.00961112e-01 7.98296295e-01 -3.96076682e-02 -8.48520892e+01] [-6.41455108e-02 1.22399563e-03 9.97939805e-01 -7.75207195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51864 meters Centerline goodness [0,1] 0.9995591476855253 Centerline is valid? [True, True] Translation: X:153.99, Y:-84.87, Z:-7.75 [[ 7.98170661e-01 6.00341421e-01 5.01375516e-02 1.53993840e+02] [-5.99054569e-01 7.99742697e-01 -3.93095684e-02 -8.48720940e+01] [-6.36963029e-02 1.34061479e-03 9.97968428e-01 -7.75437849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54864 meters Centerline goodness [0,1] 0.9994613124387856 Centerline is valid? [True, True] Translation: X:154.02, Y:-84.89, Z:-7.76 [[ 7.98900717e-01 5.99382216e-01 4.99860215e-02 1.54015105e+02] [-5.98103558e-01 8.00461769e-01 -3.91547022e-02 -8.48899168e+01] [-6.34805314e-02 1.38390240e-03 9.97982118e-01 -7.75541163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57864 meters Centerline goodness [0,1] 0.9998038734984065 Centerline is valid? [True, True] Translation: X:154.04, Y:-84.91, Z:-7.76 [[ 7.99635230e-01 5.98508014e-01 4.86996600e-02 1.54037017e+02] [-5.97294983e-01 8.01115618e-01 -3.81112860e-02 -8.49082821e+01] [-6.18239683e-02 1.38706435e-03 9.98086105e-01 -7.75614030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60864 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:154.06, Y:-84.93, Z:-7.76 [[ 8.00024672e-01 5.97955529e-01 4.90887870e-02 1.54058483e+02] [-5.96724074e-01 8.01528031e-01 -3.83822242e-02 -8.49271706e+01] [-6.22969021e-02 1.41426539e-03 9.98056660e-01 -7.75813733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63864 meters Centerline goodness [0,1] 0.9994608900215644 Centerline is valid? [True, True] Translation: X:154.08, Y:-84.95, Z:-7.76 [[ 8.00729961e-01 5.97093722e-01 4.80688755e-02 1.54078640e+02] [-5.95913460e-01 8.02170219e-01 -3.75511302e-02 -8.49474414e+01] [-6.09809645e-02 1.42342505e-03 9.98137914e-01 -7.75853046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66864 meters Centerline goodness [0,1] 0.9990181639666176 Centerline is valid? [True, True] Translation: X:154.10, Y:-84.97, Z:-7.76 [[ 8.01644153e-01 5.95913833e-01 4.74695246e-02 1.54099631e+02] [-5.94762992e-01 8.03047046e-01 -3.70462535e-02 -8.49653804e+01] [-6.01966365e-02 1.46479599e-03 9.98185463e-01 -7.75851844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69864 meters Centerline goodness [0,1] 0.9993629949039592 Centerline is valid? [True, True] Translation: X:154.12, Y:-84.98, Z:-7.76 [[ 8.01879101e-01 5.95551508e-01 4.80448531e-02 1.54121800e+02] [-5.94374136e-01 8.03315759e-01 -3.74590217e-02 -8.49841632e+01] [-6.09039645e-02 1.48098858e-03 9.98142532e-01 -7.75945952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72864 meters Centerline goodness [0,1] 0.9990170541111711 Centerline is valid? [True, True] Translation: X:154.14, Y:-85.00, Z:-7.76 [[ 8.02482877e-01 5.94857804e-01 4.65341273e-02 1.54142969e+02] [-5.93753996e-01 8.03829620e-01 -3.62509818e-02 -8.50044850e+01] [-5.89696893e-02 1.46096820e-03 9.98258705e-01 -7.76153635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75864 meters Centerline goodness [0,1] 0.9986256319638738 Centerline is valid? [True, True] Translation: X:154.16, Y:-85.02, Z:-7.76 [[ 8.02556603e-01 5.94740234e-01 4.67648654e-02 1.54163228e+02] [-5.93627114e-01 8.03916629e-01 -3.63992115e-02 -8.50240284e+01] [-5.92431285e-02 1.45153540e-03 9.98242528e-01 -7.76269377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78864000000002 meters Centerline goodness [0,1] 0.9987733673519454 Centerline is valid? [True, True] Translation: X:154.18, Y:-85.04, Z:-7.76 [[ 8.03322135e-01 5.93798324e-01 4.55751926e-02 1.54182658e+02] [-5.92741661e-01 8.04612600e-01 -3.54385108e-02 -8.50444608e+01] [-5.77137025e-02 1.45422478e-03 9.98332116e-01 -7.76290292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81864000000002 meters Centerline goodness [0,1] 0.9986770542407761 Centerline is valid? [True, True] Translation: X:154.20, Y:-85.06, Z:-7.76 [[ 8.03595590e-01 5.93479655e-01 4.49001803e-02 1.54203621e+02] [-5.92455545e-01 8.04847725e-01 -3.48793139e-02 -8.50628821e+01] [-5.68379712e-02 1.42750203e-03 9.98382395e-01 -7.76350795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84864000000002 meters Centerline goodness [0,1] 0.9990675761888403 Centerline is valid? [True, True] Translation: X:154.23, Y:-85.08, Z:-7.76 [[ 8.03103391e-01 5.94121984e-01 4.52107508e-02 1.54225191e+02] [-5.93086612e-01 8.04373798e-01 -3.50865197e-02 -8.50823388e+01] [-5.72120160e-02 1.36421192e-03 9.98361119e-01 -7.76425927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87864000000002 meters Centerline goodness [0,1] 0.9988719407523665 Centerline is valid? [True, True] Translation: X:154.24, Y:-85.10, Z:-7.77 [[ 8.01678822e-01 5.95972709e-01 4.61258741e-02 1.54244501e+02] [-5.94899635e-01 8.03003739e-01 -3.57689675e-02 -8.51049507e+01] [-5.83565778e-02 1.23495815e-03 9.98295039e-01 -7.76644656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90864000000002 meters Centerline goodness [0,1] 0.998922361009062 Centerline is valid? [True, True] Translation: X:154.27, Y:-85.12, Z:-7.77 [[ 8.00823617e-01 5.97105219e-01 4.63345684e-02 1.54265379e+02] [-5.96025553e-01 8.02162114e-01 -3.59093675e-02 -8.51248825e+01] [-5.86095061e-02 1.14048276e-03 9.98280334e-01 -7.76767746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93864000000002 meters Centerline goodness [0,1] 0.9985757084622563 Centerline is valid? [True, True] Translation: X:154.29, Y:-85.15, Z:-7.77 [[ 8.00198394e-01 5.98062956e-01 4.47574726e-02 1.54285725e+02] [-5.97058593e-01 8.01448486e-01 -3.46606609e-02 -8.51450613e+01] [-5.66000660e-02 1.01257156e-03 9.98396418e-01 -7.76805456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96864 meters Centerline goodness [0,1] 0.9993615244830804 Centerline is valid? [True, True] Translation: X:154.31, Y:-85.17, Z:-7.77 [[ 7.98483200e-01 6.00385455e-01 4.42931794e-02 1.54305251e+02] [-5.99406517e-01 7.99710340e-01 -3.42811796e-02 -8.51673512e+01] [-5.60036352e-02 8.23325560e-04 9.98430225e-01 -7.76945565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99864 meters Centerline goodness [0,1] 0.9994606256742179 Centerline is valid? [True, True] Translation: X:154.33, Y:-85.19, Z:-7.77 [[ 7.97726665e-01 6.01349874e-01 4.48385716e-02 1.54325557e+02] [-6.00350048e-01 7.98985471e-01 -3.46703997e-02 -8.51872884e+01] [-5.66744077e-02 7.38663685e-04 9.98392441e-01 -7.76983538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02864 meters Centerline goodness [0,1] 0.9996076508092202 Centerline is valid? [True, True] Translation: X:154.35, Y:-85.21, Z:-7.77 [[ 7.96467529e-01 6.02894013e-01 4.64573312e-02 1.54345164e+02] [-6.01825419e-01 7.97821046e-01 -3.58851411e-02 -8.52084544e+01] [-5.86995733e-02 6.22146797e-04 9.98275500e-01 -7.77084444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05864 meters Centerline goodness [0,1] 0.9990694029485233 Centerline is valid? [True, True] Translation: X:154.37, Y:-85.23, Z:-7.77 [[ 7.95356959e-01 6.04361950e-01 4.64105730e-02 1.54368108e+02] [-6.03299448e-01 7.96709727e-01 -3.58243760e-02 -8.52280629e+01] [-5.86266447e-02 4.93693685e-04 9.98279857e-01 -7.77113117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08864 meters Centerline goodness [0,1] 0.999264597734961 Centerline is valid? [True, True] Translation: X:154.39, Y:-85.25, Z:-7.77 [[ 7.94647126e-01 6.05392992e-01 4.51139800e-02 1.54391624e+02] [-6.04390920e-01 7.95926606e-01 -3.48202910e-02 -8.52477272e+01] [-5.69873771e-02 4.03364293e-04 9.98374817e-01 -7.77242877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11864 meters Centerline goodness [0,1] 0.999558325563135 Centerline is valid? [True, True] Translation: X:154.41, Y:-85.27, Z:-7.77 [[ 7.93646667e-01 6.06753639e-01 4.44408576e-02 1.54413385e+02] [-6.05783464e-01 7.94889886e-01 -3.42996190e-02 -8.52673404e+01] [-5.61370069e-02 3.00241647e-04 9.98423030e-01 -7.77361534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14864 meters Centerline goodness [0,1] 0.999264994119953 Centerline is valid? [True, True] Translation: X:154.44, Y:-85.29, Z:-7.78 [[ 7.93437502e-01 6.06928552e-01 4.57674888e-02 1.54436028e+02] [-6.05900104e-01 7.94756344e-01 -3.53187890e-02 -8.52861089e+01] [-5.78099835e-02 2.92725470e-04 9.98327562e-01 -7.77537853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17864 meters Centerline goodness [0,1] 0.9995099720684079 Centerline is valid? [True, True] Translation: X:154.46, Y:-85.31, Z:-7.78 [[ 7.93457687e-01 6.06844496e-01 4.65258800e-02 1.54459320e+02] [-6.05781708e-01 7.94820525e-01 -3.59006319e-02 -8.53051791e+01] [-5.87658253e-02 3.01105289e-04 9.98271750e-01 -7.77696855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20864 meters Centerline goodness [0,1] 0.9989209868066115 Centerline is valid? [True, True] Translation: X:154.48, Y:-85.32, Z:-7.78 [[ 7.94507276e-01 6.05445585e-01 4.68383657e-02 1.54483901e+02] [-6.04365946e-01 7.95886598e-01 -3.61431277e-02 -8.53249928e+01] [-5.91607246e-02 4.08464707e-04 9.98248387e-01 -7.77722538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23864 meters Centerline goodness [0,1] 0.9994115916446014 Centerline is valid? [True, True] Translation: X:154.51, Y:-85.34, Z:-7.78 [[ 7.94756397e-01 6.05144755e-01 4.64983227e-02 1.54508590e+02] [-6.04079961e-01 7.96115343e-01 -3.58853997e-02 -8.53446637e+01] [-5.87338895e-02 4.31445990e-04 9.98273582e-01 -7.77863950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26864 meters Centerline goodness [0,1] 0.9994603345925526 Centerline is valid? [True, True] Translation: X:154.53, Y:-85.36, Z:-7.78 [[ 7.94992933e-01 6.04769744e-01 4.73264442e-02 1.54532934e+02] [-6.03665695e-01 7.96400235e-01 -3.65293622e-02 -8.53641298e+01] [-5.97826443e-02 4.71233952e-04 9.98211307e-01 -7.78048635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29864 meters Centerline goodness [0,1] 0.9995589532490444 Centerline is valid? [True, True] Translation: X:154.56, Y:-85.38, Z:-7.78 [[ 7.94567939e-01 6.05381082e-01 4.66426484e-02 1.54557331e+02] [-6.04309510e-01 7.95935655e-01 -3.60062405e-02 -8.53833923e+01] [-5.89220437e-02 4.22808287e-04 9.98262498e-01 -7.78061974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32864 meters Centerline goodness [0,1] 0.9997550580512419 Centerline is valid? [True, True] Translation: X:154.58, Y:-85.40, Z:-7.78 [[ 7.94191942e-01 6.05795400e-01 4.76559923e-02 1.54581730e+02] [-6.04677169e-01 7.95620368e-01 -3.67933560e-02 -8.54025275e+01] [-6.02053240e-02 4.04496292e-04 9.98185932e-01 -7.78276359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35864 meters Centerline goodness [0,1] 0.9997059688326962 Centerline is valid? [True, True] Translation: X:154.61, Y:-85.42, Z:-7.78 [[ 7.93188348e-01 6.07090857e-01 4.78846192e-02 1.54606834e+02] [-6.05963925e-01 7.94632364e-01 -3.69746770e-02 -8.54207435e+01] [-6.04976565e-02 3.11531135e-04 9.98168291e-01 -7.78292094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38864 meters Centerline goodness [0,1] 0.9997058535150505 Centerline is valid? [True, True] Translation: X:154.63, Y:-85.44, Z:-7.78 [[ 7.92921508e-01 6.07418944e-01 4.81425809e-02 1.54632163e+02] [-6.06280134e-01 7.94381609e-01 -3.71787250e-02 -8.54390638e+01] [-6.08266428e-02 2.91920267e-04 9.98148303e-01 -7.78464225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41864 meters Centerline goodness [0,1] 0.9997058246715043 Centerline is valid? [True, True] Translation: X:154.66, Y:-85.46, Z:-7.79 [[ 7.92748127e-01 6.07642777e-01 4.81732549e-02 1.54658287e+02] [-6.06502630e-01 7.94210412e-01 -3.72072757e-02 -8.54569028e+01] [-6.08684330e-02 2.78792356e-04 9.98145759e-01 -7.78618663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44864 meters Centerline goodness [0,1] 0.999656340517453 Centerline is valid? [True, True] Translation: X:154.68, Y:-85.48, Z:-7.79 [[ 7.93375183e-01 6.06873413e-01 4.75445036e-02 1.54683729e+02] [-6.05761191e-01 7.94798432e-01 -3.67264441e-02 -8.54755410e+01] [-6.00765993e-02 3.37234162e-04 9.98193713e-01 -7.78745175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47864 meters Centerline goodness [0,1] 0.9998039888273632 Centerline is valid? [True, True] Translation: X:154.71, Y:-85.49, Z:-7.79 [[ 7.93989965e-01 6.06034341e-01 4.79824286e-02 1.54708380e+02] [-6.04899779e-01 7.95438377e-01 -3.70681245e-02 -8.54932929e+01] [-6.06316215e-02 4.07158383e-04 9.98160128e-01 -7.78918637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:154.73, Y:-85.51, Z:-7.79 [[ 7.95160580e-01 6.04568772e-01 4.70770849e-02 1.54732751e+02] [-6.03474047e-01 7.96552786e-01 -3.63694088e-02 -8.55109489e+01] [-5.94871919e-02 5.09721256e-04 9.98228939e-01 -7.78968597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53864000000002 meters Centerline goodness [0,1] 0.9998040464409935 Centerline is valid? [True, True] Translation: X:154.76, Y:-85.53, Z:-7.79 [[ 7.96287537e-01 6.03088364e-01 4.70168339e-02 1.54756179e+02] [-6.01993846e-01 7.97674145e-01 -3.63231189e-02 -8.55283387e+01] [-5.94101632e-02 6.19802262e-04 9.98233464e-01 -7.79223668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56864000000002 meters Centerline goodness [0,1] 0.9998040464409935 Centerline is valid? [True, True] Translation: X:154.78, Y:-85.55, Z:-7.79 [[ 7.96287508e-01 6.03088276e-01 4.70184633e-02 1.54779903e+02] [-6.01993882e-01 7.97674213e-01 -3.63210096e-02 -8.55466680e+01] [-5.94101908e-02 6.17138979e-04 9.98233464e-01 -7.79349614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.80, Y:-85.56, Z:-7.79 [[ 7.97275563e-01 6.01765641e-01 4.72206525e-02 1.54804118e+02] [-6.00659569e-01 7.98672397e-01 -3.64757981e-02 -8.55644534e+01] [-5.96637137e-02 7.17725684e-04 9.98218276e-01 -7.79476073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.83, Y:-85.58, Z:-7.79 [[ 7.99552901e-01 5.98910494e-01 4.49597406e-02 1.54828788e+02] [-5.97903614e-01 8.00815485e-01 -3.47250315e-02 -8.55817529e+01] [-5.68016422e-02 8.82908361e-04 9.98385093e-01 -7.79427031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65864000000002 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:154.85, Y:-85.60, Z:-7.80 [[ 8.00505351e-01 5.97638195e-01 4.49418513e-02 1.54851167e+02] [-5.96630761e-01 8.01765339e-01 -3.46997948e-02 -8.56002849e+01] [-5.67707414e-02 9.63680508e-04 9.98386776e-01 -7.79643972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68864000000002 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:154.87, Y:-85.62, Z:-7.80 [[ 8.01193988e-01 5.96762511e-01 4.43023632e-02 1.54873800e+02] [-5.95783934e-01 8.02417305e-01 -3.41756073e-02 -8.56186689e+01] [-5.59437041e-02 9.86654824e-04 9.98433437e-01 -7.79736252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71864 meters Centerline goodness [0,1] 0.9998527968596663 Centerline is valid? [True, True] Translation: X:154.90, Y:-85.64, Z:-7.80 [[ 8.02800512e-01 5.94546149e-01 4.50134867e-02 1.54895741e+02] [-5.93534193e-01 8.04060688e-01 -3.46925411e-02 -8.56367347e+01] [-5.68198918e-02 1.13414630e-03 9.98383801e-01 -7.79919957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74864 meters Centerline goodness [0,1] 0.9995589532490444 Centerline is valid? [True, True] Translation: X:154.92, Y:-85.65, Z:-7.80 [[ 8.04263878e-01 5.92470746e-01 4.62388273e-02 1.54918075e+02] [-5.91401363e-01 8.05590933e-01 -3.56044381e-02 -8.56544653e+01] [-5.83441681e-02 1.28965793e-03 9.98295695e-01 -7.80125477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77864 meters Centerline goodness [0,1] 0.9998037484054558 Centerline is valid? [True, True] Translation: X:154.94, Y:-85.67, Z:-7.80 [[ 8.04936797e-01 5.91552174e-01 4.62901593e-02 1.54941615e+02] [-5.90480240e-01 8.06265609e-01 -3.56209795e-02 -8.56740794e+01] [-5.83938313e-02 1.33921276e-03 9.98292726e-01 -7.80275919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80864 meters Centerline goodness [0,1] 0.9998528185252417 Centerline is valid? [True, True] Translation: X:154.96, Y:-85.70, Z:-7.80 [[ 8.06311488e-01 5.89713245e-01 4.58265445e-02 1.54964780e+02] [-5.88659654e-01 8.07611392e-01 -3.52654363e-02 -8.56954272e+01] [-5.78065343e-02 1.45868864e-03 9.98326739e-01 -7.80339374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:154.99, Y:-85.71, Z:-7.80 [[ 8.07412392e-01 5.88279537e-01 4.48599614e-02 1.54989430e+02] [-5.87267506e-01 8.08656194e-01 -3.45258760e-02 -8.57149326e+01] [-5.65871520e-02 1.53182250e-03 9.98396488e-01 -7.80401777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86864 meters Centerline goodness [0,1] 0.9994111007508465 Centerline is valid? [True, True] Translation: X:155.01, Y:-85.73, Z:-7.81 [[ 8.07803276e-01 5.87789002e-01 4.42488051e-02 1.55013064e+02] [-5.86803410e-01 8.09012789e-01 -3.40597301e-02 -8.57348675e+01] [-5.58177840e-02 1.54821184e-03 9.98439772e-01 -7.80555157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89864 meters Centerline goodness [0,1] 0.9996077854586459 Centerline is valid? [True, True] Translation: X:155.04, Y:-85.76, Z:-7.81 [[ 8.07921028e-01 5.87491546e-01 4.60140846e-02 1.55037044e+02] [-5.86424928e-01 8.09228651e-01 -3.54230673e-02 -8.57552316e+01] [-5.80466682e-02 1.63523469e-03 9.98312531e-01 -7.80766293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92864 meters Centerline goodness [0,1] 0.9999019607843137 Centerline is valid? [True, True] Translation: X:155.06, Y:-85.78, Z:-7.81 [[ 8.08408535e-01 5.86799246e-01 4.62848262e-02 1.55061264e+02] [-5.85718636e-01 8.09730671e-01 -3.56359411e-02 -8.57752274e+01] [-5.83893867e-02 1.69851376e-03 9.98292439e-01 -7.80872344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.09, Y:-85.80, Z:-7.81 [[ 8.08952134e-01 5.85994902e-01 4.69725419e-02 1.55085903e+02] [-5.84880208e-01 8.10312766e-01 -3.61713040e-02 -8.57963909e+01] [-5.92586502e-02 1.78754347e-03 9.98241062e-01 -7.81049096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.11, Y:-85.82, Z:-7.81 [[ 8.09467477e-01 5.85362673e-01 4.59667756e-02 1.55110076e+02] [-5.84293724e-01 8.10769570e-01 -3.54054919e-02 -8.58181107e+01] [-5.79935162e-02 1.80149578e-03 9.98315334e-01 -7.81139671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01864 meters Centerline goodness [0,1] 0.9994111874386653 Centerline is valid? [True, True] Translation: X:155.13, Y:-85.84, Z:-7.81 [[ 8.09856383e-01 5.84868098e-01 4.54086762e-02 1.55133999e+02] [-5.83823699e-01 8.11126371e-01 -3.49842662e-02 -8.58401002e+01] [-5.72933560e-02 1.82157002e-03 9.98355725e-01 -7.81251468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04864 meters Centerline goodness [0,1] 0.999803777287221 Centerline is valid? [True, True] Translation: X:155.16, Y:-85.86, Z:-7.81 [[ 8.09098425e-01 5.85796220e-01 4.69310957e-02 1.55156000e+02] [-5.84681553e-01 8.10456333e-01 -3.61664780e-02 -8.58649500e+01] [-5.92217898e-02 1.82249447e-03 9.98243186e-01 -7.81320369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07864 meters Centerline goodness [0,1] 0.999852739053603 Centerline is valid? [True, True] Translation: X:155.18, Y:-85.89, Z:-7.82 [[ 8.08742974e-01 5.86280554e-01 4.70097282e-02 1.55180563e+02] [-5.85162421e-01 8.10106093e-01 -3.62361676e-02 -8.58864461e+01] [-5.93274277e-02 1.79741959e-03 9.98236959e-01 -7.81501102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.20, Y:-85.91, Z:-7.82 [[ 8.07161764e-01 5.88553322e-01 4.57697869e-02 1.55203472e+02] [-5.87496513e-01 8.08456827e-01 -3.52903051e-02 -8.59103758e+01] [-5.77731230e-02 1.59539471e-03 9.98328463e-01 -7.81579460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.23, Y:-85.93, Z:-7.82 [[ 8.06203753e-01 5.89787421e-01 4.67579558e-02 1.55227472e+02] [-5.88685774e-01 8.07557055e-01 -3.60647069e-02 -8.59317778e+01] [-5.90302276e-02 1.54975864e-03 9.98254993e-01 -7.81927096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16864 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:155.25, Y:-85.95, Z:-7.82 [[ 8.04687809e-01 5.91878606e-01 4.64461545e-02 1.55251714e+02] [-5.90794514e-01 8.06025911e-01 -3.58339605e-02 -8.59538064e+01] [-5.86461586e-02 1.39501786e-03 9.98277858e-01 -7.81990604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19864 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:155.28, Y:-85.98, Z:-7.82 [[ 8.01813318e-01 5.95815357e-01 4.58198993e-02 1.55275124e+02] [-5.94766109e-01 8.03120693e-01 -3.53613869e-02 -8.59765277e+01] [-5.78677667e-02 1.10110772e-03 9.98323649e-01 -7.82078535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22864 meters Centerline goodness [0,1] 0.9999018019345018 Centerline is valid? [True, True] Translation: X:155.30, Y:-86.00, Z:-7.82 [[ 7.99810650e-01 5.98544424e-01 4.52492799e-02 1.55299564e+02] [-5.97525006e-01 8.01089111e-01 -3.49299819e-02 -8.59980120e+01] [-5.71558513e-02 8.99795280e-04 9.98364863e-01 -7.82163241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25864 meters Centerline goodness [0,1] 0.9996561886051081 Centerline is valid? [True, True] Translation: X:155.32, Y:-86.02, Z:-7.82 [[ 7.97923140e-01 6.01035065e-01 4.55578141e-02 1.55324093e+02] [-6.00005203e-01 7.99222317e-01 -3.51773203e-02 -8.60192541e+01] [-5.75536247e-02 7.33872308e-04 9.98342147e-01 -7.82315617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.35, Y:-86.04, Z:-7.82 [[ 7.95165593e-01 6.04660340e-01 4.57990568e-02 1.55348916e+02] [-6.03624983e-01 7.96483296e-01 -3.53728603e-02 -8.60403517e+01] [-5.78667495e-02 4.81826553e-04 9.98324199e-01 -7.82461443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.37, Y:-86.06, Z:-7.83 [[ 7.93745051e-01 6.06421368e-01 4.71372248e-02 1.55374353e+02] [-6.05327080e-01 7.95143375e-01 -3.64162091e-02 -8.60603593e+01] [-5.95644193e-02 3.71747180e-04 9.98224394e-01 -7.82662942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.40, Y:-86.08, Z:-7.83 [[ 7.91507574e-01 6.09237220e-01 4.84331477e-02 1.55399196e+02] [-6.08086507e-01 7.92988008e-01 -3.74275208e-02 -8.60803699e+01] [-6.12091440e-02 1.72622625e-04 9.98124948e-01 -7.82872669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.42, Y:-86.10, Z:-7.83 [[ 7.90294616e-01 6.10763956e-01 4.90082538e-02 1.55424328e+02] [-6.09588024e-01 7.91812721e-01 -3.78821274e-02 -8.61001648e+01] [-6.19423968e-02 6.31968132e-05 9.98079724e-01 -7.83018734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.45, Y:-86.12, Z:-7.83 [[ 7.88023777e-01 6.13679399e-01 4.91540603e-02 1.55450518e+02] [-6.12501359e-01 7.89555299e-01 -3.80067673e-02 -8.61210371e+01] [-6.21338189e-02 -1.56692442e-04 9.98067815e-01 -7.83121379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.48, Y:-86.14, Z:-7.83 [[ 7.86647171e-01 6.15469555e-01 4.88206453e-02 1.55476757e+02] [-6.14309953e-01 7.88160610e-01 -3.77642080e-02 -8.61407552e+01] [-6.17212299e-02 -2.83900936e-04 9.98093387e-01 -7.83160752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.50, Y:-86.16, Z:-7.83 [[ 7.83943016e-01 6.18831553e-01 4.98081978e-02 1.55502889e+02] [-6.17630384e-01 7.85523525e-01 -3.85421938e-02 -8.61592282e+01] [-6.29766368e-02 -5.48172701e-04 9.98014851e-01 -7.83377675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.53, Y:-86.18, Z:-7.84 [[ 7.82785922e-01 6.20254044e-01 5.03102457e-02 1.55529136e+02] [-6.19030772e-01 7.84400716e-01 -3.89412274e-02 -8.61781803e+01] [-6.36168466e-02 -6.60945611e-04 9.97974178e-01 -7.83524119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.56, Y:-86.20, Z:-7.84 [[ 7.83166648e-01 6.19778751e-01 5.02424254e-02 1.55555510e+02] [-6.18557135e-01 7.84776353e-01 -3.88991928e-02 -8.61959924e+01] [-6.35379605e-02 -6.13260304e-04 9.97979234e-01 -7.83735454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.58, Y:-86.22, Z:-7.84 [[ 7.83411886e-01 6.19425741e-01 5.07697569e-02 1.55582086e+02] [-6.18176769e-01 7.85055039e-01 -3.93200870e-02 -8.62153417e+01] [-6.42129275e-02 -5.80860765e-04 9.97936051e-01 -7.83842534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.61, Y:-86.23, Z:-7.84 [[ 7.84613638e-01 6.17807041e-01 5.19220460e-02 1.55609569e+02] [-6.16496156e-01 7.86329613e-01 -4.02272272e-02 -8.62330631e+01] [-6.56805065e-02 -4.46910735e-04 9.97840604e-01 -7.83955649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.64, Y:-86.25, Z:-7.84 [[ 7.85101935e-01 6.17193599e-01 5.18364118e-02 1.55636116e+02] [-6.15884991e-01 7.86811231e-01 -4.01717048e-02 -8.62518279e+01] [-6.55791900e-02 -3.86384807e-04 9.97847293e-01 -7.84105433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:-86.27, Z:-7.84 [[ 7.86054178e-01 6.16043390e-01 5.10819980e-02 1.55661787e+02] [-6.14769525e-01 7.87712171e-01 -3.95975547e-02 -8.62708985e+01] [-6.46317234e-02 -2.77832306e-04 9.97909146e-01 -7.84193436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.69, Y:-86.29, Z:-7.84 [[ 7.86388140e-01 6.15538777e-01 5.20164100e-02 1.55687214e+02] [-6.14216002e-01 7.88106567e-01 -4.03328884e-02 -8.62908534e+01] [-6.58209311e-02 -2.32006282e-04 9.97831424e-01 -7.84492225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.71, Y:-86.31, Z:-7.84 [[ 7.87346600e-01 6.14374335e-01 5.12787345e-02 1.55713209e+02] [-6.13085693e-01 7.89014677e-01 -3.97714912e-02 -8.63102468e+01] [-6.48942576e-02 -1.24310150e-04 9.97892138e-01 -7.84489677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.74, Y:-86.33, Z:-7.85 [[ 7.86775881e-01 6.15081646e-01 5.15585326e-02 1.55740621e+02] [-6.13779572e-01 7.88463403e-01 -4.00012311e-02 -8.63295181e+01] [-6.52560392e-02 -1.73570227e-04 9.97868538e-01 -7.84502756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.77, Y:-86.35, Z:-7.85 [[ 7.86020929e-01 6.16059389e-01 5.13996914e-02 1.55766867e+02] [-6.14766315e-01 7.87699671e-01 -3.98949521e-02 -8.63497367e+01] [-6.50651798e-02 -2.40531505e-04 9.97880987e-01 -7.84582471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.79, Y:-86.37, Z:-7.85 [[ 7.85094029e-01 6.17175565e-01 5.21697932e-02 1.55792100e+02] [-6.15844798e-01 7.86825404e-01 -4.05088737e-02 -8.63696638e+01] [-6.60496056e-02 -3.25220876e-04 9.97816288e-01 -7.84827141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.82, Y:-86.39, Z:-7.85 [[ 7.84683827e-01 6.17746184e-01 5.15843275e-02 1.55818168e+02] [-6.16445679e-01 7.86377468e-01 -4.00649860e-02 -8.63891494e+01] [-6.53147451e-02 -3.60589211e-04 9.97864647e-01 -7.84953327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.85, Y:-86.41, Z:-7.85 [[ 7.84387168e-01 6.18130701e-01 5.14898673e-02 1.55846165e+02] [-6.16834959e-01 7.86075245e-01 -4.00042823e-02 -8.64066464e+01] [-6.52027851e-02 -3.81904487e-04 9.97871961e-01 -7.85020720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.87, Y:-86.43, Z:-7.85 [[ 7.84391880e-01 6.18051929e-01 5.23563836e-02 1.55872338e+02] [-6.16711017e-01 7.86137186e-01 -4.06920873e-02 -8.64257475e+01] [-6.63091231e-02 -3.70215652e-04 9.97799059e-01 -7.85283864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.90, Y:-86.45, Z:-7.85 [[ 7.84983317e-01 6.17342004e-01 5.18656175e-02 1.55897930e+02] [-6.16023884e-01 7.86694833e-01 -4.03213875e-02 -8.64455728e+01] [-6.56944995e-02 -2.98842633e-04 9.97839738e-01 -7.85318170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.92, Y:-86.46, Z:-7.85 [[ 7.85308162e-01 6.16995001e-01 5.10711204e-02 1.55923893e+02] [-6.15715582e-01 7.86967028e-01 -3.97142129e-02 -8.64646492e+01] [-6.46947586e-02 -2.57389096e-04 9.97905067e-01 -7.85354590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.95, Y:-86.48, Z:-7.86 [[ 7.85576652e-01 6.16588897e-01 5.18406791e-02 1.55949584e+02] [-6.15268989e-01 7.87285262e-01 -4.03235230e-02 -8.64832853e+01] [-6.56764392e-02 -2.18744003e-04 9.97840948e-01 -7.85591225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.98, Y:-86.50, Z:-7.86 [[ 7.86763397e-01 6.15060564e-01 5.19986487e-02 1.55975625e+02] [-6.13728401e-01 7.88479864e-01 -4.04592810e-02 -8.65036634e+01] [-6.58847957e-02 -8.11661597e-05 9.97827233e-01 -7.85804524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.00, Y:-86.52, Z:-7.86 [[ 7.86840263e-01 6.14961081e-01 5.20122031e-02 1.56001323e+02] [-6.13626931e-01 7.88557458e-01 -4.04861012e-02 -8.65249387e+01] [-6.59119872e-02 -5.99940536e-05 9.97825439e-01 -7.86014611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.03, Y:-86.54, Z:-7.86 [[ 7.87057775e-01 6.14641200e-01 5.25000448e-02 1.56026398e+02] [-6.13280203e-01 7.88806818e-01 -4.08802796e-02 -8.65446087e+01] [-6.65390974e-02 -2.20962329e-05 9.97783818e-01 -7.86017953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.05, Y:-86.57, Z:-7.86 [[ 7.87133957e-01 6.14527546e-01 5.26880344e-02 1.56052687e+02] [-6.13155642e-01 7.88895364e-01 -4.10397789e-02 -8.65653648e+01] [-6.67854207e-02 -2.16196033e-06 9.97767361e-01 -7.86141035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.08, Y:-86.59, Z:-7.86 [[ 7.87036462e-01 6.14576898e-01 5.35615893e-02 1.56076966e+02] [-6.13158172e-01 7.88856918e-01 -4.17351059e-02 -8.65865920e+01] [-6.79018621e-02 5.32390081e-06 9.97692005e-01 -7.86416010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.10, Y:-86.61, Z:-7.87 [[ 7.88004819e-01 6.13405596e-01 5.27444738e-02 1.56099302e+02] [-6.12026457e-01 7.89768043e-01 -4.11102758e-02 -8.66100494e+01] [-6.68731731e-02 1.14081992e-04 9.97761477e-01 -7.86539782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.12, Y:-86.63, Z:-7.87 [[ 7.88406876e-01 6.12980561e-01 5.16665250e-02 1.56123735e+02] [-6.11655563e-01 7.90097973e-01 -4.02823116e-02 -8.66308462e+01] [-6.55138907e-02 1.56734032e-04 9.97851645e-01 -7.86619187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.15, Y:-86.65, Z:-7.87 [[ 7.88552755e-01 6.12833161e-01 5.11866138e-02 1.56148924e+02] [-6.11531690e-01 7.90212304e-01 -3.99187478e-02 -8.66514520e+01] [-6.49118244e-02 1.75802109e-04 9.97890988e-01 -7.86764347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.17, Y:-86.67, Z:-7.87 [[ 7.86407992e-01 6.15428211e-01 5.30149666e-02 1.56172695e+02] [-6.14036420e-01 7.88192944e-01 -4.13661458e-02 -8.66739918e+01] [-6.72439157e-02 -2.24526314e-05 9.97736566e-01 -7.86952311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.20, Y:-86.70, Z:-7.87 [[ 7.85390480e-01 6.16735713e-01 5.29041962e-02 1.56197797e+02] [-6.15349990e-01 7.87170280e-01 -4.13199755e-02 -8.66957207e+01] [-6.71281155e-02 -1.02281198e-04 9.97744359e-01 -7.87014297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.22, Y:-86.72, Z:-7.87 [[ 7.83579536e-01 6.19029739e-01 5.29650137e-02 1.56222690e+02] [-6.17643168e-01 7.85367501e-01 -4.14102027e-02 -8.67167581e+01] [-6.72311475e-02 -2.65291434e-04 9.97737392e-01 -7.87111005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.25, Y:-86.74, Z:-7.87 [[ 7.79964189e-01 6.23680454e-01 5.17547655e-02 1.56249446e+02] [-6.22364108e-01 7.81679160e-01 -4.05044204e-02 -8.67368390e+01] [-6.57174370e-02 -6.18311056e-04 9.97838081e-01 -7.87282089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.28, Y:-86.76, Z:-7.87 [[ 7.78457378e-01 6.25531119e-01 5.21049946e-02 1.56275289e+02] [-6.24198259e-01 7.80198860e-01 -4.08200049e-02 -8.67568158e+01] [-6.61864407e-02 -7.47212949e-04 9.97806994e-01 -7.87445013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.30, Y:-86.78, Z:-7.88 [[ 7.77572880e-01 6.26633782e-01 5.20626466e-02 1.56301663e+02] [-6.25302908e-01 7.79313447e-01 -4.08267649e-02 -8.67775595e+01] [-6.61565507e-02 -8.09139125e-04 9.97808928e-01 -7.87552651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.33, Y:-86.80, Z:-7.88 [[ 7.77696299e-01 6.26509322e-01 5.17159095e-02 1.56328781e+02] [-6.25193022e-01 7.79413557e-01 -4.05979401e-02 -8.67966477e+01] [-6.57430689e-02 -7.59557991e-04 9.97836295e-01 -7.87625891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.35, Y:-86.82, Z:-7.88 [[ 7.77371387e-01 6.26914174e-01 5.16947319e-02 1.56354594e+02] [-6.25596976e-01 7.79087955e-01 -4.06248936e-02 -8.68165100e+01] [-6.57430646e-02 -7.59438052e-04 9.97836296e-01 -7.87762380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.38, Y:-86.83, Z:-7.88 [[ 7.77840027e-01 6.26306796e-01 5.20066349e-02 1.56381595e+02] [-6.24970031e-01 7.79576376e-01 -4.09039596e-02 -8.68349422e+01] [-6.61615719e-02 -6.85851178e-04 9.97808687e-01 -7.87894981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.41, Y:-86.85, Z:-7.88 [[ 7.79596036e-01 6.24203357e-01 5.09920531e-02 1.56408981e+02] [-6.22912873e-01 7.81261757e-01 -4.01200686e-02 -8.68526865e+01] [-6.48812225e-02 -4.86159816e-04 9.97892875e-01 -7.87970304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.43, Y:-86.87, Z:-7.88 [[ 7.79327830e-01 6.24431005e-01 5.22881792e-02 1.56434861e+02] [-6.23073776e-01 7.81079804e-01 -4.11510440e-02 -8.68720987e+01] [-6.65372286e-02 -5.09239421e-04 9.97783813e-01 -7.88218585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.46, Y:-86.89, Z:-7.88 [[ 7.79352399e-01 6.24419936e-01 5.20536441e-02 1.56462765e+02] [-6.23074118e-01 7.81088661e-01 -4.09774017e-02 -8.68890510e+01] [-6.62456177e-02 -4.97442083e-04 9.97803222e-01 -7.88220195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.49, Y:-86.91, Z:-7.88 [[ 7.78840129e-01 6.25099383e-01 5.15636958e-02 1.56489455e+02] [-6.23779585e-01 7.80544982e-01 -4.06024807e-02 -8.69071484e+01] [-6.56283696e-02 -5.41539373e-04 9.97843988e-01 -7.88308676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.52, Y:-86.93, Z:-7.88 [[ 7.77389423e-01 6.27004642e-01 5.03076904e-02 1.56515887e+02] [-6.25751730e-01 7.79015225e-01 -3.96238808e-02 -8.69256859e+01] [-6.40348139e-02 -6.76938470e-04 9.97947436e-01 -7.88492959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.54, Y:-86.94, Z:-7.89 [[ 7.76806224e-01 6.27693988e-01 5.07183137e-02 1.56541537e+02] [-6.26421290e-01 7.78459840e-01 -3.99580427e-02 -8.69444840e+01] [-6.45635936e-02 -7.31375194e-04 9.97913327e-01 -7.88675300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.57, Y:-86.96, Z:-7.89 [[ 7.76482221e-01 6.28054043e-01 5.12199034e-02 1.56567860e+02] [-6.26756031e-01 7.78169353e-01 -4.03650402e-02 -8.69628814e+01] [-6.52091858e-02 -7.59647266e-04 9.97871327e-01 -7.88761302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.59, Y:-86.98, Z:-7.89 [[ 7.76316113e-01 6.28308418e-01 5.06144792e-02 1.56594815e+02] [-6.27040680e-01 7.77963978e-01 -3.99003007e-02 -8.69809342e+01] [-6.44459364e-02 -7.62091123e-04 9.97920909e-01 -7.88922581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.62, Y:-87.00, Z:-7.89 [[ 7.76725120e-01 6.27733087e-01 5.14709558e-02 1.56620358e+02] [-6.26420047e-01 7.78428324e-01 -4.05865581e-02 -8.70000484e+01] [-6.55439753e-02 -7.17839369e-04 9.97849424e-01 -7.89137527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.65, Y:-87.02, Z:-7.89 [[ 7.78568296e-01 6.25465480e-01 5.12283257e-02 1.56648030e+02] [-6.24159038e-01 7.80251670e-01 -4.04082559e-02 -8.70177877e+01] [-6.52449559e-02 -5.14035533e-04 9.97869145e-01 -7.89244444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.67, Y:-87.04, Z:-7.89 [[ 7.80111958e-01 6.23540646e-01 5.12093319e-02 1.56673795e+02] [-6.22230042e-01 7.81790859e-01 -4.04082650e-02 -8.70364853e+01] [-6.52311832e-02 -3.41014003e-04 9.97870120e-01 -7.89467969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.70, Y:-87.06, Z:-7.90 [[ 7.81503593e-01 6.21787472e-01 5.13076413e-02 1.56699844e+02] [-6.20467201e-01 7.83185997e-01 -4.04987171e-02 -8.70563941e+01] [-6.53650211e-02 -1.84815659e-04 9.97861403e-01 -7.89668739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.73, Y:-87.08, Z:-7.90 [[ 7.83260775e-01 6.19621788e-01 5.07089625e-02 1.56725327e+02] [-6.18326729e-01 7.84900529e-01 -4.00401844e-02 -8.70763181e+01] [-6.46112621e-02 7.19897530e-06 9.97910509e-01 -7.89828990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90864000000002 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:156.75, Y:-87.10, Z:-7.90 [[ 7.85739085e-01 6.16520021e-01 5.01712375e-02 1.56750225e+02] [-6.15245190e-01 7.87339184e-01 -3.96278365e-02 -8.70979399e+01] [-6.39331358e-02 2.69527429e-04 9.97954148e-01 -7.89996319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.78, Y:-87.12, Z:-7.90 [[ 7.87944259e-01 6.13751771e-01 4.95238109e-02 1.56775417e+02] [-6.12503213e-01 7.89498900e-01 -3.91318475e-02 -8.71201387e+01] [-6.31162349e-02 5.00221335e-04 9.98006057e-01 -7.90057311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.80, Y:-87.14, Z:-7.90 [[ 7.88202854e-01 6.13446538e-01 4.91894894e-02 1.56800623e+02] [-6.12213246e-01 7.89736070e-01 -3.88829132e-02 -8.71414973e+01] [-6.26993026e-02 5.33166166e-04 9.98032321e-01 -7.90185277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.83, Y:-87.16, Z:-7.90 [[ 7.88421992e-01 6.13158800e-01 4.92650842e-02 1.56825734e+02] [-6.11920183e-01 7.89959469e-01 -3.89580108e-02 -8.71626332e+01] [-6.28048669e-02 5.69053087e-04 9.98025663e-01 -7.90319226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.85, Y:-87.18, Z:-7.91 [[ 7.87970355e-01 6.13728953e-01 4.93912123e-02 1.56850728e+02] [-6.12484122e-01 7.89516614e-01 -3.90732177e-02 -8.71843758e+01] [-6.29755477e-02 5.37203858e-04 9.98014926e-01 -7.90512655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.87, Y:-87.21, Z:-7.91 [[ 7.86709949e-01 6.15314951e-01 4.97490383e-02 1.56874568e+02] [-6.14054115e-01 7.88281250e-01 -3.93727600e-02 -8.72073033e+01] [-6.34428820e-02 4.26340361e-04 9.97985380e-01 -7.90640514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.90, Y:-87.23, Z:-7.91 [[ 7.85709939e-01 6.16629778e-01 4.92707643e-02 1.56899190e+02] [-6.15394718e-01 7.87253205e-01 -3.90093847e-02 -8.72285325e+01] [-6.28429154e-02 3.29093135e-04 9.98023376e-01 -7.90770632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.92, Y:-87.25, Z:-7.91 [[ 7.83470430e-01 6.19507610e-01 4.88303930e-02 1.56923288e+02] [-6.18299484e-01 7.84990643e-01 -3.86708913e-02 -8.72504109e+01] [-6.22883130e-02 1.05693000e-04 9.98058192e-01 -7.90937046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.95, Y:-87.27, Z:-7.91 [[ 7.82236495e-01 6.21031576e-01 4.92528871e-02 1.56948227e+02] [-6.19804680e-01 7.83785545e-01 -3.90176529e-02 -8.72716631e+01] [-6.28348954e-02 -6.13790588e-06 9.98023936e-01 -7.91086261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.97, Y:-87.29, Z:-7.91 [[ 7.80665339e-01 6.22966209e-01 4.97466685e-02 1.56973261e+02] [-6.21717587e-01 7.82248732e-01 -3.94228728e-02 -8.72922331e+01] [-6.34733860e-02 -1.52308427e-04 9.97983520e-01 -7.91143895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.00, Y:-87.31, Z:-7.91 [[ 7.77558502e-01 6.26700796e-01 5.14673563e-02 1.56998095e+02] [-6.25371619e-01 7.79259839e-01 -4.07975678e-02 -8.73127219e+01] [-6.56743120e-02 -4.63728186e-04 9.97841004e-01 -7.91212256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.02, Y:-87.33, Z:-7.91 [[ 7.76463480e-01 6.28075901e-01 5.12359837e-02 1.57024512e+02] [-6.26760809e-01 7.78151875e-01 -4.06269332e-02 -8.73328855e+01] [-6.53861744e-02 -5.67376693e-04 9.97859873e-01 -7.91290906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.05, Y:-87.35, Z:-7.92 [[ 7.75442084e-01 6.29270481e-01 5.20407232e-02 1.57051112e+02] [-6.27915411e-01 7.77186089e-01 -4.12797709e-02 -8.73505913e+01] [-6.64214674e-02 -6.67100547e-04 9.97791433e-01 -7.91538997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.08, Y:-87.37, Z:-7.92 [[ 7.74287248e-01 6.30750052e-01 5.13188905e-02 1.57078002e+02] [-6.29434755e-01 7.75985679e-01 -4.07199575e-02 -8.73706082e+01] [-6.55068395e-02 -7.72949408e-04 9.97851821e-01 -7.91649947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.10, Y:-87.39, Z:-7.92 [[ 7.73826568e-01 6.31404174e-01 5.02116684e-02 1.57103711e+02] [-6.30145562e-01 7.75453500e-01 -3.98552447e-02 -8.73894322e+01] [-6.41015818e-02 -7.99612747e-04 9.97943058e-01 -7.91758547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.13, Y:-87.41, Z:-7.92 [[ 7.72689762e-01 6.32649030e-01 5.20166845e-02 1.57131000e+02] [-6.31300338e-01 7.74438083e-01 -4.12981714e-02 -8.74059765e+01] [-6.64109495e-02 -9.27476227e-04 9.97791925e-01 -7.91905029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.16, Y:-87.42, Z:-7.92 [[ 7.72318072e-01 6.33119221e-01 5.18155111e-02 1.57159187e+02] [-6.31781263e-01 7.74053706e-01 -4.11496927e-02 -8.74238572e+01] [-6.61606498e-02 -9.55417702e-04 9.97808527e-01 -7.91916147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.19, Y:-87.44, Z:-7.92 [[ 7.72386081e-01 6.32972832e-01 5.25845656e-02 1.57188180e+02] [-6.31593485e-01 7.74173430e-01 -4.17752257e-02 -8.74396512e+01] [-6.71521565e-02 -9.45466217e-04 9.97742298e-01 -7.92060865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.21, Y:-87.46, Z:-7.92 [[ 7.72705251e-01 6.32677365e-01 5.14387698e-02 1.57214797e+02] [-6.31356178e-01 7.74414978e-01 -4.08756535e-02 -8.74579526e+01] [-6.56960545e-02 -8.91352935e-04 9.97839283e-01 -7.92203470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.24, Y:-87.48, Z:-7.92 [[ 7.73339655e-01 6.31888409e-01 5.16024869e-02 1.57241333e+02] [-6.30556310e-01 7.75058945e-01 -4.10167192e-02 -8.74761986e+01] [-6.59129585e-02 -8.18418324e-04 9.97825041e-01 -7.92421773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.27, Y:-87.49, Z:-7.93 [[ 7.73888615e-01 6.31172261e-01 5.21343333e-02 1.57269801e+02] [-6.29810164e-01 7.75642318e-01 -4.14506021e-02 -8.74913930e+01] [-6.66000653e-02 -7.56584001e-04 9.97779464e-01 -7.92637622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.30, Y:-87.51, Z:-7.93 [[ 7.74100476e-01 6.30837582e-01 5.30320504e-02 1.57295751e+02] [-6.29426410e-01 7.75914565e-01 -4.21779799e-02 -8.75095846e+01] [-6.77557952e-02 -7.29778789e-04 9.97701669e-01 -7.92872870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.32, Y:-87.53, Z:-7.93 [[ 7.75004481e-01 6.29795346e-01 5.22099246e-02 1.57323803e+02] [-6.28424225e-01 7.76760866e-01 -4.15397488e-02 -8.75269083e+01] [-6.67161666e-02 -6.16489946e-04 9.97771804e-01 -7.92775606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.35, Y:-87.55, Z:-7.93 [[ 7.75169280e-01 6.29593674e-01 5.21957154e-02 1.57349632e+02] [-6.28222138e-01 7.76924357e-01 -4.15389946e-02 -8.75451360e+01] [-6.67048109e-02 -5.90751371e-04 9.97772579e-01 -7.92983600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.37, Y:-87.56, Z:-7.93 [[ 7.76019310e-01 6.28580293e-01 5.17768769e-02 1.57374464e+02] [-6.27228223e-01 7.77744539e-01 -4.12090819e-02 -8.75623609e+01] [-6.61724001e-02 -4.96875193e-04 9.97808081e-01 -7.93181864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.40, Y:-87.58, Z:-7.94 [[ 7.76202744e-01 6.28305620e-01 5.23578965e-02 1.57399607e+02] [-6.26922376e-01 7.77966464e-01 -4.16715138e-02 -8.75796190e+01] [-6.69151339e-02 -4.78793506e-04 9.97758556e-01 -7.93531701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.42, Y:-87.60, Z:-7.94 [[ 7.75786563e-01 6.28789445e-01 5.27166234e-02 1.57424072e+02] [-6.27388136e-01 7.77575437e-01 -4.19590971e-02 -8.75987289e+01] [-6.73745889e-02 -5.22480322e-04 9.97727614e-01 -7.93723889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.45, Y:-87.62, Z:-7.94 [[ 7.75582002e-01 6.29175595e-01 5.10943143e-02 1.57448379e+02] [-6.27859916e-01 7.77263008e-01 -4.06711564e-02 -8.76176334e+01] [-6.53030195e-02 -5.36254979e-04 9.97865336e-01 -7.93739634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.47, Y:-87.64, Z:-7.94 [[ 7.73963220e-01 6.30993262e-01 5.31830494e-02 1.57471680e+02] [-6.29572040e-01 7.75787978e-01 -4.23327341e-02 -8.76353520e+01] [-6.79704404e-02 -7.18581670e-04 9.97687077e-01 -7.93892421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.50, Y:-87.65, Z:-7.94 [[ 7.73290763e-01 6.31789260e-01 5.35137940e-02 1.57496212e+02] [-6.30352305e-01 7.75139793e-01 -4.25942842e-02 -8.76539585e+01] [-6.83912825e-02 -7.94776876e-04 9.97658259e-01 -7.94093605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.52, Y:-87.67, Z:-7.94 [[ 7.72141732e-01 6.33177864e-01 5.36929934e-02 1.57521317e+02] [-6.31734605e-01 7.74005778e-01 -4.27369178e-02 -8.76710050e+01] [-6.86187575e-02 -9.20764178e-04 9.97642530e-01 -7.94234614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.55, Y:-87.69, Z:-7.94 [[ 7.71785014e-01 6.33638399e-01 5.33879328e-02 1.57545151e+02] [-6.32212758e-01 7.73628762e-01 -4.24919702e-02 -8.76878305e+01] [-6.82269843e-02 -9.57866463e-04 9.97669365e-01 -7.94368953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.57, Y:-87.70, Z:-7.94 [[ 7.71650434e-01 6.33819468e-01 5.31835483e-02 1.57569124e+02] [-6.32405956e-01 7.73480396e-01 -4.23176490e-02 -8.77037507e+01] [-6.79581818e-02 -9.79160491e-04 9.97687690e-01 -7.94482664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.59, Y:-87.72, Z:-7.95 [[ 7.71585618e-01 6.33883326e-01 5.33625605e-02 1.57593736e+02] [-6.32462376e-01 7.73428024e-01 -4.24315392e-02 -8.77190727e+01] [-6.81687449e-02 -1.01024640e-03 9.97673294e-01 -7.94611952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.62, Y:-87.74, Z:-7.95 [[ 7.72058174e-01 6.33228022e-01 5.42996205e-02 1.57617322e+02] [-6.31757863e-01 7.73964645e-01 -4.31361902e-02 -8.77359383e+01] [-6.93410309e-02 -1.00056394e-03 9.97592512e-01 -7.94817273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.64, Y:-87.75, Z:-7.95 [[ 7.74561175e-01 6.30305297e-01 5.26328671e-02 1.57643719e+02] [-6.28919891e-01 7.76347008e-01 -4.17743216e-02 -8.77494961e+01] [-6.71919451e-02 -7.45089421e-04 9.97739789e-01 -7.94781945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.67, Y:-87.77, Z:-7.95 [[ 7.75683555e-01 6.28956589e-01 5.22363097e-02 1.57667931e+02] [-6.27591476e-01 7.77440147e-01 -4.14216955e-02 -8.77653738e+01] [-6.66630527e-02 -6.52934684e-04 9.97775331e-01 -7.94898699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.69, Y:-87.78, Z:-7.95 [[ 7.76921695e-01 6.27436939e-01 5.21111142e-02 1.57691357e+02] [-6.26077467e-01 7.78667185e-01 -4.12846272e-02 -8.77812768e+01] [-6.64807147e-02 -5.50671888e-04 9.97787558e-01 -7.95086713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.72, Y:-87.80, Z:-7.95 [[ 7.79657768e-01 6.23923158e-01 5.34196286e-02 1.57715328e+02] [-6.22488897e-01 7.81485643e-01 -4.22819570e-02 -8.77968621e+01] [-6.81273650e-02 -2.87669418e-04 9.97676591e-01 -7.95437131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.74, Y:-87.81, Z:-7.96 [[ 7.81306340e-01 6.21871229e-01 5.32595301e-02 1.57737416e+02] [-6.20443545e-01 7.83119503e-01 -4.21147492e-02 -8.78130993e+01] [-6.78985276e-02 -1.40011068e-04 9.97692222e-01 -7.95543999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.76, Y:-87.83, Z:-7.96 [[ 7.84248486e-01 6.18196122e-01 5.28002526e-02 1.57760677e+02] [-6.16787544e-01 7.86023877e-01 -4.17084028e-02 -8.78284475e+01] [-6.72862321e-02 1.43213595e-04 9.97733703e-01 -7.95544827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.78, Y:-87.85, Z:-7.96 [[ 7.85262727e-01 6.16934103e-01 5.24858337e-02 1.57782273e+02] [-6.15542341e-01 7.87014781e-01 -4.14169160e-02 -8.78459043e+01] [-6.68586349e-02 2.15907485e-04 9.97762435e-01 -7.95746423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.80, Y:-87.86, Z:-7.96 [[ 7.86485513e-01 6.15376329e-01 5.24643915e-02 1.57803585e+02] [-6.13985123e-01 7.88233389e-01 -4.13569028e-02 -8.78642560e+01] [-6.68042441e-02 3.14249070e-04 9.97766052e-01 -7.95836211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.82, Y:-87.88, Z:-7.96 [[ 7.88805424e-01 6.12513577e-01 5.11186938e-02 1.57824929e+02] [-6.11189413e-01 7.90459902e-01 -4.02572445e-02 -8.78839711e+01] [-6.50653865e-02 5.11928346e-04 9.97880871e-01 -7.95916180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:157.85, Y:-87.90, Z:-7.96 [[ 7.89349400e-01 6.11801572e-01 5.12480426e-02 1.57846303e+02] [-6.10471677e-01 7.91011089e-01 -4.03210691e-02 -8.79024982e+01] [-6.52062634e-02 5.41933136e-04 9.97871660e-01 -7.95932368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.87, Y:-87.92, Z:-7.96 [[ 7.88700115e-01 6.12505453e-01 5.28128593e-02 1.57866194e+02] [-6.11097378e-01 7.90466225e-01 -4.15107420e-02 -8.79232129e+01] [-6.71723374e-02 4.65727221e-04 9.97741279e-01 -7.96226385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.89, Y:-87.94, Z:-7.96 [[ 7.88168334e-01 6.13229369e-01 5.23490053e-02 1.57887436e+02] [-6.11849587e-01 7.89904804e-01 -4.11154821e-02 -8.79434969e+01] [-6.65639519e-02 3.76203742e-04 9.97782090e-01 -7.96434215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31864000000002 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:157.91, Y:-87.96, Z:-7.97 [[ 7.87263713e-01 6.14352953e-01 5.27853708e-02 1.57907713e+02] [-6.12954509e-01 7.89031293e-01 -4.14293174e-02 -8.79635566e+01] [-6.71015329e-02 2.60767159e-04 9.97746118e-01 -7.96552256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.93, Y:-87.98, Z:-7.97 [[ 7.86566258e-01 6.15286674e-01 5.23051635e-02 1.57928255e+02] [-6.13918339e-01 7.88303423e-01 -4.10120272e-02 -8.79831564e+01] [-6.64664932e-02 1.47577666e-04 9.97788647e-01 -7.96647657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.95, Y:-88.00, Z:-7.97 [[ 7.86875300e-01 6.14889772e-01 5.23242834e-02 1.57949587e+02] [-6.13522183e-01 7.88613052e-01 -4.09876233e-02 -8.80003102e+01] [-6.64664831e-02 1.50039811e-04 9.97788647e-01 -7.96762962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40864000000002 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:157.97, Y:-88.02, Z:-7.97 [[ 7.87490207e-01 6.14148780e-01 5.17730598e-02 1.57971383e+02] [-6.12811037e-01 7.89190246e-01 -4.05140557e-02 -8.80184771e+01] [-6.57404517e-02 1.77319697e-04 9.97836741e-01 -7.96800746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.99, Y:-88.04, Z:-7.97 [[ 7.88996635e-01 6.12323748e-01 5.04374662e-02 1.57993740e+02] [-6.11052946e-01 7.90607073e-01 -3.94303606e-02 -8.80366364e+01] [-6.40203637e-02 2.90459474e-04 9.97948550e-01 -7.96902111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.02, Y:-88.05, Z:-7.97 [[ 7.89895264e-01 6.11177573e-01 5.02737061e-02 1.58016105e+02] [-6.09915089e-01 7.91493430e-01 -3.92649339e-02 -8.80538182e+01] [-6.37891551e-02 3.52493445e-04 9.97963336e-01 -7.96899212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:158.04, Y:-88.07, Z:-7.97 [[ 7.92659584e-01 6.07398560e-01 5.25145077e-02 1.58038777e+02] [-6.06014771e-01 7.94396974e-01 -4.09822370e-02 -8.80706777e+01] [-6.66099178e-02 6.60395498e-04 9.97778875e-01 -7.97084546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:158.06, Y:-88.09, Z:-7.97 [[ 7.94881527e-01 6.04457685e-01 5.28608153e-02 1.58061523e+02] [-6.03050541e-01 7.96636746e-01 -4.12303209e-02 -8.80887569e+01] [-6.70328522e-02 8.95477178e-04 9.97750367e-01 -7.97212031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.08, Y:-88.11, Z:-7.97 [[ 7.96546403e-01 6.02215135e-01 5.33924980e-02 1.58083271e+02] [-6.00776388e-01 7.98333126e-01 -4.16167161e-02 -8.81068843e+01] [-6.76872161e-02 1.07269341e-03 9.97706014e-01 -7.97295910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58864 meters Centerline goodness [0,1] 0.9999020424156341 Centerline is valid? [True, True] Translation: X:158.10, Y:-88.12, Z:-7.97 [[ 7.99066270e-01 5.99027605e-01 5.15657219e-02 1.58104928e+02] [-5.97680549e-01 8.00727352e-01 -4.01705091e-02 -8.81246532e+01] [-6.53533278e-02 1.27906994e-03 9.97861366e-01 -7.97340817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61864 meters Centerline goodness [0,1] 0.999755034050267 Centerline is valid? [True, True] Translation: X:158.13, Y:-88.14, Z:-7.97 [[ 7.99954419e-01 5.97978611e-01 4.99450647e-02 1.58126973e+02] [-5.96715262e-01 8.01511017e-01 -3.88713933e-02 -8.81423385e+01] [-6.32757814e-02 1.29236049e-03 9.97995243e-01 -7.97447369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64864 meters Centerline goodness [0,1] 0.9997059111851779 Centerline is valid? [True, True] Translation: X:158.15, Y:-88.16, Z:-7.98 [[ 8.00341093e-01 5.97478222e-01 4.97384115e-02 1.58148091e+02] [-5.96226594e-01 8.01884088e-01 -3.86750413e-02 -8.81605646e+01] [-6.29919357e-02 1.29786112e-03 9.98013192e-01 -7.97523318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67864 meters Centerline goodness [0,1] 0.999755118033108 Centerline is valid? [True, True] Translation: X:158.17, Y:-88.18, Z:-7.98 [[ 7.99267434e-01 5.98912379e-01 4.97547118e-02 1.58168155e+02] [-5.97665058e-01 8.00813729e-01 -3.86503602e-02 -8.81812326e+01] [-6.29924354e-02 1.15532151e-03 9.98013336e-01 -7.97628363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70864 meters Centerline goodness [0,1] 0.9997551779856044 Centerline is valid? [True, True] Translation: X:158.19, Y:-88.20, Z:-7.98 [[ 7.98570582e-01 5.99773857e-01 5.05603223e-02 1.58189619e+02] [-5.98489848e-01 8.00168835e-01 -3.92394990e-02 -8.81986707e+01] [-6.39916199e-02 1.07566997e-03 9.97949856e-01 -7.97606257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73864 meters Centerline goodness [0,1] 0.9997547336407339 Centerline is valid? [True, True] Translation: X:158.21, Y:-88.22, Z:-7.98 [[ 7.95734015e-01 6.03547008e-01 5.03824028e-02 1.58212602e+02] [-6.02281914e-01 7.97327073e-01 -3.90644974e-02 -8.82166559e+01] [-6.37485143e-02 7.40539383e-04 9.97965720e-01 -7.97629729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:158.23, Y:-88.24, Z:-7.98 [[ 7.94995393e-01 6.04471391e-01 5.09574623e-02 1.58234075e+02] [-6.03181426e-01 7.96626588e-01 -3.94746338e-02 -8.82350796e+01] [-6.44553561e-02 6.45557290e-04 9.97920383e-01 -7.97810210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.26, Y:-88.25, Z:-7.98 [[ 7.94902733e-01 6.04681416e-01 4.99001995e-02 1.58256109e+02] [-6.03447275e-01 7.96467226e-01 -3.86179250e-02 -8.82536615e+01] [-6.30954151e-02 5.85354716e-04 9.98007328e-01 -7.97911867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:-88.27, Z:-7.98 [[ 7.93966626e-01 6.05826051e-01 5.09096480e-02 1.58278284e+02] [-6.04546218e-01 7.95596990e-01 -3.93611362e-02 -8.82700261e+01] [-6.43495644e-02 4.74193335e-04 9.97927306e-01 -7.98109231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.30, Y:-88.29, Z:-7.98 [[ 7.94333125e-01 6.05381628e-01 5.04774336e-02 1.58300079e+02] [-6.04125136e-01 7.95935211e-01 -3.89866670e-02 -8.82873997e+01] [-6.37785787e-02 4.73714608e-04 9.97963962e-01 -7.98127284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.32, Y:-88.31, Z:-7.98 [[ 7.95202995e-01 6.04128682e-01 5.17757918e-02 1.58321174e+02] [-6.02806636e-01 7.96886582e-01 -3.99491499e-02 -8.83072180e+01] [-6.53938610e-02 5.56892796e-04 9.97859375e-01 -7.98273491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91864 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:158.34, Y:-88.33, Z:-7.98 [[ 7.95752074e-01 6.03387019e-01 5.19878966e-02 1.58343107e+02] [-6.02054942e-01 7.97448278e-01 -4.00760664e-02 -8.83251237e+01] [-6.56390368e-02 5.91042899e-04 9.97843258e-01 -7.98286177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.37, Y:-88.34, Z:-7.98 [[ 7.96415218e-01 6.02590153e-01 5.10676865e-02 1.58365919e+02] [-6.01305520e-01 7.98050580e-01 -3.93312129e-02 -8.83423730e+01] [-6.44551984e-02 6.16694762e-04 9.97920411e-01 -7.98318172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97864 meters Centerline goodness [0,1] 0.9998036906164115 Centerline is valid? [True, True] Translation: X:158.39, Y:-88.36, Z:-7.98 [[ 7.97061677e-01 6.01826708e-01 4.99729524e-02 1.58389328e+02] [-6.00597294e-01 7.98626451e-01 -3.84536405e-02 -8.83597524e+01] [-6.30521495e-02 6.36303215e-04 9.98010031e-01 -7.98405065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:158.41, Y:-88.38, Z:-7.99 [[ 7.98311365e-01 6.00113711e-01 5.06211324e-02 1.58411288e+02] [-5.98851005e-01 7.99914350e-01 -3.89166682e-02 -8.83788674e+01] [-6.38469964e-02 7.53102493e-04 9.97959415e-01 -7.98672294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03864000000002 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:158.43, Y:-88.40, Z:-7.99 [[ 7.98938251e-01 5.99215483e-01 5.13660906e-02 1.58433071e+02] [-5.97915780e-01 8.00587379e-01 -3.94533746e-02 -8.83975714e+01] [-6.47641168e-02 8.08213941e-04 9.97900274e-01 -7.98785446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.46, Y:-88.42, Z:-7.99 [[ 7.99581828e-01 5.98363844e-01 5.12797207e-02 1.58455190e+02] [-5.97069053e-01 8.01224059e-01 -3.93516624e-02 -8.84154561e+01] [-6.46331579e-02 8.47339922e-04 9.97908732e-01 -7.98847497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.48, Y:-88.43, Z:-7.99 [[ 7.99960052e-01 5.97876156e-01 5.10687566e-02 1.58478091e+02] [-5.96592609e-01 8.01588022e-01 -3.91650570e-02 -8.84343495e+01] [-6.43519573e-02 8.63238278e-04 9.97926891e-01 -7.98909106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12864000000002 meters Centerline goodness [0,1] 0.9999019127023051 Centerline is valid? [True, True] Translation: X:158.50, Y:-88.45, Z:-7.99 [[ 7.99635880e-01 5.98377823e-01 5.02637144e-02 1.58500637e+02] [-5.97135766e-01 8.01213662e-01 -3.85427658e-02 -8.84540404e+01] [-6.33351110e-02 8.05916842e-04 9.97991991e-01 -7.98992572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15864000000002 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:158.52, Y:-88.48, Z:-7.99 [[ 7.98030799e-01 6.00572457e-01 4.95940324e-02 1.58522978e+02] [-5.99367686e-01 7.99570095e-01 -3.80268255e-02 -8.84759083e+01] [-6.24917692e-02 6.21517487e-04 9.98045286e-01 -7.99087734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.55, Y:-88.49, Z:-7.99 [[ 7.96594309e-01 6.02485454e-01 4.94852047e-02 1.58546033e+02] [-6.01289649e-01 7.98129724e-01 -3.79434023e-02 -8.84944027e+01] [-6.23559607e-02 4.70556967e-04 9.98053863e-01 -7.99280735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.57, Y:-88.51, Z:-7.99 [[ 7.94929264e-01 6.04733388e-01 4.88363998e-02 1.58569446e+02] [-6.03573196e-01 7.96427929e-01 -3.74426356e-02 -8.85132893e+01] [-6.15374846e-02 2.87904858e-04 9.98104732e-01 -7.99336224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.59, Y:-88.53, Z:-7.99 [[ 7.91687958e-01 6.08934907e-01 4.92793720e-02 1.58592308e+02] [-6.07761600e-01 7.93220195e-01 -3.77830595e-02 -8.85328922e+01] [-6.20968169e-02 -3.77167011e-05 9.98070130e-01 -7.99455354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.62, Y:-88.55, Z:-8.00 [[ 7.90048219e-01 6.10950556e-01 5.06283530e-02 1.58615788e+02] [-6.09716027e-01 7.91668731e-01 -3.88199332e-02 -8.85520549e+01] [-6.37979437e-02 -1.99299196e-04 9.97962816e-01 -7.99588742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.64, Y:-88.57, Z:-8.00 [[ 7.88555339e-01 6.12830019e-01 5.11844203e-02 1.58639554e+02] [-6.11572032e-01 7.90214682e-01 -3.92480216e-02 -8.85710100e+01] [-6.44990462e-02 -3.53722874e-04 9.97917706e-01 -7.99772345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:158.66, Y:-88.59, Z:-8.00 [[ 7.87531369e-01 6.14163427e-01 5.09669355e-02 1.58663868e+02] [-6.12918713e-01 7.89178734e-01 -3.90842296e-02 -8.85899899e+01] [-6.42261260e-02 -4.58531660e-04 9.97935266e-01 -7.99875249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.69, Y:-88.61, Z:-8.00 [[ 7.87432075e-01 6.14357498e-01 5.01556680e-02 1.58688561e+02] [-6.13152068e-01 7.89027662e-01 -3.84693360e-02 -8.86091186e+01] [-6.32081345e-02 -4.61062468e-04 9.98000260e-01 -7.99894129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.71, Y:-88.63, Z:-8.00 [[ 7.87068132e-01 6.14822073e-01 5.01754309e-02 1.58713144e+02] [-6.13616311e-01 7.88665692e-01 -3.84896064e-02 -8.86278899e+01] [-6.32359005e-02 -4.94520181e-04 9.97998485e-01 -8.00027557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.74, Y:-88.65, Z:-8.00 [[ 7.86951013e-01 6.14981274e-01 5.00613234e-02 1.58738446e+02] [-6.13780995e-01 7.88541553e-01 -3.84071650e-02 -8.86470470e+01] [-6.30951210e-02 -5.02131456e-04 9.98007392e-01 -8.00151031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.76, Y:-88.67, Z:-8.00 [[ 7.86714632e-01 6.15224500e-01 5.07828910e-02 1.58762631e+02] [-6.13989620e-01 7.88351785e-01 -3.89641975e-02 -8.86656322e+01] [-6.40065117e-02 -5.26463686e-04 9.97949342e-01 -8.00265614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.79, Y:-88.68, Z:-8.00 [[ 7.87176822e-01 6.14568258e-01 5.15607245e-02 1.58788101e+02] [-6.13293692e-01 7.88863504e-01 -3.95628664e-02 -8.86838288e+01] [-6.49884557e-02 -4.78895654e-04 9.97885901e-01 -8.00361933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.81, Y:-88.70, Z:-8.01 [[ 7.87631443e-01 6.13968995e-01 5.17569674e-02 1.58813264e+02] [-6.12683060e-01 7.89330027e-01 -3.97187208e-02 -8.87016598e+01] [-6.52393916e-02 -4.26903780e-04 9.97869550e-01 -8.00559617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.84, Y:-88.72, Z:-8.01 [[ 7.88808822e-01 6.12452356e-01 5.17953044e-02 1.58838109e+02] [-6.11161022e-01 7.90507446e-01 -3.97515222e-02 -8.87193373e+01] [-6.52904872e-02 -2.98919757e-04 9.97866255e-01 -8.00604487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.86, Y:-88.74, Z:-8.01 [[ 7.89944567e-01 6.10901956e-01 5.27861801e-02 1.58863168e+02] [-6.09557224e-01 7.91706239e-01 -4.05119930e-02 -8.87368738e+01] [-6.65400040e-02 -1.73968638e-04 9.97783743e-01 -8.00796905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.89, Y:-88.76, Z:-8.01 [[ 7.90691464e-01 6.09944053e-01 5.26807441e-02 1.58888037e+02] [-6.08602437e-01 7.92444473e-01 -4.04330361e-02 -8.87551692e+01] [-6.64084544e-02 -9.15727639e-05 9.97792518e-01 -8.00860733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.91, Y:-88.77, Z:-8.01 [[ 7.92291358e-01 6.07851390e-01 5.28307807e-02 1.58913406e+02] [-6.06497230e-01 7.94050805e-01 -4.05515653e-02 -8.87725967e+01] [-6.65996493e-02 8.69325846e-05 9.97779775e-01 -8.00925090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.94, Y:-88.79, Z:-8.01 [[ 7.92698282e-01 6.07334662e-01 5.26691693e-02 1.58938171e+02] [-6.05987644e-01 7.94446091e-01 -4.04275164e-02 -8.87907926e+01] [-6.63958477e-02 1.29957040e-04 9.97793353e-01 -8.01099893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.96, Y:-88.81, Z:-8.01 [[ 7.93139179e-01 6.06844870e-01 5.16676583e-02 1.58963218e+02] [-6.05547608e-01 7.94820279e-01 -3.96587820e-02 -8.88086570e+01] [-6.51332310e-02 1.67706973e-04 9.97876563e-01 -8.01073069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.99, Y:-88.83, Z:-8.01 [[ 7.93372037e-01 6.06517620e-01 5.19344558e-02 1.58987312e+02] [-6.05206333e-01 7.95070022e-01 -3.98616976e-02 -8.88258596e+01] [-6.54683508e-02 1.94094663e-04 9.97854627e-01 -8.01248071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.01, Y:-88.84, Z:-8.01 [[ 7.93354687e-01 6.06517077e-01 5.22051410e-02 1.59011754e+02] [-6.05192416e-01 7.95070437e-01 -4.00642059e-02 -8.88430425e+01] [-6.58063893e-02 1.90970124e-04 9.97832392e-01 -8.01410185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.03, Y:-88.86, Z:-8.01 [[ 7.94050872e-01 6.05668301e-01 5.14696180e-02 1.59034775e+02] [-6.04379949e-01 7.95717191e-01 -3.94845349e-02 -8.88600375e+01] [-6.48697910e-02 2.45524243e-04 9.97893707e-01 -8.01467257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.06, Y:-88.88, Z:-8.02 [[ 7.94612672e-01 6.05025451e-01 5.03478392e-02 1.59058625e+02] [-6.03793544e-01 7.96206087e-01 -3.85904539e-02 -8.88762190e+01] [-6.34354628e-02 2.64763476e-04 9.97985908e-01 -8.01620253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.08, Y:-88.89, Z:-8.02 [[ 7.95463298e-01 6.03936365e-01 4.99900909e-02 1.59081170e+02] [-6.02722110e-01 7.97032474e-01 -3.82791386e-02 -8.88921766e+01] [-6.29618897e-02 3.19516699e-04 9.98015881e-01 -8.01774687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.10, Y:-88.91, Z:-8.02 [[ 7.96102533e-01 6.03060752e-01 5.03833924e-02 1.59104775e+02] [-6.01828026e-01 7.97695179e-01 -3.85412497e-02 -8.89092582e+01] [-6.34333043e-02 3.60648897e-04 9.97986015e-01 -8.01951069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.13, Y:-88.93, Z:-8.02 [[ 7.96359041e-01 6.02895556e-01 4.82620642e-02 1.59128273e+02] [-6.01766235e-01 7.97820054e-01 -3.68857719e-02 -8.89255649e+01] [-6.07427106e-02 3.31837253e-04 9.98153402e-01 -8.02109558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.15, Y:-88.94, Z:-8.02 [[ 7.96248914e-01 6.03067760e-01 4.79264500e-02 1.59151175e+02] [-6.01956507e-01 7.97689911e-01 -3.65946721e-02 -8.89422417e+01] [-6.02995125e-02 2.88829425e-04 9.98180287e-01 -8.02192784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.17, Y:-88.96, Z:-8.02 [[ 7.95732496e-01 6.03675717e-01 4.88407965e-02 1.59174876e+02] [-6.02525088e-01 7.97229943e-01 -3.72550187e-02 -8.89589789e+01] [-6.14272955e-02 2.17223812e-04 9.98111537e-01 -8.02318863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.20, Y:-88.98, Z:-8.02 [[ 7.94890623e-01 6.04759221e-01 4.91444977e-02 1.59197841e+02] [-6.03598473e-01 7.96408358e-01 -3.74514431e-02 -8.89750724e+01] [-6.17881943e-02 1.06257169e-04 9.98089278e-01 -8.02437743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.22, Y:-88.99, Z:-8.03 [[ 7.94677827e-01 6.04890945e-01 5.09322773e-02 1.59220347e+02] [-6.03646853e-01 7.96308320e-01 -3.87754683e-02 -8.89922580e+01] [-6.40127258e-02 6.88959540e-05 9.97949080e-01 -8.02647988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.24, Y:-89.01, Z:-8.03 [[ 7.94485915e-01 6.05146816e-01 5.08867506e-02 1.59243022e+02] [-6.03907891e-01 7.96113893e-01 -3.87030851e-02 -8.90083853e+01] [-6.39326978e-02 1.81457479e-05 9.97954212e-01 -8.02795409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.27, Y:-89.02, Z:-8.03 [[ 7.94892590e-01 6.04621033e-01 5.07856009e-02 1.59265457e+02] [-6.03388561e-01 7.96513281e-01 -3.85854662e-02 -8.90244409e+01] [-6.37809900e-02 2.78504993e-05 9.97963919e-01 -8.02877152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.29, Y:-89.04, Z:-8.03 [[ 7.95455293e-01 6.03988514e-01 4.94848663e-02 1.59288387e+02] [-6.02819525e-01 7.96993019e-01 -3.75599277e-02 -8.90412057e+01] [-6.21248580e-02 4.67996677e-05 9.98068384e-01 -8.02880072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.31, Y:-89.06, Z:-8.03 [[ 7.97449838e-01 6.01303692e-01 5.00761999e-02 1.59311325e+02] [-6.00103493e-01 7.99020535e-01 -3.79734400e-02 -8.90587326e+01] [-6.28454817e-02 2.31011121e-04 9.98023242e-01 -8.03073275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.33, Y:-89.08, Z:-8.03 [[ 7.98343846e-01 6.00065109e-01 5.06849828e-02 1.59333466e+02] [-5.98835294e-01 7.99951106e-01 -3.83994618e-02 -8.90763283e+01] [-6.35876853e-02 3.04017450e-04 9.97976209e-01 -8.03181240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.36, Y:-89.09, Z:-8.03 [[ 7.99950131e-01 5.97863528e-01 5.13710921e-02 1.59357288e+02] [-5.96597933e-01 8.01597775e-01 -3.88833282e-02 -8.90922375e+01] [-6.44258769e-02 4.56836126e-04 9.97922391e-01 -8.03254999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.38, Y:-89.11, Z:-8.03 [[ 8.00822071e-01 5.96741083e-01 5.08339539e-02 1.59379573e+02] [-5.95501910e-01 8.02433684e-01 -3.84403116e-02 -8.91083110e+01] [-6.37297901e-02 5.12133316e-04 9.97967059e-01 -8.03300521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.40, Y:-89.13, Z:-8.04 [[ 8.01393480e-01 5.95928649e-01 5.13569490e-02 1.59401960e+02] [-5.94664657e-01 8.03037198e-01 -3.87969712e-02 -8.91266637e+01] [-6.43617670e-02 5.51477302e-04 9.97926480e-01 -8.03500579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.42, Y:-89.14, Z:-8.04 [[ 8.01688826e-01 5.95529731e-01 5.13747634e-02 1.59423598e+02] [-5.94266433e-01 8.03333077e-01 -3.87733710e-02 -8.91434275e+01] [-6.43617419e-02 5.53880841e-04 9.97926480e-01 -8.03615883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.45, Y:-89.16, Z:-8.04 [[ 8.01879271e-01 5.95164943e-01 5.26148740e-02 1.59445164e+02] [-5.93841692e-01 8.03603367e-01 -3.96695574e-02 -8.91617794e+01] [-6.58914198e-02 5.65289998e-04 9.97826639e-01 -8.03721369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.47, Y:-89.18, Z:-8.04 [[ 8.01857436e-01 5.95229935e-01 5.22108879e-02 1.59467757e+02] [-5.93929524e-01 8.03555255e-01 -3.93277526e-02 -8.91785028e+01] [-6.53633890e-02 5.25663048e-04 9.97861389e-01 -8.03809867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.49, Y:-89.19, Z:-8.04 [[ 8.01548221e-01 5.95685372e-01 5.17628043e-02 1.59491188e+02] [-5.94410652e-01 8.03217737e-01 -3.89518159e-02 -8.91948306e+01] [-6.47798294e-02 4.53396511e-04 9.97899478e-01 -8.03941435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.51, Y:-89.21, Z:-8.04 [[ 8.01840019e-01 5.95331556e-01 5.13120182e-02 1.59513743e+02] [-5.94080602e-01 8.03480017e-01 -3.85759090e-02 -8.92111338e+01] [-6.41936372e-02 4.48232957e-04 9.97937361e-01 -8.04049170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.54, Y:-89.23, Z:-8.04 [[ 8.02861258e-01 5.93858191e-01 5.24046613e-02 1.59536424e+02] [-5.92552815e-01 8.04569543e-01 -3.93574768e-02 -8.92283437e+01] [-6.55359544e-02 5.46063736e-04 9.97850059e-01 -8.04275139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.56, Y:-89.24, Z:-8.04 [[ 8.04035284e-01 5.92244537e-01 5.26656461e-02 1.59559599e+02] [-5.90925051e-01 8.05758018e-01 -3.95170850e-02 -8.92448039e+01] [-6.58395443e-02 6.51681052e-04 9.97830010e-01 -8.04345378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.58, Y:-89.26, Z:-8.04 [[ 8.07067737e-01 5.88280682e-01 5.06705721e-02 1.59582868e+02] [-5.87053788e-01 8.08656300e-01 -3.79847179e-02 -8.92600204e+01] [-6.33207531e-02 9.09889041e-04 9.97992813e-01 -8.04321765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.61, Y:-89.28, Z:-8.05 [[ 8.08696625e-01 5.86104922e-01 4.99078114e-02 1.59606046e+02] [-5.84912874e-01 8.10234503e-01 -3.73761876e-02 -8.92775809e+01] [-6.23433983e-02 1.03427535e-03 9.98054222e-01 -8.04540160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.63, Y:-89.30, Z:-8.05 [[ 8.10961686e-01 5.83015462e-01 4.93367396e-02 1.59628090e+02] [-5.81846874e-01 8.12460126e-01 -3.69155730e-02 -8.92957141e+01] [-6.16064835e-02 1.23068760e-03 9.98099758e-01 -8.04696097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.65, Y:-89.32, Z:-8.05 [[ 8.13657351e-01 5.79103182e-01 5.10021494e-02 1.59649383e+02] [-5.77848212e-01 8.15252768e-01 -3.81361706e-02 -8.93159226e+01] [-6.36644212e-02 1.55827465e-03 9.97970146e-01 -8.04903032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62864000000002 meters Centerline goodness [0,1] 0.9998530348307452 Centerline is valid? [True, True] Translation: X:159.67, Y:-89.33, Z:-8.05 [[ 8.14767276e-01 5.77486056e-01 5.16153216e-02 1.59671697e+02] [-5.76198037e-01 8.16398783e-01 -3.85856081e-02 -8.93334220e+01] [-6.44213364e-02 1.69764381e-03 9.97921344e-01 -8.04975449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65864000000002 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:159.69, Y:-89.35, Z:-8.05 [[ 8.15446146e-01 5.76472994e-01 5.22156191e-02 1.59693923e+02] [-5.75154047e-01 8.17114259e-01 -3.90142258e-02 -8.93522647e+01] [-6.51567744e-02 1.78197538e-03 9.97873449e-01 -8.05113921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68864000000002 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:159.71, Y:-89.37, Z:-8.05 [[ 8.15738576e-01 5.76017189e-01 5.26761167e-02 1.59713689e+02] [-5.74676182e-01 8.17435585e-01 -3.93236488e-02 -8.93740465e+01] [-6.57104299e-02 1.80610766e-03 9.97837100e-01 -8.05390263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71864 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:159.74, Y:-89.40, Z:-8.06 [[ 8.15576686e-01 5.76296257e-01 5.21276680e-02 1.59735525e+02] [-5.74985166e-01 8.17238996e-01 -3.88906386e-02 -8.93950612e+01] [-6.50132925e-02 1.74566232e-03 9.97882871e-01 -8.05515612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:-89.42, Z:-8.06 [[ 8.15287120e-01 5.76750012e-01 5.16365698e-02 1.59757324e+02] [-5.75464751e-01 8.16918949e-01 -3.85194807e-02 -8.94154875e+01] [-6.43990033e-02 1.68941070e-03 9.97922800e-01 -8.05632583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77864 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:159.78, Y:-89.44, Z:-8.06 [[ 8.14504497e-01 5.77837372e-01 5.18304537e-02 1.59778275e+02] [-5.76544719e-01 8.16150345e-01 -3.86626653e-02 -8.94399360e+01] [-6.46421756e-02 1.60834038e-03 9.97907211e-01 -8.05690873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80864 meters Centerline goodness [0,1] 0.9999018693881556 Centerline is valid? [True, True] Translation: X:159.80, Y:-89.46, Z:-8.06 [[ 8.13954208e-01 5.78526842e-01 5.27753750e-02 1.59801192e+02] [-5.77187689e-01 8.15661803e-01 -3.93725099e-02 -8.94615930e+01] [-6.58249113e-02 1.58612336e-03 9.97829928e-01 -8.05833019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.82, Y:-89.49, Z:-8.06 [[ 8.13077325e-01 5.79825751e-01 5.20323141e-02 1.59822976e+02] [-5.78526308e-01 8.14739192e-01 -3.88247419e-02 -8.94861194e+01] [-6.49043507e-02 1.46545474e-03 9.97890414e-01 -8.05969795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.85, Y:-89.51, Z:-8.06 [[ 8.12486423e-01 5.80641462e-01 5.21661220e-02 1.59847101e+02] [-5.79336352e-01 8.14158153e-01 -3.89344710e-02 -8.95072261e+01] [-6.50784418e-02 1.41199832e-03 9.97879152e-01 -8.06157621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.87, Y:-89.53, Z:-8.06 [[ 8.12240304e-01 5.81065113e-01 5.12740015e-02 1.59871733e+02] [-5.79804532e-01 8.13855932e-01 -3.82782770e-02 -8.95283353e+01] [-6.39718217e-02 1.36226085e-03 9.97950775e-01 -8.06281554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.89, Y:-89.55, Z:-8.06 [[ 8.11084752e-01 5.82530656e-01 5.29108580e-02 1.59894577e+02] [-5.81190635e-01 8.12807700e-01 -3.95106108e-02 -8.95512935e+01] [-6.60224949e-02 1.29515883e-03 9.97817294e-01 -8.06452854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.92, Y:-89.57, Z:-8.07 [[ 8.10760764e-01 5.82988793e-01 5.28304092e-02 1.59919329e+02] [-5.81653144e-01 8.12479212e-01 -3.94607522e-02 -8.95720237e+01] [-6.59287855e-02 1.26425604e-03 9.97823530e-01 -8.06554869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.94, Y:-89.59, Z:-8.07 [[ 8.10214739e-01 5.83749999e-01 5.28016579e-02 1.59943864e+02] [-5.82416742e-01 8.11932555e-01 -3.94495232e-02 -8.95931442e+01] [-6.59000441e-02 1.21001558e-03 9.97825496e-01 -8.06709950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.97, Y:-89.62, Z:-8.07 [[ 8.09072716e-01 5.85399700e-01 5.20435522e-02 1.59966430e+02] [-5.84107190e-01 8.10744132e-01 -3.88939893e-02 -8.96162691e+01] [-6.49625342e-02 1.06905254e-03 9.97887131e-01 -8.06756689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.99, Y:-89.64, Z:-8.07 [[ 8.08652781e-01 5.85964019e-01 5.22192376e-02 1.59991781e+02] [-5.84663035e-01 8.10336406e-01 -3.90390218e-02 -8.96370032e+01] [-6.51906114e-02 1.03835562e-03 9.97872289e-01 -8.06965580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.02, Y:-89.66, Z:-8.07 [[ 8.07939734e-01 5.86966981e-01 5.19918284e-02 1.60016089e+02] [-5.85678304e-01 8.09610294e-01 -3.88856825e-02 -8.96578142e+01] [-6.49177311e-02 9.66802147e-04 9.97890151e-01 -8.07022266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10864 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:160.04, Y:-89.68, Z:-8.07 [[ 8.06354302e-01 5.89066985e-01 5.28472114e-02 1.60038786e+02] [-5.87738928e-01 8.08083788e-01 -3.95416721e-02 -8.96804357e+01] [-6.59976683e-02 8.24234050e-04 9.97819437e-01 -8.07223054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.06, Y:-89.70, Z:-8.07 [[ 8.05931661e-01 5.89646054e-01 5.28364360e-02 1.60064212e+02] [-5.88318960e-01 8.07661385e-01 -3.95460352e-02 -8.97022256e+01] [-6.59921127e-02 7.86724763e-04 9.97819835e-01 -8.07253785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.09, Y:-89.73, Z:-8.07 [[ 8.04709950e-01 5.91359550e-01 5.23046795e-02 1.60087432e+02] [-5.90061778e-01 8.06407750e-01 -3.91617086e-02 -8.97253475e+01] [-6.53375492e-02 6.50824386e-04 9.97863007e-01 -8.07357945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.11, Y:-89.75, Z:-8.07 [[ 8.04106961e-01 5.92150779e-01 5.26255738e-02 1.60112167e+02] [-5.90837888e-01 8.05826963e-01 -3.94144078e-02 -8.97467015e+01] [-6.57463786e-02 6.00216827e-04 9.97836186e-01 -8.07489097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.14, Y:-89.77, Z:-8.08 [[ 8.03676201e-01 5.92773608e-01 5.21920891e-02 1.60137846e+02] [-5.91481974e-01 8.05368941e-01 -3.91144895e-02 -8.97677122e+01] [-6.52199246e-02 5.64704366e-04 9.97870754e-01 -8.07592944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.16, Y:-89.79, Z:-8.08 [[ 8.03200567e-01 5.93403201e-01 5.23592328e-02 1.60163168e+02] [-5.92101879e-01 8.04905174e-01 -3.92813632e-02 -8.97889274e+01] [-6.54539041e-02 5.48813135e-04 9.97855443e-01 -8.07661175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.19, Y:-89.81, Z:-8.08 [[ 8.02351797e-01 5.94648302e-01 5.12346653e-02 1.60188374e+02] [-5.93402918e-01 8.03985811e-01 -3.84680875e-02 -8.98097065e+01] [-6.40669268e-02 4.62139304e-04 9.97945497e-01 -8.07773509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.21, Y:-89.83, Z:-8.08 [[ 8.00916067e-01 5.96659519e-01 5.03077643e-02 1.60212187e+02] [-5.95462009e-01 8.02494439e-01 -3.77845335e-02 -8.98310401e+01] [-6.29162027e-02 3.05877564e-04 9.98018766e-01 -8.07824620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.24, Y:-89.85, Z:-8.08 [[ 7.99878251e-01 5.98106821e-01 4.96287628e-02 1.60237861e+02] [-5.96943004e-01 8.01416364e-01 -3.72942429e-02 -8.98498094e+01] [-6.20792437e-02 2.05311089e-04 9.98071203e-01 -8.07893142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.26, Y:-89.87, Z:-8.08 [[ 7.98136313e-01 6.00467574e-01 4.91641884e-02 1.60264399e+02] [-5.99327699e-01 7.99649104e-01 -3.69813383e-02 -8.98694501e+01] [-6.15201937e-02 5.06890895e-05 9.98105838e-01 -8.07983989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.29, Y:-89.89, Z:-8.08 [[ 7.96582469e-01 6.02567509e-01 4.86699889e-02 1.60290979e+02] [-6.01451974e-01 7.98067911e-01 -3.66487626e-02 -8.98888779e+01] [-6.09253100e-02 -7.88991587e-05 9.98142325e-01 -8.08076044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.32, Y:-89.91, Z:-8.08 [[ 7.93027525e-01 6.07068872e-01 5.07417799e-02 1.60316425e+02] [-6.05862821e-01 7.94649115e-01 -3.82495141e-02 -8.99082844e+01] [-6.35419998e-02 -4.09640421e-04 9.97979081e-01 -8.08336928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.34, Y:-89.93, Z:-8.08 [[ 7.91274603e-01 6.09371788e-01 5.05027444e-02 1.60343173e+02] [-6.08179371e-01 7.92884424e-01 -3.81070054e-02 -8.99277023e+01] [-6.32641734e-02 -5.61621772e-04 9.97996658e-01 -8.08441829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:160.37, Y:-89.95, Z:-8.08 [[ 7.88826296e-01 6.12532901e-01 5.05620312e-02 1.60370132e+02] [-6.11341632e-01 7.90444704e-01 -3.81913515e-02 -8.99452290e+01] [-6.33599491e-02 -7.84332250e-04 9.97990432e-01 -8.08462536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.40, Y:-89.96, Z:-8.09 [[ 7.88347459e-01 6.13161403e-01 5.04120775e-02 1.60397610e+02] [-6.11976635e-01 7.89957238e-01 -3.81072143e-02 -8.99643565e+01] [-6.31892585e-02 -8.09287984e-04 9.98001234e-01 -8.08641194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:160.42, Y:-89.98, Z:-8.09 [[ 7.87455303e-01 6.14346308e-01 4.99275477e-02 1.60424829e+02] [-6.13185632e-01 7.89036015e-01 -3.77564209e-02 -8.99832099e+01] [-6.25901511e-02 -8.83361056e-04 9.98038923e-01 -8.08695450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.45, Y:-90.00, Z:-8.09 [[ 7.86708384e-01 6.15407231e-01 4.86195276e-02 1.60452546e+02] [-6.14307845e-01 7.88208774e-01 -3.67804371e-02 -8.99996982e+01] [-6.09572852e-02 -9.31878945e-04 9.98139941e-01 -8.08852007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.48, Y:-90.02, Z:-8.09 [[ 7.86360476e-01 6.15830227e-01 4.88910232e-02 1.60478912e+02] [-6.14718712e-01 7.87878293e-01 -3.69959366e-02 -9.00178890e+01] [-6.13033919e-02 -9.62084508e-04 9.98118715e-01 -8.09019488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.50, Y:-90.04, Z:-8.09 [[ 7.86642579e-01 6.15482843e-01 4.87270339e-02 1.60504905e+02] [-6.14377499e-01 7.88149742e-01 -3.68818629e-02 -9.00365059e+01] [-6.11043531e-02 -9.23949472e-04 9.98130956e-01 -8.09121403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.53, Y:-90.05, Z:-8.09 [[ 7.86302430e-01 6.15841638e-01 4.96745935e-02 1.60531519e+02] [-6.14692912e-01 7.87869374e-01 -3.76094887e-02 -9.00543701e+01] [-6.22985800e-02 -9.62188182e-04 9.98057093e-01 -8.09327459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70864 meters Centerline goodness [0,1] 0.9999019367492032 Centerline is valid? [True, True] Translation: X:160.56, Y:-90.07, Z:-8.09 [[ 7.86136069e-01 6.16025607e-01 5.00253218e-02 1.60557709e+02] [-6.14860310e-01 7.87725523e-01 -3.78853534e-02 -9.00725012e+01] [-6.27445706e-02 -9.75542034e-04 9.98029141e-01 -8.09469074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.58, Y:-90.09, Z:-8.10 [[ 7.86781854e-01 6.15218071e-01 4.98100236e-02 1.60584586e+02] [-6.14060537e-01 7.88356465e-01 -3.77324972e-02 -9.00895783e+01] [-6.24817683e-02 -8.99125708e-04 9.98045700e-01 -8.09632470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.61, Y:-90.11, Z:-8.10 [[ 7.86850046e-01 6.15123682e-01 4.98985084e-02 1.60611483e+02] [-6.13961084e-01 7.88430133e-01 -3.78115436e-02 -9.01086586e+01] [-6.26002635e-02 -8.83727512e-04 9.98038289e-01 -8.09770495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.64, Y:-90.13, Z:-8.10 [[ 7.87227124e-01 6.14605558e-01 5.03335198e-02 1.60638906e+02] [-6.13420524e-01 7.88834144e-01 -3.81569656e-02 -9.01275090e+01] [-6.31562821e-02 -8.37415806e-04 9.98003298e-01 -8.09934833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.67, Y:-90.15, Z:-8.10 [[ 7.89406562e-01 6.11654662e-01 5.21138618e-02 1.60665963e+02] [-6.10376699e-01 7.91124644e-01 -3.95231945e-02 -9.01460780e+01] [-6.54031065e-02 -6.09217855e-04 9.97858739e-01 -8.10154784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.69, Y:-90.17, Z:-8.10 [[ 7.91183176e-01 6.09385984e-01 5.17484716e-02 1.60691408e+02] [-6.08120122e-01 7.92873607e-01 -3.92601656e-02 -9.01659732e+01] [-6.49545920e-02 -4.07304340e-04 9.97888138e-01 -8.10260071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.72, Y:-90.19, Z:-8.11 [[ 7.95070784e-01 6.04323029e-01 5.15376089e-02 1.60716279e+02] [-6.03056111e-01 7.96739403e-01 -3.91107452e-02 -9.01855567e+01] [-6.46975677e-02 1.57408717e-05 9.97904918e-01 -8.10528972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.74, Y:-90.20, Z:-8.11 [[ 7.97161114e-01 6.01639397e-01 5.06378834e-02 1.60741913e+02] [-6.00410296e-01 7.98767788e-01 -3.84382225e-02 -9.02047099e+01] [-6.35738591e-02 2.37949649e-04 9.97977108e-01 -8.10616800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.77, Y:-90.22, Z:-8.11 [[ 7.98573420e-01 5.99890321e-01 4.91130851e-02 1.60766979e+02] [-5.98730282e-01 8.00082160e-01 -3.72905717e-02 -9.02248474e+01] [-6.16647562e-02 3.73768072e-04 9.98096848e-01 -8.10642428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.79, Y:-90.25, Z:-8.11 [[ 8.00735838e-01 5.96987809e-01 4.92714275e-02 1.60790196e+02] [-5.95814146e-01 8.02250077e-01 -3.74208134e-02 -9.02479528e+01] [-6.18677759e-02 6.07572907e-04 9.98084169e-01 -8.10838117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.81, Y:-90.27, Z:-8.11 [[ 8.01321465e-01 5.96191498e-01 4.93923787e-02 1.60813782e+02] [-5.95009925e-01 8.02841975e-01 -3.75226852e-02 -9.02701626e+01] [-6.20249808e-02 6.78777523e-04 9.98074366e-01 -8.10931209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.84, Y:-90.29, Z:-8.11 [[ 8.01763528e-01 5.95664572e-01 4.85691595e-02 1.60837789e+02] [-5.94520539e-01 8.03232971e-01 -3.69069394e-02 -9.02920535e+01] [-6.09965065e-02 7.15274973e-04 9.98137723e-01 -8.11046610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.86, Y:-90.31, Z:-8.11 [[ 8.02331018e-01 5.94919974e-01 4.83235091e-02 1.60861998e+02] [-5.93785466e-01 8.03784561e-01 -3.67314541e-02 -9.03144125e+01] [-6.06939663e-02 7.76987538e-04 9.98156119e-01 -8.11224972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.88, Y:-90.34, Z:-8.11 [[ 8.02027043e-01 5.95373637e-01 4.77792370e-02 1.60883297e+02] [-5.94264082e-01 8.03448610e-01 -3.63391396e-02 -9.03408569e+01] [-6.00235272e-02 7.51488299e-04 9.98196680e-01 -8.11402366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12864000000002 meters Centerline goodness [0,1] 0.9999018115764151 Centerline is valid? [True, True] Translation: X:160.91, Y:-90.36, Z:-8.12 [[ 8.01180069e-01 5.96437843e-01 4.87072557e-02 1.60906841e+02] [-5.95284278e-01 8.02658947e-01 -3.70842708e-02 -9.03642038e+01] [-6.12137771e-02 7.16515135e-04 9.98124421e-01 -8.11625320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.93, Y:-90.39, Z:-8.12 [[ 7.98870040e-01 5.99426045e-01 4.99507276e-02 1.60928330e+02] [-5.98216014e-01 8.00429967e-01 -3.80718834e-02 -9.03899588e+01] [-6.28033377e-02 5.33161832e-04 9.98025779e-01 -8.11675344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.95, Y:-90.41, Z:-8.12 [[ 7.98562191e-01 5.99837733e-01 4.99311690e-02 1.60954415e+02] [-5.98626903e-01 8.00121497e-01 -3.80975217e-02 -9.04094360e+01] [-6.28033327e-02 5.33099379e-04 9.98025780e-01 -8.11811822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.98, Y:-90.43, Z:-8.12 [[ 7.96937653e-01 6.01933821e-01 5.06562172e-02 1.60978528e+02] [-6.00689093e-01 7.98545872e-01 -3.86924210e-02 -9.04319203e+01] [-6.37415900e-02 4.06810022e-04 9.97966354e-01 -8.11976445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.00, Y:-90.45, Z:-8.12 [[ 7.95247146e-01 6.04143998e-01 5.09117564e-02 1.61002966e+02] [-6.02888498e-01 7.96875122e-01 -3.89294104e-02 -9.04542199e+01] [-6.40892817e-02 2.64390223e-04 9.97944134e-01 -8.12128408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.03, Y:-90.48, Z:-8.12 [[ 7.91407169e-01 6.09195874e-01 5.05478073e-02 1.61025686e+02] [-6.07966000e-01 7.93019782e-01 -3.86906643e-02 -9.04774316e+01] [-6.36556042e-02 -1.11279137e-04 9.97971919e-01 -8.12232050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.05, Y:-90.50, Z:-8.12 [[ 7.89701926e-01 6.11470098e-01 4.97512590e-02 1.61050962e+02] [-6.10280879e-01 7.91267497e-01 -3.81181998e-02 -9.04980195e+01] [-6.26746936e-02 -2.60226284e-04 9.98033975e-01 -8.12349656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.08, Y:-90.52, Z:-8.12 [[ 7.86958029e-01 6.14975080e-01 5.00271130e-02 1.61075330e+02] [-6.13777145e-01 7.88546378e-01 -3.83695826e-02 -9.05186759e+01] [-6.30450358e-02 -5.10247498e-04 9.98010553e-01 -8.12487216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.10, Y:-90.54, Z:-8.13 [[ 7.85611484e-01 6.16673360e-01 5.02848228e-02 1.61101227e+02] [-6.15464061e-01 7.87218892e-01 -3.86057860e-02 -9.05386244e+01] [-6.33923223e-02 -6.19352381e-04 9.97988492e-01 -8.12667090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.13, Y:-90.56, Z:-8.13 [[ 7.85148515e-01 6.17209483e-01 5.09339134e-02 1.61128378e+02] [-6.15967088e-01 7.86798607e-01 -3.91471318e-02 -9.05581194e+01] [-6.42367131e-02 -6.37301908e-04 9.97934486e-01 -8.12820832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.16, Y:-90.58, Z:-8.13 [[ 7.84418625e-01 6.18065345e-01 5.17943105e-02 1.61155231e+02] [-6.16779692e-01 7.86126426e-01 -3.98503800e-02 -9.05766678e+01] [-6.53470151e-02 -6.86298677e-04 9.97862364e-01 -8.12987356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.18, Y:-90.59, Z:-8.13 [[ 7.83189350e-01 6.19712702e-01 5.07011692e-02 1.61183258e+02] [-6.18481781e-01 7.84828366e-01 -3.90476990e-02 -9.05947870e+01] [-6.39900709e-02 -7.76007464e-04 9.97950234e-01 -8.13104605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.21, Y:-90.61, Z:-8.13 [[ 7.83132011e-01 6.19821476e-01 5.02552581e-02 1.61210481e+02] [-6.18609689e-01 7.84742495e-01 -3.87462131e-02 -9.06139560e+01] [-6.34531716e-02 -7.44989826e-04 9.97984539e-01 -8.13239558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.24, Y:-90.63, Z:-8.13 [[ 7.82883264e-01 6.20239943e-01 4.89510793e-02 1.61238543e+02] [-6.19088724e-01 7.84411807e-01 -3.77792186e-02 -9.06305175e+01] [-6.18299849e-02 -7.28343270e-04 9.98086430e-01 -8.13292919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.27, Y:-90.65, Z:-8.13 [[ 7.82341119e-01 6.20862200e-01 4.97242609e-02 1.61266086e+02] [-6.19673132e-01 7.83919352e-01 -3.84142993e-02 -9.06482882e+01] [-6.28297968e-02 -7.59702597e-04 9.98023967e-01 -8.13415692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.29, Y:-90.67, Z:-8.13 [[ 7.81963439e-01 6.21371504e-01 4.93014678e-02 1.61293572e+02] [-6.20201032e-01 7.83515714e-01 -3.81287981e-02 -9.06661264e+01] [-6.23206234e-02 -7.61495119e-04 9.98055890e-01 -8.13494162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.32, Y:-90.68, Z:-8.14 [[ 7.81229188e-01 6.22239295e-01 4.99921563e-02 1.61320422e+02] [-6.21034970e-01 7.82826675e-01 -3.87035212e-02 -9.06833503e+01] [-6.32180452e-02 -8.10556884e-04 9.97999410e-01 -8.13682706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.35, Y:-90.70, Z:-8.14 [[ 7.80652670e-01 6.22929453e-01 5.04014434e-02 1.61349939e+02] [-6.21704256e-01 7.82277563e-01 -3.90593478e-02 -9.06998000e+01] [-6.37591365e-02 -8.43007712e-04 9.97964960e-01 -8.13776427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.38, Y:-90.72, Z:-8.14 [[ 7.80886036e-01 6.22677148e-01 4.99015842e-02 1.61376806e+02] [-6.21473121e-01 7.82478470e-01 -3.87118059e-02 -9.07171479e+01] [-6.31518721e-02 -7.82984619e-04 9.98003621e-01 -8.13754304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:161.41, Y:-90.73, Z:-8.14 [[ 7.81855101e-01 6.21482097e-01 4.96246327e-02 1.61405603e+02] [-6.20286722e-01 7.83428092e-01 -3.85332019e-02 -9.07323505e+01] [-6.28250264e-02 -6.54120285e-04 9.98024342e-01 -8.13931968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:161.43, Y:-90.75, Z:-8.14 [[ 7.82262230e-01 6.21044209e-01 4.86815613e-02 1.61432883e+02] [-6.19890841e-01 7.83775322e-01 -3.78363494e-02 -9.07498426e+01] [-6.16534520e-02 -5.79306955e-04 9.98097448e-01 -8.14102584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:161.46, Y:-90.77, Z:-8.14 [[ 7.83201279e-01 6.19908309e-01 4.80566868e-02 1.61459812e+02] [-6.18780597e-01 7.84674120e-01 -3.73777643e-02 -9.07677376e+01] [-6.08796251e-02 -4.62232542e-04 9.98145008e-01 -8.14244199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.49, Y:-90.78, Z:-8.14 [[ 7.84833874e-01 6.17868043e-01 4.76956115e-02 1.61487716e+02] [-6.16752853e-01 7.86281753e-01 -3.71069204e-02 -9.07840749e+01] [-6.04293693e-02 -2.93636357e-04 9.98172433e-01 -8.14391157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.52, Y:-90.80, Z:-8.14 [[ 7.85503884e-01 6.17017712e-01 4.76738004e-02 1.61515310e+02] [-6.15901274e-01 7.86949233e-01 -3.71015574e-02 -9.08022094e+01] [-6.04091787e-02 -2.18936973e-04 9.98173674e-01 -8.14466453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84864000000002 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:161.54, Y:-90.82, Z:-8.15 [[ 7.87352234e-01 6.14654371e-01 4.77122968e-02 1.61544818e+02] [-6.13530868e-01 7.88796554e-01 -3.71466097e-02 -9.08180902e+01] [-6.04676213e-02 -2.55007032e-05 9.98170159e-01 -8.14510063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87864000000002 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:161.57, Y:-90.84, Z:-8.15 [[ 7.87527604e-01 6.14504294e-01 4.67412771e-02 1.61571849e+02] [-6.13425014e-01 7.88913476e-01 -3.64043878e-02 -9.08365248e+01] [-5.92454761e-02 -2.80823830e-06 9.98243444e-01 -8.14677480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.60, Y:-90.86, Z:-8.15 [[ 7.88016530e-01 6.13919591e-01 4.61809967e-02 1.61597569e+02] [-6.12864390e-01 7.89368566e-01 -3.59792470e-02 -9.08550771e+01] [-5.85421918e-02 4.95530027e-05 9.98284934e-01 -8.14858838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93864000000002 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:161.63, Y:-90.87, Z:-8.15 [[ 7.89119190e-01 6.12500660e-01 4.61935589e-02 1.61625388e+02] [-6.11441803e-01 7.90470059e-01 -3.60001027e-02 -9.08737641e+01] [-5.85647119e-02 1.63698961e-04 9.98283601e-01 -8.14957242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.65, Y:-90.89, Z:-8.15 [[ 7.89547723e-01 6.11968270e-01 4.59263512e-02 1.61652132e+02] [-6.10919892e-01 7.90882287e-01 -3.58063496e-02 -9.08926648e+01] [-5.82346875e-02 2.13500323e-04 9.98302898e-01 -8.15031155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.68, Y:-90.91, Z:-8.15 [[ 7.90927512e-01 6.10186198e-01 4.58963324e-02 1.61679333e+02] [-6.09135424e-01 7.92257961e-01 -3.57960614e-02 -9.09097242e+01] [-5.82039973e-02 3.55007880e-04 9.98304647e-01 -8.15099399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.70, Y:-90.93, Z:-8.15 [[ 7.91169459e-01 6.09791498e-01 4.69597316e-02 1.61704681e+02] [-6.08690136e-01 7.92561775e-01 -3.66353772e-02 -9.09287353e+01] [-5.95584299e-02 4.00866138e-04 9.98224741e-01 -8.15347200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:161.73, Y:-90.95, Z:-8.15 [[ 7.91608481e-01 6.09250718e-01 4.65787056e-02 1.61730702e+02] [-6.08165582e-01 7.92977530e-01 -3.63491599e-02 -9.09483788e+01] [-5.90816187e-02 4.46737598e-04 9.98253055e-01 -8.15435354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08864 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:161.76, Y:-90.97, Z:-8.15 [[ 7.91770096e-01 6.08964910e-01 4.75589448e-02 1.61757344e+02] [-6.07832249e-01 7.93197012e-01 -3.71275965e-02 -9.09658699e+01] [-6.03330163e-02 4.88660245e-04 9.98178185e-01 -8.15463270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11864 meters Centerline goodness [0,1] 0.9998040080356705 Centerline is valid? [True, True] Translation: X:161.78, Y:-90.98, Z:-8.16 [[ 7.91542024e-01 6.09288694e-01 4.72071160e-02 1.61783180e+02] [-6.08172738e-01 7.92948339e-01 -3.68626116e-02 -9.09847843e+01] [-5.98927767e-02 4.68225170e-04 9.98204706e-01 -8.15540977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14864 meters Centerline goodness [0,1] 0.9998529339673513 Centerline is valid? [True, True] Translation: X:161.81, Y:-91.01, Z:-8.16 [[ 7.91020498e-01 6.09945533e-01 4.74659687e-02 1.61807921e+02] [-6.08817795e-01 7.92443223e-01 -3.70760066e-02 -9.10065668e+01] [-6.02284299e-02 4.29754808e-04 9.98184528e-01 -8.15859781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.83, Y:-91.03, Z:-8.16 [[ 7.90690780e-01 6.10468418e-01 4.62212122e-02 1.61833036e+02] [-6.09399249e-01 7.92040503e-01 -3.61164284e-02 -9.10272626e+01] [-5.86570111e-02 3.89754920e-04 9.98278119e-01 -8.15977982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20864 meters Centerline goodness [0,1] 0.9998527896363903 Centerline is valid? [True, True] Translation: X:161.86, Y:-91.05, Z:-8.16 [[ 7.89805619e-01 6.11700134e-01 4.50558524e-02 1.61858692e+02] [-6.10685717e-01 7.91089664e-01 -3.52150298e-02 -9.10474184e+01] [-5.71842576e-02 2.98062857e-04 9.98363597e-01 -8.16057484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:161.88, Y:-91.07, Z:-8.16 [[ 7.88209208e-01 6.13677180e-01 4.61146708e-02 1.61884606e+02] [-6.12617285e-01 7.89557022e-01 -3.60523346e-02 -9.10664022e+01] [-5.85346571e-02 1.66137644e-04 9.98285363e-01 -8.16034075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26864 meters Centerline goodness [0,1] 0.999803854263718 Centerline is valid? [True, True] Translation: X:161.91, Y:-91.09, Z:-8.16 [[ 7.86915483e-01 6.15241811e-01 4.73448712e-02 1.61910107e+02] [-6.14126779e-01 7.88338449e-01 -3.70241631e-02 -9.10865394e+01] [-6.01025955e-02 5.91339269e-05 9.98192203e-01 -8.16273144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29864 meters Centerline goodness [0,1] 0.9997547937815703 Centerline is valid? [True, True] Translation: X:161.94, Y:-91.11, Z:-8.16 [[ 7.85671638e-01 6.16761480e-01 4.82219143e-02 1.61935256e+02] [-6.15606943e-01 7.87150096e-01 -3.77202561e-02 -9.11069222e+01] [-6.12222855e-02 -5.00098542e-05 9.98124155e-01 -8.16414981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.96, Y:-91.13, Z:-8.17 [[ 7.85224384e-01 6.17343461e-01 4.80595152e-02 1.61960892e+02] [-6.16197071e-01 7.86693742e-01 -3.76048714e-02 -9.11269981e+01] [-6.10232413e-02 -8.58704721e-05 9.98136342e-01 -8.16660710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.99, Y:-91.15, Z:-8.17 [[ 7.85304311e-01 6.17291721e-01 4.74138136e-02 1.61986563e+02] [-6.16175055e-01 7.86734343e-01 -3.71130124e-02 -9.11465472e+01] [-6.02116307e-02 -7.02005888e-05 9.98185631e-01 -8.16766297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:162.01, Y:-91.17, Z:-8.17 [[ 7.85184476e-01 6.17560468e-01 4.58738098e-02 1.62012432e+02] [-6.16515132e-01 7.86523402e-01 -3.59169863e-02 -9.11664567e+01] [-5.82617358e-02 -8.04377707e-05 9.98301339e-01 -8.16801541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:162.04, Y:-91.19, Z:-8.17 [[ 7.84533584e-01 6.18406431e-01 4.56129672e-02 1.62038540e+02] [-6.17373833e-01 7.85858428e-01 -3.57222863e-02 -9.11858952e+01] [-5.79362262e-02 -1.34919115e-04 9.98320277e-01 -8.16953404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44864 meters Centerline goodness [0,1] 0.9996569468267581 Centerline is valid? [True, True] Translation: X:162.06, Y:-91.20, Z:-8.17 [[ 7.84038525e-01 6.19059799e-01 4.52609811e-02 1.62064319e+02] [-6.18043630e-01 7.85343833e-01 -3.54561178e-02 -9.12044084e+01] [-5.74948895e-02 -1.74298734e-04 9.98345785e-01 -8.17001396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.09, Y:-91.22, Z:-8.17 [[ 7.83138760e-01 6.20156879e-01 4.58162427e-02 1.62090701e+02] [-6.19116909e-01 7.84477777e-01 -3.59008272e-02 -9.12233793e+01] [-5.82059692e-02 -2.50281235e-04 9.98304564e-01 -8.17166203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50864 meters Centerline goodness [0,1] 0.9999018115764151 Centerline is valid? [True, True] Translation: X:162.12, Y:-91.24, Z:-8.17 [[ 7.81398277e-01 6.22338552e-01 4.59506250e-02 1.62117135e+02] [-6.21295663e-01 7.82748083e-01 -3.60157895e-02 -9.12417038e+01] [-5.83817779e-02 -4.06248226e-04 9.98294247e-01 -8.17240818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53864000000002 meters Centerline goodness [0,1] 0.9996564922956129 Centerline is valid? [True, True] Translation: X:162.14, Y:-91.26, Z:-8.17 [[ 7.80865042e-01 6.23014106e-01 4.58607554e-02 1.62143464e+02] [-6.21975895e-01 7.82210472e-01 -3.59550318e-02 -9.12608129e+01] [-5.82732551e-02 -4.48256957e-04 9.98300569e-01 -8.17373209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56864000000002 meters Centerline goodness [0,1] 0.9997055792727808 Centerline is valid? [True, True] Translation: X:162.17, Y:-91.28, Z:-8.17 [[ 7.80916170e-01 6.23026504e-01 4.48097127e-02 1.62170451e+02] [-6.22034863e-01 7.82200606e-01 -3.51402989e-02 -9.12789909e+01] [-5.69435221e-02 -4.31575855e-04 9.98377308e-01 -8.17482148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.20, Y:-91.30, Z:-8.18 [[ 7.81647510e-01 6.22125415e-01 4.45773173e-02 1.62195422e+02] [-6.21142117e-01 7.82917518e-01 -3.49661370e-02 -9.12974378e+01] [-5.66536851e-02 -3.57655335e-04 9.98393826e-01 -8.17610447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62864000000002 meters Centerline goodness [0,1] 0.999803854263718 Centerline is valid? [True, True] Translation: X:162.22, Y:-91.32, Z:-8.18 [[ 7.82087049e-01 6.21526273e-01 4.52210147e-02 1.62220719e+02] [-6.20513072e-01 7.83393256e-01 -3.54758263e-02 -9.13157823e+01] [-5.74749961e-02 -3.15046460e-04 9.98346896e-01 -8.17783327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65864000000002 meters Centerline goodness [0,1] 0.9998036906164115 Centerline is valid? [True, True] Translation: X:162.25, Y:-91.33, Z:-8.18 [[ 7.82694973e-01 6.20725128e-01 4.57044374e-02 1.62246796e+02] [-6.19688484e-01 7.84028221e-01 -3.58598922e-02 -9.13336046e+01] [-5.80927049e-02 -2.55156200e-04 9.98311160e-01 -8.17920496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68864000000002 meters Centerline goodness [0,1] 0.9998037002502822 Centerline is valid? [True, True] Translation: X:162.27, Y:-91.35, Z:-8.18 [[ 7.82854142e-01 6.20581327e-01 4.49244774e-02 1.62271906e+02] [-6.19579288e-01 7.84142054e-01 -3.52525811e-02 -9.13530030e+01] [-5.71042655e-02 -2.36646523e-04 9.98368192e-01 -8.18056140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71864 meters Centerline goodness [0,1] 0.9996565091515776 Centerline is valid? [True, True] Translation: X:162.30, Y:-91.37, Z:-8.18 [[ 7.82163669e-01 6.21385926e-01 4.58205823e-02 1.62295895e+02] [-6.20344652e-01 7.83504590e-01 -3.59593003e-02 -9.13719210e+01] [-5.82452396e-02 -2.98494901e-04 9.98302260e-01 -8.18257505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74864 meters Centerline goodness [0,1] 0.9994600962010406 Centerline is valid? [True, True] Translation: X:162.32, Y:-91.39, Z:-8.18 [[ 7.82171565e-01 6.21430528e-01 4.50748583e-02 1.62322417e+02] [-6.20422972e-01 7.83469215e-01 -3.53740674e-02 -9.13879953e+01] [-5.72972893e-02 -2.96887914e-04 9.98357117e-01 -8.18272251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77864 meters Centerline goodness [0,1] 0.9998036713458329 Centerline is valid? [True, True] Translation: X:162.35, Y:-91.40, Z:-8.18 [[ 7.82322764e-01 6.21250775e-01 4.49284778e-02 1.62347047e+02] [-6.20249533e-01 7.83611762e-01 -3.52579490e-02 -9.14047615e+01] [-5.71105118e-02 -2.83771253e-04 9.98367822e-01 -8.18360008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80864 meters Centerline goodness [0,1] 0.9998528690534576 Centerline is valid? [True, True] Translation: X:162.37, Y:-91.42, Z:-8.19 [[ 7.83842477e-01 6.19317052e-01 4.51371211e-02 1.62369829e+02] [-6.18304063e-01 7.85140984e-01 -3.54079162e-02 -9.14209818e+01] [-5.73677299e-02 -1.54236661e-04 9.98353104e-01 -8.18585334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.39, Y:-91.44, Z:-8.19 [[ 7.84918168e-01 6.17853072e-01 4.64870940e-02 1.62392324e+02] [-6.16778260e-01 7.86293568e-01 -3.64280566e-02 -9.14385625e+01] [-5.90596897e-02 -7.91855045e-05 9.98254450e-01 -8.18828166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.42, Y:-91.46, Z:-8.19 [[ 7.86724282e-01 6.15618581e-01 4.55924065e-02 1.62416381e+02] [-6.14582481e-01 7.88044262e-01 -3.57017615e-02 -9.14558834e+01] [-5.79075021e-02 6.71483849e-05 9.98321950e-01 -8.18846133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89864 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:162.44, Y:-91.47, Z:-8.19 [[ 7.88167753e-01 6.13764599e-01 4.56575374e-02 1.62439860e+02] [-6.12723155e-01 7.89489062e-01 -3.57401145e-02 -9.14729774e+01] [-5.79821434e-02 1.93775357e-04 9.98317602e-01 -8.19038661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:162.46, Y:-91.49, Z:-8.19 [[ 7.90807684e-01 6.10479995e-01 4.40157043e-02 1.62463289e+02] [-6.09508808e-01 7.92031578e-01 -3.44237312e-02 -9.14896835e+01] [-5.58768270e-02 3.94591688e-04 9.98437592e-01 -8.19124637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.48, Y:-91.51, Z:-8.19 [[ 7.91406254e-01 6.09718089e-01 4.38177224e-02 1.62484910e+02] [-6.08756266e-01 7.92618240e-01 -3.42364468e-02 -9.15067859e+01] [-5.56053070e-02 4.20625108e-04 9.98452739e-01 -8.19219191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98864 meters Centerline goodness [0,1] 0.9997058102476097 Centerline is valid? [True, True] Translation: X:162.51, Y:-91.52, Z:-8.19 [[ 7.92512510e-01 6.08334411e-01 4.30484120e-02 1.62507067e+02] [-6.07405959e-01 7.93680675e-01 -3.36004133e-02 -9.15230855e+01] [-5.46069803e-02 4.80885984e-04 9.98507810e-01 -8.19313134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01864 meters Centerline goodness [0,1] 0.9998522822394013 Centerline is valid? [True, True] Translation: X:162.53, Y:-91.54, Z:-8.19 [[ 7.92331788e-01 6.08472754e-01 4.43987184e-02 1.62529077e+02] [-6.07487355e-01 7.93574634e-01 -3.46181286e-02 -9.15407900e+01] [-5.62978848e-02 4.57383738e-04 9.98413912e-01 -8.19498930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04864 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:162.55, Y:-91.56, Z:-8.20 [[ 7.91525237e-01 6.09454677e-01 4.53077897e-02 1.62550805e+02] [-6.08432057e-01 7.92820825e-01 -3.52926455e-02 -9.15583901e+01] [-5.74302271e-02 3.68307884e-04 9.98349455e-01 -8.19661312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.57, Y:-91.58, Z:-8.20 [[ 7.92166364e-01 6.08722957e-01 4.39182460e-02 1.62574106e+02] [-6.07762905e-01 7.93382767e-01 -3.41765324e-02 -9.15760443e+01] [-5.56480195e-02 3.81618651e-04 9.98450375e-01 -8.19748129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.60, Y:-91.59, Z:-8.20 [[ 7.92474050e-01 6.08321262e-01 4.39331576e-02 1.62595509e+02] [-6.07361657e-01 7.93690804e-01 -3.41573552e-02 -9.15931142e+01] [-5.56479887e-02 3.85502223e-04 9.98450376e-01 -8.19863392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.62, Y:-91.61, Z:-8.20 [[ 7.92949668e-01 6.07712309e-01 4.37786778e-02 1.62618269e+02] [-6.06760487e-01 7.94157157e-01 -3.40017870e-02 -9.16100825e+01] [-5.54304548e-02 3.98533811e-04 9.98462471e-01 -8.19942771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:162.64, Y:-91.63, Z:-8.20 [[ 7.95097867e-01 6.04866660e-01 4.42233716e-02 1.62641054e+02] [-6.03892943e-01 7.96326562e-01 -3.43120990e-02 -9.16275781e+01] [-5.59704902e-02 5.75294724e-04 9.98432258e-01 -8.20119408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.66, Y:-91.65, Z:-8.20 [[ 7.96637249e-01 6.02782645e-01 4.49686057e-02 1.62662994e+02] [-6.01774321e-01 7.97905120e-01 -3.48580876e-02 -9.16458184e+01] [-5.68925310e-02 7.08298841e-04 9.98380057e-01 -8.20339201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22864 meters Centerline goodness [0,1] 0.9999019703950593 Centerline is valid? [True, True] Translation: X:162.69, Y:-91.66, Z:-8.21 [[ 8.00265300e-01 5.97944000e-01 4.51488823e-02 1.62685326e+02] [-5.96921659e-01 8.01537215e-01 -3.49660543e-02 -9.16632181e+01] [-5.70962518e-02 1.03177426e-03 9.98368145e-01 -8.20510155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25864 meters Centerline goodness [0,1] 0.9997547937815703 Centerline is valid? [True, True] Translation: X:162.71, Y:-91.68, Z:-8.21 [[ 8.01740838e-01 5.95952313e-01 4.53041834e-02 1.62708350e+02] [-5.94921554e-01 8.03018999e-01 -3.50546970e-02 -9.16810447e+01] [-5.72710478e-02 1.15234692e-03 9.98358002e-01 -8.20656721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.73, Y:-91.70, Z:-8.21 [[ 8.02915699e-01 5.94406359e-01 4.48046971e-02 1.62730258e+02] [-5.93397548e-01 8.04163902e-01 -3.46376598e-02 -9.16993663e+01] [-5.66191653e-02 1.22412343e-03 9.98395098e-01 -8.20725383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31864000000002 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:162.75, Y:-91.72, Z:-8.21 [[ 8.03904663e-01 5.93145419e-01 4.37698985e-02 1.62751408e+02] [-5.92182530e-01 8.05094361e-01 -3.38071169e-02 -9.17175240e+01] [-5.52914349e-02 1.25792968e-03 9.98469466e-01 -8.20781786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34864000000002 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:162.77, Y:-91.74, Z:-8.21 [[ 8.05331970e-01 5.91252120e-01 4.31433542e-02 1.62772242e+02] [-5.90315686e-01 8.06485667e-01 -3.32905374e-02 -9.17381160e+01] [-5.44775976e-02 1.34173531e-03 9.98514092e-01 -8.21002995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.79, Y:-91.76, Z:-8.21 [[ 8.05110029e-01 5.91487100e-01 4.40550952e-02 1.62793126e+02] [-5.90512338e-01 8.06313357e-01 -3.39698128e-02 -9.17594788e+01] [-5.56149178e-02 1.33435967e-03 9.98451401e-01 -8.21231706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.82, Y:-91.78, Z:-8.21 [[ 8.04839147e-01 5.91761670e-01 4.52998180e-02 1.62815984e+02] [-5.90731624e-01 8.06111843e-01 -3.49262780e-02 -9.17799739e+01] [-5.71847523e-02 1.35000079e-03 9.98362700e-01 -8.21383846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43864000000002 meters Centerline goodness [0,1] 0.999901768172888 Centerline is valid? [True, True] Translation: X:162.84, Y:-91.80, Z:-8.21 [[ 8.04733324e-01 5.91923587e-01 4.50637884e-02 1.62839145e+02] [-5.90904443e-01 8.05992985e-01 -3.47454506e-02 -9.18012828e+01] [-5.68877491e-02 1.33242921e-03 9.98379692e-01 -8.21457468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:162.86, Y:-91.82, Z:-8.22 [[ 8.04508675e-01 5.92230909e-01 4.50371206e-02 1.62862439e+02] [-5.91213203e-01 8.05767228e-01 -3.47292771e-02 -9.18219613e+01] [-5.68571871e-02 1.31346434e-03 9.98381458e-01 -8.21606439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49864 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:162.89, Y:-91.85, Z:-8.22 [[ 8.05258426e-01 5.91336267e-01 4.33622650e-02 1.62885093e+02] [-5.90391329e-01 8.06423990e-01 -3.34428848e-02 -9.18456527e+01] [-5.47443614e-02 1.32945948e-03 9.98499518e-01 -8.21643326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.91, Y:-91.87, Z:-8.22 [[ 8.05320180e-01 5.91267903e-01 4.31471285e-02 1.62908591e+02] [-5.90331766e-01 8.06474107e-01 -3.32854315e-02 -9.18681636e+01] [-5.44776493e-02 1.33430910e-03 9.98514099e-01 -8.21864130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.93, Y:-91.89, Z:-8.22 [[ 8.05493826e-01 5.91023804e-01 4.32499681e-02 1.62929933e+02] [-5.90082377e-01 8.06652968e-01 -3.33732957e-02 -9.18927692e+01] [-5.46121273e-02 1.36093967e-03 9.98506717e-01 -8.22140497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.95, Y:-91.91, Z:-8.22 [[ 8.05246440e-01 5.91435274e-01 4.22195093e-02 1.62953098e+02] [-5.90538334e-01 8.06351416e-01 -3.25863397e-02 -9.19146659e+01] [-5.33164718e-02 1.30779536e-03 9.98576809e-01 -8.22209060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:162.97, Y:-91.94, Z:-8.22 [[ 8.03130506e-01 5.94204591e-01 4.36153045e-02 1.62974559e+02] [-5.93250895e-01 8.04313085e-01 -3.36724978e-02 -9.19397910e+01] [-5.50887129e-02 1.16859182e-03 9.98480780e-01 -8.22365389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.00, Y:-91.96, Z:-8.22 [[ 8.01555836e-01 5.96358281e-01 4.31861421e-02 1.62998080e+02] [-5.95425924e-01 8.02717737e-01 -3.33497191e-02 -9.19624071e+01] [-5.45546634e-02 1.01751344e-03 9.98510267e-01 -8.22458711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.02, Y:-91.98, Z:-8.23 [[ 7.99390445e-01 5.99160553e-01 4.45145703e-02 1.63021304e+02] [-5.98173721e-01 8.00628436e-01 -3.43846832e-02 -9.19849752e+01] [-5.62415766e-02 8.59341047e-04 9.98416820e-01 -8.22632380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.04, Y:-92.01, Z:-8.23 [[ 7.96129363e-01 6.03489829e-01 4.44754253e-02 1.63042820e+02] [-6.02510948e-01 7.97370498e-01 -3.43634442e-02 -9.20094115e+01] [-5.62013811e-02 5.60816229e-04 9.98419296e-01 -8.22819894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.07, Y:-92.03, Z:-8.23 [[ 7.94942615e-01 6.04991668e-01 4.52914992e-02 1.63067044e+02] [-6.03978326e-01 7.96231662e-01 -3.50046146e-02 -9.20318807e+01] [-5.72400258e-02 4.71576043e-04 9.98360334e-01 -8.23068890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.09, Y:-92.06, Z:-8.23 [[ 7.92478954e-01 6.08190497e-01 4.56226450e-02 1.63090084e+02] [-6.07166357e-01 7.93791063e-01 -3.52811946e-02 -9.20559168e+01] [-5.76725351e-02 2.59069068e-04 9.98335521e-01 -8.23168980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:163.12, Y:-92.08, Z:-8.23 [[ 7.91375723e-01 6.09605870e-01 4.58819023e-02 1.63115726e+02] [-6.08570203e-01 7.92704641e-01 -3.55198382e-02 -9.20767661e+01] [-5.80238988e-02 1.87178957e-04 9.98315177e-01 -8.23381032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.14, Y:-92.10, Z:-8.23 [[ 7.90235045e-01 6.11102805e-01 4.56282431e-02 1.63141829e+02] [-6.10078868e-01 7.91551231e-01 -3.53613366e-02 -9.20976063e+01] [-5.77265039e-02 1.06940545e-04 9.98332429e-01 -8.23433767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.17, Y:-92.12, Z:-8.24 [[ 7.88613294e-01 6.13246497e-01 4.49200070e-02 1.63168337e+02] [-6.12255482e-01 7.89891596e-01 -3.48495546e-02 -9.21174713e+01] [-5.68533033e-02 -1.96984358e-05 9.98382543e-01 -8.23595286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.19, Y:-92.14, Z:-8.24 [[ 7.87395102e-01 6.14818201e-01 4.48054946e-02 1.63194459e+02] [-6.13832638e-01 7.88668859e-01 -3.47983275e-02 -9.21370672e+01] [-5.67313434e-02 -1.03042305e-04 9.98389475e-01 -8.23746901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.22, Y:-92.16, Z:-8.24 [[ 7.86127164e-01 6.16416410e-01 4.51097760e-02 1.63221193e+02] [-6.15417848e-01 7.87420328e-01 -3.50727553e-02 -9.21569121e+01] [-5.71397766e-02 -1.89715644e-04 9.98366170e-01 -8.23940249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.25, Y:-92.17, Z:-8.24 [[ 7.83753241e-01 6.19357119e-01 4.61260965e-02 1.63249539e+02] [-6.18315873e-01 7.85109300e-01 -3.59008231e-02 -9.21736874e+01] [-5.84494577e-02 -3.83111206e-04 9.98290296e-01 -8.24080589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:163.28, Y:-92.19, Z:-8.24 [[ 7.83044911e-01 6.20242202e-01 4.62631404e-02 1.63276674e+02] [-6.19194222e-01 7.84410245e-01 -3.60428013e-02 -9.21919082e+01] [-5.86445477e-02 -4.22737114e-04 9.98278838e-01 -8.24224358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.30, Y:-92.21, Z:-8.24 [[ 7.82782058e-01 6.20606663e-01 4.58216034e-02 1.63304311e+02] [-6.19577387e-01 7.84121925e-01 -3.57305082e-02 -9.22096366e+01] [-5.81043153e-02 -4.20828560e-04 9.98310428e-01 -8.24290012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.33, Y:-92.23, Z:-8.24 [[ 7.82993534e-01 6.20309967e-01 4.62241321e-02 1.63331807e+02] [-6.19261128e-01 7.84356674e-01 -3.60591481e-02 -9.22287076e+01] [-5.86240555e-02 -3.90728420e-04 9.98280055e-01 -8.24440540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.36, Y:-92.25, Z:-8.25 [[ 7.84038534e-01 6.19017531e-01 4.58352764e-02 1.63358566e+02] [-6.17983308e-01 7.85377118e-01 -3.57689052e-02 -9.22461436e+01] [-5.81395566e-02 -2.81235741e-04 9.98308426e-01 -8.24544573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.39, Y:-92.26, Z:-8.25 [[ 7.85032050e-01 6.17782000e-01 4.54981301e-02 1.63385777e+02] [-6.16760281e-01 7.86349393e-01 -3.55160342e-02 -9.22641631e+01] [-5.77185937e-02 -1.80214384e-04 9.98332876e-01 -8.24628702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12864000000002 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:163.41, Y:-92.28, Z:-8.25 [[ 7.86797505e-01 6.15473076e-01 4.62880057e-02 1.63412957e+02] [-6.14410845e-01 7.88157911e-01 -3.61444331e-02 -9.22815177e+01] [-5.87281834e-02 -1.50289936e-06 9.98274011e-01 -8.24846551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.44, Y:-92.30, Z:-8.25 [[ 7.87681557e-01 6.14407225e-01 4.54040321e-02 1.63438727e+02] [-6.13382883e-01 7.88989071e-01 -3.54638425e-02 -9.23001912e+01] [-5.76125262e-02 8.41585502e-05 9.98339015e-01 -8.24969552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.47, Y:-92.32, Z:-8.25 [[ 7.87228128e-01 6.15043697e-01 4.46444333e-02 1.63465515e+02] [-6.14053864e-01 7.88493024e-01 -3.48798433e-02 -9.23188700e+01] [-5.66544520e-02 4.43069473e-05 9.98393846e-01 -8.24974200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.49, Y:-92.34, Z:-8.25 [[ 7.85892667e-01 6.16709606e-01 4.51882451e-02 1.63491181e+02] [-6.15697692e-01 7.87190737e-01 -3.53142451e-02 -9.23378080e+01] [-5.73504022e-02 -6.90919483e-05 9.98354109e-01 -8.25188763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.52, Y:-92.36, Z:-8.25 [[ 7.85571643e-01 6.17123626e-01 4.51178876e-02 1.63517734e+02] [-6.16114924e-01 7.86866203e-01 -3.52700764e-02 -9.23580336e+01] [-5.72677384e-02 -9.06320199e-05 9.98358852e-01 -8.25289962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.54, Y:-92.38, Z:-8.25 [[ 7.84524560e-01 6.18398224e-01 4.58786565e-02 1.63541969e+02] [-6.17356579e-01 7.85864877e-01 -3.58782571e-02 -9.23791723e+01] [-5.82414752e-02 -1.76116538e-04 9.98302509e-01 -8.25369320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.57, Y:-92.40, Z:-8.26 [[ 7.84598458e-01 6.18246373e-01 4.66549394e-02 1.63566760e+02] [-6.17168283e-01 7.85984349e-01 -3.64953773e-02 -9.23989522e+01] [-5.92331868e-02 -1.59732135e-04 9.98244161e-01 -8.25508092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:163.59, Y:-92.42, Z:-8.26 [[ 7.84794315e-01 6.18058457e-01 4.58435101e-02 1.63592083e+02] [-6.17016690e-01 7.86132130e-01 -3.58703169e-02 -9.24185937e+01] [-5.82090090e-02 -1.35390067e-04 9.98304409e-01 -8.25631894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.62, Y:-92.44, Z:-8.26 [[ 7.85299059e-01 6.17468472e-01 4.51450322e-02 1.63617464e+02] [-6.16456674e-01 7.86595626e-01 -3.53339715e-02 -9.24391305e+01] [-5.73284983e-02 -8.22218150e-05 9.98355366e-01 -8.25825897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:163.64, Y:-92.46, Z:-8.26 [[ 7.85607760e-01 6.17136052e-01 4.43118661e-02 1.63642960e+02] [-6.16160140e-01 7.86856462e-01 -3.46928002e-02 -9.24591640e+01] [-5.62772559e-02 -4.82725923e-05 9.98415178e-01 -8.25863194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.67, Y:-92.48, Z:-8.26 [[ 7.85484976e-01 6.17347634e-01 4.35344846e-02 1.63669624e+02] [-6.16405516e-01 7.86690470e-01 -3.40931654e-02 -9.24766698e+01] [-5.52954992e-02 -5.52272465e-05 9.98470032e-01 -8.26005455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45864 meters Centerline goodness [0,1] 0.9999019367492032 Centerline is valid? [True, True] Translation: X:163.70, Y:-92.50, Z:-8.26 [[ 7.85054411e-01 6.17914928e-01 4.32517539e-02 1.63696712e+02] [-6.16985315e-01 7.86244958e-01 -3.38819446e-02 -9.24957928e+01] [-5.49426328e-02 -8.65269575e-05 9.98489509e-01 -8.26131711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.72, Y:-92.52, Z:-8.26 [[ 7.84201644e-01 6.18923095e-01 4.42942962e-02 1.63722327e+02] [-6.17948952e-01 7.85451577e-01 -3.47118525e-02 -9.25154577e+01] [-5.62749920e-02 -1.50522118e-04 9.98415296e-01 -8.26330792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.75, Y:-92.53, Z:-8.26 [[ 7.84145276e-01 6.19007003e-01 4.41193494e-02 1.63749463e+02] [-6.18040087e-01 7.85385452e-01 -3.45852843e-02 -9.25349016e+01] [-5.60592283e-02 -1.47639270e-04 9.98427434e-01 -8.26480500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54864 meters Centerline goodness [0,1] 0.999803902343367 Centerline is valid? [True, True] Translation: X:163.78, Y:-92.55, Z:-8.27 [[ 7.84691998e-01 6.18314911e-01 4.41037162e-02 1.63776599e+02] [-6.17346794e-01 7.85930444e-01 -3.45871763e-02 -9.25543846e+01] [-5.60482201e-02 -8.70072888e-05 9.98428059e-01 -8.26594796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:163.80, Y:-92.57, Z:-8.27 [[ 7.86992921e-01 6.15529027e-01 4.20256946e-02 1.63804478e+02] [-6.14645434e-01 7.88114207e-01 -3.29694891e-02 -9.25710535e+01] [-5.34147246e-02 1.15853258e-04 9.98572408e-01 -8.26588196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60864 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:163.83, Y:-92.59, Z:-8.27 [[ 7.88164285e-01 6.13991188e-01 4.25662049e-02 1.63830153e+02] [-6.13081965e-01 7.89312846e-01 -3.34026327e-02 -9.25896730e+01] [-5.41069745e-02 2.30189577e-04 9.98535118e-01 -8.26749480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.86, Y:-92.61, Z:-8.27 [[ 7.88697033e-01 6.13263683e-01 4.31815385e-02 1.63856019e+02] [-6.12326370e-01 7.89878199e-01 -3.38946348e-02 -9.26089444e+01] [-5.48945044e-02 2.91403194e-04 9.98492117e-01 -8.26906749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.88, Y:-92.63, Z:-8.27 [[ 7.90302409e-01 6.11146196e-01 4.38455167e-02 1.63883184e+02] [-6.10176035e-01 7.91517607e-01 -3.44250551e-02 -9.26264390e+01] [-5.57432400e-02 4.52720454e-04 9.98445034e-01 -8.27058347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.91, Y:-92.64, Z:-8.27 [[ 7.90744166e-01 6.10606423e-01 4.33988456e-02 1.63909701e+02] [-6.09654637e-01 7.91934059e-01 -3.40832908e-02 -9.26448266e+01] [-5.51805002e-02 4.92855958e-04 9.98476274e-01 -8.27234242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.94, Y:-92.66, Z:-8.27 [[ 7.91867435e-01 6.09164945e-01 4.31744760e-02 1.63935176e+02] [-6.08220349e-01 7.93043323e-01 -3.39159872e-02 -9.26638939e+01] [-5.48996604e-02 5.97370957e-04 9.98491698e-01 -8.27319112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:163.96, Y:-92.68, Z:-8.27 [[ 7.91371937e-01 6.09775391e-01 4.36397645e-02 1.63960023e+02] [-6.08810733e-01 7.92574065e-01 -3.42905540e-02 -9.26837441e+01] [-5.54972815e-02 5.68225109e-04 9.98458677e-01 -8.27394628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.99, Y:-92.70, Z:-8.27 [[ 7.91358023e-01 6.09717551e-01 4.46876686e-02 1.63985503e+02] [-6.08705344e-01 7.92618544e-01 -3.51233405e-02 -9.27029234e+01] [-5.68355919e-02 5.93514580e-04 9.98383375e-01 -8.27480004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.01, Y:-92.72, Z:-8.28 [[ 7.92159530e-01 6.08751547e-01 4.36444006e-02 1.64012648e+02] [-6.07784131e-01 7.93360653e-01 -3.43121651e-02 -9.27207704e+01] [-5.55133338e-02 6.54334511e-04 9.98457732e-01 -8.27573619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.04, Y:-92.74, Z:-8.28 [[ 7.92443550e-01 6.08467410e-01 4.24338410e-02 1.64037939e+02] [-6.07552088e-01 7.93578586e-01 -3.33689820e-02 -9.27411340e+01] [-5.39785255e-02 6.62265855e-04 9.98541877e-01 -8.27746140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87864000000002 meters Centerline goodness [0,1] 0.9999018356729165 Centerline is valid? [True, True] Translation: X:164.06, Y:-92.76, Z:-8.28 [[ 7.93368699e-01 6.07249817e-01 4.25883402e-02 1.64062776e+02] [-6.06325583e-01 7.94510597e-01 -3.34992210e-02 -9.27619270e+01] [-5.41792835e-02 7.54833175e-04 9.98530939e-01 -8.27940724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90864000000002 meters Centerline goodness [0,1] 0.9997545530410878 Centerline is valid? [True, True] Translation: X:164.09, Y:-92.78, Z:-8.28 [[ 7.93325756e-01 6.07265146e-01 4.31658143e-02 1.64088480e+02] [-6.06315188e-01 7.94498866e-01 -3.39624111e-02 -9.27812847e+01] [-5.49193791e-02 7.71166637e-04 9.98490494e-01 -8.28032880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93864000000002 meters Centerline goodness [0,1] 0.9999018501251411 Centerline is valid? [True, True] Translation: X:164.11, Y:-92.80, Z:-8.28 [[ 7.93982076e-01 6.06385339e-01 4.34658898e-02 1.64113352e+02] [-6.05420360e-01 7.95170490e-01 -3.42064279e-02 -9.27997635e+01] [-5.53050692e-02 8.44155984e-04 9.98469147e-01 -8.28242681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96864 meters Centerline goodness [0,1] 0.9999018501251411 Centerline is valid? [True, True] Translation: X:164.14, Y:-92.82, Z:-8.28 [[ 7.93906186e-01 6.06484887e-01 4.34631940e-02 1.64138263e+02] [-6.05519870e-01 7.95094569e-01 -3.42098529e-02 -9.28193187e+01] [-5.53051082e-02 8.41586222e-04 9.98469147e-01 -8.28375632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99864 meters Centerline goodness [0,1] 0.9996568122763152 Centerline is valid? [True, True] Translation: X:164.16, Y:-92.84, Z:-8.28 [[ 7.95579482e-01 6.04351800e-01 4.25698127e-02 1.64162217e+02] [-6.03422559e-01 7.96716981e-01 -3.35151706e-02 -9.28404258e+01] [-5.41710464e-02 9.76396754e-04 9.98531193e-01 -8.28491157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02864 meters Centerline goodness [0,1] 0.9995588451546493 Centerline is valid? [True, True] Translation: X:164.19, Y:-92.86, Z:-8.29 [[ 7.96729497e-01 6.02907573e-01 4.15279019e-02 1.64186498e+02] [-6.02020897e-01 7.97810344e-01 -3.27031098e-02 -9.28609791e+01] [-5.28483423e-02 1.05486745e-03 9.98601993e-01 -8.28609045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05864 meters Centerline goodness [0,1] 0.9989655681986109 Centerline is valid? [True, True] Translation: X:164.21, Y:-92.88, Z:-8.29 [[ 7.98630898e-01 6.00294306e-01 4.28419740e-02 1.64210277e+02] [-5.99346364e-01 7.99778172e-01 -3.37462803e-02 -9.28819873e+01] [-5.45217755e-02 1.27364082e-03 9.98511770e-01 -8.28772983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08864 meters Centerline goodness [0,1] 0.9988725490196079 Centerline is valid? [True, True] Translation: X:164.23, Y:-92.90, Z:-8.29 [[ 7.99261916e-01 5.99398450e-01 4.36106304e-02 1.64234926e+02] [-5.98414425e-01 8.00449646e-01 -3.43589828e-02 -9.29024421e+01] [-5.55028347e-02 1.36459613e-03 9.98457597e-01 -8.29032607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11864 meters Centerline goodness [0,1] 0.9985766871165644 Centerline is valid? [True, True] Translation: X:164.26, Y:-92.92, Z:-8.29 [[ 7.99963883e-01 5.98387686e-01 4.46089961e-02 1.64259127e+02] [-5.97355964e-01 8.01205343e-01 -3.51546719e-02 -9.29244046e+01] [-5.67770888e-02 1.47501797e-03 9.98385790e-01 -8.29139186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14864 meters Centerline goodness [0,1] 0.9983302229643454 Centerline is valid? [True, True] Translation: X:164.28, Y:-92.95, Z:-8.29 [[ 8.01236906e-01 5.96706045e-01 4.42867511e-02 1.64281716e+02] [-5.95686125e-01 8.02458328e-01 -3.49094972e-02 -9.29472791e+01] [-5.63689802e-02 1.58977440e-03 9.98408739e-01 -8.29215153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17864 meters Centerline goodness [0,1] 0.9979836726664699 Centerline is valid? [True, True] Translation: X:164.31, Y:-92.97, Z:-8.29 [[ 8.01885101e-01 5.95908950e-01 4.32759658e-02 1.64306428e+02] [-5.94933463e-01 8.03050382e-01 -3.41212387e-02 -9.29686919e+01] [-5.50859324e-02 1.61499275e-03 9.98480311e-01 -8.29197141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20864 meters Centerline goodness [0,1] 0.9972030030914176 Centerline is valid? [True, True] Translation: X:164.33, Y:-92.99, Z:-8.29 [[ 8.02595332e-01 5.94904521e-01 4.39243102e-02 1.64329060e+02] [-5.93897565e-01 8.03794542e-01 -3.46412640e-02 -9.29923076e+01] [-5.59143653e-02 1.71637590e-03 9.98434093e-01 -8.29374697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23864 meters Centerline goodness [0,1] 0.9971522561005548 Centerline is valid? [True, True] Translation: X:164.35, Y:-93.01, Z:-8.29 [[ 8.03207435e-01 5.94063197e-01 4.41218126e-02 1.64352540e+02] [-5.93045428e-01 8.04416382e-01 -3.48052508e-02 -9.30136642e+01] [-5.61688274e-02 1.78959696e-03 9.98419681e-01 -8.29479879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26864 meters Centerline goodness [0,1] 0.9963117777231374 Centerline is valid? [True, True] Translation: X:164.38, Y:-93.04, Z:-8.30 [[ 8.02914425e-01 5.94409117e-01 4.47909418e-02 1.64375568e+02] [-5.93360268e-01 8.04160783e-01 -3.53415703e-02 -9.30375274e+01] [-5.70264705e-02 1.79909134e-03 9.98371046e-01 -8.29645013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29864 meters Centerline goodness [0,1] 0.995731737232007 Centerline is valid? [True, True] Translation: X:164.40, Y:-93.06, Z:-8.30 [[ 8.02780605e-01 5.94613355e-01 4.44776150e-02 1.64399752e+02] [-5.93578777e-01 8.04009815e-01 -3.51063039e-02 -9.30587753e+01] [-5.66351162e-02 1.78169159e-03 9.98393354e-01 -8.29779997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32864 meters Centerline goodness [0,1] 0.9959768423118438 Centerline is valid? [True, True] Translation: X:164.42, Y:-93.08, Z:-8.30 [[ 8.02101092e-01 5.95526255e-01 4.45232299e-02 1.64422967e+02] [-5.94490455e-01 8.03333990e-01 -3.51510897e-02 -9.30809036e+01] [-5.67004207e-02 1.72609223e-03 9.98389745e-01 -8.29921069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35864 meters Centerline goodness [0,1] 0.9956325449013642 Centerline is valid? [True, True] Translation: X:164.45, Y:-93.10, Z:-8.30 [[ 8.01371074e-01 5.96514650e-01 4.44373104e-02 1.64445549e+02] [-5.95483864e-01 8.02600471e-01 -3.50920340e-02 -9.31042697e+01] [-5.65983187e-02 1.66003964e-03 9.98395650e-01 -8.30062681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38864 meters Centerline goodness [0,1] 0.9955273763884793 Centerline is valid? [True, True] Translation: X:164.47, Y:-93.13, Z:-8.30 [[ 8.00501076e-01 5.97673705e-01 4.45440128e-02 1.64469759e+02] [-5.96638915e-01 8.01737864e-01 -3.51909406e-02 -9.31252429e+01] [-5.67453215e-02 1.59369439e-03 9.98387414e-01 -8.30207044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41864 meters Centerline goodness [0,1] 0.9953819700319332 Centerline is valid? [True, True] Translation: X:164.49, Y:-93.15, Z:-8.30 [[ 7.99483690e-01 5.99070599e-01 4.40482444e-02 1.64491510e+02] [-5.98059144e-01 8.00694799e-01 -3.48295681e-02 -9.31490357e+01] [-5.61345704e-02 1.50221628e-03 9.98422082e-01 -8.30455263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44864 meters Centerline goodness [0,1] 0.995773332678036 Centerline is valid? [True, True] Translation: X:164.51, Y:-93.17, Z:-8.31 [[ 7.98826554e-01 5.99938748e-01 4.41546758e-02 1.64514051e+02] [-5.98922266e-01 8.00044593e-01 -3.49394808e-02 -9.31724011e+01] [-5.62872580e-02 1.46536655e-03 9.98413540e-01 -8.30575436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47864 meters Centerline goodness [0,1] 0.9955815209386814 Centerline is valid? [True, True] Translation: X:164.54, Y:-93.19, Z:-8.31 [[ 7.98177262e-01 6.00782510e-01 4.44233582e-02 1.64538681e+02] [-5.99753914e-01 7.99411243e-01 -3.51696861e-02 -9.31946885e+01] [-5.66418643e-02 1.42856083e-03 9.98393539e-01 -8.30718909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50864 meters Centerline goodness [0,1] 0.9946988661463702 Centerline is valid? [True, True] Translation: X:164.56, Y:-93.22, Z:-8.31 [[ 7.96900125e-01 6.02430649e-01 4.50278127e-02 1.64563081e+02] [-6.01374422e-01 7.98170075e-01 -3.56838229e-02 -9.32163620e+01] [-5.74368812e-02 1.35786807e-03 9.98348216e-01 -8.30767451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53864000000002 meters Centerline goodness [0,1] 0.9949410609037328 Centerline is valid? [True, True] Translation: X:164.59, Y:-93.24, Z:-8.31 [[ 7.96094602e-01 6.03463433e-01 4.54452438e-02 1.64588356e+02] [-6.02387238e-01 7.97389576e-01 -3.60482929e-02 -9.32377072e+01] [-5.79913903e-02 1.32221652e-03 9.98316208e-01 -8.30900606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56864000000002 meters Centerline goodness [0,1] 0.9949911608721272 Centerline is valid? [True, True] Translation: X:164.61, Y:-93.26, Z:-8.31 [[ 7.95451163e-01 6.04260512e-01 4.61159406e-02 1.64612767e+02] [-6.03151390e-01 7.96785736e-01 -3.66181866e-02 -9.32600843e+01] [-5.88714479e-02 1.31308546e-03 9.98264709e-01 -8.31071021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59864000000002 meters Centerline goodness [0,1] 0.9946978251264176 Centerline is valid? [True, True] Translation: X:164.64, Y:-93.28, Z:-8.31 [[ 7.95253174e-01 6.04585624e-01 4.52616038e-02 1.64636299e+02] [-6.03515670e-01 7.96539107e-01 -3.59762035e-02 -9.32832093e+01] [-5.78033329e-02 1.29410284e-03 9.98327151e-01 -8.31273920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62864000000002 meters Centerline goodness [0,1] 0.9944965849344013 Centerline is valid? [True, True] Translation: X:164.66, Y:-93.30, Z:-8.31 [[ 7.94490436e-01 6.05569322e-01 4.55054264e-02 1.64661580e+02] [-6.04487239e-01 7.95791563e-01 -3.62072654e-02 -9.33042193e+01] [-5.81388435e-02 1.25887643e-03 9.98307713e-01 -8.31466819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65864000000002 meters Centerline goodness [0,1] 0.9943436132015149 Centerline is valid? [True, True] Translation: X:164.69, Y:-93.33, Z:-8.32 [[ 7.94562620e-01 6.05448288e-01 4.58542655e-02 1.64685995e+02] [-6.04347138e-01 7.95883573e-01 -3.65222583e-02 -9.33263854e+01] [-5.86069954e-02 1.30732714e-03 9.98280277e-01 -8.31702269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68864000000002 meters Centerline goodness [0,1] 0.9943508375497372 Centerline is valid? [True, True] Translation: X:164.71, Y:-93.35, Z:-8.32 [[ 7.94770030e-01 6.05177860e-01 4.58296455e-02 1.64710942e+02] [-6.04075260e-01 7.96089140e-01 -3.65398727e-02 -9.33474704e+01] [-5.85976050e-02 1.35624076e-03 9.98280763e-01 -8.31742500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71864 meters Centerline goodness [0,1] 0.9944789510006902 Centerline is valid? [True, True] Translation: X:164.74, Y:-93.37, Z:-8.32 [[ 7.94534984e-01 6.05479332e-01 4.59231784e-02 1.64736430e+02] [-6.04370521e-01 7.95859856e-01 -3.66519126e-02 -9.33688371e+01] [-5.87403897e-02 1.36661153e-03 9.98272357e-01 -8.31856859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74864 meters Centerline goodness [0,1] 0.9937221050566482 Centerline is valid? [True, True] Translation: X:164.76, Y:-93.39, Z:-8.32 [[ 7.93896627e-01 6.06401955e-01 4.47751518e-02 1.64761193e+02] [-6.05347411e-01 7.95157215e-01 -3.57703149e-02 -9.33890756e+01] [-5.72944739e-02 1.29341011e-03 9.98356485e-01 -8.31963165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77864 meters Centerline goodness [0,1] 0.9937674829464592 Centerline is valid? [True, True] Translation: X:164.79, Y:-93.41, Z:-8.32 [[ 7.93637206e-01 6.06780493e-01 4.42427267e-02 1.64786831e+02] [-6.05749640e-01 7.94868419e-01 -3.53775432e-02 -9.34100764e+01] [-5.66335493e-02 1.27691878e-03 9.98394216e-01 -8.32114854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80864 meters Centerline goodness [0,1] 0.994039408866995 Centerline is valid? [True, True] Translation: X:164.81, Y:-93.43, Z:-8.32 [[ 7.92260649e-01 6.08602106e-01 4.38923698e-02 1.64810157e+02] [-6.07588367e-01 7.93474712e-01 -3.51320002e-02 -9.34326303e+01] [-5.62088947e-02 1.16520798e-03 9.98418350e-01 -8.32314418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83864 meters Centerline goodness [0,1] 0.9939984258166077 Centerline is valid? [True, True] Translation: X:164.84, Y:-93.45, Z:-8.33 [[ 7.91745237e-01 6.09214437e-01 4.46906032e-02 1.64835332e+02] [-6.08162705e-01 7.93004672e-01 -3.58010395e-02 -9.34531637e+01] [-5.72503672e-02 1.16614436e-03 9.98359172e-01 -8.32514856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86864 meters Centerline goodness [0,1] 0.9940584335870366 Centerline is valid? [True, True] Translation: X:164.86, Y:-93.47, Z:-8.33 [[ 7.91334778e-01 6.09677948e-01 4.56296857e-02 1.64861421e+02] [-6.08580641e-01 7.92648352e-01 -3.65813204e-02 -9.34735282e+01] [-5.84711195e-02 1.17872772e-03 9.98288405e-01 -8.32611687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89864 meters Centerline goodness [0,1] 0.9938192877464926 Centerline is valid? [True, True] Translation: X:164.89, Y:-93.49, Z:-8.33 [[ 7.90729750e-01 6.10519827e-01 4.48553594e-02 1.64886203e+02] [-6.09458802e-01 7.92000173e-01 -3.59957433e-02 -9.34934469e+01] [-5.75015673e-02 1.12541147e-03 9.98344782e-01 -8.32742143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92864 meters Centerline goodness [0,1] 0.9935740213872265 Centerline is valid? [True, True] Translation: X:164.91, Y:-93.51, Z:-8.33 [[ 7.90583691e-01 6.10656920e-01 4.55582402e-02 1.64911743e+02] [-6.09560557e-01 7.91894425e-01 -3.65943668e-02 -9.35145895e+01] [-5.84239198e-02 1.16040333e-03 9.98291190e-01 -8.32838548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95864 meters Centerline goodness [0,1] 0.9940581418188961 Centerline is valid? [True, True] Translation: X:164.94, Y:-93.53, Z:-8.33 [[ 7.90846970e-01 6.10393379e-01 4.45083476e-02 1.64937754e+02] [-6.09344514e-01 7.92097549e-01 -3.57873628e-02 -9.35347041e+01] [-5.70993223e-02 1.18140999e-03 9.98367804e-01 -8.32883998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98864 meters Centerline goodness [0,1] 0.9940648452445185 Centerline is valid? [True, True] Translation: X:164.96, Y:-93.55, Z:-8.33 [[ 7.90672025e-01 6.10588037e-01 4.49443887e-02 1.64964554e+02] [-6.09516659e-01 7.91947466e-01 -3.61753291e-02 -9.35545870e+01] [-5.76818179e-02 1.20846710e-03 9.98334286e-01 -8.33029854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01864 meters Centerline goodness [0,1] 0.9938165578838887 Centerline is valid? [True, True] Translation: X:164.99, Y:-93.57, Z:-8.33 [[ 7.90895528e-01 6.10332977e-01 4.44738191e-02 1.64990644e+02] [-6.09281430e-01 7.92143996e-01 -3.58333410e-02 -9.35743399e+01] [-5.70999385e-02 1.24335705e-03 9.98367693e-01 -8.33184238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04864 meters Centerline goodness [0,1] 0.9934171742975044 Centerline is valid? [True, True] Translation: X:165.01, Y:-93.60, Z:-8.33 [[ 7.91868030e-01 6.09040347e-01 4.48874007e-02 1.65013987e+02] [-6.07964964e-01 7.93138044e-01 -3.62028376e-02 -9.35959861e+01] [-5.76508940e-02 1.37790275e-03 9.98335853e-01 -8.33373478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07864 meters Centerline goodness [0,1] 0.9939018392839579 Centerline is valid? [True, True] Translation: X:165.04, Y:-93.62, Z:-8.33 [[ 7.92060332e-01 6.08842063e-01 4.41788747e-02 1.65039302e+02] [-6.07798226e-01 7.93290232e-01 -3.56640476e-02 -9.36176807e+01] [-5.67604421e-02 1.39623569e-03 9.98386850e-01 -8.33442144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10864 meters Centerline goodness [0,1] 0.9930279373496342 Centerline is valid? [True, True] Translation: X:165.06, Y:-93.64, Z:-8.33 [[ 7.93699088e-01 6.06887215e-01 4.15892575e-02 1.65064248e+02] [-6.05957876e-01 7.94786603e-01 -3.36051758e-02 -9.36378115e+01] [-5.34491362e-02 1.47105925e-03 9.98569490e-01 -8.33425805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13864 meters Centerline goodness [0,1] 0.9933726067746687 Centerline is valid? [True, True] Translation: X:165.09, Y:-93.66, Z:-8.34 [[ 7.94189943e-01 6.06248747e-01 4.15306074e-02 1.65089131e+02] [-6.05319569e-01 7.95273600e-01 -3.35875149e-02 -9.36580258e+01] [-5.33905845e-02 1.53557718e-03 9.98572525e-01 -8.33621037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16864 meters Centerline goodness [0,1] 0.9928357623043329 Centerline is valid? [True, True] Translation: X:165.11, Y:-93.68, Z:-8.34 [[ 7.94225322e-01 6.06205486e-01 4.14855018e-02 1.65114326e+02] [-6.05276632e-01 7.95306527e-01 -3.35816499e-02 -9.36791853e+01] [-5.33510708e-02 1.56119186e-03 9.98574597e-01 -8.33755066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19864 meters Centerline goodness [0,1] 0.9930811129103488 Centerline is valid? [True, True] Translation: X:165.14, Y:-93.70, Z:-8.34 [[ 7.94414633e-01 6.05921613e-01 4.20046445e-02 1.65136882e+02] [-6.04967122e-01 7.95522691e-01 -3.40357053e-02 -9.37024933e+01] [-5.40386173e-02 1.62703344e-03 9.98537521e-01 -8.33886089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22864 meters Centerline goodness [0,1] 0.9934258941274592 Centerline is valid? [True, True] Translation: X:165.16, Y:-93.73, Z:-8.34 [[ 7.94099188e-01 6.06295356e-01 4.25725439e-02 1.65161534e+02] [-6.05313658e-01 7.95237841e-01 -3.45275549e-02 -9.37251796e+01] [-5.47891941e-02 1.64856099e-03 9.98496583e-01 -8.33977070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25864 meters Centerline goodness [0,1] 0.9935217903415783 Centerline is valid? [True, True] Translation: X:165.19, Y:-93.75, Z:-8.34 [[ 7.93613075e-01 6.06934919e-01 4.25239994e-02 1.65187016e+02] [-6.05954469e-01 7.94749864e-01 -3.45229757e-02 -9.37460499e+01] [-5.47491422e-02 1.63027738e-03 9.98498810e-01 -8.34176346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28864000000002 meters Centerline goodness [0,1] 0.9940122699386503 Centerline is valid? [True, True] Translation: X:165.21, Y:-93.77, Z:-8.34 [[ 7.92724035e-01 6.08079216e-01 4.27582900e-02 1.65211420e+02] [-6.07087702e-01 7.93874768e-01 -3.47472968e-02 -9.37666198e+01] [-5.50738366e-02 1.58698531e-03 9.98481023e-01 -8.34309245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31864000000002 meters Centerline goodness [0,1] 0.994849659096483 Centerline is valid? [True, True] Translation: X:165.24, Y:-93.79, Z:-8.34 [[ 7.92020913e-01 6.09011874e-01 4.25136556e-02 1.65235052e+02] [-6.08031362e-01 7.93159614e-01 -3.45787496e-02 -9.37882475e+01] [-5.47789838e-02 1.53745686e-03 9.98497321e-01 -8.34460511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34864000000002 meters Centerline goodness [0,1] 0.995142773035031 Centerline is valid? [True, True] Translation: X:165.26, Y:-93.81, Z:-8.35 [[ 7.91932754e-01 6.09173341e-01 4.18372351e-02 1.65260724e+02] [-6.08222380e-01 7.93035631e-01 -3.40591404e-02 -9.38095465e+01] [-5.39263385e-02 1.52620619e-03 9.98543750e-01 -8.34595400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37864000000002 meters Centerline goodness [0,1] 0.9959774343880304 Centerline is valid? [True, True] Translation: X:165.28, Y:-93.83, Z:-8.35 [[ 7.90961922e-01 6.10439281e-01 4.17507052e-02 1.65284786e+02] [-6.09492215e-01 7.92061704e-01 -3.40220098e-02 -9.38315580e+01] [-5.38375059e-02 1.46338444e-03 9.98548638e-01 -8.34764481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40864000000002 meters Centerline goodness [0,1] 0.996217517315911 Centerline is valid? [True, True] Translation: X:165.31, Y:-93.85, Z:-8.35 [[ 7.90762361e-01 6.10718481e-01 4.14466608e-02 1.65309182e+02] [-6.09784185e-01 7.91846464e-01 -3.37997763e-02 -9.38530776e+01] [-5.34615399e-02 1.45407259e-03 9.98568851e-01 -8.34896320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43864000000002 meters Centerline goodness [0,1] 0.996810598626104 Centerline is valid? [True, True] Translation: X:165.33, Y:-93.87, Z:-8.35 [[ 7.89925281e-01 6.11785274e-01 4.16752799e-02 1.65333954e+02] [-6.10841297e-01 7.91022638e-01 -3.40014229e-02 -9.38735348e+01] [-5.37676597e-02 1.40160148e-03 9.98552490e-01 -8.35022237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46864 meters Centerline goodness [0,1] 0.9972002554152954 Centerline is valid? [True, True] Translation: X:165.36, Y:-93.89, Z:-8.35 [[ 7.87744413e-01 6.14465773e-01 4.34805068e-02 1.65358569e+02] [-6.13440389e-01 7.88942412e-01 -3.55071784e-02 -9.38945528e+01] [-5.61215617e-02 1.29788244e-03 9.98423100e-01 -8.35179948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49864 meters Centerline goodness [0,1] 0.9974959493297982 Centerline is valid? [True, True] Translation: X:165.38, Y:-93.92, Z:-8.35 [[ 7.86927588e-01 6.15551496e-01 4.29106833e-02 1.65383782e+02] [-6.14552995e-01 7.88095714e-01 -3.50679655e-02 -9.39152163e+01] [-5.54038642e-02 1.22506058e-03 9.98463275e-01 -8.35346439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52864 meters Centerline goodness [0,1] 0.9981830681594972 Centerline is valid? [True, True] Translation: X:165.41, Y:-93.94, Z:-8.36 [[ 7.85078586e-01 6.17932265e-01 4.25597190e-02 1.65408358e+02] [-6.16952652e-01 7.86230621e-01 -3.47970482e-02 -9.39358883e+01] [-5.49639731e-02 1.06108591e-03 9.98487774e-01 -8.35615595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55864 meters Centerline goodness [0,1] 0.9982332155477032 Centerline is valid? [True, True] Translation: X:165.43, Y:-93.96, Z:-8.36 [[ 7.85019681e-01 6.17930980e-01 4.36509276e-02 1.65433486e+02] [-6.16898588e-01 7.86231557e-01 -3.57221334e-02 -9.39553520e+01] [-5.63935496e-02 1.11438218e-03 9.98407996e-01 -8.35832254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58864 meters Centerline goodness [0,1] 0.9988216232140227 Centerline is valid? [True, True] Translation: X:165.46, Y:-93.98, Z:-8.36 [[ 7.84424118e-01 6.18628355e-01 4.44720332e-02 1.65459586e+02] [-6.17555842e-01 7.85682966e-01 -3.64288158e-02 -9.39760550e+01] [-5.74768173e-02 1.11167781e-03 9.98346222e-01 -8.35992690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61864 meters Centerline goodness [0,1] 0.999509033778476 Centerline is valid? [True, True] Translation: X:165.49, Y:-94.00, Z:-8.36 [[ 7.85397706e-01 6.17393404e-01 4.44502827e-02 1.65485085e+02] [-6.16318112e-01 7.86653596e-01 -3.64431741e-02 -9.39950589e+01] [-5.74667501e-02 1.22687104e-03 9.98346667e-01 -8.35940519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64864 meters Centerline goodness [0,1] 0.9996066863323501 Centerline is valid? [True, True] Translation: X:165.51, Y:-94.01, Z:-8.36 [[ 7.85662005e-01 6.17024195e-01 4.49038693e-02 1.65511070e+02] [-6.15924924e-01 7.86943133e-01 -3.68373966e-02 -9.40145240e+01] [-5.80663565e-02 1.28433062e-03 9.98311900e-01 -8.36005397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67864 meters Centerline goodness [0,1] 0.9998526522593321 Centerline is valid? [True, True] Translation: X:165.54, Y:-94.03, Z:-8.36 [[ 7.85608861e-01 6.17009760e-01 4.60181770e-02 1.65537057e+02] [-6.15853131e-01 7.86954349e-01 -3.77858822e-02 -9.40331840e+01] [-5.95284627e-02 1.34448549e-03 9.98225703e-01 -8.36199573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.56, Y:-94.05, Z:-8.36 [[ 7.85734313e-01 6.16854108e-01 4.59630200e-02 1.65563435e+02] [-6.15697901e-01 7.87076298e-01 -3.77755965e-02 -9.40531610e+01] [-5.94784355e-02 1.38224741e-03 9.98228634e-01 -8.36375251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.59, Y:-94.07, Z:-8.37 [[ 7.84670340e-01 6.18135403e-01 4.69156777e-02 1.65588946e+02] [-6.16930586e-01 7.86070492e-01 -3.85983518e-02 -9.40744542e+01] [-6.07380376e-02 1.34326523e-03 9.98152837e-01 -8.36567408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.61, Y:-94.10, Z:-8.37 [[ 7.83863127e-01 6.19160995e-01 4.68856157e-02 1.65613448e+02] [-6.17957256e-01 7.85263007e-01 -3.86113818e-02 -9.40954317e+01] [-6.07242011e-02 1.29273203e-03 9.98153746e-01 -8.36693216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.64, Y:-94.12, Z:-8.37 [[ 7.83775256e-01 6.19338991e-01 4.59952416e-02 1.65638730e+02] [-6.18178808e-01 7.85122647e-01 -3.79129293e-02 -9.41159520e+01] [-5.95928612e-02 1.28193219e-03 9.98221943e-01 -8.36804297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:165.66, Y:-94.14, Z:-8.37 [[ 7.83633676e-01 6.19503642e-01 4.61898205e-02 1.65663947e+02] [-6.18331557e-01 7.84992696e-01 -3.81123657e-02 -9.41369715e+01] [-5.98694211e-02 1.30550959e-03 9.98205364e-01 -8.36898425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.69, Y:-94.16, Z:-8.37 [[ 7.82810325e-01 6.20473042e-01 4.71295940e-02 1.65689552e+02] [-6.19252003e-01 7.84226717e-01 -3.89283014e-02 -9.41582818e+01] [-6.11142484e-02 1.28838080e-03 9.98129946e-01 -8.37163456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:165.71, Y:-94.18, Z:-8.37 [[ 7.81665126e-01 6.21828775e-01 4.82556271e-02 1.65714665e+02] [-6.20548597e-01 7.83152239e-01 -3.98999976e-02 -9.41793191e+01] [-6.26024690e-02 1.24347500e-03 9.98037767e-01 -8.37264517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:165.74, Y:-94.20, Z:-8.37 [[ 7.81352968e-01 6.22222525e-01 4.82355521e-02 1.65739943e+02] [-6.20941600e-01 7.82839437e-01 -3.99242558e-02 -9.41998093e+01] [-6.26024637e-02 1.24347489e-03 9.98037767e-01 -8.37401016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.76, Y:-94.22, Z:-8.38 [[ 7.77595686e-01 6.26913392e-01 4.82135676e-02 1.65764481e+02] [-6.25640136e-01 7.79088439e-01 -3.99452827e-02 -9.42200320e+01] [-6.26048658e-02 8.96936523e-04 9.98037988e-01 -8.37504602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.79, Y:-94.24, Z:-8.38 [[ 7.75273847e-01 6.29762834e-01 4.84689065e-02 1.65789772e+02] [-6.28479291e-01 7.76787155e-01 -4.01932401e-02 -9.42400602e+01] [-6.29622328e-02 6.99063856e-04 9.98015665e-01 -8.37760722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.82, Y:-94.26, Z:-8.38 [[ 7.72889583e-01 6.32668148e-01 4.87104451e-02 1.65815693e+02] [-6.31375161e-01 7.74422863e-01 -4.04306197e-02 -9.42597713e+01] [-6.33016477e-02 4.93839680e-04 9.97994317e-01 -8.37917821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.84, Y:-94.28, Z:-8.38 [[ 7.68970537e-01 6.37348793e-01 4.97074275e-02 1.65842891e+02] [-6.36009383e-01 7.70575431e-01 -4.12985397e-02 -9.42786369e+01] [-6.46248969e-02 1.42969976e-04 9.97909616e-01 -8.38055893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.87, Y:-94.30, Z:-8.38 [[ 7.67535301e-01 6.39021303e-01 5.04116551e-02 1.65869749e+02] [-6.37644302e-01 7.69189036e-01 -4.19281761e-02 -9.42984302e+01] [-6.55690901e-02 3.66506796e-05 9.97848031e-01 -8.38296950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.90, Y:-94.32, Z:-8.38 [[ 7.67131235e-01 6.39501234e-01 5.04761429e-02 1.65896885e+02] [-6.38118814e-01 7.68790070e-01 -4.20262784e-02 -9.43177727e+01] [-6.56814143e-02 2.98944500e-05 9.97840644e-01 -8.38413531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.92, Y:-94.34, Z:-8.39 [[ 7.68067127e-01 6.38469471e-01 4.92912006e-02 1.65924981e+02] [-6.37146506e-01 7.69647135e-01 -4.10806158e-02 -9.43350048e+01] [-6.41655504e-02 1.46954286e-04 9.97939257e-01 -8.38535747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15864000000002 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:165.95, Y:-94.35, Z:-8.39 [[ 7.68441132e-01 6.38043810e-01 4.89726765e-02 1.65951880e+02] [-6.36734523e-01 7.70000034e-01 -4.08545588e-02 -9.43541378e+01] [-6.37759609e-02 2.11729571e-04 9.97964219e-01 -8.38631098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.98, Y:-94.37, Z:-8.39 [[ 7.70801482e-01 6.35238489e-01 4.83439462e-02 1.65981601e+02] [-6.33954451e-01 7.72315894e-01 -4.03721829e-02 -9.43704057e+01] [-6.29827625e-02 4.71078577e-04 9.98014504e-01 -8.38759487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:166.01, Y:-94.39, Z:-8.39 [[ 7.71441007e-01 6.34503945e-01 4.77861462e-02 1.66009073e+02] [-6.33245410e-01 7.72919422e-01 -3.99476869e-02 -9.43892272e+01] [-6.22818055e-02 5.56926118e-04 9.98058448e-01 -8.38836506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.04, Y:-94.41, Z:-8.39 [[ 7.71911471e-01 6.33871786e-01 4.85720039e-02 1.66035717e+02] [-6.32567636e-01 7.73437869e-01 -4.06454113e-02 -9.44072867e+01] [-6.33314066e-02 6.49581593e-04 9.97992340e-01 -8.39029588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.06, Y:-94.43, Z:-8.39 [[ 7.72445856e-01 6.33220018e-01 4.85778576e-02 1.66063561e+02] [-6.31911800e-01 7.73971493e-01 -4.06891279e-02 -9.44251499e+01] [-6.33630472e-02 7.33226788e-04 9.97990274e-01 -8.39234288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.09, Y:-94.45, Z:-8.39 [[ 7.72203829e-01 6.33502461e-01 4.87429948e-02 1.66089681e+02] [-6.32183178e-01 7.73740316e-01 -4.08699462e-02 -9.44461818e+01] [-6.36056317e-02 7.45427562e-04 9.97974833e-01 -8.39379078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.12, Y:-94.47, Z:-8.39 [[ 7.72692273e-01 6.32977064e-01 4.78193143e-02 1.66115558e+02] [-6.31703791e-01 7.74170128e-01 -4.01364325e-02 -9.44662378e+01] [-6.24257259e-02 8.05469140e-04 9.98049287e-01 -8.39479081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36864 meters Centerline goodness [0,1] 0.999901941557168 Centerline is valid? [True, True] Translation: X:166.14, Y:-94.49, Z:-8.40 [[ 7.72536754e-01 6.33196191e-01 4.74293936e-02 1.66142179e+02] [-6.31941481e-01 7.73990906e-01 -3.98502442e-02 -9.44865387e+01] [-6.19429422e-02 8.13177068e-04 9.98079361e-01 -8.39516277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.17, Y:-94.51, Z:-8.40 [[ 7.73324438e-01 6.32245514e-01 4.72749851e-02 1.66169620e+02] [-6.30994654e-01 7.74767557e-01 -3.97615371e-02 -9.45057909e+01] [-6.17661782e-02 9.18305417e-04 9.98090224e-01 -8.39736165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.20, Y:-94.53, Z:-8.40 [[ 7.73606702e-01 6.31968232e-01 4.63554014e-02 1.66195269e+02] [-6.30762706e-01 7.74993707e-01 -3.90277315e-02 -9.45267646e+01] [-6.05894309e-02 9.52856248e-04 9.98162318e-01 -8.39825469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.22, Y:-94.55, Z:-8.40 [[ 7.73694458e-01 6.31875878e-01 4.61493373e-02 1.66220928e+02] [-6.30678485e-01 7.75068966e-01 -3.88940476e-02 -9.45480149e+01] [-6.03451296e-02 9.86714987e-04 9.98177084e-01 -8.39953769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:166.25, Y:-94.57, Z:-8.40 [[ 7.73899990e-01 6.31541842e-01 4.72621039e-02 1.66246533e+02] [-6.30282858e-01 7.75341061e-01 -3.98717803e-02 -9.45677150e+01] [-6.18249473e-02 1.06827653e-03 9.98086436e-01 -8.40079980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.27, Y:-94.59, Z:-8.40 [[ 7.73485935e-01 6.32096141e-01 4.66259187e-02 1.66271290e+02] [-6.30869734e-01 7.74889278e-01 -3.93698614e-02 -9.45876434e+01] [-6.10154619e-02 1.03715317e-03 9.98136282e-01 -8.40272890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54864 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:166.30, Y:-94.61, Z:-8.40 [[ 7.71970282e-01 6.33993104e-01 4.59850804e-02 1.66295993e+02] [-6.32801487e-01 7.73338174e-01 -3.88631781e-02 -9.46081643e+01] [-6.02010050e-02 9.01791271e-04 9.98185867e-01 -8.40277904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:166.32, Y:-94.63, Z:-8.40 [[ 7.70979970e-01 6.35161053e-01 4.64792679e-02 1.66321695e+02] [-6.33943521e-01 7.72379258e-01 -3.93178594e-02 -9.46287879e+01] [-6.08727954e-02 8.48051382e-04 9.98145172e-01 -8.40404777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:166.35, Y:-94.65, Z:-8.41 [[ 7.68862413e-01 6.37619170e-01 4.78788453e-02 1.66348845e+02] [-6.36329203e-01 7.70351410e-01 -4.05444287e-02 -9.46474492e+01] [-6.27354410e-02 7.06379844e-04 9.98029942e-01 -8.40658076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.38, Y:-94.67, Z:-8.41 [[ 7.67694194e-01 6.38960692e-01 4.87325277e-02 1.66375244e+02] [-6.37624200e-01 7.69239120e-01 -4.13104768e-02 -9.46667075e+01] [-6.38827376e-02 6.40774152e-04 9.97957206e-01 -8.40912829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.40, Y:-94.69, Z:-8.41 [[ 7.66740788e-01 6.40152421e-01 4.80982558e-02 1.66401040e+02] [-6.38850336e-01 7.68247719e-01 -4.08128634e-02 -9.46856818e+01] [-6.30778287e-02 5.65300121e-04 9.98008451e-01 -8.40961540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:166.43, Y:-94.70, Z:-8.41 [[ 7.65918556e-01 6.41062699e-01 4.90650748e-02 1.66428593e+02] [-6.39706968e-01 7.67488329e-01 -4.16732613e-02 -9.47038154e+01] [-6.43720456e-02 5.31053881e-04 9.97925828e-01 -8.41222406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:166.46, Y:-94.72, Z:-8.41 [[ 7.65891456e-01 6.41080401e-01 4.92564479e-02 1.66455738e+02] [-6.39711284e-01 7.67473518e-01 -4.18792721e-02 -9.47228579e+01] [-6.46509999e-02 5.65071156e-04 9.97907776e-01 -8.41434867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.48, Y:-94.74, Z:-8.42 [[ 7.67428490e-01 6.39303308e-01 4.84230707e-02 1.66484289e+02] [-6.37973954e-01 7.68954316e-01 -4.12127855e-02 -9.47403948e+01] [-6.35825993e-02 7.35207789e-04 9.97976309e-01 -8.41521794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.51, Y:-94.76, Z:-8.42 [[ 7.68324482e-01 6.38239415e-01 4.82487268e-02 1.66510982e+02] [-6.36914854e-01 7.69837464e-01 -4.11065405e-02 -9.47606647e+01] [-6.33794918e-02 8.52830634e-04 9.97989135e-01 -8.41618525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.54, Y:-94.78, Z:-8.42 [[ 7.69664294e-01 6.36645465e-01 4.79523393e-02 1.66537074e+02] [-6.35331584e-01 7.71155973e-01 -4.08930754e-02 -9.47789489e+01] [-6.30131239e-02 1.00830430e-03 9.98012189e-01 -8.41808245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.56, Y:-94.80, Z:-8.42 [[ 7.69888200e-01 6.36421946e-01 4.73208828e-02 1.66563327e+02] [-6.35139841e-01 7.71340407e-01 -4.03900768e-02 -9.47993747e+01] [-6.22056403e-02 1.04046549e-03 9.98062812e-01 -8.41901836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87864000000002 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:166.59, Y:-94.82, Z:-8.42 [[ 7.70397391e-01 6.35746016e-01 4.81130362e-02 1.66587787e+02] [-6.34416718e-01 7.71897463e-01 -4.11063822e-02 -9.48197886e+01] [-6.32715493e-02 1.14453511e-03 9.97995692e-01 -8.42052794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.61, Y:-94.84, Z:-8.42 [[ 7.70147190e-01 6.36077465e-01 4.77363999e-02 1.66613323e+02] [-6.34767197e-01 7.71624368e-01 -4.08220652e-02 -9.48410615e+01] [-6.28005651e-02 1.13749806e-03 9.98025448e-01 -8.42165834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93864000000002 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:166.64, Y:-94.86, Z:-8.42 [[ 7.69927024e-01 6.36375390e-01 4.73153247e-02 1.66637955e+02] [-6.35086190e-01 7.71378685e-01 -4.05025388e-02 -9.48626092e+01] [-6.22728519e-02 1.13468985e-03 9.98058518e-01 -8.42233018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96864 meters Centerline goodness [0,1] 0.9998528834837191 Centerline is valid? [True, True] Translation: X:166.66, Y:-94.88, Z:-8.42 [[ 7.70091940e-01 6.36170979e-01 4.73802639e-02 1.66661876e+02] [-6.34875612e-01 7.71547207e-01 -4.05939080e-02 -9.48846158e+01] [-6.23807765e-02 1.18046730e-03 9.98051725e-01 -8.42439233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99864 meters Centerline goodness [0,1] 0.999901772997397 Centerline is valid? [True, True] Translation: X:166.69, Y:-94.91, Z:-8.43 [[ 7.70007130e-01 6.36269439e-01 4.74364885e-02 1.66686420e+02] [-6.34969262e-01 7.71465986e-01 -4.06727028e-02 -9.49060376e+01] [-6.24744352e-02 1.19755902e-03 9.98045846e-01 -8.42614427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.71, Y:-94.93, Z:-8.43 [[ 7.69740625e-01 6.36662174e-01 4.64827445e-02 1.66711563e+02] [-6.35412199e-01 7.71141948e-01 -3.98927745e-02 -9.49263329e+01] [-6.12430147e-02 1.17138629e-03 9.98122197e-01 -8.42612795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.74, Y:-94.95, Z:-8.43 [[ 7.69950339e-01 6.36423318e-01 4.62799851e-02 1.66736680e+02] [-6.35181621e-01 7.71339024e-01 -3.97544844e-02 -9.49470883e+01] [-6.09982394e-02 1.21278278e-03 9.98137137e-01 -8.42703707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.76, Y:-94.97, Z:-8.43 [[ 7.69801708e-01 6.36634302e-01 4.58486096e-02 1.66761620e+02] [-6.35413754e-01 7.71164892e-01 -3.94216963e-02 -9.49691987e+01] [-6.04540422e-02 1.21405200e-03 9.98170243e-01 -8.42890487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11864 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:166.79, Y:-94.99, Z:-8.43 [[ 7.70876413e-01 6.35372604e-01 4.52902885e-02 1.66785911e+02] [-6.34177218e-01 7.72204569e-01 -3.89789685e-02 -9.49911060e+01] [-5.97395364e-02 1.32589822e-03 9.98213118e-01 -8.42930429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14864 meters Centerline goodness [0,1] 0.9999017874680809 Centerline is valid? [True, True] Translation: X:166.81, Y:-95.01, Z:-8.43 [[ 7.70894719e-01 6.35319525e-01 4.57212558e-02 1.66810500e+02] [-6.34099074e-01 7.72248164e-01 -3.93844972e-02 -9.50121701e+01] [-6.03298958e-02 1.36949499e-03 9.98177553e-01 -8.43065581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.84, Y:-95.03, Z:-8.43 [[ 7.69650551e-01 6.36740689e-01 4.68969545e-02 1.66835814e+02] [-6.35456901e-01 7.71076879e-01 -4.04347970e-02 -9.50339649e+01] [-6.19076378e-02 1.31967042e-03 9.98081010e-01 -8.43162174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.86, Y:-95.06, Z:-8.43 [[ 7.68908110e-01 6.37724595e-01 4.56909178e-02 1.66859895e+02] [-6.36505537e-01 7.70263468e-01 -3.94321036e-02 -9.50555607e+01] [-6.03408671e-02 1.23714209e-03 9.98177063e-01 -8.43288554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.88, Y:-95.08, Z:-8.43 [[ 7.67883241e-01 6.38914989e-01 4.62921629e-02 1.66884489e+02] [-6.37663496e-01 7.69276431e-01 -3.99879891e-02 -9.50777118e+01] [-6.11603955e-02 1.18728425e-03 9.98127245e-01 -8.43407769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.91, Y:-95.10, Z:-8.44 [[ 7.66824055e-01 6.40164122e-01 4.65914720e-02 1.66909434e+02] [-6.38896150e-01 7.68237351e-01 -4.02874836e-02 -9.50996797e+01] [-6.15839107e-02 1.12629947e-03 9.98101274e-01 -8.43507715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:166.93, Y:-95.12, Z:-8.44 [[ 7.66272056e-01 6.40754992e-01 4.75413200e-02 1.66934288e+02] [-6.39433203e-01 7.67744590e-01 -4.11512327e-02 -9.51212103e+01] [-6.28674490e-02 1.13354118e-03 9.98021242e-01 -8.43662901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32864 meters Centerline goodness [0,1] 0.9999018693881556 Centerline is valid? [True, True] Translation: X:166.96, Y:-95.14, Z:-8.44 [[ 7.66994450e-01 6.39940456e-01 4.68585695e-02 1.66958122e+02] [-6.38652349e-01 7.68423541e-01 -4.06009793e-02 -9.51436715e+01] [-6.19894371e-02 1.21439036e-03 9.98076067e-01 -8.43589593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.98, Y:-95.17, Z:-8.44 [[ 7.67270755e-01 6.39628493e-01 4.65937696e-02 1.66982449e+02] [-6.38351843e-01 7.68683156e-01 -4.04120165e-02 -9.51655230e+01] [-6.16645230e-02 1.26373971e-03 9.98096132e-01 -8.43681384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.01, Y:-95.19, Z:-8.44 [[ 7.67325140e-01 6.39541713e-01 4.68884433e-02 1.67006446e+02] [-6.38246132e-01 7.68755279e-01 -4.07086594e-02 -9.51876405e+01] [-6.20806241e-02 1.31041015e-03 9.98070278e-01 -8.43715358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.03, Y:-95.21, Z:-8.44 [[ 7.66732439e-01 6.40248826e-01 4.69340727e-02 1.67031035e+02] [-6.38949493e-01 7.68166510e-01 -4.07892024e-02 -9.52093324e+01] [-6.21684218e-02 1.28590273e-03 9.98064844e-01 -8.43824590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44864 meters Centerline goodness [0,1] 0.9998526450218577 Centerline is valid? [True, True] Translation: X:167.06, Y:-95.23, Z:-8.44 [[ 7.65274123e-01 6.42005122e-01 4.67433286e-02 1.67055255e+02] [-6.40717635e-01 7.66699465e-01 -4.06551654e-02 -9.52312741e+01] [-6.19389095e-02 1.16307111e-03 9.98079265e-01 -8.43954727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47864 meters Centerline goodness [0,1] 0.9998033334972221 Centerline is valid? [True, True] Translation: X:167.08, Y:-95.25, Z:-8.44 [[ 7.61697196e-01 6.46393091e-01 4.46469815e-02 1.67079223e+02] [-6.45225387e-01 7.63004170e-01 -3.88437355e-02 -9.52535640e+01] [-5.91741553e-02 7.79798469e-04 9.98247370e-01 -8.43974523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.10, Y:-95.27, Z:-8.44 [[ 7.60147432e-01 6.48204953e-01 4.47908629e-02 1.67103974e+02] [-6.47031709e-01 7.61465633e-01 -3.89879150e-02 -9.52742596e+01] [-5.93788623e-02 6.55454881e-04 9.98235303e-01 -8.44120333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.13, Y:-95.29, Z:-8.44 [[ 7.58431423e-01 6.50273561e-01 4.38870435e-02 1.67128861e+02] [-6.49148707e-01 7.59699964e-01 -3.82350618e-02 -9.52947387e+01] [-5.82042352e-02 5.09454740e-04 9.98304566e-01 -8.44214921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56864000000002 meters Centerline goodness [0,1] 0.9998527535093747 Centerline is valid? [True, True] Translation: X:167.15, Y:-95.32, Z:-8.44 [[ 7.58475320e-01 6.50268724e-01 4.31946261e-02 1.67153841e+02] [-6.49177104e-01 7.59704092e-01 -3.76666902e-02 -9.53158755e+01] [-5.73086047e-02 5.28292620e-04 9.98356372e-01 -8.44215321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59864000000002 meters Centerline goodness [0,1] 0.9998035652899867 Centerline is valid? [True, True] Translation: X:167.18, Y:-95.34, Z:-8.44 [[ 7.58585322e-01 6.50181902e-01 4.25652774e-02 1.67179140e+02] [-6.49119610e-01 7.59778379e-01 -3.71557129e-02 -9.53371082e+01] [-5.64981495e-02 5.55822195e-04 9.98402549e-01 -8.44265095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62864000000002 meters Centerline goodness [0,1] 0.9998528185252417 Centerline is valid? [True, True] Translation: X:167.20, Y:-95.36, Z:-8.44 [[ 7.59392231e-01 6.49249481e-01 4.24093300e-02 1.67204592e+02] [-6.48191358e-01 7.60575234e-01 -3.70577561e-02 -9.53576534e+01] [-5.63152150e-02 6.52010816e-04 9.98412826e-01 -8.44446477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65864000000002 meters Centerline goodness [0,1] 0.9998037195151872 Centerline is valid? [True, True] Translation: X:167.23, Y:-95.38, Z:-8.45 [[ 7.58996194e-01 6.49695611e-01 4.26660336e-02 1.67230069e+02] [-6.48623141e-01 7.60194178e-01 -3.73206780e-02 -9.53792625e+01] [-5.66815510e-02 6.52075796e-04 9.98392096e-01 -8.44599475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68864000000002 meters Centerline goodness [0,1] 0.9998527245949926 Centerline is valid? [True, True] Translation: X:167.26, Y:-95.40, Z:-8.45 [[ 7.57591063e-01 6.51370147e-01 4.21036006e-02 1.67255575e+02] [-6.50326335e-01 7.58759930e-01 -3.68649815e-02 -9.53994738e+01] [-5.59592735e-02 5.47500266e-04 9.98432902e-01 -8.44591021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71864 meters Centerline goodness [0,1] 0.9999018790168277 Centerline is valid? [True, True] Translation: X:167.28, Y:-95.42, Z:-8.45 [[ 7.55741112e-01 6.53563965e-01 4.13462821e-02 1.67281102e+02] [-6.52558901e-01 7.56871179e-01 -3.62339416e-02 -9.54196765e+01] [-5.49750078e-02 4.02594861e-04 9.98487650e-01 -8.44642481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74864 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:167.31, Y:-95.44, Z:-8.45 [[ 7.53877327e-01 6.55729994e-01 4.10749387e-02 1.67305913e+02] [-6.54739518e-01 7.54995433e-01 -3.60286072e-02 -9.54397030e+01] [-5.46364295e-02 2.67764579e-04 9.98506279e-01 -8.44728009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77864 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:167.33, Y:-95.46, Z:-8.45 [[ 7.53536350e-01 6.56122855e-01 4.10581030e-02 1.67330598e+02] [-6.55131917e-01 7.54654046e-01 -3.60477850e-02 -9.54609324e+01] [-5.46364392e-02 2.64842587e-04 9.98506279e-01 -8.44864498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:167.36, Y:-95.48, Z:-8.45 [[ 7.51944439e-01 6.57851956e-01 4.25483779e-02 1.67355789e+02] [-6.56788623e-01 7.53147247e-01 -3.73888889e-02 -9.54808299e+01] [-5.66415473e-02 1.69076558e-04 9.98394565e-01 -8.44978897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:167.38, Y:-95.50, Z:-8.45 [[ 7.52271684e-01 6.57438611e-01 4.31484232e-02 1.67380709e+02] [-6.56343368e-01 7.53508080e-01 -3.79335855e-02 -9.55017555e+01] [-5.74516893e-02 2.16180882e-04 9.98348264e-01 -8.45151231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.41, Y:-95.52, Z:-8.45 [[ 7.53355390e-01 6.56262545e-01 4.21322643e-02 1.67406313e+02] [-6.55214449e-01 7.54532548e-01 -3.70764131e-02 -9.55232143e+01] [-5.61220259e-02 3.26047384e-04 9.98423864e-01 -8.45246295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89864 meters Centerline goodness [0,1] 0.9999019078915101 Centerline is valid? [True, True] Translation: X:167.43, Y:-95.54, Z:-8.45 [[ 7.54539984e-01 6.54882123e-01 4.24124804e-02 1.67430757e+02] [-6.53816061e-01 7.55730903e-01 -3.73545218e-02 -9.55434243e+01] [-5.65152306e-02 4.55519392e-04 9.98401633e-01 -8.45375128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.46, Y:-95.56, Z:-8.46 [[ 7.55217404e-01 6.54079432e-01 4.27407248e-02 1.67456387e+02] [-6.52994507e-01 7.56425682e-01 -3.76611399e-02 -9.55643672e+01] [-5.69635589e-02 5.32889802e-04 9.98376116e-01 -8.45522263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.48, Y:-95.58, Z:-8.46 [[ 7.56760596e-01 6.52239986e-01 4.35476846e-02 1.67481683e+02] [-6.51108381e-01 7.58012197e-01 -3.84107426e-02 -9.55847368e+01] [-5.80626983e-02 7.13474020e-04 9.98312683e-01 -8.45578859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98864 meters Centerline goodness [0,1] 0.9999509683746016 Centerline is valid? [True, True] Translation: X:167.51, Y:-95.61, Z:-8.46 [[ 7.57194448e-01 6.51703635e-01 4.40333968e-02 1.67505877e+02] [-6.50544074e-01 7.58473307e-01 -3.88670868e-02 -9.56054020e+01] [-5.87279778e-02 7.84277013e-04 9.98273715e-01 -8.45696792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01864 meters Centerline goodness [0,1] 0.9999018790168277 Centerline is valid? [True, True] Translation: X:167.53, Y:-95.63, Z:-8.46 [[ 7.57750039e-01 6.51059632e-01 4.40026588e-02 1.67530237e+02] [-6.49899522e-01 7.59026111e-01 -3.88583872e-02 -9.56271123e+01] [-5.86982943e-02 8.47637515e-04 9.98275409e-01 -8.45920854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04864 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:167.55, Y:-95.65, Z:-8.46 [[ 7.58485416e-01 6.50272318e-01 4.29626065e-02 1.67554484e+02] [-6.49163342e-01 7.59700653e-01 -3.79720194e-02 -9.56499735e+01] [-5.73308733e-02 9.11473717e-04 9.98354817e-01 -8.45907366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:167.58, Y:-95.67, Z:-8.46 [[ 7.58154647e-01 6.50552352e-01 4.45327841e-02 1.67576903e+02] [-6.49359857e-01 7.59460830e-01 -3.93830311e-02 -9.56731939e+01] [-5.94416287e-02 9.40625663e-04 9.98231340e-01 -8.46196000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.60, Y:-95.70, Z:-8.46 [[ 7.57482045e-01 6.51283402e-01 4.52866638e-02 1.67601484e+02] [-6.50049165e-01 7.58834021e-01 -4.00875530e-02 -9.56959146e+01] [-6.04734191e-02 9.27043648e-04 9.98169378e-01 -8.46345079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:167.62, Y:-95.72, Z:-8.47 [[ 7.55931677e-01 6.52992017e-01 4.65695783e-02 1.67624486e+02] [-6.51687369e-01 7.57364319e-01 -4.12657488e-02 -9.57197027e+01] [-6.22163415e-02 8.45280776e-04 9.98062329e-01 -8.46527045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16864 meters Centerline goodness [0,1] 0.9999016038571288 Centerline is valid? [True, True] Translation: X:167.65, Y:-95.74, Z:-8.47 [[ 7.54836776e-01 6.54254196e-01 4.66142405e-02 1.67648175e+02] [-6.52946835e-01 7.56274321e-01 -4.13471001e-02 -9.57424723e+01] [-6.23046668e-02 7.73690964e-04 9.98056877e-01 -8.46646377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.67, Y:-95.76, Z:-8.47 [[ 7.52388736e-01 6.57043429e-01 4.69587259e-02 1.67671440e+02] [-6.55719492e-01 7.53852504e-01 -4.16935267e-02 -9.57649780e+01] [-6.27944109e-02 5.77987978e-04 9.98026316e-01 -8.46831220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:167.70, Y:-95.79, Z:-8.47 [[ 7.51019533e-01 6.58522248e-01 4.81467502e-02 1.67696480e+02] [-6.57130806e-01 7.52561095e-01 -4.27890455e-02 -9.57871660e+01] [-6.44109095e-02 4.96696235e-04 9.97923338e-01 -8.47001000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.72, Y:-95.81, Z:-8.47 [[ 7.49584990e-01 6.60126547e-01 4.85312765e-02 1.67721663e+02] [-6.58713228e-01 7.51154302e-01 -4.31751973e-02 -9.58088767e+01] [-6.49555710e-02 3.95285969e-04 9.97888079e-01 -8.47168892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.75, Y:-95.83, Z:-8.47 [[ 7.47161217e-01 6.62790318e-01 4.95894129e-02 1.67747116e+02] [-6.61317399e-01 7.48805017e-01 -4.41626958e-02 -9.58293162e+01] [-6.64034084e-02 2.02312006e-04 9.97792837e-01 -8.47452788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.77, Y:-95.85, Z:-8.48 [[ 7.46309721e-01 6.63805040e-01 4.88330738e-02 1.67771962e+02] [-6.62376125e-01 7.47905642e-01 -4.35318274e-02 -9.58499279e+01] [-6.54191778e-02 1.42363827e-04 9.97857861e-01 -8.47554892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.80, Y:-95.87, Z:-8.48 [[ 7.46414277e-01 6.63753669e-01 4.79248725e-02 1.67797559e+02] [-6.62374906e-01 7.47951226e-01 -4.27603371e-02 -9.58697525e+01] [-6.42277978e-02 1.72693157e-04 9.97935248e-01 -8.47734783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.82, Y:-95.89, Z:-8.48 [[ 7.46519532e-01 6.63577917e-01 4.87127997e-02 1.67822851e+02] [-6.62150434e-01 7.48107145e-01 -4.35029109e-02 -9.58895683e+01] [-6.53099645e-02 2.20571194e-04 9.97865001e-01 -8.47889586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.85, Y:-95.91, Z:-8.48 [[ 7.46234776e-01 6.63843733e-01 4.94485283e-02 1.67848395e+02] [-6.62370669e-01 7.47871276e-01 -4.42001288e-02 -9.59089874e+01] [-6.63231124e-02 2.30418405e-04 9.97798172e-01 -8.48059409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.88, Y:-95.93, Z:-8.48 [[ 7.45985118e-01 6.64022407e-01 5.07980989e-02 1.67875328e+02] [-6.62465385e-01 7.47712632e-01 -4.54470432e-02 -9.59265041e+01] [-6.81602352e-02 2.50835779e-04 9.97674355e-01 -8.48160407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46864 meters Centerline goodness [0,1] 0.9999015020930805 Centerline is valid? [True, True] Translation: X:167.90, Y:-95.95, Z:-8.48 [[ 7.45186347e-01 6.64924399e-01 5.07232855e-02 1.67901552e+02] [-6.63371223e-01 7.46910640e-01 -4.54215438e-02 -9.59466695e+01] [-6.80876543e-02 1.99146383e-04 9.97679323e-01 -8.48305027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.93, Y:-95.96, Z:-8.48 [[ 7.44121672e-01 6.66177103e-01 4.99099688e-02 1.67928830e+02] [-6.64673267e-01 7.45793573e-01 -4.47369355e-02 -9.59638484e+01] [-6.70252561e-02 1.15901246e-04 9.97751272e-01 -8.48421222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.95, Y:-95.98, Z:-8.49 [[ 7.42856273e-01 6.67600628e-01 4.97389090e-02 1.67954909e+02] [-6.66107418e-01 7.44519578e-01 -4.46262945e-02 -9.59844997e+01] [-6.68241337e-02 1.94665710e-05 9.97764769e-01 -8.48641369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.98, Y:-96.01, Z:-8.49 [[ 7.42155686e-01 6.68416624e-01 4.92357131e-02 1.67980823e+02] [-6.66952258e-01 7.43787078e-01 -4.42206798e-02 -9.60051830e+01] [-6.61787246e-02 -1.92410951e-05 9.97807785e-01 -8.48800761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:168.01, Y:-96.02, Z:-8.49 [[ 7.41499799e-01 6.69075927e-01 5.01542788e-02 1.68006922e+02] [-6.67555549e-01 7.43194053e-01 -4.50798061e-02 -9.60238441e+01] [-6.74361748e-02 -5.40998985e-05 9.97723589e-01 -8.48837644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.03, Y:-96.04, Z:-8.49 [[ 7.41558117e-01 6.69011491e-01 5.01516163e-02 1.68032896e+02] [-6.67490179e-01 7.43252060e-01 -4.50914237e-02 -9.60446571e+01] [-6.74419726e-02 -3.78001267e-05 9.97723198e-01 -8.48992468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.06, Y:-96.07, Z:-8.49 [[ 7.41646203e-01 6.68925440e-01 4.99966523e-02 1.68057860e+02] [-6.67412137e-01 7.43329507e-01 -4.49698049e-02 -9.60655747e+01] [-6.72454334e-02 -1.66874801e-05 9.97736464e-01 -8.49168304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:168.08, Y:-96.09, Z:-8.49 [[ 7.42076534e-01 6.68411848e-01 5.04778966e-02 1.68082763e+02] [-6.66866982e-01 7.43791368e-01 -4.54183733e-02 -9.60857123e+01] [-6.79032027e-02 4.18664705e-05 9.97691913e-01 -8.49475363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.11, Y:-96.11, Z:-8.50 [[ 7.41815728e-01 6.68647516e-01 5.11852014e-02 1.68107325e+02] [-6.67058726e-01 7.43579517e-01 -4.60668797e-02 -9.61065685e+01] [-6.88627721e-02 2.96006788e-05 9.97626141e-01 -8.49580396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.13, Y:-96.13, Z:-8.50 [[ 7.41482694e-01 6.69026689e-01 5.10558997e-02 1.68131907e+02] [-6.67445839e-01 7.43238380e-01 -4.59647856e-02 -9.61278613e+01] [-6.86983726e-02 5.04522874e-06 9.97637476e-01 -8.49789928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.16, Y:-96.15, Z:-8.50 [[ 7.41346058e-01 6.69171762e-01 5.11387753e-02 1.68155536e+02] [-6.67584869e-01 7.43107766e-01 -4.60574717e-02 -9.61503181e+01] [-6.88219806e-02 5.05252885e-06 9.97628957e-01 -8.49942225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.18, Y:-96.17, Z:-8.50 [[ 7.41227381e-01 6.69311208e-01 5.10340711e-02 1.68180011e+02] [-6.67729910e-01 7.42982171e-01 -4.59810901e-02 -9.61731557e+01] [-6.86930639e-02 5.46727938e-06 9.97637842e-01 -8.50068643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.20, Y:-96.20, Z:-8.50 [[ 7.42084209e-01 6.68371806e-01 5.08935681e-02 1.68203700e+02] [-6.66795773e-01 7.43827344e-01 -4.58724282e-02 -9.61959084e+01] [-6.85158653e-02 1.05588544e-04 9.97650021e-01 -8.50234208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.23, Y:-96.22, Z:-8.50 [[ 7.42172428e-01 6.68348172e-01 4.99079868e-02 1.68227253e+02] [-6.66830848e-01 7.43848577e-01 -4.50101670e-02 -9.62185139e+01] [-6.72064478e-02 1.25119742e-04 9.97739083e-01 -8.50373624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.25, Y:-96.24, Z:-8.51 [[ 7.42024169e-01 6.68490737e-01 5.02022636e-02 1.68250677e+02] [-6.66952840e-01 7.43720454e-01 -4.53188258e-02 -9.62420231e+01] [-6.76316655e-02 1.45121798e-04 9.97710347e-01 -8.50603723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:168.27, Y:-96.26, Z:-8.51 [[ 7.41074740e-01 6.69567392e-01 4.98772179e-02 1.68274982e+02] [-6.68048675e-01 7.42751305e-01 -4.50717954e-02 -9.62649265e+01] [-6.72249732e-02 8.11597542e-05 9.97737840e-01 -8.50731390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:168.30, Y:-96.29, Z:-8.51 [[ 7.40101777e-01 6.70682374e-01 4.93407923e-02 1.68298090e+02] [-6.69195746e-01 7.41744669e-01 -4.46307152e-02 -9.62867633e+01] [-6.65313037e-02 1.26232611e-05 9.97784338e-01 -8.50809721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.32, Y:-96.31, Z:-8.51 [[ 7.39029296e-01 6.71924751e-01 4.85059611e-02 1.68320460e+02] [-6.70488154e-01 7.40619419e-01 -4.39148190e-02 -9.63104916e+01] [-6.54319106e-02 -6.83345399e-05 9.97857034e-01 -8.50887783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.34, Y:-96.33, Z:-8.51 [[ 7.38295471e-01 6.72615789e-01 5.00779115e-02 1.68342997e+02] [-6.71083203e-01 7.39991885e-01 -4.53800069e-02 -9.63335689e+01] [-6.75805573e-02 -1.02591674e-04 9.97713816e-01 -8.51124598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:-96.36, Z:-8.51 [[ 7.38262610e-01 6.72644718e-01 5.01737100e-02 1.68367421e+02] [-6.71103356e-01 7.39965592e-01 -4.55105325e-02 -9.63554545e+01] [-6.77392383e-02 -7.30206045e-05 9.97703057e-01 -8.51228483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.39, Y:-96.38, Z:-8.51 [[ 7.38484711e-01 6.72388465e-01 5.03396865e-02 1.68392065e+02] [-6.70833035e-01 7.40198454e-01 -4.57087216e-02 -9.63781504e+01] [-6.79953753e-02 -1.43326521e-05 9.97685636e-01 -8.51425073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.41, Y:-96.40, Z:-8.52 [[ 7.39272414e-01 6.71552958e-01 4.99291731e-02 1.68414607e+02] [-6.70017749e-01 7.40956554e-01 -4.53828259e-02 -9.64018524e+01] [-6.74723190e-02 9.68391196e-05 9.97721142e-01 -8.51548319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.44, Y:-96.42, Z:-8.52 [[ 7.39834432e-01 6.71000065e-01 4.90298551e-02 1.68438016e+02] [-6.69515631e-01 7.41457269e-01 -4.46087222e-02 -9.64241606e+01] [-6.62859980e-02 1.76814324e-04 9.97800649e-01 -8.51632850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.46, Y:-96.45, Z:-8.52 [[ 7.40199326e-01 6.70624237e-01 4.86630259e-02 1.68461760e+02] [-6.69158397e-01 7.41797193e-01 -4.43166443e-02 -9.64467532e+01] [-6.58179118e-02 2.39877925e-04 9.97831622e-01 -8.51744488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.49, Y:-96.47, Z:-8.52 [[ 7.39611205e-01 6.71262263e-01 4.88081977e-02 1.68485571e+02] [-6.69786004e-01 7.41219891e-01 -4.44947392e-02 -9.64699579e+01] [-6.60452463e-02 2.17759973e-04 9.97816605e-01 -8.51936943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.51, Y:-96.49, Z:-8.52 [[ 7.39130018e-01 6.71769409e-01 4.91190184e-02 1.68509186e+02] [-6.70272289e-01 7.40760297e-01 -4.48245605e-02 -9.64936990e+01] [-6.64971872e-02 2.08061281e-04 9.97786591e-01 -8.52098425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24864 meters Centerline goodness [0,1] 0.9995091301786766 Centerline is valid? [True, True] Translation: X:168.53, Y:-96.52, Z:-8.52 [[ 7.38084824e-01 6.72877803e-01 4.96614027e-02 1.68530516e+02] [-6.71346716e-01 7.39753636e-01 -4.53667830e-02 -9.65189519e+01] [-6.72635045e-02 1.44514393e-04 9.97735235e-01 -8.52311850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27864 meters Centerline goodness [0,1] 0.9995583038869258 Centerline is valid? [True, True] Translation: X:168.55, Y:-96.54, Z:-8.52 [[ 7.37577280e-01 6.73426562e-01 4.97636578e-02 1.68553554e+02] [-6.71887215e-01 7.39254117e-01 -4.55073713e-02 -9.65430512e+01] [-6.74338615e-02 1.29637722e-04 9.97723738e-01 -8.52484150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30864 meters Centerline goodness [0,1] 0.998920563269712 Centerline is valid? [True, True] Translation: X:168.57, Y:-96.57, Z:-8.53 [[ 7.37599584e-01 6.73479373e-01 4.87071654e-02 1.68574153e+02] [-6.72002005e-01 7.39206000e-01 -4.45846949e-02 -9.65677852e+01] [-6.60315013e-02 1.54339634e-04 9.97817527e-01 -8.52550929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33864 meters Centerline goodness [0,1] 0.9990182121643513 Centerline is valid? [True, True] Translation: X:168.60, Y:-96.59, Z:-8.53 [[ 7.37334246e-01 6.73799992e-01 4.82885078e-02 1.68596927e+02] [-6.72345870e-01 7.38913761e-01 -4.42434746e-02 -9.65913823e+01] [-6.54922958e-02 1.55650205e-04 9.97853063e-01 -8.52639776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36864 meters Centerline goodness [0,1] 0.998769927179689 Centerline is valid? [True, True] Translation: X:168.62, Y:-96.62, Z:-8.53 [[ 7.36694982e-01 6.74505941e-01 4.81896151e-02 1.68618507e+02] [-6.73056279e-01 7.38269408e-01 -4.41987066e-02 -9.66160011e+01] [-6.53892088e-02 1.26642336e-04 9.97859827e-01 -8.52844487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39864 meters Centerline goodness [0,1] 0.9985760581361092 Centerline is valid? [True, True] Translation: X:168.64, Y:-96.64, Z:-8.53 [[ 7.36839046e-01 6.74450220e-01 4.67452779e-02 1.68641367e+02] [-6.73083466e-01 7.38320307e-01 -4.29158703e-02 -9.66392300e+01] [-6.34576061e-02 1.58615231e-04 9.97984522e-01 -8.52922324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42864 meters Centerline goodness [0,1] 0.9986752367401011 Centerline is valid? [True, True] Translation: X:168.66, Y:-96.66, Z:-8.53 [[ 7.36088075e-01 6.75263877e-01 4.68299225e-02 1.68663196e+02] [-6.73891178e-01 7.37576221e-01 -4.30348477e-02 -9.66637697e+01] [-6.36005154e-02 1.19166548e-04 9.97975431e-01 -8.53081420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45864 meters Centerline goodness [0,1] 0.998476358989482 Centerline is valid? [True, True] Translation: X:168.69, Y:-96.69, Z:-8.53 [[ 7.35184388e-01 6.76260962e-01 4.66371904e-02 1.68687253e+02] [-6.74898718e-01 7.36662139e-01 -4.29023723e-02 -9.66871310e+01] [-6.33690520e-02 6.57742988e-05 9.97990160e-01 -8.53185826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48864 meters Centerline goodness [0,1] 0.9985216577144829 Centerline is valid? [True, True] Translation: X:168.71, Y:-96.71, Z:-8.53 [[ 7.34094665e-01 6.77421932e-01 4.69526241e-02 1.68711405e+02] [-6.76040648e-01 7.35594675e-01 -4.32379024e-02 -9.67101320e+01] [-6.38284036e-02 -1.16901852e-06 9.97960888e-01 -8.53333696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51864 meters Centerline goodness [0,1] 0.9984308341097435 Centerline is valid? [True, True] Translation: X:168.73, Y:-96.73, Z:-8.54 [[ 7.31339400e-01 6.80352721e-01 4.75694975e-02 1.68733693e+02] [-6.78938163e-01 7.32884796e-01 -4.38502758e-02 -9.67328402e+01] [-6.46966159e-02 -2.27312828e-04 9.97904954e-01 -8.53590059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54864 meters Centerline goodness [0,1] 0.9983790156203949 Centerline is valid? [True, True] Translation: X:168.76, Y:-96.76, Z:-8.54 [[ 7.30152185e-01 6.81658281e-01 4.71144745e-02 1.68757854e+02] [-6.80270732e-01 7.31670617e-01 -4.34722880e-02 -9.67555711e+01] [-6.41055218e-02 -3.09212010e-04 9.97943078e-01 -8.53662839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57864 meters Centerline goodness [0,1] 0.9983804475853946 Centerline is valid? [True, True] Translation: X:168.78, Y:-96.78, Z:-8.54 [[ 7.29229577e-01 6.82642044e-01 4.71599799e-02 1.68781881e+02] [-6.81250927e-01 7.30752837e-01 -4.35599047e-02 -9.67776212e+01] [-6.41981115e-02 -3.62609145e-04 9.97937108e-01 -8.53791467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60864 meters Centerline goodness [0,1] 0.9983812420288434 Centerline is valid? [True, True] Translation: X:168.81, Y:-96.80, Z:-8.54 [[ 7.28414836e-01 6.83504744e-01 4.72555990e-02 1.68806590e+02] [-6.82106814e-01 7.29945957e-01 -4.36943287e-02 -9.67998281e+01] [-6.43593144e-02 -4.05768818e-04 9.97926708e-01 -8.53882447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63864 meters Centerline goodness [0,1] 0.9983807654563297 Centerline is valid? [True, True] Translation: X:168.83, Y:-96.82, Z:-8.54 [[ 7.27973895e-01 6.83932808e-01 4.78531233e-02 1.68830636e+02] [-6.82497124e-01 7.29544887e-01 -4.42937290e-02 -9.68218885e+01] [-6.52049359e-02 -4.14940587e-04 9.97871807e-01 -8.53991941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66864 meters Centerline goodness [0,1] 0.9983291562238931 Centerline is valid? [True, True] Translation: X:168.86, Y:-96.84, Z:-8.54 [[ 7.26917091e-01 6.85051458e-01 4.79170323e-02 1.68855494e+02] [-6.83611313e-01 7.28494521e-01 -4.43993796e-02 -9.68439488e+01] [-6.53231552e-02 -4.81957466e-04 9.97864045e-01 -8.54204287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69864 meters Centerline goodness [0,1] 0.9981845836808793 Centerline is valid? [True, True] Translation: X:168.88, Y:-96.86, Z:-8.54 [[ 7.26318703e-01 6.85741351e-01 4.71162561e-02 1.68880219e+02] [-6.84347659e-01 7.27845139e-01 -4.37005226e-02 -9.68649379e+01] [-6.42605934e-02 -5.03392663e-04 9.97933025e-01 -8.54359487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72864 meters Centerline goodness [0,1] 0.9981845836808793 Centerline is valid? [True, True] Translation: X:168.90, Y:-96.89, Z:-8.54 [[ 7.25960682e-01 6.86121796e-01 4.70953272e-02 1.68904300e+02] [-6.84727441e-01 7.27486512e-01 -4.37230694e-02 -9.68868415e+01] [-6.42605662e-02 -5.06233606e-04 9.97933025e-01 -8.54495993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75864 meters Centerline goodness [0,1] 0.9980869223977239 Centerline is valid? [True, True] Translation: X:168.93, Y:-96.91, Z:-8.55 [[ 7.25610448e-01 6.86531365e-01 4.65205630e-02 1.68930900e+02] [-6.85168849e-01 7.27100015e-01 -4.32344279e-02 -9.69069943e+01] [-6.35068929e-02 -5.03087983e-04 9.97981273e-01 -8.54667426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78864000000002 meters Centerline goodness [0,1] 0.9982318271119843 Centerline is valid? [True, True] Translation: X:168.96, Y:-96.93, Z:-8.55 [[ 7.25895947e-01 6.86232805e-01 4.64716266e-02 1.68955887e+02] [-6.84869663e-01 7.27381840e-01 -4.32342984e-02 -9.69282342e+01] [-6.34714111e-02 -4.43405213e-04 9.97983559e-01 -8.54769785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81864000000002 meters Centerline goodness [0,1] 0.998233562315996 Centerline is valid? [True, True] Translation: X:168.98, Y:-96.95, Z:-8.55 [[ 7.25941241e-01 6.86139184e-01 4.71416563e-02 1.68981160e+02] [-6.84733194e-01 7.27470174e-01 -4.39044197e-02 -9.69494680e+01] [-6.44186916e-02 -4.07428026e-04 9.97922876e-01 -8.55002289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84864000000002 meters Centerline goodness [0,1] 0.9981836033382425 Centerline is valid? [True, True] Translation: X:169.01, Y:-96.97, Z:-8.55 [[ 7.26390891e-01 6.85684921e-01 4.68237497e-02 1.69006779e+02] [-6.84293960e-01 7.27898399e-01 -4.36542872e-02 -9.69708178e+01] [-6.40160189e-02 -3.31132528e-04 9.97948816e-01 -8.55148123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87864000000002 meters Centerline goodness [0,1] 0.9983298128407919 Centerline is valid? [True, True] Translation: X:169.03, Y:-96.99, Z:-8.55 [[ 7.28682344e-01 6.83248032e-01 4.68419556e-02 1.69033538e+02] [-6.81847991e-01 7.30186360e-01 -4.37172378e-02 -9.69899635e+01] [-6.40730737e-02 -8.31140334e-05 9.97945206e-01 -8.55465033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90864000000002 meters Centerline goodness [0,1] 0.9983767830791933 Centerline is valid? [True, True] Translation: X:169.06, Y:-97.01, Z:-8.56 [[ 7.30919224e-01 6.80892840e-01 4.62820535e-02 1.69059976e+02] [-6.79518507e-01 7.32383039e-01 -4.32398230e-02 -9.70099818e+01] [-6.33378769e-02 1.55306000e-04 9.97992129e-01 -8.55564942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93864000000002 meters Centerline goodness [0,1] 0.9981318519246841 Centerline is valid? [True, True] Translation: X:169.09, Y:-97.03, Z:-8.56 [[ 7.31411903e-01 6.80340923e-01 4.66139107e-02 1.69085261e+02] [-6.78942751e-01 7.32895744e-01 -4.35955167e-02 -9.70312954e+01] [-6.38229508e-02 2.38102971e-04 9.97961209e-01 -8.55761624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96864 meters Centerline goodness [0,1] 0.9983310426075005 Centerline is valid? [True, True] Translation: X:169.11, Y:-97.05, Z:-8.56 [[ 7.31226866e-01 6.80552345e-01 4.64303498e-02 1.69110315e+02] [-6.79162728e-01 7.32699422e-01 -4.34689080e-02 -9.70528537e+01] [-6.36023577e-02 2.51870282e-04 9.97975289e-01 -8.55804232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99864 meters Centerline goodness [0,1] 0.9981342367555359 Centerline is valid? [True, True] Translation: X:169.14, Y:-97.07, Z:-8.56 [[ 7.31106228e-01 6.80690891e-01 4.62989748e-02 1.69136210e+02] [-6.79306553e-01 7.32570704e-01 -4.33908921e-02 -9.70731702e+01] [-6.34530576e-02 2.72154422e-04 9.97984787e-01 -8.55804086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02864 meters Centerline goodness [0,1] 0.9981207655407744 Centerline is valid? [True, True] Translation: X:169.16, Y:-97.09, Z:-8.56 [[ 7.30569214e-01 6.81271887e-01 4.62302947e-02 1.69161466e+02] [-6.79889970e-01 7.32030431e-01 -4.33713823e-02 -9.70949771e+01] [-6.33896860e-02 2.54282940e-04 9.97988819e-01 -8.55995922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05864 meters Centerline goodness [0,1] 0.9982136654592368 Centerline is valid? [True, True] Translation: X:169.19, Y:-97.12, Z:-8.56 [[ 7.29845981e-01 6.82063612e-01 4.59790453e-02 1.69186468e+02] [-6.80695441e-01 7.31292815e-01 -4.31802624e-02 -9.71170627e+01] [-6.30758313e-02 2.17214468e-04 9.98008714e-01 -8.56111162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08864 meters Centerline goodness [0,1] 0.998281196287384 Centerline is valid? [True, True] Translation: X:169.21, Y:-97.14, Z:-8.56 [[ 7.27904095e-01 6.84157575e-01 4.56513022e-02 1.69211885e+02] [-6.82810176e-01 7.29334223e-01 -4.29168373e-02 -9.71383475e+01] [-6.26569363e-02 6.81678648e-05 9.98035121e-01 -8.56225512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11864 meters Centerline goodness [0,1] 0.9981838708094046 Centerline is valid? [True, True] Translation: X:169.24, Y:-97.16, Z:-8.56 [[ 7.26489817e-01 6.85654499e-01 4.57214790e-02 1.69236492e+02] [-6.84303088e-01 7.27927131e-01 -4.30276302e-02 -9.71597684e+01] [-6.27839933e-02 -2.82140157e-05 9.98027139e-01 -8.56385420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14864 meters Centerline goodness [0,1] 0.9980863591756625 Centerline is valid? [True, True] Translation: X:169.26, Y:-97.18, Z:-8.56 [[ 7.25898143e-01 6.86268019e-01 4.59139578e-02 1.69261685e+02] [-6.84903558e-01 7.27348750e-01 -4.32540510e-02 -9.71818340e+01] [-6.30793317e-02 -4.85976924e-05 9.98008515e-01 -8.56461655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17864 meters Centerline goodness [0,1] 0.9981831573778541 Centerline is valid? [True, True] Translation: X:169.29, Y:-97.20, Z:-8.57 [[ 7.26107534e-01 6.86056405e-01 4.57652563e-02 1.69286748e+02] [-6.84697531e-01 7.27548355e-01 -4.31588066e-02 -9.72029443e+01] [-6.29058127e-02 2.57665237e-06 9.98019468e-01 -8.56519791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20864 meters Centerline goodness [0,1] 0.9980860774402512 Centerline is valid? [True, True] Translation: X:169.31, Y:-97.22, Z:-8.57 [[ 7.25592692e-01 6.86578633e-01 4.60979922e-02 1.69311569e+02] [-6.85198059e-01 7.27055555e-01 -4.35182710e-02 -9.72249740e+01] [-6.33945163e-02 -9.71538271e-06 9.97988545e-01 -8.56699766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23864 meters Centerline goodness [0,1] 0.9980872038844475 Centerline is valid? [True, True] Translation: X:169.34, Y:-97.25, Z:-8.57 [[ 7.25283917e-01 6.86870186e-01 4.66110173e-02 1.69336710e+02] [-6.85456326e-01 7.26780123e-01 -4.40485820e-02 -9.72466245e+01] [-6.41316186e-02 -2.08855809e-06 9.97941449e-01 -8.56896080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26864 meters Centerline goodness [0,1] 0.998281196287384 Centerline is valid? [True, True] Translation: X:169.36, Y:-97.27, Z:-8.57 [[ 7.24356847e-01 6.87819800e-01 4.70221323e-02 1.69361232e+02] [-6.86379855e-01 7.25881478e-01 -4.44834222e-02 -9.72690284e+01] [-6.47290734e-02 -5.31728413e-05 9.97902873e-01 -8.57091568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29864 meters Centerline goodness [0,1] 0.9980863591756625 Centerline is valid? [True, True] Translation: X:169.39, Y:-97.29, Z:-8.57 [[ 7.24286816e-01 6.87902606e-01 4.68893666e-02 1.69386077e+02] [-6.86467988e-01 7.25803007e-01 -4.44038033e-02 -9.72904245e+01] [-6.45779352e-02 -2.69598068e-05 9.97912666e-01 -8.57170326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32864 meters Centerline goodness [0,1] 0.9983233060459611 Centerline is valid? [True, True] Translation: X:169.41, Y:-97.31, Z:-8.57 [[ 7.23414389e-01 6.88781504e-01 4.74516800e-02 1.69410570e+02] [-6.87311784e-01 7.24968988e-01 -4.49719737e-02 -9.73109404e+01] [-6.53768601e-02 -8.07258989e-05 9.97860641e-01 -8.57334401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35864 meters Centerline goodness [0,1] 0.998575428599499 Centerline is valid? [True, True] Translation: X:169.44, Y:-97.33, Z:-8.57 [[ 7.22505609e-01 6.89744955e-01 4.73026698e-02 1.69435219e+02] [-6.88284810e-01 7.24052398e-01 -4.48569329e-02 -9.73334430e+01] [-6.51894546e-02 -1.48323455e-04 9.97872894e-01 -8.57452099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38864 meters Centerline goodness [0,1] 0.9990675761888403 Centerline is valid? [True, True] Translation: X:169.46, Y:-97.36, Z:-8.58 [[ 7.21970350e-01 6.90332021e-01 4.69096485e-02 1.69459475e+02] [-6.88894296e-01 7.23492691e-01 -4.45306199e-02 -9.73564084e+01] [-6.46797006e-02 -1.66002029e-04 9.97906062e-01 -8.57553541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41864 meters Centerline goodness [0,1] 0.999166094378495 Centerline is valid? [True, True] Translation: X:169.48, Y:-97.38, Z:-8.58 [[ 7.22319251e-01 6.89981657e-01 4.66927508e-02 1.69484265e+02] [-6.88553522e-01 7.23826846e-01 -4.43705401e-02 -9.73788454e+01] [-6.44123253e-02 -1.00762689e-04 9.97923365e-01 -8.57648892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44864 meters Centerline goodness [0,1] 0.999362588869821 Centerline is valid? [True, True] Translation: X:169.51, Y:-97.40, Z:-8.58 [[ 7.22651238e-01 6.89682629e-01 4.59680317e-02 1.69508651e+02] [-6.88295199e-01 7.24111780e-01 -4.37246989e-02 -9.74006247e+01] [-6.34421586e-02 -4.18677214e-05 9.97985516e-01 -8.57682730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47864 meters Centerline goodness [0,1] 0.999803777287221 Centerline is valid? [True, True] Translation: X:169.53, Y:-97.42, Z:-8.58 [[ 7.23985829e-01 6.88250051e-01 4.64369126e-02 1.69533544e+02] [-6.86828475e-01 7.25473538e-01 -4.42130177e-02 -9.74226509e+01] [-6.41183630e-02 1.15404420e-04 9.97942294e-01 -8.57982008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:169.56, Y:-97.45, Z:-8.58 [[ 7.25094576e-01 6.87089831e-01 4.63186921e-02 1.69556428e+02] [-6.85670208e-01 7.26572434e-01 -4.41459424e-02 -9.74470184e+01] [-6.39861129e-02 2.50636149e-04 9.97950758e-01 -8.58018801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.58, Y:-97.47, Z:-8.58 [[ 7.25897653e-01 6.86344379e-01 4.47659449e-02 1.69579893e+02] [-6.85014470e-01 7.27276619e-01 -4.27070978e-02 -9.74697623e+01] [-6.18690016e-02 3.35662065e-04 9.98084222e-01 -8.58045529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56864000000002 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:169.60, Y:-97.49, Z:-8.58 [[ 7.26795812e-01 6.85406061e-01 4.45688153e-02 1.69603706e+02] [-6.84083627e-01 7.28160927e-01 -4.25588505e-02 -9.74930575e+01] [-6.16233640e-02 4.42797524e-04 9.98099376e-01 -8.58203541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.63, Y:-97.52, Z:-8.58 [[ 7.28061223e-01 6.84061800e-01 4.45680187e-02 1.69626185e+02] [-6.82734203e-01 7.29423819e-01 -4.26016546e-02 -9.75174488e+01] [-6.16511390e-02 5.88502050e-04 9.98097586e-01 -8.58372262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62864000000002 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:169.65, Y:-97.54, Z:-8.58 [[ 7.28755934e-01 6.83379871e-01 4.36662397e-02 1.69647111e+02] [-6.82102147e-01 7.30062681e-01 -4.17749063e-02 -9.75426299e+01] [-6.04272221e-02 6.58875035e-04 9.98172388e-01 -8.58396844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.67, Y:-97.57, Z:-8.59 [[ 7.28536204e-01 6.83597046e-01 4.39326538e-02 1.69670033e+02] [-6.82302355e-01 7.29859326e-01 -4.20578221e-02 -9.75670507e+01] [-6.08152600e-02 6.65292931e-04 9.98148817e-01 -8.58583420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68864000000002 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:169.69, Y:-97.59, Z:-8.59 [[ 7.27987604e-01 6.84105405e-01 4.50981505e-02 1.69692243e+02] [-6.82739287e-01 7.29382852e-01 -4.32171493e-02 -9.75906033e+01] [-6.24589031e-02 6.71269884e-04 9.98047311e-01 -8.58759509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:169.72, Y:-97.61, Z:-8.59 [[ 7.27517780e-01 6.84618339e-01 4.48955362e-02 1.69715345e+02] [-6.83262959e-01 7.28901435e-01 -4.30630443e-02 -9.76145951e+01] [-6.22061707e-02 6.53673533e-04 9.98063107e-01 -8.58947806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:169.74, Y:-97.64, Z:-8.59 [[ 7.26287456e-01 6.85911000e-01 4.50847022e-02 1.69737442e+02] [-6.84543869e-01 7.27685211e-01 -4.32888638e-02 -9.76391845e+01] [-6.24997789e-02 5.77702275e-04 9.98044811e-01 -8.59153737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.76, Y:-97.66, Z:-8.59 [[ 7.25411709e-01 6.86943010e-01 4.34413862e-02 1.69758777e+02] [-6.85673253e-01 7.26711119e-01 -4.17509222e-02 -9.76633429e+01] [-6.02498426e-02 5.00011185e-04 9.98183203e-01 -8.59178654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.78, Y:-97.69, Z:-8.59 [[ 7.24567136e-01 6.87848763e-01 4.32035365e-02 1.69780752e+02] [-6.86592170e-01 7.25853895e-01 -4.15609753e-02 -9.76875846e+01] [-5.99471206e-02 4.50506939e-04 9.98201453e-01 -8.59307319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.80, Y:-97.71, Z:-8.59 [[ 7.24218048e-01 6.88158749e-01 4.41107159e-02 1.69802922e+02] [-6.86846742e-01 7.25560004e-01 -4.24762750e-02 -9.77116824e+01] [-6.12353915e-02 4.64783434e-04 9.98123244e-01 -8.59406743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.82, Y:-97.74, Z:-8.60 [[ 7.23238513e-01 6.89046348e-01 4.62729170e-02 1.69824670e+02] [-6.87601577e-01 7.24717143e-01 -4.45997161e-02 -9.77352113e+01] [-6.42660477e-02 4.38901644e-04 9.97932704e-01 -8.59632225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.85, Y:-97.76, Z:-8.60 [[ 7.23477985e-01 6.88806819e-01 4.60952426e-02 1.69849121e+02] [-6.87369955e-01 7.24944775e-01 -4.44704148e-02 -9.77576363e+01] [-6.40480303e-02 4.88881278e-04 9.97946697e-01 -8.59753288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.87, Y:-97.78, Z:-8.60 [[ 7.22971282e-01 6.89364029e-01 4.57139089e-02 1.69872846e+02] [-6.87949113e-01 7.24414948e-01 -4.41474937e-02 -9.77812398e+01] [-6.35495330e-02 4.68527031e-04 9.97978576e-01 -8.59990429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.90, Y:-97.81, Z:-8.60 [[ 7.22557631e-01 6.89777780e-01 4.60117737e-02 1.69896173e+02] [-6.88342236e-01 7.24020990e-01 -4.44811424e-02 -9.78050804e+01] [-6.39955936e-02 4.68341686e-04 9.97950071e-01 -8.60064820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.92, Y:-97.83, Z:-8.60 [[ 7.21499567e-01 6.90844402e-01 4.66088652e-02 1.69919608e+02] [-6.89370483e-01 7.23003348e-01 -4.51053748e-02 -9.78287918e+01] [-6.48591612e-02 4.12732491e-04 9.97894343e-01 -8.60176156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.94, Y:-97.85, Z:-8.60 [[ 7.19648743e-01 6.92734725e-01 4.71623561e-02 1.69943319e+02] [-6.91226478e-01 7.21192431e-01 -4.56884464e-02 -9.78521902e+01] [-6.56631076e-02 2.79763688e-04 9.97841810e-01 -8.60437579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.97, Y:-97.87, Z:-8.61 [[ 7.18318287e-01 6.94139929e-01 4.67824454e-02 1.69968267e+02] [-6.92655848e-01 7.19840069e-01 -4.53668474e-02 -9.78744017e+01] [-6.51668189e-02 1.83701728e-04 9.97874367e-01 -8.60562077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.99, Y:-97.90, Z:-8.61 [[ 7.17483159e-01 6.94968711e-01 4.72906753e-02 1.69992943e+02] [-6.93450823e-01 7.19039964e-01 -4.59073651e-02 -9.78959663e+01] [-6.59080678e-02 1.44003634e-04 9.97825689e-01 -8.60792177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.02, Y:-97.92, Z:-8.61 [[ 7.16199290e-01 6.96204017e-01 4.85648438e-02 1.70016898e+02] [-6.94602837e-01 7.17843968e-01 -4.71904250e-02 -9.79168193e+01] [-6.77161436e-02 6.44705412e-05 9.97704625e-01 -8.60987770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.04, Y:-97.94, Z:-8.61 [[ 7.14879329e-01 6.97542969e-01 4.87990833e-02 1.70041537e+02] [-6.95926432e-01 7.16542954e-01 -4.74615253e-02 -9.79388660e+01] [-6.80730926e-02 -3.13085035e-05 9.97680336e-01 -8.61077152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.07, Y:-97.96, Z:-8.61 [[ 7.12977841e-01 6.99467789e-01 4.90653765e-02 1.70067371e+02] [-6.97834656e-01 7.14664103e-01 -4.77704155e-02 -9.79597977e+01] [-6.84791302e-02 -1.80272398e-04 9.97652533e-01 -8.61267999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.09, Y:-97.98, Z:-8.61 [[ 7.12417628e-01 7.00086671e-01 4.83712331e-02 1.70092383e+02] [-6.98497762e-01 7.14057849e-01 -4.71409020e-02 -9.79799382e+01] [-6.75425758e-02 -2.03188450e-04 9.97716372e-01 -8.61399422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.12, Y:-98.00, Z:-8.62 [[ 7.11786894e-01 7.00830465e-01 4.68623174e-02 1.70119452e+02] [-6.99338193e-01 7.13327837e-01 -4.57109249e-02 -9.79980355e+01] [-6.54638043e-02 -2.36171094e-04 9.97854917e-01 -8.61585218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.14, Y:-98.02, Z:-8.62 [[ 7.11499546e-01 7.01072532e-01 4.75993861e-02 1.70144364e+02] [-6.99530591e-01 7.13089932e-01 -4.64725884e-02 -9.80180979e+01] [-6.65232982e-02 -2.32001152e-04 9.97784845e-01 -8.61751972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.17, Y:-98.04, Z:-8.62 [[ 7.11180192e-01 7.01382437e-01 4.78059755e-02 1.70169842e+02] [-6.99824750e-01 7.12785117e-01 -4.67193300e-02 -9.80393435e+01] [-6.68435054e-02 -2.29942816e-04 9.97763445e-01 -8.61880367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.20, Y:-98.06, Z:-8.62 [[ 7.12662248e-01 6.99823066e-01 4.85818500e-02 1.70197902e+02] [-6.98207289e-01 7.14316228e-01 -4.75279712e-02 -9.80582597e+01] [-6.79639744e-02 -4.88109937e-05 9.97687775e-01 -8.62003138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.22, Y:-98.08, Z:-8.62 [[ 7.13141329e-01 6.99356442e-01 4.82701895e-02 1.70223854e+02] [-6.97756953e-01 7.14773087e-01 -4.72722842e-02 -9.80789887e+01] [-6.75624088e-02 3.09592129e-05 9.97715049e-01 -8.62144730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.25, Y:-98.10, Z:-8.62 [[ 7.16202296e-01 6.96265714e-01 4.76269535e-02 1.70250847e+02] [-6.94698550e-01 7.17784042e-01 -4.66904014e-02 -9.80982308e+01] [-6.66947928e-02 3.53397118e-04 9.97773361e-01 -8.62246640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.28, Y:-98.12, Z:-8.63 [[ 7.17694865e-01 6.94627923e-01 4.90523171e-02 1.70275398e+02] [-6.92958301e-01 7.19368987e-01 -4.81357770e-02 -9.81192672e+01] [-6.87231705e-02 5.55589676e-04 9.97635613e-01 -8.62587528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.30, Y:-98.14, Z:-8.63 [[ 7.19500301e-01 6.92772092e-01 4.88481881e-02 1.70299234e+02] [-6.91109152e-01 7.21156190e-01 -4.79780220e-02 -9.81405824e+01] [-6.84650079e-02 7.60771440e-04 9.97653228e-01 -8.62636028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.32, Y:-98.16, Z:-8.63 [[ 7.22311866e-01 6.89826966e-01 4.90339152e-02 1.70323284e+02] [-6.88141631e-01 7.23973481e-01 -4.82026454e-02 -9.81622718e+01] [-6.87507389e-02 1.07506442e-03 9.97633289e-01 -8.62695345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.35, Y:-98.18, Z:-8.63 [[ 7.22898429e-01 6.89195686e-01 4.92662963e-02 1.70346479e+02] [-6.87489930e-01 7.24574313e-01 -4.84733061e-02 -9.81847738e+01] [-6.91046863e-02 1.17119424e-03 9.97608726e-01 -8.62902339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.37, Y:-98.21, Z:-8.63 [[ 7.23600753e-01 6.88520360e-01 4.83907443e-02 1.70369251e+02] [-6.86870324e-01 7.25215943e-01 -4.76549424e-02 -9.82089389e+01] [-6.79051374e-02 1.24498603e-03 9.97691005e-01 -8.62982836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.39, Y:-98.23, Z:-8.63 [[ 7.23489100e-01 6.88686886e-01 4.76853660e-02 1.70391351e+02] [-6.87082077e-01 7.25057809e-01 -4.70041715e-02 -9.82321004e+01] [-6.69458035e-02 1.24324546e-03 9.97755839e-01 -8.63116337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.41, Y:-98.25, Z:-8.63 [[ 7.23149006e-01 6.89045469e-01 4.76640060e-02 1.70414774e+02] [-6.87440011e-01 7.24717050e-01 -4.70258251e-02 -9.82547378e+01] [-6.69458495e-02 1.24053386e-03 9.97755839e-01 -8.63252878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.44, Y:-98.28, Z:-8.63 [[ 7.22805487e-01 6.89449599e-01 4.70263650e-02 1.70437326e+02] [-6.87884835e-01 7.24332635e-01 -4.64401564e-02 -9.82782179e+01] [-6.60808781e-02 1.21847657e-03 9.97813526e-01 -8.63327617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:170.46, Y:-98.30, Z:-8.63 [[ 7.21638910e-01 6.90666938e-01 4.70793443e-02 1.70457992e+02] [-6.89098550e-01 7.23172100e-01 -4.65328029e-02 -9.83030717e+01] [-6.61851368e-02 1.13757329e-03 9.97806712e-01 -8.63469273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.48, Y:-98.33, Z:-8.64 [[ 7.21373228e-01 6.90913338e-01 4.75334128e-02 1.70480458e+02] [-6.89312148e-01 7.22936665e-01 -4.70249055e-02 -9.83279620e+01] [-6.68537813e-02 1.15714905e-03 9.97762112e-01 -8.63723488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:170.50, Y:-98.35, Z:-8.64 [[ 7.21041233e-01 6.91247845e-01 4.77069897e-02 1.70500714e+02] [-6.89632489e-01 7.22616815e-01 -4.72437205e-02 -9.83538749e+01] [-6.71309929e-02 1.16438044e-03 9.97743491e-01 -8.63939122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.52, Y:-98.38, Z:-8.64 [[ 7.21180265e-01 6.91115904e-01 4.75166592e-02 1.70523844e+02] [-6.89510010e-01 7.22742938e-01 -4.71019352e-02 -9.83775891e+01] [-6.68952264e-02 1.20577395e-03 9.97759277e-01 -8.64122468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.55, Y:-98.40, Z:-8.64 [[ 7.20384809e-01 6.92094827e-01 4.52822008e-02 1.70546450e+02] [-6.90635868e-01 7.21805762e-01 -4.49281633e-02 -9.84004651e+01] [-6.37795029e-02 1.09205425e-03 9.97963417e-01 -8.64140719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.57, Y:-98.42, Z:-8.64 [[ 7.19186817e-01 6.93337676e-01 4.53121339e-02 1.70568946e+02] [-6.91876744e-01 7.20612132e-01 -4.49969525e-02 -9.84230806e+01] [-6.38505559e-02 1.01080332e-03 9.97958959e-01 -8.64277362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:170.59, Y:-98.45, Z:-8.64 [[ 7.18050779e-01 6.94516455e-01 4.52766268e-02 1.70591090e+02] [-6.93057637e-01 7.19476214e-01 -4.50009999e-02 -9.84469724e+01] [-6.38293910e-02 9.33691045e-04 9.97960389e-01 -8.64268179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.61, Y:-98.47, Z:-8.65 [[ 7.17057067e-01 6.95522461e-01 4.55814495e-02 1.70613971e+02] [-6.94043241e-01 7.18503815e-01 -4.53458604e-02 -9.84703007e+01] [-6.42895098e-02 8.80072758e-04 9.97930902e-01 -8.64500142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.64, Y:-98.49, Z:-8.65 [[ 7.15910543e-01 6.96750015e-01 4.48498659e-02 1.70636344e+02] [-6.95317641e-01 7.17313596e-01 -4.46607533e-02 -9.84935006e+01] [-6.32887991e-02 7.88201209e-04 9.97994943e-01 -8.64629933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.66, Y:-98.52, Z:-8.65 [[ 7.15872654e-01 6.96808058e-01 4.45519162e-02 1.70658415e+02] [-6.95392213e-01 7.17257192e-01 -4.44048563e-02 -9.85179952e+01] [-6.28968440e-02 8.07166701e-04 9.98019707e-01 -8.64997215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.68, Y:-98.54, Z:-8.65 [[ 7.16235367e-01 6.96456746e-01 4.42142453e-02 1.70681241e+02] [-6.95058871e-01 7.17598255e-01 -4.41124819e-02 -9.85413924e+01] [-6.24505009e-02 8.63416238e-04 9.98047689e-01 -8.65136585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.70, Y:-98.56, Z:-8.65 [[ 7.17874581e-01 6.94740353e-01 4.46310240e-02 1.70703460e+02] [-6.93310307e-01 7.19259857e-01 -4.45654281e-02 -9.85640484e+01] [-6.30627051e-02 1.04923911e-03 9.98009015e-01 -8.65187863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.73, Y:-98.59, Z:-8.65 [[ 7.18291735e-01 6.94279339e-01 4.50908314e-02 1.70725392e+02] [-6.92816975e-01 7.19704761e-01 -4.50521434e-02 -9.85874206e+01] [-6.37308584e-02 1.12088882e-03 9.97966493e-01 -8.65343797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.75, Y:-98.61, Z:-8.66 [[ 7.18417279e-01 6.94110251e-01 4.56899614e-02 1.70747225e+02] [-6.92605784e-01 7.19867742e-01 -4.56909382e-02 -9.86112235e+01] [-6.46052780e-02 1.18002792e-03 9.97910199e-01 -8.65558510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.77, Y:-98.62, Z:-8.66 [[ 6.71789017e-01 7.39517581e-01 4.25824435e-02 1.70766872e+02] [-7.37924164e-01 6.73136205e-01 -4.85342908e-02 -9.86159950e+01] [-6.45557457e-02 1.18218944e-03 9.97913402e-01 -8.65639542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.66, Y:-98.84, Z:-6.93 [[ 6.93577144e-01 -7.20289291e-01 -1.15794004e-02 1.70662596e+02] [-7.20122331e-01 -6.93669062e-01 1.57181678e-02 -9.88373451e+01] [-1.93538998e-02 -2.56317710e-03 -9.99809410e-01 -6.92812618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.78, Y:-98.66, Z:-8.66 [[ 7.24156751e-01 6.88071693e-01 4.64149266e-02 1.70782773e+02] [-6.86526198e-01 7.25641097e-01 -4.61170006e-02 -9.86585613e+01] [-6.54123809e-02 1.53087425e-03 9.97857143e-01 -8.65943402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15864000000002 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:170.80, Y:-98.68, Z:-8.66 [[ 7.24039418e-01 6.88236752e-01 4.57940447e-02 1.70804426e+02] [-6.86730049e-01 7.25484560e-01 -4.55411217e-02 -9.86840937e+01] [-6.45659460e-02 1.52542073e-03 9.97912277e-01 -8.66016493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.83, Y:-98.71, Z:-8.66 [[ 7.23618725e-01 6.88742289e-01 4.48330155e-02 1.70826273e+02] [-6.87296556e-01 7.25004738e-01 -4.46270522e-02 -9.87082546e+01] [-6.32406868e-02 1.47939346e-03 9.97997208e-01 -8.66124078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.85, Y:-98.73, Z:-8.66 [[ 7.22511865e-01 6.89881457e-01 4.51683572e-02 1.70846741e+02] [-6.88413579e-01 7.23920962e-01 -4.50020641e-02 -9.87349327e+01] [-6.37444102e-02 1.42001485e-03 9.97965247e-01 -8.66266074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.87, Y:-98.76, Z:-8.66 [[ 7.21754565e-01 6.90685723e-01 4.49842280e-02 1.70867502e+02] [-6.89228656e-01 7.23153749e-01 -4.48610728e-02 -9.87595110e+01] [-6.35154156e-02 1.37426507e-03 9.97979911e-01 -8.66314695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27864 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:170.89, Y:-98.79, Z:-8.66 [[ 7.19891726e-01 6.92601006e-01 4.53844655e-02 1.70885569e+02] [-6.91119126e-01 7.21319830e-01 -4.52996333e-02 -9.87865138e+01] [-6.41112866e-02 1.24475905e-03 9.97941979e-01 -8.66407559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.91, Y:-98.81, Z:-8.66 [[ 7.18384874e-01 6.94217934e-01 4.45492139e-02 1.70906900e+02] [-6.92790843e-01 7.19764012e-01 -4.45040991e-02 -9.88109720e+01] [-6.29604646e-02 1.10778412e-03 9.98015407e-01 -8.66443521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:170.93, Y:-98.84, Z:-8.67 [[ 7.16691073e-01 6.95942558e-01 4.49206174e-02 1.70928505e+02] [-6.94492410e-01 7.18096770e-01 -4.49146127e-02 -9.88352540e+01] [-6.35153407e-02 9.92874167e-04 9.97980368e-01 -8.66592485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:170.87, Y:-99.01, Z:-6.94 [[ 7.46713358e-01 -6.65011787e-01 -1.33598223e-02 1.70874119e+02] [-6.64835755e-01 -7.46827901e-01 1.55404616e-02 -9.90097934e+01] [-2.03120782e-02 -2.72218269e-03 -9.99789983e-01 -6.94169538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39864 meters Centerline goodness [0,1] 0.999901768172888 Centerline is valid? [True, True] Translation: X:170.94, Y:-98.87, Z:-8.67 [[ 7.59935691e-01 6.48225260e-01 4.79766445e-02 1.70939302e+02] [-6.46889200e-01 7.61448408e-01 -4.16015125e-02 -9.88740284e+01] [-6.34988908e-02 5.78900996e-04 9.97981741e-01 -8.66674718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.96, Y:-98.90, Z:-8.67 [[ 7.58513774e-01 6.49898525e-01 4.78410066e-02 1.70962647e+02] [-6.48570958e-01 7.60020848e-01 -4.15213542e-02 -9.88967195e+01] [-6.33448293e-02 4.66231596e-04 9.97991591e-01 -8.66841685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.99, Y:-98.92, Z:-8.67 [[ 7.57817937e-01 6.50778525e-01 4.68965497e-02 1.70986184e+02] [-6.49502313e-01 7.59267503e-01 -4.07382449e-02 -9.89188642e+01] [-6.21186011e-02 4.12755226e-04 9.98068690e-01 -8.66925793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.01, Y:-98.94, Z:-8.67 [[ 7.56618647e-01 6.52146945e-01 4.72502407e-02 1.71010578e+02] [-6.50851583e-01 7.58092509e-01 -4.10848545e-02 -9.89411060e+01] [-6.26134158e-02 3.32673040e-04 9.98037800e-01 -8.67003119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.04, Y:-98.96, Z:-8.67 [[ 7.55323288e-01 6.53522375e-01 4.89411429e-02 1.71035410e+02] [-6.52132586e-01 7.56907153e-01 -4.25987391e-02 -9.89622841e+01] [-6.48831303e-02 2.59705618e-04 9.97892836e-01 -8.67143635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.06, Y:-98.98, Z:-8.67 [[ 7.54500566e-01 6.54411010e-01 4.97506488e-02 1.71060022e+02] [-6.52973930e-01 7.56138997e-01 -4.33458629e-02 -9.89839699e+01] [-6.59844156e-02 2.18601379e-04 9.97820630e-01 -8.67342745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.08, Y:-99.01, Z:-8.67 [[ 7.54183493e-01 6.54885278e-01 4.82962952e-02 1.71083983e+02] [-6.53529368e-01 7.55728279e-01 -4.21204717e-02 -9.90058870e+01] [-6.40829529e-02 2.03517141e-04 9.97944554e-01 -8.67419356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.11, Y:-99.03, Z:-8.68 [[ 7.54091165e-01 6.54989226e-01 4.83283408e-02 1.71108516e+02] [-6.53629101e-01 7.55638182e-01 -4.21892858e-02 -9.90277227e+01] [-6.41522672e-02 2.25757770e-04 9.97940096e-01 -8.67555918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.13, Y:-99.05, Z:-8.68 [[ 7.53780785e-01 6.55298385e-01 4.89750479e-02 1.71133658e+02] [-6.53899248e-01 7.55370088e-01 -4.27995716e-02 -9.90488493e+01] [-6.50407764e-02 2.36747653e-04 9.97882579e-01 -8.67700272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:-99.07, Z:-8.68 [[ 7.52464753e-01 6.56716984e-01 5.01956014e-02 1.71159012e+02] [-6.55247310e-01 7.54137110e-01 -4.39110759e-02 -9.90690248e+01] [-6.66915151e-02 1.51004133e-04 9.97773631e-01 -8.67854119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.18, Y:-99.09, Z:-8.68 [[ 7.51068680e-01 6.58337877e-01 4.98706056e-02 1.71184313e+02] [-6.56887952e-01 7.52722550e-01 -4.36689870e-02 -9.90909578e+01] [-6.62876776e-02 3.90083772e-05 9.97800552e-01 -8.67968079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:171.21, Y:-99.11, Z:-8.68 [[ 7.49141439e-01 6.60567533e-01 4.93724448e-02 1.71209341e+02] [-6.59148295e-01 7.50766621e-01 -4.32782473e-02 -9.91120236e+01] [-6.56553886e-02 -1.22234300e-04 9.97842350e-01 -8.68181872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.23, Y:-99.13, Z:-8.68 [[ 7.48663348e-01 6.61160935e-01 4.86765694e-02 1.71233770e+02] [-6.59779947e-01 7.50244092e-01 -4.27109297e-02 -9.91324422e+01] [-6.47581068e-02 -1.39716791e-04 9.97900981e-01 -8.68302392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.26, Y:-99.15, Z:-8.68 [[ 7.48338448e-01 6.61541389e-01 4.85031731e-02 1.71259126e+02] [-6.60168356e-01 7.49908642e-01 -4.26001241e-02 -9.91538895e+01] [-6.45546939e-02 -1.40949298e-04 9.97914160e-01 -8.68459781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.28, Y:-99.18, Z:-8.69 [[ 7.48558552e-01 6.61266959e-01 4.88477510e-02 1.71284505e+02] [-6.59870753e-01 7.50150653e-01 -4.29486537e-02 -9.91750161e+01] [-6.50436979e-02 -8.36202401e-05 9.97882413e-01 -8.68586887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.31, Y:-99.20, Z:-8.69 [[ 7.48860904e-01 6.60933443e-01 4.87270975e-02 1.71309966e+02] [-6.59540473e-01 7.50444524e-01 -4.28880148e-02 -9.91959677e+01] [-6.49131068e-02 -2.03353989e-05 9.97890920e-01 -8.68673791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.34, Y:-99.22, Z:-8.69 [[ 7.49605942e-01 6.60123891e-01 4.82429372e-02 1.71336467e+02] [-6.58753923e-01 7.51156736e-01 -4.25067806e-02 -9.92163833e+01] [-6.42977487e-02 8.31111520e-05 9.97930755e-01 -8.68811077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.36, Y:-99.24, Z:-8.69 [[ 7.49433713e-01 6.60326538e-01 4.81453396e-02 1.71362211e+02] [-6.58959610e-01 7.50978597e-01 -4.24662052e-02 -9.92378233e+01] [-6.41976819e-02 9.97716767e-05 9.97937196e-01 -8.68999675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.39, Y:-99.26, Z:-8.69 [[ 7.48573698e-01 6.61252355e-01 4.88133302e-02 1.71388483e+02] [-6.59846122e-01 7.50163529e-01 -4.31019204e-02 -9.92581319e+01] [-6.51192264e-02 5.56773227e-05 9.97877489e-01 -8.69247747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.41, Y:-99.28, Z:-8.69 [[ 7.47720111e-01 6.62273457e-01 4.80468871e-02 1.71413439e+02] [-6.60910455e-01 7.49262216e-01 -4.24676620e-02 -9.92778341e+01] [-6.41249224e-02 -7.65067318e-07 9.97941879e-01 -8.69366677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.44, Y:-99.30, Z:-8.69 [[ 7.46877903e-01 6.63209690e-01 4.82317843e-02 1.71439346e+02] [-6.61835446e-01 7.48433634e-01 -4.26724571e-02 -9.92983162e+01] [-6.43990767e-02 -5.03891825e-05 9.97924224e-01 -8.69453186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.47, Y:-99.32, Z:-8.70 [[ 7.45771445e-01 6.64442163e-01 4.83897109e-02 1.71466272e+02] [-6.63058547e-01 7.47339680e-01 -4.28575041e-02 -9.93178090e+01] [-6.46398838e-02 -1.23308643e-04 9.97908648e-01 -8.69554449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.49, Y:-99.34, Z:-8.70 [[ 7.45968763e-01 6.64272290e-01 4.76752531e-02 1.71491580e+02] [-6.62926225e-01 7.47490682e-01 -4.22670279e-02 -9.93379866e+01] [-6.37136229e-02 -7.52930366e-05 9.97968220e-01 -8.69697064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.52, Y:-99.36, Z:-8.70 [[ 7.47548860e-01 6.62517932e-01 4.73359516e-02 1.71517908e+02] [-6.61184893e-01 7.49046046e-01 -4.20066401e-02 -9.93581834e+01] [-6.32869598e-02 1.04199779e-04 9.97995366e-01 -8.69912519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11864 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:171.54, Y:-99.38, Z:-8.70 [[ 7.48790085e-01 6.61143930e-01 4.69266725e-02 1.71543428e+02] [-6.59828415e-01 7.50259049e-01 -4.16871916e-02 -9.93795464e+01] [-6.27683944e-02 2.51403818e-04 9.98028089e-01 -8.70029083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.57, Y:-99.40, Z:-8.70 [[ 7.49600182e-01 6.60215474e-01 4.70647999e-02 1.71568750e+02] [-6.58887589e-01 7.51076159e-01 -4.18538929e-02 -9.94003154e+01] [-6.29818368e-02 3.63273184e-04 9.98014607e-01 -8.70213854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.59, Y:-99.42, Z:-8.70 [[ 7.50375004e-01 6.59282110e-01 4.77959526e-02 1.71593534e+02] [-6.57907968e-01 7.51895517e-01 -4.25468895e-02 -9.94207627e+01] [-6.39879656e-02 4.80784362e-04 9.97950554e-01 -8.70383317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.62, Y:-99.44, Z:-8.71 [[ 7.52155976e-01 6.57218002e-01 4.82274353e-02 1.71618070e+02] [-6.55812133e-01 7.53700218e-01 -4.29700678e-02 -9.94417328e+01] [-6.45897306e-02 6.92056084e-04 9.97911663e-01 -8.70533720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.64, Y:-99.46, Z:-8.71 [[ 7.52256017e-01 6.57130741e-01 4.78547270e-02 1.71642004e+02] [-6.55743789e-01 7.53776270e-01 -4.26780816e-02 -9.94637983e+01] [-6.41168369e-02 7.24403642e-04 9.97942136e-01 -8.70648630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.67, Y:-99.49, Z:-8.71 [[ 7.52697716e-01 6.56682193e-01 4.70600317e-02 1.71667125e+02] [-6.55337395e-01 7.54167015e-01 -4.20120573e-02 -9.94851137e+01] [-6.30796935e-02 7.82180981e-04 9.98008187e-01 -8.70681676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.69, Y:-99.51, Z:-8.71 [[ 7.52402985e-01 6.57077399e-01 4.62497523e-02 1.71691645e+02] [-6.55776798e-01 7.53822727e-01 -4.13290037e-02 -9.95065410e+01] [-6.20204687e-02 7.66551299e-04 9.98074583e-01 -8.70825945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.71, Y:-99.53, Z:-8.71 [[ 7.53284726e-01 6.56173313e-01 4.47068770e-02 1.71714591e+02] [-6.54954435e-01 7.54609753e-01 -3.99851033e-02 -9.95292360e+01] [-5.99734031e-02 8.39200202e-04 9.98199623e-01 -8.70941450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:171.74, Y:-99.55, Z:-8.71 [[ 7.53501568e-01 6.55928358e-01 4.46472475e-02 1.71739205e+02] [-6.54710083e-01 7.54822632e-01 -3.99687579e-02 -9.95519659e+01] [-5.99173946e-02 8.85518658e-04 9.98202946e-01 -8.71102469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.76, Y:-99.57, Z:-8.71 [[ 7.53297684e-01 6.56108307e-01 4.54366376e-02 1.71762876e+02] [-6.54844396e-01 7.54666183e-01 -4.07157101e-02 -9.95735037e+01] [-6.10034095e-02 9.17122599e-04 9.98137136e-01 -8.71206570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.79, Y:-99.60, Z:-8.71 [[ 7.53041488e-01 6.56360044e-01 4.60435744e-02 1.71786828e+02] [-6.55060160e-01 7.54447223e-01 -4.12986020e-02 -9.95960100e+01] [-6.18441990e-02 9.38249526e-04 9.98085374e-01 -8.71395439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:171.81, Y:-99.62, Z:-8.72 [[ 7.52738305e-01 6.56700073e-01 4.61525590e-02 1.71810589e+02] [-6.55392013e-01 7.54151259e-01 -4.14389654e-02 -9.96196404e+01] [-6.20189821e-02 9.44678034e-04 9.98074523e-01 -8.71583061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:171.83, Y:-99.64, Z:-8.72 [[ 7.51238339e-01 6.58484424e-01 4.51577324e-02 1.71832314e+02] [-6.57233023e-01 7.52593919e-01 -4.05850506e-02 -9.96437037e+01] [-6.07100585e-02 8.09892968e-04 9.98155115e-01 -8.71739100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:171.86, Y:-99.67, Z:-8.72 [[ 7.50218878e-01 6.59630443e-01 4.53796610e-02 1.71856877e+02] [-6.58366446e-01 7.51589727e-01 -4.08228581e-02 -9.96656734e+01] [-6.10348869e-02 7.49632711e-04 9.98135352e-01 -8.71873309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53864000000002 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:171.88, Y:-99.69, Z:-8.72 [[ 7.49883540e-01 6.60013074e-01 4.53587815e-02 1.71881279e+02] [-6.58748374e-01 7.51253739e-01 -4.08460481e-02 -9.96871954e+01] [-6.10348800e-02 7.49755612e-04 9.98135352e-01 -8.72009362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56864000000002 meters Centerline goodness [0,1] 0.9999018453082057 Centerline is valid? [True, True] Translation: X:171.90, Y:-99.71, Z:-8.72 [[ 7.47366591e-01 6.62791989e-01 4.63676481e-02 1.71904473e+02] [-6.61472954e-01 7.48803350e-01 -4.17980059e-02 -9.97101967e+01] [-6.24236337e-02 5.67487989e-04 9.98049582e-01 -8.72114325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.93, Y:-99.73, Z:-8.72 [[ 7.46284394e-01 6.64042848e-01 4.58987860e-02 1.71928000e+02] [-6.62750223e-01 7.47694361e-01 -4.14159945e-02 -9.97321319e+01] [-6.18202584e-02 4.88679726e-04 9.98087179e-01 -8.72209047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62864000000002 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:171.95, Y:-99.75, Z:-8.72 [[ 7.45351930e-01 6.65064145e-01 4.62621229e-02 1.71951998e+02] [-6.63750755e-01 7.46786111e-01 -4.17784598e-02 -9.97540818e+01] [-6.23332665e-02 4.33136632e-04 9.98055297e-01 -8.72307257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.98, Y:-99.78, Z:-8.72 [[ 7.44850256e-01 6.65644927e-01 4.59883280e-02 1.71978041e+02] [-6.64346157e-01 7.46268494e-01 -4.15634285e-02 -9.97750461e+01] [-6.19861256e-02 4.06361370e-04 9.98076928e-01 -8.72407395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.00, Y:-99.80, Z:-8.73 [[ 7.45326525e-01 6.65117151e-01 4.59080178e-02 1.72003219e+02] [-6.63819228e-01 7.46738872e-01 -4.15342000e-02 -9.97957626e+01] [-6.19064102e-02 4.81916070e-04 9.98081842e-01 -8.72595566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.03, Y:-99.82, Z:-8.73 [[ 7.46385094e-01 6.63879100e-01 4.66243651e-02 1.72027655e+02] [-6.62535212e-01 7.47839654e-01 -4.22249328e-02 -9.98167496e+01] [-6.28997995e-02 6.25776844e-04 9.98019651e-01 -8.72834459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:172.05, Y:-99.84, Z:-8.73 [[ 7.47275087e-01 6.62867142e-01 4.67664083e-02 1.72051928e+02] [-6.61510623e-01 7.48736670e-01 -4.23921417e-02 -9.98376062e+01] [-6.31160826e-02 7.42115457e-04 9.98005917e-01 -8.73035973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:172.08, Y:-99.86, Z:-8.73 [[ 7.48822411e-01 6.61097352e-01 4.70668350e-02 1.72077159e+02] [-6.59717365e-01 7.50299562e-01 -4.27032201e-02 -9.98582393e+01] [-6.35452114e-02 9.26319812e-04 9.97978531e-01 -8.73106210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.10, Y:-99.88, Z:-8.73 [[ 7.49349734e-01 6.60457999e-01 4.76466957e-02 1.72100850e+02] [-6.59039961e-01 7.50862296e-01 -4.32682550e-02 -9.98794108e+01] [-6.43529724e-02 1.02197888e-03 9.97926676e-01 -8.73339833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.12, Y:-99.90, Z:-8.73 [[ 7.49304906e-01 6.60508068e-01 4.76576353e-02 1.72124239e+02] [-6.59086876e-01 7.50818216e-01 -4.33185497e-02 -9.99021362e+01] [-6.43944723e-02 1.04827981e-03 9.97923972e-01 -8.73480081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.15, Y:-99.92, Z:-8.74 [[ 7.48898719e-01 6.60945012e-01 4.79833199e-02 1.72148894e+02] [-6.59502299e-01 7.50433598e-01 -4.36592800e-02 -9.99246200e+01] [-6.48646787e-02 1.05126910e-03 9.97893516e-01 -8.73671223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.17, Y:-99.95, Z:-8.74 [[ 7.48183451e-01 6.61735037e-01 4.82520916e-02 1.72172646e+02] [-6.60274797e-01 7.49737085e-01 -4.39488025e-02 -9.99472374e+01] [-6.52588449e-02 1.02212672e-03 9.97867846e-01 -8.73844713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:172.20, Y:-99.97, Z:-8.74 [[ 7.47720145e-01 6.62299383e-01 4.76876556e-02 1.72195880e+02] [-6.60871592e-01 7.49238642e-01 -4.34763930e-02 -9.99691163e+01] [-6.45238226e-02 9.92758005e-04 9.97915673e-01 -8.73861088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.22, Y:-99.99, Z:-8.74 [[ 7.46972840e-01 6.63200977e-01 4.68619273e-02 1.72219794e+02] [-6.61822169e-01 7.48440790e-01 -4.27527909e-02 -9.99912784e+01] [-6.34270706e-02 9.20911249e-04 9.97986051e-01 -8.74010213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98864 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:172.24, Y:-100.01, Z:-8.74 [[ 7.46087367e-01 6.64250688e-01 4.60940706e-02 1.72243445e+02] [-6.62917410e-01 7.47509417e-01 -4.20734997e-02 -1.00013660e+02] [-6.24031029e-02 8.33944768e-04 9.98050679e-01 -8.74222899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.27, Y:-100.04, Z:-8.74 [[ 7.46252144e-01 6.63975253e-01 4.73772275e-02 1.72266465e+02] [-6.62563553e-01 7.47753994e-01 -4.32839893e-02 -1.00035583e+02] [-6.41660088e-02 9.10345618e-04 9.97938823e-01 -8.74430716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04864 meters Centerline goodness [0,1] 0.9999018356729165 Centerline is valid? [True, True] Translation: X:172.29, Y:-100.06, Z:-8.75 [[ 7.46236917e-01 6.64016598e-01 4.70363914e-02 1.72290966e+02] [-6.62622677e-01 7.47717254e-01 -4.30127334e-02 -1.00058411e+02] [-6.37310903e-02 9.30309949e-04 9.97966674e-01 -8.74546847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:172.31, Y:-100.08, Z:-8.75 [[ 7.46781074e-01 6.63384902e-01 4.73127911e-02 1.72314977e+02] [-6.61970541e-01 7.48277641e-01 -4.33079007e-02 -1.00079701e+02] [-6.41329112e-02 1.02184661e-03 9.97940843e-01 -8.74617859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:172.34, Y:-100.10, Z:-8.75 [[ 7.47625803e-01 6.62489413e-01 4.65127503e-02 1.72339175e+02] [-6.61118306e-01 7.49070455e-01 -4.26150074e-02 -1.00101928e+02] [-6.30733183e-02 1.10964845e-03 9.98008279e-01 -8.74721860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.36, Y:-100.13, Z:-8.75 [[ 7.48325574e-01 6.61738846e-01 4.59405684e-02 1.72361031e+02] [-6.60397222e-01 7.49733475e-01 -4.21334320e-02 -1.00126253e+02] [-6.23245106e-02 1.19050087e-03 9.98055228e-01 -8.74935851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.38, Y:-100.15, Z:-8.75 [[ 7.47986250e-01 6.62135385e-01 4.57526256e-02 1.72384127e+02] [-6.60802817e-01 7.49383299e-01 -4.20036744e-02 -1.00149637e+02] [-6.20983726e-02 1.18470700e-03 9.98069331e-01 -8.75088066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.41, Y:-100.17, Z:-8.75 [[ 7.47025843e-01 6.63192406e-01 4.61326587e-02 1.72407666e+02] [-6.61836872e-01 7.48448085e-01 -4.23959788e-02 -1.00173012e+02] [-6.26445912e-02 1.13859722e-03 9.98035249e-01 -8.75249772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.43, Y:-100.20, Z:-8.75 [[ 7.46206470e-01 6.64155791e-01 4.55300922e-02 1.72430133e+02] [-6.62834753e-01 7.47593426e-01 -4.18826804e-02 -1.00195934e+02] [-6.18546224e-02 1.07419963e-03 9.98084592e-01 -8.75328504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.45, Y:-100.22, Z:-8.75 [[ 7.44221507e-01 6.66403281e-01 4.51775991e-02 1.72451157e+02] [-6.65104968e-01 7.45590942e-01 -4.15876081e-02 -1.00221359e+02] [-6.13981272e-02 9.02546716e-04 9.98112947e-01 -8.75442296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.47, Y:-100.25, Z:-8.76 [[ 7.41598359e-01 6.69297224e-01 4.55312981e-02 1.72472442e+02] [-6.67982583e-01 7.42994453e-01 -4.19346210e-02 -1.00246223e+02] [-6.18962274e-02 6.84531971e-04 9.98082356e-01 -8.75674364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.50, Y:-100.27, Z:-8.76 [[ 7.40201400e-01 6.70866757e-01 4.51628432e-02 1.72495491e+02] [-6.69573950e-01 7.41577684e-01 -4.16324888e-02 -1.00269267e+02] [-6.14216094e-02 5.76563196e-04 9.98111744e-01 -8.75818434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.52, Y:-100.29, Z:-8.76 [[ 7.38743539e-01 6.72382038e-01 4.64798702e-02 1.72518288e+02] [-6.71013136e-01 7.40204128e-01 -4.28861228e-02 -1.00292303e+02] [-6.32404505e-02 4.93242673e-04 9.97998197e-01 -8.76060045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.54, Y:-100.32, Z:-8.76 [[ 7.37051947e-01 6.74243967e-01 4.63627120e-02 1.72541524e+02] [-6.72883057e-01 7.38508593e-01 -4.28188110e-02 -1.00316308e+02] [-6.31095862e-02 3.63004622e-04 9.98006537e-01 -8.76236240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:-100.34, Z:-8.76 [[ 7.35013676e-01 6.76424424e-01 4.69563005e-02 1.72564187e+02] [-6.75029904e-01 7.36512019e-01 -4.34128457e-02 -1.00339875e+02] [-6.39493888e-02 2.12128235e-04 9.97953120e-01 -8.76303752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.59, Y:-100.36, Z:-8.76 [[ 7.32511114e-01 6.79218092e-01 4.57192652e-02 1.72586679e+02] [-6.77898955e-01 7.33936499e-01 -4.23110257e-02 -1.00363458e+02] [-6.22934515e-02 2.54517857e-07 9.98057877e-01 -8.76448491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.61, Y:-100.39, Z:-8.77 [[ 7.30923066e-01 6.80896672e-01 4.61648432e-02 1.72609464e+02] [-6.79552666e-01 7.32379484e-01 -4.27605587e-02 -1.00386781e+02] [-6.29257061e-02 -1.16763601e-04 9.98018207e-01 -8.76564750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.63, Y:-100.41, Z:-8.77 [[ 7.29081173e-01 6.82896315e-01 4.57522163e-02 1.72632959e+02] [-6.81577943e-01 7.30515266e-01 -4.24140600e-02 -1.00410528e+02] [-6.23870978e-02 -2.60408895e-04 9.98051994e-01 -8.76712681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.66, Y:-100.43, Z:-8.77 [[ 7.27783245e-01 6.84296629e-01 4.54936516e-02 1.72656584e+02] [-6.82993064e-01 7.29203678e-01 -4.22193071e-02 -1.00433376e+02] [-6.20646676e-02 -3.45344224e-04 9.98072070e-01 -8.76711380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.68, Y:-100.46, Z:-8.77 [[ 7.27758977e-01 6.84382917e-01 4.45745893e-02 1.72679919e+02] [-6.83129163e-01 7.29122708e-01 -4.14080054e-02 -1.00455579e+02] [-6.08392769e-02 -3.15154209e-04 9.98147526e-01 -8.76870085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.70, Y:-100.48, Z:-8.77 [[ 7.27410472e-01 6.84756551e-01 4.45249576e-02 1.72703724e+02] [-6.83503846e-01 7.28771820e-01 -4.14020126e-02 -1.00477761e+02] [-6.07988337e-02 -3.16722247e-04 9.98149989e-01 -8.76938291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.73, Y:-100.50, Z:-8.77 [[ 7.26868367e-01 6.85347534e-01 4.42847123e-02 1.72727495e+02] [-6.84106757e-01 7.28216072e-01 -4.12225314e-02 -1.00499939e+02] [-6.05005995e-02 -3.32116886e-04 9.98168106e-01 -8.77086112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.75, Y:-100.52, Z:-8.77 [[ 7.26554427e-01 6.85662067e-01 4.45667518e-02 1.72752162e+02] [-6.84403289e-01 7.27919929e-01 -4.15296930e-02 -1.00522112e+02] [-6.09163619e-02 -3.28049244e-04 9.98142820e-01 -8.77181620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.78, Y:-100.54, Z:-8.77 [[ 7.26103894e-01 6.86160823e-01 4.42318926e-02 1.72776564e+02] [-6.84919175e-01 7.27449801e-01 -4.12615014e-02 -1.00544118e+02] [-6.04885072e-02 -3.35134514e-04 9.98168838e-01 -8.77295639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.80, Y:-100.57, Z:-8.77 [[ 7.25078983e-01 6.87150140e-01 4.56634819e-02 1.72800535e+02] [-6.85825891e-01 7.26515331e-01 -4.26417820e-02 -1.00565439e+02] [-6.24765261e-02 -3.98538279e-04 9.98046354e-01 -8.77393658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.83, Y:-100.59, Z:-8.78 [[ 7.24268216e-01 6.88006682e-01 4.56328431e-02 1.72825627e+02] [-6.86683296e-01 7.25704217e-01 -4.26549110e-02 -1.00587420e+02] [-6.24628105e-02 -4.41714827e-04 9.98047194e-01 -8.77526395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:-100.61, Z:-8.78 [[ 7.23142166e-01 6.89225820e-01 4.50907567e-02 1.72850109e+02] [-6.87933309e-01 7.24546418e-01 -4.21930180e-02 -1.00609019e+02] [-6.17508636e-02 -5.07883017e-04 9.98091465e-01 -8.77642688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.88, Y:-100.63, Z:-8.78 [[ 7.21814456e-01 6.90606632e-01 4.52368293e-02 1.72876457e+02] [-6.89305614e-01 7.23230341e-01 -4.23750435e-02 -1.00629486e+02] [-6.19811335e-02 -5.95081405e-04 9.98077144e-01 -8.77742798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.90, Y:-100.65, Z:-8.78 [[ 7.21096045e-01 6.91355116e-01 4.52614317e-02 1.72902958e+02] [-6.90051334e-01 7.22514851e-01 -4.24434429e-02 -1.00649624e+02] [-6.20455480e-02 -6.26912594e-04 9.98073122e-01 -8.77815545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.93, Y:-100.67, Z:-8.78 [[ 7.20869875e-01 6.91569442e-01 4.55886981e-02 1.72927855e+02] [-6.90244280e-01 7.22309716e-01 -4.27961247e-02 -1.00670938e+02] [-6.25256517e-02 -6.16900972e-04 9.98043167e-01 -8.77901494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.95, Y:-100.69, Z:-8.78 [[ 7.21072184e-01 6.91323118e-01 4.61221339e-02 1.72952829e+02] [-6.89963289e-01 7.22545516e-01 -4.33432445e-02 -1.00692310e+02] [-6.32895279e-02 -5.68971215e-04 9.97995046e-01 -8.78107748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.98, Y:-100.71, Z:-8.78 [[ 7.22339796e-01 6.89951730e-01 4.68169754e-02 1.72979534e+02] [-6.88544649e-01 7.23855257e-01 -4.40435334e-02 -1.00712449e+02] [-6.42766258e-02 -4.21180935e-04 9.97932031e-01 -8.78318477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.00, Y:-100.73, Z:-8.79 [[ 7.23075721e-01 6.89152051e-01 4.72329476e-02 1.73004839e+02] [-6.87715032e-01 7.24616691e-01 -4.44824233e-02 -1.00733989e+02] [-6.48809355e-02 -3.18647718e-04 9.97892962e-01 -8.78549819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.03, Y:-100.76, Z:-8.79 [[ 7.24911329e-01 6.87097295e-01 4.89986978e-02 1.73028771e+02] [-6.85542774e-01 7.26565411e-01 -4.61931596e-02 -1.00755365e+02] [-6.73399540e-02 -1.04758549e-04 9.97730084e-01 -8.78809036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.05, Y:-100.78, Z:-8.79 [[ 7.25416740e-01 6.86595027e-01 4.85574165e-02 1.73052743e+02] [-6.85064311e-01 7.27040074e-01 -4.58216217e-02 -1.00777614e+02] [-6.67640852e-02 -2.51816700e-05 9.97768789e-01 -8.78951224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.08, Y:-100.80, Z:-8.79 [[ 7.26324150e-01 6.85760381e-01 4.67539229e-02 1.73076924e+02] [-6.84336855e-01 7.27827379e-01 -4.41630457e-02 -1.00799094e+02] [-6.43140522e-02 8.12540680e-05 9.97929705e-01 -8.79041398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.10, Y:-100.82, Z:-8.79 [[ 7.26516898e-01 6.85581251e-01 4.63847476e-02 1.73101631e+02] [-6.84177083e-01 7.27996107e-01 -4.38564366e-02 -1.00821623e+02] [-6.38350664e-02 1.27060955e-04 9.97960454e-01 -8.79249666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.12, Y:-100.84, Z:-8.79 [[ 7.27273103e-01 6.84869603e-01 4.50273285e-02 1.73124812e+02] [-6.83542519e-01 7.28665617e-01 -4.26150709e-02 -1.00843318e+02] [-6.19956328e-02 2.14701315e-04 9.98076398e-01 -8.79300036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.15, Y:-100.87, Z:-8.79 [[ 7.27117094e-01 6.85088002e-01 4.42171994e-02 1.73146533e+02] [-6.83806379e-01 7.28460281e-01 -4.18862168e-02 -1.00867403e+02] [-6.09062181e-02 2.20181230e-04 9.98143469e-01 -8.79320329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.17, Y:-100.89, Z:-8.79 [[ 7.26614661e-01 6.85599797e-01 4.45427209e-02 1.73169740e+02] [-6.84297671e-01 7.27978623e-01 -4.22353222e-02 -1.00890347e+02] [-6.13826769e-02 2.08324172e-04 9.98114284e-01 -8.79483828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.19, Y:-100.91, Z:-8.80 [[ 7.24731541e-01 6.87583465e-01 4.46449528e-02 1.73194024e+02] [-6.86276349e-01 7.26105346e-01 -4.23768715e-02 -1.00913441e+02] [-6.15545750e-02 7.30801626e-05 9.98103717e-01 -8.79584644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.22, Y:-100.94, Z:-8.80 [[ 7.23403552e-01 6.88944421e-01 4.51982974e-02 1.73217897e+02] [-6.87604462e-01 7.24814173e-01 -4.29478664e-02 -1.00936054e+02] [-6.23490595e-02 -9.91185938e-06 9.98054405e-01 -8.79684279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.24, Y:-100.96, Z:-8.80 [[ 7.21748131e-01 6.90673571e-01 4.52731030e-02 1.73241235e+02] [-6.89329696e-01 7.23166649e-01 -4.30646888e-02 -1.00960073e+02] [-6.24836406e-02 -1.26235722e-04 9.98045980e-01 -8.79821346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.26, Y:-100.98, Z:-8.80 [[ 7.19457260e-01 6.93002046e-01 4.61455819e-02 1.73262553e+02] [-6.91607707e-01 7.20935554e-01 -4.39398072e-02 -1.00984464e+02] [-6.37183670e-02 -3.01826733e-04 9.97967875e-01 -8.79910151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30864 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:173.29, Y:-101.01, Z:-8.80 [[ 7.18285419e-01 6.94176561e-01 4.67435368e-02 1.73285775e+02] [-6.92745672e-01 7.19804665e-01 -4.45497174e-02 -1.01006010e+02] [-6.45715855e-02 -3.81970364e-04 9.97913004e-01 -8.80061595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.31, Y:-101.03, Z:-8.80 [[ 7.14706761e-01 6.97839044e-01 4.70628745e-02 1.73309792e+02] [-6.96393820e-01 7.16254281e-01 -4.48937979e-02 -1.01028083e+02] [-6.50376304e-02 -6.88394064e-04 9.97882575e-01 -8.80193740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.33, Y:-101.05, Z:-8.80 [[ 7.12869140e-01 6.99727768e-01 4.68896626e-02 1.73333547e+02] [-6.98294430e-01 7.14409104e-01 -4.47718778e-02 -1.01051053e+02] [-6.48265280e-02 -8.26300175e-04 9.97896206e-01 -8.80307653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.36, Y:-101.07, Z:-8.80 [[ 7.12499428e-01 7.00105813e-01 4.68659325e-02 1.73357282e+02] [-6.98671659e-01 7.14038632e-01 -4.47967087e-02 -1.01073290e+02] [-6.48265225e-02 -8.26269464e-04 9.97896207e-01 -8.80443718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42864 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:173.38, Y:-101.10, Z:-8.81 [[ 7.11266857e-01 7.01361077e-01 4.68198497e-02 1.73381011e+02] [-6.99929377e-01 7.12805598e-01 -4.48000750e-02 -1.01096058e+02] [-6.47944798e-02 -9.05779757e-04 9.97898219e-01 -8.80571330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45864 meters Centerline goodness [0,1] 0.9995583038869258 Centerline is valid? [True, True] Translation: X:173.41, Y:-101.12, Z:-8.81 [[ 7.09545544e-01 7.03165255e-01 4.58666060e-02 1.73405903e+02] [-7.01792154e-01 7.11025732e-01 -4.39338131e-02 -1.01117379e+02] [-6.35050681e-02 -1.01578293e-03 9.97980999e-01 -8.80604499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48864 meters Centerline goodness [0,1] 0.9997052031641527 Centerline is valid? [True, True] Translation: X:173.43, Y:-101.14, Z:-8.81 [[ 7.09484667e-01 7.03140109e-01 4.71751515e-02 1.73431294e+02] [-7.01684350e-01 7.11050609e-01 -4.52338906e-02 -1.01137195e+02] [-6.53496830e-02 -1.00931372e-03 9.97861914e-01 -8.80749394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51864 meters Centerline goodness [0,1] 0.9991654393716249 Centerline is valid? [True, True] Translation: X:173.46, Y:-101.16, Z:-8.81 [[ 7.09002476e-01 7.03601166e-01 4.75487907e-02 1.73456628e+02] [-7.02120302e-01 7.10594358e-01 -4.56370385e-02 -1.01158441e+02] [-6.58981760e-02 -1.02819797e-03 9.97825823e-01 -8.80856438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54864 meters Centerline goodness [0,1] 0.9992629354822858 Centerline is valid? [True, True] Translation: X:173.48, Y:-101.18, Z:-8.81 [[ 7.08977374e-01 7.03615610e-01 4.77090814e-02 1.73482097e+02] [-7.02121543e-01 7.10580098e-01 -4.58395300e-02 -1.01179771e+02] [-6.61545327e-02 -9.98384280e-04 9.97808890e-01 -8.81024547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57864 meters Centerline goodness [0,1] 0.9991142168200384 Centerline is valid? [True, True] Translation: X:173.51, Y:-101.20, Z:-8.81 [[ 7.08485628e-01 7.04114976e-01 4.76467745e-02 1.73507079e+02] [-7.02622730e-01 7.10085264e-01 -4.58281257e-02 -1.01201284e+02] [-6.61015421e-02 -1.00913836e-03 9.97812391e-01 -8.81235975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60864 meters Centerline goodness [0,1] 0.9987213533982492 Centerline is valid? [True, True] Translation: X:173.53, Y:-101.22, Z:-8.81 [[ 7.08118495e-01 7.04444438e-01 4.82310264e-02 1.73533889e+02] [-7.02912763e-01 7.09758409e-01 -4.64397289e-02 -1.01220625e+02] [-6.69465853e-02 -1.01737315e-03 9.97756042e-01 -8.81392869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63864 meters Centerline goodness [0,1] 0.9987227353114561 Centerline is valid? [True, True] Translation: X:173.56, Y:-101.24, Z:-8.81 [[ 7.07778835e-01 7.04820111e-01 4.77255945e-02 1.73560152e+02] [-7.03318034e-01 7.09385365e-01 -4.60015955e-02 -1.01241621e+02] [-6.62786880e-02 -1.00731562e-03 9.97800642e-01 -8.81483262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66864 meters Centerline goodness [0,1] 0.9981326781326781 Centerline is valid? [True, True] Translation: X:173.59, Y:-101.26, Z:-8.82 [[ 7.08266384e-01 7.04306754e-01 4.80700006e-02 1.73588061e+02] [-7.02778411e-01 7.09895153e-01 -4.63829378e-02 -1.01260050e+02] [-6.67924768e-02 -9.31083012e-04 9.97766455e-01 -8.81652184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69864 meters Centerline goodness [0,1] 0.9978403848041622 Centerline is valid? [True, True] Translation: X:173.61, Y:-101.28, Z:-8.82 [[ 7.08118901e-01 7.04342300e-01 4.96945276e-02 1.73613229e+02] [-7.02705458e-01 7.09859886e-01 -4.79998133e-02 -1.01280590e+02] [-6.90844506e-02 -9.31040707e-04 9.97610381e-01 -8.81893125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72864 meters Centerline goodness [0,1] 0.9976937043034496 Centerline is valid? [True, True] Translation: X:173.64, Y:-101.30, Z:-8.82 [[ 7.08956434e-01 7.03493891e-01 4.97706742e-02 1.73641656e+02] [-7.01846674e-01 7.10700837e-01 -4.81203306e-02 -1.01299045e+02] [-6.92244184e-02 -8.16164146e-04 9.97600779e-01 -8.81986933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75864 meters Centerline goodness [0,1] 0.9979368276268605 Centerline is valid? [True, True] Translation: X:173.67, Y:-101.32, Z:-8.82 [[ 7.09642921e-01 7.02856741e-01 4.89829193e-02 1.73667500e+02] [-7.01256587e-01 7.11331076e-01 -4.74056943e-02 -1.01318861e+02] [-6.81624845e-02 -7.08479458e-04 9.97673982e-01 -8.82063115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78864000000002 meters Centerline goodness [0,1] 0.9977398909251708 Centerline is valid? [True, True] Translation: X:173.69, Y:-101.34, Z:-8.82 [[ 7.10015118e-01 7.02499614e-01 4.87116500e-02 1.73692304e+02] [-7.00913356e-01 7.11683837e-01 -4.71866867e-02 -1.01339033e+02] [-6.78159231e-02 -6.39385145e-04 9.97697645e-01 -8.82311975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81864000000002 meters Centerline goodness [0,1] 0.9977889150943396 Centerline is valid? [True, True] Translation: X:173.72, Y:-101.36, Z:-8.83 [[ 7.12127960e-01 7.00373197e-01 4.84886883e-02 1.73718503e+02] [-6.98793565e-01 7.13776731e-01 -4.70141666e-02 -1.01357563e+02] [-6.75375596e-02 -4.03480821e-04 9.97716651e-01 -8.82543066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84864000000002 meters Centerline goodness [0,1] 0.9981844946025515 Centerline is valid? [True, True] Translation: X:173.74, Y:-101.38, Z:-8.83 [[ 7.13211497e-01 6.99212109e-01 4.93131571e-02 1.73743919e+02] [-6.97572241e-01 7.14914230e-01 -4.78603467e-02 -1.01378777e+02] [-6.87192117e-02 -2.64939967e-04 9.97636006e-01 -8.82719483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87864000000002 meters Centerline goodness [0,1] 0.9976918921573442 Centerline is valid? [True, True] Translation: X:173.77, Y:-101.40, Z:-8.83 [[ 7.16957316e-01 6.95465410e-01 4.79590515e-02 1.73769713e+02] [-6.93903001e-01 7.18559565e-01 -4.65916041e-02 -1.01398125e+02] [-6.68642842e-02 1.25261709e-04 9.97762072e-01 -8.82711625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90864000000002 meters Centerline goodness [0,1] 0.997791844545856 Centerline is valid? [True, True] Translation: X:173.79, Y:-101.42, Z:-8.83 [[ 7.18838343e-01 6.93478081e-01 4.85755837e-02 1.73794136e+02] [-6.91867714e-01 7.20477641e-01 -4.72338308e-02 -1.01419705e+02] [-6.77532484e-02 3.45610653e-04 9.97702049e-01 -8.82922856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93864000000002 meters Centerline goodness [0,1] 0.9975923742138365 Centerline is valid? [True, True] Translation: X:173.82, Y:-101.44, Z:-8.83 [[ 7.20964269e-01 6.91277445e-01 4.84356945e-02 1.73818757e+02] [-6.89668343e-01 7.22589201e-01 -4.71425877e-02 -1.01442216e+02] [-6.75877174e-02 5.83556132e-04 9.97713165e-01 -8.83039786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96864 meters Centerline goodness [0,1] 0.9980837264150944 Centerline is valid? [True, True] Translation: X:173.84, Y:-101.46, Z:-8.83 [[ 7.23854061e-01 6.88255358e-01 4.83721000e-02 1.73843200e+02] [-6.86640609e-01 7.25467956e-01 -4.71266321e-02 -1.01463506e+02] [-6.75275655e-02 8.98555802e-04 9.97717004e-01 -8.83185913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99864 meters Centerline goodness [0,1] 0.9977870666338825 Centerline is valid? [True, True] Translation: X:173.87, Y:-101.49, Z:-8.83 [[ 7.24607494e-01 6.87447816e-01 4.85744744e-02 1.73866144e+02] [-6.85814828e-01 7.26233078e-01 -4.73660087e-02 -1.01485469e+02] [-6.78380493e-02 1.00867010e-03 9.97695836e-01 -8.83304373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02864 meters Centerline goodness [0,1] 0.9972520732126209 Centerline is valid? [True, True] Translation: X:173.89, Y:-101.51, Z:-8.83 [[ 7.26192953e-01 6.85828338e-01 4.77837346e-02 1.73887880e+02] [-6.84241837e-01 7.27762405e-01 -4.66368004e-02 -1.01509896e+02] [-6.67600449e-02 1.17168544e-03 9.97768372e-01 -8.83238349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05864 meters Centerline goodness [0,1] 0.9964664310954063 Centerline is valid? [True, True] Translation: X:173.91, Y:-101.53, Z:-8.83 [[ 7.26777222e-01 6.85248893e-01 4.72104254e-02 1.73910483e+02] [-6.83696126e-01 7.28307909e-01 -4.61215472e-02 -1.01533592e+02] [-6.59884654e-02 1.24250497e-03 9.97819612e-01 -8.83321641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08864 meters Centerline goodness [0,1] 0.9965016013796502 Centerline is valid? [True, True] Translation: X:173.93, Y:-101.56, Z:-8.83 [[ 7.27241727e-01 6.84780315e-01 4.68549923e-02 1.73933348e+02] [-6.83246906e-01 7.28748385e-01 -4.58198294e-02 -1.01557023e+02] [-6.55220172e-02 1.30856335e-03 9.97850266e-01 -8.83359163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11864 meters Centerline goodness [0,1] 0.9971058569606592 Centerline is valid? [True, True] Translation: X:173.95, Y:-101.58, Z:-8.84 [[ 7.27352301e-01 6.84719652e-01 4.60176921e-02 1.73954548e+02] [-6.83237631e-01 7.28805357e-01 -4.50454322e-02 -1.01582041e+02] [-6.43814332e-02 1.32287983e-03 9.97924487e-01 -8.83520680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14864 meters Centerline goodness [0,1] 0.9960767005051248 Centerline is valid? [True, True] Translation: X:173.98, Y:-101.61, Z:-8.84 [[ 7.26495101e-01 6.85652055e-01 4.56741464e-02 1.73975894e+02] [-6.84191219e-01 7.27928339e-01 -4.47516473e-02 -1.01606294e+02] [-6.39315644e-02 1.26200263e-03 9.97953487e-01 -8.83593032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17864 meters Centerline goodness [0,1] 0.9961234604249473 Centerline is valid? [True, True] Translation: X:174.00, Y:-101.63, Z:-8.84 [[ 7.25597251e-01 6.86655394e-01 4.48664643e-02 1.73999142e+02] [-6.85245342e-01 7.26982102e-01 -4.39982406e-02 -1.01629163e+02] [-6.28287457e-02 1.18046675e-03 9.98023625e-01 -8.83673654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20864 meters Centerline goodness [0,1] 0.9953323834324178 Centerline is valid? [True, True] Translation: X:174.02, Y:-101.65, Z:-8.84 [[ 7.24409810e-01 6.87955054e-01 4.41392263e-02 1.74021631e+02] [-6.86590955e-01 7.25752502e-01 -4.33147348e-02 -1.01652826e+02] [-6.18327446e-02 1.07202527e-03 9.98085949e-01 -8.83792038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23864 meters Centerline goodness [0,1] 0.9960247349823321 Centerline is valid? [True, True] Translation: X:174.04, Y:-101.68, Z:-8.84 [[ 7.20379928e-01 6.92182988e-01 4.39939810e-02 1.74042999e+02] [-6.90834360e-01 7.21721683e-01 -4.31937462e-02 -1.01676726e+02] [-6.16493863e-02 7.23354087e-04 9.98097605e-01 -8.83953688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26864 meters Centerline goodness [0,1] 0.9953365077806686 Centerline is valid? [True, True] Translation: X:174.07, Y:-101.70, Z:-8.84 [[ 7.15988456e-01 6.96710538e-01 4.42148912e-02 1.74065522e+02] [-6.95354475e-01 7.17352280e-01 -4.34495208e-02 -1.01699317e+02] [-6.19893920e-02 3.64332844e-04 9.98076742e-01 -8.84055537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29864 meters Centerline goodness [0,1] 0.9958282208588957 Centerline is valid? [True, True] Translation: X:174.09, Y:-101.72, Z:-8.84 [[ 7.14140058e-01 6.98574865e-01 4.46893258e-02 1.74088797e+02] [-6.97190534e-01 7.15536933e-01 -4.39574445e-02 -1.01723008e+02] [-6.26844290e-02 2.34797042e-04 9.98033370e-01 -8.84267351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32864 meters Centerline goodness [0,1] 0.9960233688448132 Centerline is valid? [True, True] Translation: X:174.11, Y:-101.75, Z:-8.84 [[ 7.13014218e-01 6.99773128e-01 4.39123347e-02 1.74111352e+02] [-6.98436205e-01 7.14365133e-01 -4.32356741e-02 -1.01745509e+02] [-6.16246038e-02 1.57685904e-04 9.98099386e-01 -8.84362709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35864 meters Centerline goodness [0,1] 0.995239497447978 Centerline is valid? [True, True] Translation: X:174.14, Y:-101.77, Z:-8.84 [[ 7.12235990e-01 7.00640808e-01 4.26890263e-02 1.74135167e+02] [-6.99376707e-01 7.13514153e-01 -4.20686903e-02 -1.01767760e+02] [-5.99342657e-02 1.07124639e-04 9.98202320e-01 -8.84340108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38864 meters Centerline goodness [0,1] 0.9949928820381916 Centerline is valid? [True, True] Translation: X:174.16, Y:-101.79, Z:-8.84 [[ 7.12032920e-01 7.00896101e-01 4.18781058e-02 1.74159064e+02] [-6.99677870e-01 7.13263375e-01 -4.13066121e-02 -1.01790001e+02] [-5.88217625e-02 1.10483821e-04 9.98268495e-01 -8.84468547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41864 meters Centerline goodness [0,1] 0.9957822461991173 Centerline is valid? [True, True] Translation: X:174.18, Y:-101.81, Z:-8.85 [[ 7.11673848e-01 7.01243412e-01 4.21664731e-02 1.74182564e+02] [-7.00006579e-01 7.12921921e-01 -4.16308157e-02 -1.01813570e+02] [-5.92547382e-02 1.10754192e-04 9.98242888e-01 -8.84567702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44864 meters Centerline goodness [0,1] 0.9956246005604444 Centerline is valid? [True, True] Translation: X:174.21, Y:-101.84, Z:-8.85 [[ 7.11442193e-01 7.01520473e-01 4.14612054e-02 1.74206544e+02] [-7.00322707e-01 7.12649291e-01 -4.09767546e-02 -1.01836990e+02] [-5.82933310e-02 1.16368596e-04 9.98299491e-01 -8.84570561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47864 meters Centerline goodness [0,1] 0.9954328929921917 Centerline is valid? [True, True] Translation: X:174.23, Y:-101.86, Z:-8.85 [[ 7.11169725e-01 7.01695310e-01 4.31429502e-02 1.74230654e+02] [-7.00395941e-01 7.12477139e-01 -4.26831628e-02 -1.01858410e+02] [-6.06889409e-02 1.37825960e-04 9.98156718e-01 -8.84651957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50864 meters Centerline goodness [0,1] 0.9952336494521153 Centerline is valid? [True, True] Translation: X:174.25, Y:-101.88, Z:-8.85 [[ 7.10392753e-01 7.02533073e-01 4.23015060e-02 1.74253184e+02] [-7.01283174e-01 7.11651089e-01 -4.18883925e-02 -1.01881205e+02] [-5.95318939e-02 9.18760903e-05 9.98226400e-01 -8.84717605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53864000000002 meters Centerline goodness [0,1] 0.9951422963689892 Centerline is valid? [True, True] Translation: X:174.27, Y:-101.91, Z:-8.85 [[ 7.09310045e-01 7.03695075e-01 4.11400191e-02 1.74273951e+02] [-7.02512757e-01 7.10502105e-01 -4.07748247e-02 -1.01905548e+02] [-5.79231135e-02 2.06045732e-05 9.98321047e-01 -8.84928995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56864000000002 meters Centerline goodness [0,1] 0.9954268292682927 Centerline is valid? [True, True] Translation: X:174.30, Y:-101.93, Z:-8.85 [[ 7.08886743e-01 7.04099148e-01 4.15207984e-02 1.74297030e+02] [-7.02893181e-01 7.10101676e-01 -4.11920615e-02 -1.01928940e+02] [-5.84872839e-02 1.58202263e-05 9.98288153e-01 -8.85132207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59864000000002 meters Centerline goodness [0,1] 0.9958695972857353 Centerline is valid? [True, True] Translation: X:174.32, Y:-101.95, Z:-8.85 [[ 7.08445406e-01 7.04558584e-01 4.12590428e-02 1.74320920e+02] [-7.03366054e-01 7.09645828e-01 -4.09755094e-02 -1.01951884e+02] [-5.81489545e-02 8.70128278e-06 9.98307918e-01 -8.85166066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62864000000002 meters Centerline goodness [0,1] 0.9956824649200274 Centerline is valid? [True, True] Translation: X:174.35, Y:-101.97, Z:-8.85 [[ 7.08309374e-01 7.04678330e-01 4.15485482e-02 1.74345122e+02] [-7.03466616e-01 7.09526920e-01 -4.13070189e-02 -1.01974758e+02] [-5.85879745e-02 3.01321182e-05 9.98282249e-01 -8.85304100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65864000000002 meters Centerline goodness [0,1] 0.9958265822163304 Centerline is valid? [True, True] Translation: X:174.37, Y:-102.00, Z:-8.85 [[ 7.07443415e-01 7.05564127e-01 4.12683495e-02 1.74369177e+02] [-7.04367695e-01 7.08646077e-01 -4.10717486e-02 -1.01997204e+02] [-5.82234064e-02 -1.21541194e-05 9.98303578e-01 -8.85312306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68864000000002 meters Centerline goodness [0,1] 0.9957672999310956 Centerline is valid? [True, True] Translation: X:174.39, Y:-102.02, Z:-8.85 [[ 7.06906764e-01 7.06085444e-01 4.15472350e-02 1.74393273e+02] [-7.04871098e-01 7.08126645e-01 -4.13931146e-02 -1.02019625e+02] [-5.86477798e-02 -2.43724223e-05 9.98278737e-01 -8.85424875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71864 meters Centerline goodness [0,1] 0.996371481808375 Centerline is valid? [True, True] Translation: X:174.42, Y:-102.04, Z:-8.86 [[ 7.05939460e-01 7.07008231e-01 4.22946850e-02 1.74417333e+02] [-7.05748719e-01 7.07205314e-01 -4.21828068e-02 -1.02041866e+02] [-5.97346176e-02 -7.09119277e-05 9.98214291e-01 -8.85560692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74864 meters Centerline goodness [0,1] 0.9972416510688602 Centerline is valid? [True, True] Translation: X:174.44, Y:-102.06, Z:-8.86 [[ 7.05835342e-01 7.07108569e-01 4.23549461e-02 1.74442446e+02] [-7.05842958e-01 7.07104992e-01 -4.22877017e-02 -1.02064068e+02] [-5.98513900e-02 -4.77860725e-05 9.98207298e-01 -8.85690375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77864 meters Centerline goodness [0,1] 0.997444466286613 Centerline is valid? [True, True] Translation: X:174.47, Y:-102.09, Z:-8.86 [[ 7.05925966e-01 7.07034526e-01 4.20798004e-02 1.74466231e+02] [-7.05782545e-01 7.07179029e-01 -4.20573351e-02 -1.02086643e+02] [-5.94939404e-02 -9.82369475e-06 9.98228667e-01 -8.85794151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80864 meters Centerline goodness [0,1] 0.9980398882736315 Centerline is valid? [True, True] Translation: X:174.42, Y:-102.27, Z:-7.15 [[ 7.54002889e-01 -6.56673747e-01 -1.61006965e-02 1.74417906e+02] [-6.56436166e-01 -7.54169079e-01 1.79041875e-02 -1.02265771e+02] [-2.38998574e-02 -2.93072965e-03 -9.99710062e-01 -7.15148816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83864 meters Centerline goodness [0,1] 0.9983302229643454 Centerline is valid? [True, True] Translation: X:174.49, Y:-102.12, Z:-8.86 [[ 7.56581592e-01 6.52319535e-01 4.54259750e-02 1.74490504e+02] [-6.51130039e-01 7.57944048e-01 -3.93763005e-02 -1.02123829e+02] [-6.01162774e-02 2.13167256e-04 9.98191358e-01 -8.86148534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86864 meters Centerline goodness [0,1] 0.9989199273405666 Centerline is valid? [True, True] Translation: X:174.51, Y:-102.14, Z:-8.86 [[ 7.56906840e-01 6.52009184e-01 4.44528996e-02 1.74514628e+02] [-6.50867328e-01 7.58211023e-01 -3.85715743e-02 -1.02144712e+02] [-5.88536991e-02 2.62148442e-04 9.98266584e-01 -8.86278029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89864 meters Centerline goodness [0,1] 0.9992153016184404 Centerline is valid? [True, True] Translation: X:174.54, Y:-102.17, Z:-8.86 [[ 7.56384543e-01 6.52632285e-01 4.41986869e-02 1.74539155e+02] [-6.51502377e-01 7.57674761e-01 -3.83876236e-02 -1.02166840e+02] [-5.85412320e-02 2.40255552e-04 9.98284963e-01 -8.86390547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92864 meters Centerline goodness [0,1] 0.999656340517453 Centerline is valid? [True, True] Translation: X:174.56, Y:-102.19, Z:-8.86 [[ 7.55599081e-01 6.53621031e-01 4.30067193e-02 1.74563275e+02] [-6.52550776e-01 7.56821983e-01 -3.73894488e-02 -1.02188430e+02] [-5.69869606e-02 1.87365060e-04 9.98374905e-01 -8.86434883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95864 meters Centerline goodness [0,1] 0.9998528113040919 Centerline is valid? [True, True] Translation: X:174.59, Y:-102.21, Z:-8.87 [[ 7.55031142e-01 6.54295332e-01 4.27269601e-02 1.74587877e+02] [-6.53238044e-01 7.56239111e-01 -3.71815157e-02 -1.02210271e+02] [-5.66394905e-02 1.62326463e-04 9.98394682e-01 -8.86594292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:174.61, Y:-102.23, Z:-8.87 [[ 7.54821319e-01 6.54532683e-01 4.27988604e-02 1.74611961e+02] [-6.53469978e-01 7.56033687e-01 -3.72833929e-02 -1.02232762e+02] [-5.67605794e-02 1.74529400e-04 9.98387803e-01 -8.86746326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:174.63, Y:-102.26, Z:-8.87 [[ 7.54630276e-01 6.54656111e-01 4.42551976e-02 1.74634057e+02] [-6.53517642e-01 7.55926806e-01 -3.85921721e-02 -1.02256107e+02] [-5.87182915e-02 2.01269114e-04 9.98274572e-01 -8.86929085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.66, Y:-102.28, Z:-8.87 [[ 7.54908911e-01 6.54306142e-01 4.46767276e-02 1.74658427e+02] [-6.53143004e-01 7.56229731e-01 -3.89975728e-02 -1.02278170e+02] [-5.93022211e-02 2.59323147e-04 9.98240041e-01 -8.87148623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.68, Y:-102.30, Z:-8.87 [[ 7.56679912e-01 6.52174704e-01 4.58657442e-02 1.74681809e+02] [-6.50942323e-01 7.58068556e-01 -4.00768834e-02 -1.02299826e+02] [-6.09065081e-02 4.69418523e-04 9.98143365e-01 -8.87239392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10864 meters Centerline goodness [0,1] 0.9999019078915101 Centerline is valid? [True, True] Translation: X:174.71, Y:-102.32, Z:-8.87 [[ 7.56775214e-01 6.52027314e-01 4.63859678e-02 1.74706244e+02] [-6.50764101e-01 7.58195301e-01 -4.05705568e-02 -1.02322338e+02] [-6.16227340e-02 5.16469196e-04 9.98099380e-01 -8.87448124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.73, Y:-102.34, Z:-8.88 [[ 7.59200731e-01 6.49195165e-01 4.64745980e-02 1.74729840e+02] [-6.47919291e-01 7.60621477e-01 -4.06885804e-02 -1.02344283e+02] [-6.17644070e-02 7.79011354e-04 9.98090452e-01 -8.87599024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16864 meters Centerline goodness [0,1] 0.999901772997397 Centerline is valid? [True, True] Translation: X:174.75, Y:-102.37, Z:-8.88 [[ 7.59863303e-01 6.48464318e-01 4.58452703e-02 1.74754274e+02] [-6.47219179e-01 7.61244570e-01 -4.01751016e-02 -1.02365828e+02] [-6.09515830e-02 8.55647169e-04 9.98140357e-01 -8.87762180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19864 meters Centerline goodness [0,1] 0.9998035845813896 Centerline is valid? [True, True] Translation: X:174.78, Y:-102.39, Z:-8.88 [[ 7.60555951e-01 6.47592706e-01 4.66726161e-02 1.74777961e+02] [-6.46297983e-01 7.61986049e-01 -4.09411564e-02 -1.02386915e+02] [-6.20770766e-02 9.73622490e-04 9.98070884e-01 -8.88023143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:174.80, Y:-102.41, Z:-8.88 [[ 7.61436025e-01 6.46476482e-01 4.77842835e-02 1.74799749e+02] [-6.45114656e-01 7.62933094e-01 -4.19544495e-02 -1.02411045e+02] [-6.35787762e-02 1.11928762e-03 9.97976195e-01 -8.88137627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25864 meters Centerline goodness [0,1] 0.9998035556428642 Centerline is valid? [True, True] Translation: X:174.82, Y:-102.43, Z:-8.88 [[ 7.61759255e-01 6.46072407e-01 4.80965895e-02 1.74823226e+02] [-6.44689478e-01 7.63275199e-01 -4.22663881e-02 -1.02433474e+02] [-6.40180810e-02 1.18944719e-03 9.97948030e-01 -8.88211703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28864000000002 meters Centerline goodness [0,1] 0.999754323899371 Centerline is valid? [True, True] Translation: X:174.85, Y:-102.46, Z:-8.88 [[ 7.62523912e-01 6.45138653e-01 4.85118830e-02 1.74846425e+02] [-6.43727369e-01 7.64064400e-01 -4.26692762e-02 -1.02455788e+02] [-6.45938022e-02 1.30791662e-03 9.97910783e-01 -8.88340467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31864000000002 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:174.87, Y:-102.48, Z:-8.89 [[ 7.62472829e-01 6.45072569e-01 5.01653856e-02 1.74869239e+02] [-6.43560527e-01 7.64120051e-01 -4.41632962e-02 -1.02477936e+02] [-6.68209079e-02 1.38885146e-03 9.97764019e-01 -8.88519495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34864000000002 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:174.89, Y:-102.50, Z:-8.89 [[ 7.62148421e-01 6.45457411e-01 5.01449361e-02 1.74893868e+02] [-6.43944674e-01 7.63795005e-01 -4.41865073e-02 -1.02499199e+02] [-6.68209603e-02 1.38611227e-03 9.97764019e-01 -8.88655254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37864000000002 meters Centerline goodness [0,1] 0.9998037580336555 Centerline is valid? [True, True] Translation: X:174.92, Y:-102.52, Z:-8.89 [[ 7.62090813e-01 6.45547732e-01 4.98569792e-02 1.74917108e+02] [-6.44049569e-01 7.63718635e-01 -4.39772535e-02 -1.02523378e+02] [-6.64661203e-02 1.40429485e-03 9.97787694e-01 -8.88885008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40864000000002 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:174.94, Y:-102.55, Z:-8.89 [[ 7.61938017e-01 6.45669870e-01 5.06051080e-02 1.74938255e+02] [-6.44123681e-01 7.63615297e-01 -4.46806574e-02 -1.02547914e+02] [-6.74917889e-02 1.44794305e-03 9.97718779e-01 -8.89034450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.96, Y:-102.57, Z:-8.89 [[ 7.61607615e-01 6.46060887e-01 5.05882467e-02 1.74960260e+02] [-6.44513776e-01 7.63284510e-01 -4.47073747e-02 -1.02572762e+02] [-6.74969113e-02 1.44465516e-03 9.97718437e-01 -8.89280485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:174.98, Y:-102.60, Z:-8.89 [[ 7.60536469e-01 6.47460981e-01 4.87704491e-02 1.74982971e+02] [-6.46023397e-01 7.62097486e-01 -4.31415404e-02 -1.02596008e+02] [-6.51003007e-02 1.30386364e-03 9.97877874e-01 -8.89244283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.01, Y:-102.62, Z:-8.89 [[ 7.59169558e-01 6.49137731e-01 4.77680706e-02 1.75005408e+02] [-6.47759637e-01 7.60670001e-01 -4.22918751e-02 -1.02618727e+02] [-6.37889902e-02 1.16447599e-03 9.97962729e-01 -8.89349346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.03, Y:-102.64, Z:-8.89 [[ 7.56365794e-01 6.52455697e-01 4.70356117e-02 1.75029188e+02] [-6.51124165e-01 7.57826342e-01 -4.16720207e-02 -1.02641186e+02] [-6.28339729e-02 8.93267630e-04 9.98023594e-01 -8.89469805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.05, Y:-102.66, Z:-8.90 [[ 7.53401544e-01 6.55737096e-01 4.89384816e-02 1.75052677e+02] [-6.54300741e-01 7.54989019e-01 -4.33834274e-02 -1.02664457e+02] [-6.53961389e-02 6.64656366e-04 9.97859160e-01 -8.89881250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.08, Y:-102.69, Z:-8.90 [[ 7.52003050e-01 6.57339050e-01 4.89569828e-02 1.75076576e+02] [-6.55902026e-01 7.53594759e-01 -4.34450377e-02 -1.02687453e+02] [-6.54518454e-02 5.59816643e-04 9.97855572e-01 -8.90067797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.10, Y:-102.71, Z:-8.90 [[ 7.51268363e-01 6.58135546e-01 4.95323131e-02 1.75100718e+02] [-6.56663229e-01 7.52899278e-01 -4.40009264e-02 -1.02709149e+02] [-6.62514164e-02 5.30455296e-04 9.97802820e-01 -8.90313667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.13, Y:-102.73, Z:-8.90 [[ 7.50330590e-01 6.59292528e-01 4.83463472e-02 1.75125272e+02] [-6.57889726e-01 7.51886402e-01 -4.29877535e-02 -1.02730700e+02] [-6.46924657e-02 4.48461318e-04 9.97905148e-01 -8.90316217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:175.15, Y:-102.75, Z:-8.91 [[ 7.48962658e-01 6.60835366e-01 4.84928490e-02 1.75149767e+02] [-6.59424577e-01 7.50530811e-01 -4.31593463e-02 -1.02753429e+02] [-6.49165997e-02 3.47362296e-04 9.97890633e-01 -8.90567478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70864 meters Centerline goodness [0,1] 0.9999018693881556 Centerline is valid? [True, True] Translation: X:175.17, Y:-102.78, Z:-8.91 [[ 7.47092154e-01 6.62937334e-01 4.86559846e-02 1.75173170e+02] [-6.61518495e-01 7.48674864e-01 -4.33500704e-02 -1.02776190e+02] [-6.51658928e-02 1.99663775e-04 9.97874424e-01 -8.90648936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73864 meters Centerline goodness [0,1] 0.99965596893891 Centerline is valid? [True, True] Translation: X:175.20, Y:-102.80, Z:-8.91 [[ 7.45846178e-01 6.64259666e-01 4.97249874e-02 1.75198313e+02] [-6.62777627e-01 7.47501894e-01 -4.43478924e-02 -1.02796548e+02] [-6.66280385e-02 1.20096876e-04 9.97777876e-01 -8.90815900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76864 meters Centerline goodness [0,1] 0.9993613362810121 Centerline is valid? [True, True] Translation: X:175.22, Y:-102.82, Z:-8.91 [[ 7.44554229e-01 6.65699835e-01 4.98269985e-02 1.75224549e+02] [-6.64212006e-01 7.46219625e-01 -4.44823786e-02 -1.02817118e+02] [-6.67937962e-02 2.38525087e-05 9.97766801e-01 -8.90937842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79864 meters Centerline goodness [0,1] 0.999116217410517 Centerline is valid? [True, True] Translation: X:175.25, Y:-102.84, Z:-8.91 [[ 7.42218794e-01 6.68300728e-01 4.98537681e-02 1.75250271e+02] [-6.66814425e-01 7.43891191e-01 -4.45468067e-02 -1.02837060e+02] [-6.68564423e-02 -1.79734539e-04 9.97762589e-01 -8.91141656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82864 meters Centerline goodness [0,1] 0.9984782288547445 Centerline is valid? [True, True] Translation: X:175.28, Y:-102.86, Z:-8.91 [[ 7.41529344e-01 6.69013792e-01 5.05448222e-02 1.75275341e+02] [-6.67485245e-01 7.43249956e-01 -4.51990077e-02 -1.02857869e+02] [-6.78061965e-02 -2.21532520e-04 9.97698487e-01 -8.91260323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85864 meters Centerline goodness [0,1] 0.9987229235227664 Centerline is valid? [True, True] Translation: X:175.30, Y:-102.88, Z:-8.91 [[ 7.42181777e-01 6.68183876e-01 5.19280051e-02 1.75301980e+02] [-6.66565345e-01 7.43996165e-01 -4.64795307e-02 -1.02876636e+02] [-6.96911097e-02 -1.17148012e-04 9.97568612e-01 -8.91460226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88864 meters Centerline goodness [0,1] 0.9987232997790326 Centerline is valid? [True, True] Translation: X:175.33, Y:-102.90, Z:-8.92 [[ 7.42894061e-01 6.67393892e-01 5.19018961e-02 1.75327895e+02] [-6.65771870e-01 7.44704903e-01 -4.65018701e-02 -1.02896906e+02] [-6.96866606e-02 -8.85932518e-06 9.97568930e-01 -8.91636616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91864 meters Centerline goodness [0,1] 0.9987220447284345 Centerline is valid? [True, True] Translation: X:175.35, Y:-102.92, Z:-8.92 [[ 7.44331955e-01 6.65942589e-01 4.99039911e-02 1.75354763e+02] [-6.64436955e-01 7.46002979e-01 -4.47558798e-02 -1.02915370e+02] [-6.70333725e-02 1.55175654e-04 9.97750722e-01 -8.91661197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94864 meters Centerline goodness [0,1] 0.9982807741428431 Centerline is valid? [True, True] Translation: X:175.38, Y:-102.93, Z:-8.92 [[ 7.44947115e-01 6.65182165e-01 5.08574825e-02 1.75380127e+02] [-6.63613704e-01 7.46681070e-01 -4.56533916e-02 -1.02934936e+02] [-6.83421413e-02 2.59640000e-04 9.97661909e-01 -8.91916401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97864 meters Centerline goodness [0,1] 0.9981335952848723 Centerline is valid? [True, True] Translation: X:175.41, Y:-102.96, Z:-8.92 [[ 7.45564073e-01 6.64547049e-01 5.01141996e-02 1.75405377e+02] [-6.63019940e-01 7.47246346e-01 -4.50272984e-02 -1.02955120e+02] [-6.73704108e-02 3.44022361e-04 9.97727974e-01 -8.92061395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00864 meters Centerline goodness [0,1] 0.9983303049648873 Centerline is valid? [True, True] Translation: X:175.43, Y:-102.98, Z:-8.92 [[ 7.46878246e-01 6.63007852e-01 5.09261520e-02 1.75430071e+02] [-6.61424301e-01 7.48612259e-01 -4.57993432e-02 -1.02975330e+02] [-6.84892659e-02 5.22738626e-04 9.97651716e-01 -8.92286592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03864000000002 meters Centerline goodness [0,1] 0.9981814607293817 Centerline is valid? [True, True] Translation: X:175.45, Y:-103.00, Z:-8.92 [[ 7.47323856e-01 6.62494614e-01 5.10680126e-02 1.75454866e+02] [-6.60898455e-01 7.49066437e-01 -4.59641723e-02 -1.02996343e+02] [-6.87043508e-02 5.99351834e-04 9.97636884e-01 -8.92487123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06864000000002 meters Centerline goodness [0,1] 0.9978382627493367 Centerline is valid? [True, True] Translation: X:175.48, Y:-103.02, Z:-8.93 [[ 7.46405429e-01 6.63583579e-01 5.03564213e-02 1.75479155e+02] [-6.62031828e-01 7.48101975e-01 -4.53573877e-02 -1.03018111e+02] [-6.77701559e-02 5.17446712e-04 9.97700826e-01 -8.92537674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09864000000002 meters Centerline goodness [0,1] 0.9978372001572945 Centerline is valid? [True, True] Translation: X:175.50, Y:-103.04, Z:-8.93 [[ 7.45133263e-01 6.65057843e-01 4.97442145e-02 1.75503399e+02] [-6.63544200e-01 7.46791737e-01 -4.48463654e-02 -1.03039264e+02] [-6.69739954e-02 4.09033511e-04 9.97754637e-01 -8.92707715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12864000000002 meters Centerline goodness [0,1] 0.9976913252775321 Centerline is valid? [True, True] Translation: X:175.53, Y:-103.06, Z:-8.93 [[ 7.44694442e-01 6.65599447e-01 4.90669425e-02 1.75527893e+02] [-6.64125296e-01 7.46309070e-01 -4.42759854e-02 -1.03060348e+02] [-6.60891756e-02 3.85482541e-04 9.97813646e-01 -8.92818261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15864000000002 meters Centerline goodness [0,1] 0.9974405670128463 Centerline is valid? [True, True] Translation: X:175.55, Y:-103.08, Z:-8.93 [[ 7.44328257e-01 6.65999078e-01 4.92003540e-02 1.75552704e+02] [-6.64514905e-01 7.45952466e-01 -4.44393852e-02 -1.03081609e+02] [-6.62977150e-02 3.83121532e-04 9.97799813e-01 -8.92923326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18864000000002 meters Centerline goodness [0,1] 0.9974496051792633 Centerline is valid? [True, True] Translation: X:175.58, Y:-103.10, Z:-8.93 [[ 7.43512302e-01 6.66873345e-01 4.96930351e-02 1.75578557e+02] [-6.65358038e-01 7.45171003e-01 -4.49316979e-02 -1.03102398e+02] [-6.69935605e-02 3.43609792e-04 9.97753349e-01 -8.93151238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21864 meters Centerline goodness [0,1] 0.997447727495828 Centerline is valid? [True, True] Translation: X:175.60, Y:-103.12, Z:-8.93 [[ 7.42870454e-01 6.67571489e-01 4.99178960e-02 1.75604110e+02] [-6.66040805e-01 7.44545638e-01 -4.51822919e-02 -1.03123659e+02] [-6.73285615e-02 3.17234074e-04 9.97730807e-01 -8.93374648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24864 meters Centerline goodness [0,1] 0.9971518365743469 Centerline is valid? [True, True] Translation: X:175.63, Y:-103.14, Z:-8.94 [[ 7.42070111e-01 6.68455496e-01 4.99919995e-02 1.75630130e+02] [-6.66919077e-01 7.43752093e-01 -4.52964587e-02 -1.03144413e+02] [-6.74603210e-02 2.72529961e-04 9.97721921e-01 -8.93609213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27864 meters Centerline goodness [0,1] 0.9971024457322464 Centerline is valid? [True, True] Translation: X:175.66, Y:-103.17, Z:-8.94 [[ 7.41104401e-01 6.69567854e-01 4.94282802e-02 1.75655238e+02] [-6.68065449e-01 7.42750865e-01 -4.48297745e-02 -1.03165357e+02] [-6.67294738e-02 2.02216996e-04 9.97771084e-01 -8.93566807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30864 meters Centerline goodness [0,1] 0.9970918769716088 Centerline is valid? [True, True] Translation: X:175.68, Y:-103.19, Z:-8.94 [[ 7.40555855e-01 6.70107479e-01 5.03288407e-02 1.75680500e+02] [-6.68548144e-01 7.42264058e-01 -4.56885971e-02 -1.03185183e+02] [-6.79735601e-02 1.87704995e-04 9.97687105e-01 -8.93661634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33864 meters Centerline goodness [0,1] 0.9965179009318293 Centerline is valid? [True, True] Translation: X:175.71, Y:-103.20, Z:-8.94 [[ 7.39821772e-01 6.71008568e-01 4.91044539e-02 1.75707238e+02] [-6.69523563e-01 7.41449583e-01 -4.46174149e-02 -1.03204064e+02] [-6.63471445e-02 1.32346006e-04 9.97796592e-01 -8.93694050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36864 meters Centerline goodness [0,1] 0.9963682764036121 Centerline is valid? [True, True] Translation: X:175.73, Y:-103.22, Z:-8.94 [[ 7.38673129e-01 6.72390453e-01 4.74666955e-02 1.75732776e+02] [-6.71003300e-01 7.40196648e-01 -4.31682011e-02 -1.03224219e+02] [-6.41605752e-02 3.68809011e-05 9.97939587e-01 -8.93836225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39864 meters Centerline goodness [0,1] 0.9960749681091159 Centerline is valid? [True, True] Translation: X:175.76, Y:-103.25, Z:-8.94 [[ 7.38234519e-01 6.72903014e-01 4.70247651e-02 1.75757832e+02] [-6.71540702e-01 7.39730717e-01 -4.27966303e-02 -1.03245219e+02] [-6.35836447e-02 1.49059889e-05 9.97976513e-01 -8.93924095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42864 meters Centerline goodness [0,1] 0.9960157402852927 Centerline is valid? [True, True] Translation: X:175.78, Y:-103.27, Z:-8.94 [[ 7.37655786e-01 6.73571206e-01 4.65378614e-02 1.75783501e+02] [-6.72236793e-01 7.39122338e-01 -4.23776292e-02 -1.03266464e+02] [-6.29415237e-02 -2.43592769e-05 9.98017216e-01 -8.94025681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45864 meters Centerline goodness [0,1] 0.9960274644433545 Centerline is valid? [True, True] Translation: X:175.81, Y:-103.29, Z:-8.94 [[ 7.36230639e-01 6.74981448e-01 4.86260345e-02 1.75809002e+02] [-6.73524514e-01 7.37834691e-01 -4.43249192e-02 -1.03286880e+02] [-6.57964733e-02 -1.17462644e-04 9.97833057e-01 -8.94174556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48864 meters Centerline goodness [0,1] 0.9958730470669156 Centerline is valid? [True, True] Translation: X:175.83, Y:-103.31, Z:-8.94 [[ 7.35377957e-01 6.75923228e-01 4.84463600e-02 1.75834046e+02] [-6.74476283e-01 7.36972022e-01 -4.42038835e-02 -1.03307993e+02] [-6.55820435e-02 -1.69359256e-04 9.97847166e-01 -8.94243584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51864 meters Centerline goodness [0,1] 0.9961736571008094 Centerline is valid? [True, True] Translation: X:175.86, Y:-103.33, Z:-8.94 [[ 7.33326000e-01 6.78277121e-01 4.66168012e-02 1.75859332e+02] [-6.76939607e-01 7.34806121e-01 -4.25761977e-02 -1.03327704e+02] [-6.31327717e-02 -3.34526331e-04 9.98005081e-01 -8.94308749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54864 meters Centerline goodness [0,1] 0.9961732816562822 Centerline is valid? [True, True] Translation: X:175.88, Y:-103.35, Z:-8.95 [[ 7.32285196e-01 6.79397737e-01 4.66594771e-02 1.75884765e+02] [-6.78057436e-01 7.33770096e-01 -4.26563040e-02 -1.03348258e+02] [-6.32179254e-02 -4.01225438e-04 9.97999666e-01 -8.94574375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57864 meters Centerline goodness [0,1] 0.9956308296514482 Centerline is valid? [True, True] Translation: X:175.91, Y:-103.37, Z:-8.95 [[ 7.31798310e-01 6.79968023e-01 4.59860972e-02 1.75910362e+02] [-6.78664556e-01 7.33241651e-01 -4.20844685e-02 -1.03368801e+02] [-6.23350147e-02 -4.11791310e-04 9.98055197e-01 -8.94568711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60864 meters Centerline goodness [0,1] 0.9961226993865031 Centerline is valid? [True, True] Translation: X:175.94, Y:-103.39, Z:-8.95 [[ 7.32057383e-01 6.79627866e-01 4.68823278e-02 1.75936286e+02] [-6.78269436e-01 7.33556976e-01 -4.29503852e-02 -1.03389962e+02] [-6.35811372e-02 -3.56703470e-04 9.97976609e-01 -8.94693980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63864 meters Centerline goodness [0,1] 0.9956340446406672 Centerline is valid? [True, True] Translation: X:175.96, Y:-103.41, Z:-8.95 [[ 7.32867629e-01 6.78814068e-01 4.60054142e-02 1.75960847e+02] [-6.77501800e-01 7.34310151e-01 -4.21890168e-02 -1.03411100e+02] [-6.24207408e-02 -2.49786226e-04 9.98049893e-01 -8.94827686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66864 meters Centerline goodness [0,1] 0.9965165341968404 Centerline is valid? [True, True] Translation: X:175.99, Y:-103.43, Z:-8.95 [[ 7.33805121e-01 6.77820454e-01 4.57107886e-02 1.75985360e+02] [-6.76520543e-01 7.35227457e-01 -4.19587984e-02 -1.03432725e+02] [-6.20483587e-02 -1.34706379e-04 9.98073135e-01 -8.95036797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69864 meters Centerline goodness [0,1] 0.9965156794425087 Centerline is valid? [True, True] Translation: X:176.01, Y:-103.46, Z:-8.95 [[ 7.34392404e-01 6.77172745e-01 4.58788742e-02 1.76009816e+02] [-6.75859212e-01 7.35824076e-01 -4.21574991e-02 -1.03455075e+02] [-6.23066896e-02 -4.75126559e-05 9.98057050e-01 -8.95186345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72864 meters Centerline goodness [0,1] 0.9963641723578833 Centerline is valid? [True, True] Translation: X:176.03, Y:-103.48, Z:-8.95 [[ 7.35501584e-01 6.75877186e-01 4.71958652e-02 1.76034500e+02] [-6.74481548e-01 7.37014260e-01 -4.34122311e-02 -1.03475675e+02] [-6.41253622e-02 9.70245145e-05 9.97941846e-01 -8.95315495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75864 meters Centerline goodness [0,1] 0.996314858490566 Centerline is valid? [True, True] Translation: X:176.06, Y:-103.50, Z:-8.96 [[ 7.35706452e-01 6.75624376e-01 4.76205796e-02 1.76059813e+02] [-6.74200201e-01 7.37246010e-01 -4.38452945e-02 -1.03497121e+02] [-6.47310321e-02 1.51461665e-04 9.97902736e-01 -8.95505059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78864000000002 meters Centerline goodness [0,1] 0.9962708537782139 Centerline is valid? [True, True] Translation: X:176.08, Y:-103.52, Z:-8.96 [[ 7.35851851e-01 6.75436956e-01 4.80309403e-02 1.76084404e+02] [-6.73984674e-01 7.37417708e-01 -4.42694388e-02 -1.03519310e+02] [-6.53200810e-02 2.03630817e-04 9.97864342e-01 -8.95670764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81864000000002 meters Centerline goodness [0,1] 0.9960206337509212 Centerline is valid? [True, True] Translation: X:176.11, Y:-103.54, Z:-8.96 [[ 7.37107657e-01 6.74101223e-01 4.75378093e-02 1.76107889e+02] [-6.72672929e-01 7.38638895e-01 -4.38601704e-02 -1.03542806e+02] [-6.46794694e-02 3.52270008e-04 9.97906029e-01 -8.95836835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84864000000002 meters Centerline goodness [0,1] 0.9964650432050275 Centerline is valid? [True, True] Translation: X:176.13, Y:-103.56, Z:-8.96 [[ 7.37942150e-01 6.73283845e-01 4.61546054e-02 1.76130788e+02] [-6.71933336e-01 7.39383979e-01 -4.26253890e-02 -1.03564999e+02] [-6.28249615e-02 4.42253218e-04 9.98024463e-01 -8.95877066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87864000000002 meters Centerline goodness [0,1] 0.9968044835553808 Centerline is valid? [True, True] Translation: X:176.15, Y:-103.59, Z:-8.96 [[ 7.39006008e-01 6.72113001e-01 4.61977668e-02 1.76153533e+02] [-6.70755122e-01 7.40448368e-01 -4.27057475e-02 -1.03589315e+02] [-6.29101492e-02 5.72415301e-04 9.98019031e-01 -8.96000868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90864000000002 meters Centerline goodness [0,1] 0.9964646960620642 Centerline is valid? [True, True] Translation: X:176.18, Y:-103.61, Z:-8.96 [[ 7.39057048e-01 6.72056353e-01 4.62054013e-02 1.76178014e+02] [-6.70695126e-01 7.40499755e-01 -4.27569979e-02 -1.03612135e+02] [-6.29502004e-02 6.10123185e-04 9.98016483e-01 -8.96159853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93864000000002 meters Centerline goodness [0,1] 0.9971550497866287 Centerline is valid? [True, True] Translation: X:176.20, Y:-103.63, Z:-8.96 [[ 7.38833439e-01 6.72287843e-01 4.64134204e-02 1.76202285e+02] [-6.70911960e-01 7.40289581e-01 -4.29939374e-02 -1.03634786e+02] [-6.32636730e-02 6.26039724e-04 9.97996651e-01 -8.96288184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96864 meters Centerline goodness [0,1] 0.9975445661248342 Centerline is valid? [True, True] Translation: X:176.23, Y:-103.66, Z:-8.96 [[ 7.37702849e-01 6.73557092e-01 4.59929488e-02 1.76225344e+02] [-6.72205889e-01 7.39135000e-01 -4.26461491e-02 -1.03657433e+02] [-6.27196144e-02 5.43454657e-04 9.98031039e-01 -8.96287548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99864 meters Centerline goodness [0,1] 0.9984299872436464 Centerline is valid? [True, True] Translation: X:176.25, Y:-103.68, Z:-8.96 [[ 7.36480335e-01 6.74866831e-01 4.63840091e-02 1.76248724e+02] [-6.73492526e-01 7.37939390e-01 -4.30496721e-02 -1.03681034e+02] [-6.32813832e-02 4.65953470e-04 9.97995616e-01 -8.96288389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02864 meters Centerline goodness [0,1] 0.9989687177724303 Centerline is valid? [True, True] Translation: X:176.27, Y:-103.70, Z:-8.96 [[ 7.35445098e-01 6.75973323e-01 4.66966217e-02 1.76273165e+02] [-6.74579741e-01 7.36925980e-01 -4.33851676e-02 -1.03703239e+02] [-6.37391697e-02 4.06813854e-04 9.97966509e-01 -8.96414884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05864 meters Centerline goodness [0,1] 0.9995093228655545 Centerline is valid? [True, True] Translation: X:176.30, Y:-103.72, Z:-8.97 [[ 7.33849582e-01 6.77628204e-01 4.77996681e-02 1.76297187e+02] [-6.76168496e-01 7.35404600e-01 -4.44549190e-02 -1.03724709e+02] [-6.52760028e-02 3.02593985e-04 9.97867202e-01 -8.96652760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.32, Y:-103.75, Z:-8.97 [[ 7.33040057e-01 6.78417045e-01 4.90162067e-02 1.76321223e+02] [-6.76880928e-01 7.34676963e-01 -4.56285970e-02 -1.03746330e+02] [-6.69662959e-02 2.69453840e-04 9.97755202e-01 -8.96933198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.34, Y:-103.77, Z:-8.97 [[ 7.33154682e-01 6.78340050e-01 4.83630870e-02 1.76344841e+02] [-6.76841798e-01 7.34748042e-01 -4.50610291e-02 -1.03767534e+02] [-6.61013842e-02 3.02545687e-04 9.97812866e-01 -8.97017822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:176.37, Y:-103.79, Z:-8.97 [[ 7.33414781e-01 6.78151437e-01 4.70466576e-02 1.76369607e+02] [-6.76730821e-01 7.34922114e-01 -4.38734898e-02 -1.03787979e+02] [-6.43284992e-02 3.39542682e-04 9.97928719e-01 -8.96984928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.39, Y:-103.81, Z:-8.97 [[ 7.33367449e-01 6.78236861e-01 4.65504505e-02 1.76394241e+02] [-6.76843636e-01 7.34843270e-01 -4.34518325e-02 -1.03809807e+02] [-6.36779197e-02 3.58783421e-04 9.97970437e-01 -8.97124386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.42, Y:-103.83, Z:-8.97 [[ 7.33017764e-01 6.78616323e-01 4.65278810e-02 1.76418247e+02] [-6.77222328e-01 7.34492857e-01 -4.34759906e-02 -1.03831773e+02] [-6.36779131e-02 3.58953558e-04 9.97970438e-01 -8.97260089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.44, Y:-103.85, Z:-8.98 [[ 7.32965294e-01 6.78573102e-01 4.79627345e-02 1.76441972e+02] [-6.77088710e-01 7.34532763e-01 -4.48608753e-02 -1.03852674e+02] [-6.56715832e-02 4.06438634e-04 9.97841209e-01 -8.97536825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.47, Y:-103.87, Z:-8.98 [[ 7.33096061e-01 6.78434536e-01 4.79243762e-02 1.76466128e+02] [-6.76949541e-01 7.34660723e-01 -4.48658087e-02 -1.03874490e+02] [-6.56466710e-02 4.48563196e-04 9.97842830e-01 -8.97649451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29864 meters Centerline goodness [0,1] 0.9998527968596663 Centerline is valid? [True, True] Translation: X:176.49, Y:-103.90, Z:-8.98 [[ 7.33356163e-01 6.78072790e-01 4.90513008e-02 1.76489781e+02] [-6.76513147e-01 7.34994568e-01 -4.59668065e-02 -1.03896490e+02] [-6.72212803e-02 5.26191026e-04 9.97737953e-01 -8.97842504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32864 meters Centerline goodness [0,1] 0.9997544083697627 Centerline is valid? [True, True] Translation: X:176.51, Y:-103.92, Z:-8.98 [[ 7.33617630e-01 6.77770401e-01 4.93199388e-02 1.76513633e+02] [-6.76189930e-01 7.35273375e-01 -4.62627610e-02 -1.03919069e+02] [-6.76191679e-02 5.89531157e-04 9.97711031e-01 -8.98020017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.54, Y:-103.94, Z:-8.98 [[ 7.35001301e-01 6.76226018e-01 4.99145279e-02 1.76536301e+02] [-6.74600529e-01 7.36693813e-01 -4.68652516e-02 -1.03941187e+02] [-6.84632264e-02 7.73653962e-04 9.97653341e-01 -8.98122462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:176.56, Y:-103.96, Z:-8.98 [[ 7.35336268e-01 6.75807862e-01 5.06389819e-02 1.76559505e+02] [-6.74131484e-01 7.37077345e-01 -4.75786658e-02 -1.03962706e+02] [-6.94788828e-02 8.48986486e-04 9.97583061e-01 -8.98378309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:176.58, Y:-103.98, Z:-8.98 [[ 7.35244311e-01 6.76028926e-01 4.89968743e-02 1.76583951e+02] [-6.74458173e-01 7.36874626e-01 -4.60647158e-02 -1.03983807e+02] [-6.72456338e-02 8.22477819e-04 9.97736112e-01 -8.98409788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.61, Y:-104.01, Z:-8.99 [[ 7.34076776e-01 6.77372891e-01 4.79296713e-02 1.76607292e+02] [-6.75870149e-01 7.35639489e-01 -4.51008204e-02 -1.04005713e+02] [-6.58090320e-02 7.13230811e-04 9.97831981e-01 -8.98551230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47864 meters Centerline goodness [0,1] 0.9999018501251411 Centerline is valid? [True, True] Translation: X:176.63, Y:-104.03, Z:-8.99 [[ 7.33000968e-01 6.78560856e-01 4.75893368e-02 1.76631466e+02] [-6.77079298e-01 7.34543917e-01 -4.48202946e-02 -1.04027076e+02] [-6.53697554e-02 6.31564596e-04 9.97860910e-01 -8.98573610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.66, Y:-104.05, Z:-8.99 [[ 7.32648659e-01 6.78974027e-01 4.71191324e-02 1.76656583e+02] [-6.77519796e-01 7.34162031e-01 -4.44189038e-02 -1.04049122e+02] [-6.47523599e-02 6.19305333e-04 9.97901172e-01 -8.98669431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53864000000002 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:176.68, Y:-104.07, Z:-8.99 [[ 7.31457638e-01 6.80236923e-01 4.74073097e-02 1.76680917e+02] [-6.78764475e-01 7.32992109e-01 -4.47365060e-02 -1.04071018e+02] [-6.51806071e-02 5.44461288e-04 9.97873335e-01 -8.98805779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56864000000002 meters Centerline goodness [0,1] 0.9999509491342522 Centerline is valid? [True, True] Translation: X:176.71, Y:-104.09, Z:-8.99 [[ 7.31185544e-01 6.80496928e-01 4.78709954e-02 1.76705453e+02] [-6.78992975e-01 7.32750720e-01 -4.52208152e-02 -1.04093021e+02] [-6.58501321e-02 5.60736776e-04 9.97829367e-01 -8.98956220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.73, Y:-104.11, Z:-8.99 [[ 7.30962805e-01 6.80774699e-01 4.73200443e-02 1.76729883e+02] [-6.79302797e-01 7.32492657e-01 -4.47461464e-02 -1.04114726e+02] [-6.51236293e-02 5.63130270e-04 9.97877044e-01 -8.99100887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.76, Y:-104.14, Z:-8.99 [[ 7.30499523e-01 6.81276090e-01 4.72581851e-02 1.76755194e+02] [-6.79806085e-01 7.32026356e-01 -4.47336693e-02 -1.04136094e+02] [-6.50702163e-02 5.51522271e-04 9.97880535e-01 -8.99275048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.78, Y:-104.16, Z:-8.99 [[ 7.29141443e-01 6.82691860e-01 4.77972875e-02 1.76779869e+02] [-6.81188040e-01 7.30706239e-01 -4.52906887e-02 -1.04158140e+02] [-6.58453607e-02 4.64377465e-04 9.97829731e-01 -8.99397521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.80, Y:-104.18, Z:-9.00 [[ 7.26587086e-01 6.85438772e-01 4.73803328e-02 1.76804192e+02] [-6.83964037e-01 7.28130228e-01 -4.49395831e-02 -1.04179905e+02] [-6.53023852e-02 2.46077018e-04 9.97865491e-01 -8.99511860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71864 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:176.83, Y:-104.20, Z:-9.00 [[ 7.25175602e-01 6.86919344e-01 4.75621815e-02 1.76828883e+02] [-6.85433588e-01 7.26733647e-01 -4.51553188e-02 -1.04202356e+02] [-6.55830996e-02 1.44818767e-04 9.97847101e-01 -8.99613682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:176.85, Y:-104.22, Z:-9.00 [[ 7.23750172e-01 6.88388615e-01 4.80291895e-02 1.76853643e+02] [-6.86873552e-01 7.25342065e-01 -4.56466020e-02 -1.04224171e+02] [-6.62601926e-02 4.67560611e-05 9.97802378e-01 -8.99736315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.88, Y:-104.24, Z:-9.00 [[ 7.22480930e-01 6.89727904e-01 4.79241651e-02 1.76880279e+02] [-6.88219239e-01 7.24068655e-01 -4.55945303e-02 -1.04244536e+02] [-6.61482056e-02 -4.11537776e-05 9.97809808e-01 -8.99825483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.91, Y:-104.26, Z:-9.00 [[ 7.22364893e-01 6.89857219e-01 4.78119120e-02 1.76906225e+02] [-6.88352743e-01 7.23945452e-01 -4.55355156e-02 -1.04264880e+02] [-6.60262204e-02 -1.82028619e-05 9.97817888e-01 -9.00036212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.93, Y:-104.29, Z:-9.00 [[ 7.22130523e-01 6.90080579e-01 4.81279787e-02 1.76931284e+02] [-6.88553399e-01 7.23732543e-01 -4.58848851e-02 -1.04286300e+02] [-6.64960525e-02 -3.80726938e-06 9.97786688e-01 -9.00257059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.96, Y:-104.31, Z:-9.00 [[ 7.22407840e-01 6.89799958e-01 4.79888625e-02 1.76956927e+02] [-6.88277815e-01 7.24000010e-01 -4.57999377e-02 -1.04307360e+02] [-6.63367320e-02 5.65645734e-05 9.97797291e-01 -9.00381305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89864 meters Centerline goodness [0,1] 0.999901927131859 Centerline is valid? [True, True] Translation: X:176.98, Y:-104.33, Z:-9.00 [[ 7.22674076e-01 6.89526186e-01 4.79146990e-02 1.76984598e+02] [-6.88004980e-01 7.24260744e-01 -4.57768759e-02 -1.04325749e+02] [-6.62670902e-02 1.16209998e-04 9.97801914e-01 -9.00475852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.01, Y:-104.35, Z:-9.01 [[ 7.23209596e-01 6.88948003e-01 4.81511153e-02 1.77010655e+02] [-6.87407244e-01 7.24810739e-01 -4.60507708e-02 -1.04346285e+02] [-6.66270320e-02 2.04933832e-04 9.97777930e-01 -9.00624771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:177.04, Y:-104.37, Z:-9.01 [[ 7.25197260e-01 6.86922757e-01 4.71811332e-02 1.77036868e+02] [-6.85436212e-01 7.26730316e-01 -4.51691062e-02 -1.04366856e+02] [-6.53156468e-02 4.16854871e-04 9.97864566e-01 -9.00697671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98864 meters Centerline goodness [0,1] 0.999852739053603 Centerline is valid? [True, True] Translation: X:177.06, Y:-104.39, Z:-9.01 [[ 7.26692056e-01 6.85367826e-01 4.67931626e-02 1.77061886e+02] [-6.83899452e-01 7.28196815e-01 -4.48434860e-02 -1.04388672e+02] [-6.48089144e-02 5.85586703e-04 9.97897521e-01 -9.00811989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:177.09, Y:-104.41, Z:-9.01 [[ 7.27653869e-01 6.84336419e-01 4.69415849e-02 1.77086283e+02] [-6.82853703e-01 7.29166071e-01 -4.50295529e-02 -1.04410336e+02] [-6.50435740e-02 7.11693260e-04 9.97882171e-01 -9.00961981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04864 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:177.11, Y:-104.43, Z:-9.01 [[ 7.29240108e-01 6.82608576e-01 4.74804904e-02 1.77110550e+02] [-6.81085238e-01 7.30783628e-01 -4.55871413e-02 -1.04431447e+02] [-6.58161387e-02 9.05710697e-04 9.97831356e-01 -9.01113500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07864 meters Centerline goodness [0,1] 0.9996074197664148 Centerline is valid? [True, True] Translation: X:177.13, Y:-104.45, Z:-9.01 [[ 7.29704667e-01 6.82076814e-01 4.79824779e-02 1.77134229e+02] [-6.80517175e-01 7.31279859e-01 -4.61101202e-02 -1.04453529e+02] [-6.65392636e-02 9.93869573e-04 9.97783312e-01 -9.01340944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10864 meters Centerline goodness [0,1] 0.9998524275665306 Centerline is valid? [True, True] Translation: X:177.16, Y:-104.48, Z:-9.01 [[ 7.29067780e-01 6.82729776e-01 4.83758743e-02 1.77157540e+02] [-6.81143011e-01 7.30670313e-01 -4.65305523e-02 -1.04476254e+02] [-6.71146087e-02 9.73037788e-04 9.97744798e-01 -9.01453456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:177.18, Y:-104.50, Z:-9.01 [[ 7.27705007e-01 6.84239961e-01 4.75510165e-02 1.77180292e+02] [-6.82707366e-01 7.29256439e-01 -4.57788018e-02 -1.04498749e+02] [-6.60005705e-02 8.50034123e-04 9.97819223e-01 -9.01456555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16864 meters Centerline goodness [0,1] 0.9998527318246527 Centerline is valid? [True, True] Translation: X:177.20, Y:-104.52, Z:-9.02 [[ 7.24166269e-01 6.87973209e-01 4.77082731e-02 1.77202849e+02] [-6.86435796e-01 7.25735882e-01 -4.59709422e-02 -1.04522386e+02] [-6.62503823e-02 5.41939255e-04 9.97802883e-01 -9.01582130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.23, Y:-104.55, Z:-9.02 [[ 7.21630764e-01 6.90639487e-01 4.76039890e-02 1.77225506e+02] [-6.89111856e-01 7.23199137e-01 -4.59114086e-02 -1.04545013e+02] [-6.61353955e-02 3.26611628e-04 9.97810605e-01 -9.01780167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.25, Y:-104.57, Z:-9.02 [[ 7.17893096e-01 6.94481862e-01 4.82125000e-02 1.77250417e+02] [-6.92920524e-01 7.19510210e-01 -4.65425060e-02 -1.04567164e+02] [-6.70123123e-02 5.11301881e-06 9.97752149e-01 -9.01917956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:177.27, Y:-104.59, Z:-9.02 [[ 7.15830682e-01 6.96518164e-01 4.94861873e-02 1.77274403e+02] [-6.94874703e-01 7.17539144e-01 -4.78197022e-02 -1.04588103e+02] [-6.88155677e-02 -1.55889693e-04 9.97629387e-01 -9.02150913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.30, Y:-104.61, Z:-9.02 [[ 7.14563826e-01 6.97814900e-01 4.95268009e-02 1.77299763e+02] [-6.96168680e-01 7.16278091e-01 -4.79047583e-02 -1.04608877e+02] [-6.89036165e-02 -2.48000223e-04 9.97623291e-01 -9.02338641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.33, Y:-104.63, Z:-9.02 [[ 7.14930411e-01 6.97456851e-01 4.92793000e-02 1.77325502e+02] [-6.95822810e-01 7.16626758e-01 -4.77148453e-02 -1.04629778e+02] [-6.85939107e-02 -1.76867051e-04 9.97644648e-01 -9.02480601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.35, Y:-104.65, Z:-9.03 [[ 7.15494149e-01 6.96874604e-01 4.93346637e-02 1.77351737e+02] [-6.95232072e-01 7.17192986e-01 -4.78182783e-02 -1.04649983e+02] [-6.87058186e-02 -8.53421180e-05 9.97636960e-01 -9.02524496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37864000000002 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:177.38, Y:-104.67, Z:-9.03 [[ 7.18163493e-01 6.94172501e-01 4.86388342e-02 1.77379135e+02] [-6.92566664e-01 7.19808653e-01 -4.71902483e-02 -1.04668023e+02] [-6.77688264e-02 2.04678368e-04 9.97701030e-01 -9.02729552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.40, Y:-104.69, Z:-9.03 [[ 7.18649711e-01 6.93705260e-01 4.81207311e-02 1.77403539e+02] [-6.92129472e-01 7.20258936e-01 -4.67317817e-02 -1.04689723e+02] [-6.70774693e-02 2.78005274e-04 9.97747732e-01 -9.02909579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.43, Y:-104.71, Z:-9.03 [[ 7.20206838e-01 6.92074485e-01 4.83220250e-02 1.77429604e+02] [-6.90478705e-01 7.21825942e-01 -4.69730404e-02 -1.04708487e+02] [-6.73889340e-02 4.64975686e-04 9.97726674e-01 -9.03003117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46864 meters Centerline goodness [0,1] 0.9999018645731109 Centerline is valid? [True, True] Translation: X:177.46, Y:-104.73, Z:-9.03 [[ 7.20278389e-01 6.92039946e-01 4.77467829e-02 1.77455501e+02] [-6.90479006e-01 7.21859037e-01 -4.64572073e-02 -1.04729320e+02] [-6.66166899e-02 4.93971214e-04 9.97778519e-01 -9.03121753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49864 meters Centerline goodness [0,1] 0.9997055792727808 Centerline is valid? [True, True] Translation: X:177.48, Y:-104.75, Z:-9.03 [[ 7.20014052e-01 6.92246698e-01 4.87265174e-02 1.77480430e+02] [-6.90618252e-01 7.21660752e-01 -4.74572420e-02 -1.04749877e+02] [-6.80161342e-02 5.18458818e-04 9.97684087e-01 -9.03412055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52864 meters Centerline goodness [0,1] 0.9995581737849779 Centerline is valid? [True, True] Translation: X:177.51, Y:-104.77, Z:-9.04 [[ 7.21297488e-01 6.90932393e-01 4.83979534e-02 1.77505808e+02] [-6.89319913e-01 7.22919068e-01 -4.71813359e-02 -1.04770623e+02] [-6.75869167e-02 6.70106020e-04 9.97713165e-01 -9.03607313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55864 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:177.53, Y:-104.79, Z:-9.04 [[ 7.22543622e-01 6.89627204e-01 4.84255500e-02 1.77530074e+02] [-6.88006843e-01 7.24164095e-01 -4.72540663e-02 -1.04792019e+02] [-6.76557342e-02 8.26014478e-04 9.97708384e-01 -9.03686747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58864 meters Centerline goodness [0,1] 0.9997054058035056 Centerline is valid? [True, True] Translation: X:177.55, Y:-104.81, Z:-9.04 [[ 7.25534114e-01 6.86533341e-01 4.76678154e-02 1.77554098e+02] [-6.84953929e-01 7.27097449e-01 -4.65554948e-02 -1.04813924e+02] [-6.66210464e-02 1.12734219e-03 9.97777713e-01 -9.03711613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61864 meters Centerline goodness [0,1] 0.9996562223750123 Centerline is valid? [True, True] Translation: X:177.58, Y:-104.84, Z:-9.04 [[ 7.26466973e-01 6.85487196e-01 4.85081528e-02 1.77576335e+02] [-6.83846351e-01 7.28083564e-01 -4.74182612e-02 -1.04836963e+02] [-6.78225998e-02 1.27567741e-03 9.97696581e-01 -9.03905568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64864 meters Centerline goodness [0,1] 0.999656121045392 Centerline is valid? [True, True] Translation: X:177.60, Y:-104.86, Z:-9.04 [[ 7.27109979e-01 6.84836602e-01 4.80614911e-02 1.77600301e+02] [-6.83221563e-01 7.28695404e-01 -4.70245006e-02 -1.04860324e+02] [-6.72262869e-02 1.35533656e-03 9.97736834e-01 -9.03980438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67864 meters Centerline goodness [0,1] 0.9998035459947939 Centerline is valid? [True, True] Translation: X:177.62, Y:-104.88, Z:-9.04 [[ 7.26226454e-01 6.85719810e-01 4.88208994e-02 1.77623036e+02] [-6.84051984e-01 7.27864395e-01 -4.78153258e-02 -1.04883793e+02] [-6.83229105e-02 1.32872136e-03 9.97662375e-01 -9.04180820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70864 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:177.64, Y:-104.91, Z:-9.04 [[ 7.23830289e-01 6.88196087e-01 4.95566171e-02 1.77643545e+02] [-6.86480105e-01 7.25523834e-01 -4.85822158e-02 -1.04909072e+02] [-6.93885976e-02 1.14564760e-03 9.97589049e-01 -9.04281863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:177.67, Y:-104.93, Z:-9.04 [[ 7.21744137e-01 6.90420739e-01 4.90367665e-02 1.77665339e+02] [-6.88742853e-01 7.23407421e-01 -4.81142980e-02 -1.04933509e+02] [-6.86926699e-02 9.52490042e-04 9.97637414e-01 -9.04321761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:177.69, Y:-104.96, Z:-9.04 [[ 7.17510084e-01 6.94941238e-01 4.72858904e-02 1.77686197e+02] [-6.93388923e-01 7.19066340e-01 -4.64262755e-02 -1.04958392e+02] [-6.62652255e-02 5.23808172e-04 9.97801907e-01 -9.04354395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.71, Y:-104.98, Z:-9.05 [[ 7.15108816e-01 6.97454708e-01 4.66509537e-02 1.77708451e+02] [-6.95947602e-01 7.16628800e-01 -4.58268226e-02 -1.04981571e+02] [-6.53935502e-02 3.04545484e-04 9.97859505e-01 -9.04532054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:177.73, Y:-105.01, Z:-9.05 [[ 7.10671083e-01 7.01991459e-01 4.64177082e-02 1.77728244e+02] [-7.00506348e-01 7.12185358e-01 -4.56384916e-02 -1.05006820e+02] [-6.50958434e-02 -8.19430601e-05 9.97879013e-01 -9.04748172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:177.75, Y:-105.03, Z:-9.05 [[ 7.08887650e-01 7.03786857e-01 4.65011696e-02 1.77752015e+02] [-7.02297402e-01 7.10411158e-01 -4.57640245e-02 -1.05029988e+02] [-6.52430687e-02 -2.16098802e-04 9.97869378e-01 -9.04811163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:177.78, Y:-105.05, Z:-9.05 [[ 7.06594570e-01 7.06044021e-01 4.71800269e-02 1.77775831e+02] [-7.04512655e-01 7.08167835e-01 -4.64783415e-02 -1.05051712e+02] [-6.62271326e-02 -3.97582298e-04 9.97804494e-01 -9.04815452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.80, Y:-105.07, Z:-9.05 [[ 7.01947315e-01 7.10609095e-01 4.80070887e-02 1.77801175e+02] [-7.09031193e-01 7.03586566e-01 -4.73361580e-02 -1.05071990e+02] [-6.74146471e-02 -8.11034338e-04 9.97724715e-01 -9.04924552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.83, Y:-105.09, Z:-9.05 [[ 7.00274312e-01 7.12337581e-01 4.68087336e-02 1.77825964e+02] [-7.10839337e-01 7.01836380e-01 -4.61858491e-02 -1.05093177e+02] [-6.57519882e-02 -9.30725470e-04 9.97835563e-01 -9.05017604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.85, Y:-105.11, Z:-9.05 [[ 6.96513975e-01 7.16036691e-01 4.64730018e-02 1.77852318e+02] [-7.14566911e-01 6.98061513e-01 -4.58721575e-02 -1.05111678e+02] [-6.52871618e-02 -1.25747060e-03 9.97865725e-01 -9.05148973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.88, Y:-105.13, Z:-9.05 [[ 6.95763368e-01 7.16809611e-01 4.57964727e-02 1.77878456e+02] [-7.15382041e-01 6.97267753e-01 -4.52351092e-02 -1.05132699e+02] [-6.43573646e-02 -1.28904219e-03 9.97926083e-01 -9.05254189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.90, Y:-105.15, Z:-9.05 [[ 6.95524752e-01 7.17011693e-01 4.62552808e-02 1.77904461e+02] [-7.15552673e-01 6.97059950e-01 -4.57361721e-02 -1.05153387e+02] [-6.50360739e-02 -1.28745003e-03 9.97882083e-01 -9.05376035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.93, Y:-105.17, Z:-9.06 [[ 6.97158316e-01 7.15356839e-01 4.72744653e-02 1.77931480e+02] [-7.13826551e-01 6.98758405e-01 -4.67797635e-02 -1.05171529e+02] [-6.64976537e-02 -1.13286736e-03 9.97785938e-01 -9.05518031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.96, Y:-105.19, Z:-9.06 [[ 6.99028134e-01 7.13499199e-01 4.77342792e-02 1.77958799e+02] [-7.11933788e-01 7.00655392e-01 -4.72472508e-02 -1.05189098e+02] [-6.71561557e-02 -9.56488663e-04 9.97742019e-01 -9.05709007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.98, Y:-105.21, Z:-9.06 [[ 7.00364676e-01 7.12234646e-01 4.70226426e-02 1.77983956e+02] [-7.10711965e-01 7.01940985e-01 -4.65548761e-02 -1.05209462e+02] [-6.61651158e-02 -8.14163976e-04 9.97808356e-01 -9.05847364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.01, Y:-105.23, Z:-9.06 [[ 7.00225231e-01 7.12372216e-01 4.70154343e-02 1.78007105e+02] [-7.10849356e-01 7.01801367e-01 -4.65621549e-02 -1.05232303e+02] [-6.61650816e-02 -8.16895519e-04 9.97808356e-01 -9.05983074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.03, Y:-105.25, Z:-9.06 [[ 7.01209360e-01 7.11380848e-01 4.73574032e-02 1.78032732e+02] [-7.09832233e-01 7.02806359e-01 -4.69193364e-02 -1.05253817e+02] [-6.66606014e-02 -7.15533407e-04 9.97775452e-01 -9.06191806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21864 meters Centerline goodness [0,1] 0.9996565597095476 Centerline is valid? [True, True] Translation: X:178.06, Y:-105.27, Z:-9.06 [[ 7.01920750e-01 7.10696149e-01 4.70982424e-02 1.78059409e+02] [-7.09161853e-01 7.03498813e-01 -4.66785492e-02 -1.05273061e+02] [-6.63078228e-02 -6.35634587e-04 9.97799012e-01 -9.06308909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:178.08, Y:-105.29, Z:-9.06 [[ 7.02497680e-01 7.10168905e-01 4.64449764e-02 1.78083765e+02] [-7.08674994e-01 7.04031109e-01 -4.60429188e-02 -1.05294480e+02] [-6.53969575e-02 -5.69349682e-04 9.97859165e-01 -9.06380264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27864 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:178.11, Y:-105.32, Z:-9.06 [[ 7.03289067e-01 7.09406543e-01 4.61177313e-02 1.78108510e+02] [-7.07931225e-01 7.04799347e-01 -4.57303018e-02 -1.05315686e+02] [-6.49451222e-02 -4.86560741e-04 9.97888718e-01 -9.06447467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30864 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:178.13, Y:-105.34, Z:-9.07 [[ 7.03789468e-01 7.08915596e-01 4.60332680e-02 1.78133018e+02] [-7.07443863e-01 7.05293195e-01 -4.56584050e-02 -1.05336454e+02] [-6.48349061e-02 -4.32048372e-04 9.97895911e-01 -9.06538247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33864 meters Centerline goodness [0,1] 0.9996077277630676 Centerline is valid? [True, True] Translation: X:178.16, Y:-105.36, Z:-9.07 [[ 7.04178883e-01 7.08503744e-01 4.64170708e-02 1.78158318e+02] [-7.07005588e-01 7.05706946e-01 -4.60522032e-02 -1.05357075e+02] [-6.53850076e-02 -3.88139389e-04 9.97860035e-01 -9.06735669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36864 meters Centerline goodness [0,1] 0.9997550460513424 Centerline is valid? [True, True] Translation: X:178.18, Y:-105.38, Z:-9.07 [[ 7.05500556e-01 7.07126743e-01 4.73364073e-02 1.78183659e+02] [-7.05564456e-01 7.07086773e-01 -4.69797099e-02 -1.05377127e+02] [-6.66915567e-02 -2.54675083e-04 9.97773607e-01 -9.06970984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39864 meters Centerline goodness [0,1] 0.9998037580336555 Centerline is valid? [True, True] Translation: X:178.21, Y:-105.40, Z:-9.07 [[ 7.07659317e-01 7.04932896e-01 4.78320372e-02 1.78207737e+02] [-7.03331697e-01 7.09274003e-01 -4.74859199e-02 -1.05398257e+02] [-6.74004075e-02 -3.79342637e-05 9.97726006e-01 -9.07227771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.23, Y:-105.42, Z:-9.07 [[ 7.08077805e-01 7.04499855e-01 4.80184974e-02 1.78232158e+02] [-7.02884295e-01 7.09704131e-01 -4.76834712e-02 -1.05419712e+02] [-6.76719245e-02 1.21599008e-05 9.97707628e-01 -9.07398361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45864 meters Centerline goodness [0,1] 0.9996570644718793 Centerline is valid? [True, True] Translation: X:178.26, Y:-105.44, Z:-9.07 [[ 7.08910357e-01 7.03711555e-01 4.72879881e-02 1.78256406e+02] [-7.02142283e-01 7.10485777e-01 -4.69699462e-02 -1.05440666e+02] [-6.66507368e-02 9.45854048e-05 9.97776363e-01 -9.07485849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48864 meters Centerline goodness [0,1] 0.9994113896110266 Centerline is valid? [True, True] Translation: X:178.28, Y:-105.46, Z:-9.08 [[ 7.11317200e-01 7.01325171e-01 4.65923316e-02 1.78280681e+02] [-6.99795882e-01 7.12841428e-01 -4.62906307e-02 -1.05461840e+02] [-6.56777287e-02 3.22200051e-04 9.97840835e-01 -9.07703307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51864 meters Centerline goodness [0,1] 0.9994607578802882 Centerline is valid? [True, True] Translation: X:178.30, Y:-105.48, Z:-9.08 [[ 7.12336021e-01 7.00300312e-01 4.64420703e-02 1.78303674e+02] [-6.98777935e-01 7.13848228e-01 -4.61530572e-02 -1.05483823e+02] [-6.54735900e-02 4.23791120e-04 9.97854213e-01 -9.07790531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54864 meters Centerline goodness [0,1] 0.9995094432180525 Centerline is valid? [True, True] Translation: X:178.33, Y:-105.51, Z:-9.08 [[ 7.14396285e-01 6.98149815e-01 4.71676152e-02 1.78327572e+02] [-6.96573953e-01 7.15951414e-01 -4.68860487e-02 -1.05505611e+02] [-6.65032071e-02 6.39486853e-04 9.97786006e-01 -9.07940110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57864 meters Centerline goodness [0,1] 0.999215263132081 Centerline is valid? [True, True] Translation: X:178.35, Y:-105.53, Z:-9.08 [[ 7.14931304e-01 6.97630939e-01 4.67365236e-02 1.78350875e+02] [-6.96081913e-01 7.16456975e-01 -4.64690563e-02 -1.05528298e+02] [-6.59029597e-02 6.89734258e-04 9.97825799e-01 -9.08020444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60864 meters Centerline goodness [0,1] 0.9989694768868388 Centerline is valid? [True, True] Translation: X:178.37, Y:-105.55, Z:-9.08 [[ 7.16850740e-01 6.95620235e-01 4.73022796e-02 1.78372790e+02] [-6.94028266e-01 7.18409138e-01 -4.70433541e-02 -1.05551244e+02] [-6.67066989e-02 8.93944167e-04 9.97772227e-01 -9.08209710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63864 meters Centerline goodness [0,1] 0.9990689013035382 Centerline is valid? [True, True] Translation: X:178.39, Y:-105.58, Z:-9.08 [[ 7.16764108e-01 6.95665751e-01 4.79413927e-02 1.78394170e+02] [-6.94029715e-01 7.18365043e-01 -4.76908813e-02 -1.05575266e+02] [-6.76163333e-02 9.10360896e-04 9.97710982e-01 -9.08450947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66864 meters Centerline goodness [0,1] 0.9986736097465121 Centerline is valid? [True, True] Translation: X:178.42, Y:-105.60, Z:-9.08 [[ 7.17265567e-01 6.95183910e-01 4.74282502e-02 1.78417460e+02] [-6.93580703e-01 7.18831286e-01 -4.71952427e-02 -1.05599454e+02] [-6.69022835e-02 9.56203362e-04 9.97759074e-01 -9.08463523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69864 meters Centerline goodness [0,1] 0.9992149165848871 Centerline is valid? [True, True] Translation: X:178.44, Y:-105.62, Z:-9.09 [[ 7.17130051e-01 6.95353874e-01 4.69838231e-02 1.78439526e+02] [-6.93779852e-01 7.18666891e-01 -4.67698273e-02 -1.05623539e+02] [-6.62872986e-02 9.43618810e-04 9.97800132e-01 -9.08518774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72864 meters Centerline goodness [0,1] 0.9991180361605174 Centerline is valid? [True, True] Translation: X:178.46, Y:-105.65, Z:-9.09 [[ 7.17568180e-01 6.94856527e-01 4.76478068e-02 1.78459990e+02] [-6.93235756e-01 7.19147678e-01 -4.74426340e-02 -1.05648033e+02] [-6.72316335e-02 1.01216114e-03 9.97736881e-01 -9.08690113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75864 meters Centerline goodness [0,1] 0.9991171710235911 Centerline is valid? [True, True] Translation: X:178.48, Y:-105.67, Z:-9.09 [[ 7.18075766e-01 6.94361799e-01 4.72110938e-02 1.78482420e+02] [-6.92768649e-01 7.19625300e-01 -4.70215559e-02 -1.05672126e+02] [-6.66242697e-02 1.05867406e-03 9.97777573e-01 -9.08812952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78864000000002 meters Centerline goodness [0,1] 0.9986225217690756 Centerline is valid? [True, True] Translation: X:178.50, Y:-105.70, Z:-9.09 [[ 7.18647102e-01 6.93778258e-01 4.70964167e-02 1.78504603e+02] [-6.92190580e-01 7.20187804e-01 -4.69225824e-02 -1.05695482e+02] [-6.64721324e-02 1.12108182e-03 9.97787652e-01 -9.08897168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81864000000002 meters Centerline goodness [0,1] 0.998578849358032 Centerline is valid? [True, True] Translation: X:178.53, Y:-105.72, Z:-9.09 [[ 7.19006151e-01 6.93400366e-01 4.71814237e-02 1.78525181e+02] [-6.91805353e-01 7.20551574e-01 -4.70189557e-02 -1.05720775e+02] [-6.65996102e-02 1.16655689e-03 9.97779099e-01 -9.09196642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84864000000002 meters Centerline goodness [0,1] 0.9991170411066418 Centerline is valid? [True, True] Translation: X:178.55, Y:-105.75, Z:-9.09 [[ 7.19067854e-01 6.93344536e-01 4.70614040e-02 1.78546515e+02] [-6.91756532e-01 7.20605276e-01 -4.69141501e-02 -1.05745796e+02] [-6.64403656e-02 1.17942361e-03 9.97789701e-01 -9.09292325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87864000000002 meters Centerline goodness [0,1] 0.9995584339122755 Centerline is valid? [True, True] Translation: X:178.57, Y:-105.77, Z:-9.09 [[ 7.18114135e-01 6.94335687e-01 4.70110875e-02 1.78566039e+02] [-6.92752067e-01 7.19650433e-01 -4.68809993e-02 -1.05771970e+02] [-6.63827004e-02 1.09888022e-03 9.97793631e-01 -9.09400809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90864000000002 meters Centerline goodness [0,1] 0.9996565260058882 Centerline is valid? [True, True] Translation: X:178.59, Y:-105.80, Z:-9.10 [[ 7.17594722e-01 6.94860113e-01 4.71936240e-02 1.78588152e+02] [-6.93264354e-01 7.19144137e-01 -4.70770182e-02 -1.05796117e+02] [-6.66509602e-02 1.06456256e-03 9.97775785e-01 -9.09589287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93864 meters Centerline goodness [0,1] 0.9994605198626778 Centerline is valid? [True, True] Translation: X:178.61, Y:-105.82, Z:-9.10 [[ 7.15102773e-01 6.97442426e-01 4.69263894e-02 1.78609158e+02] [-6.95869219e-01 7.16640337e-01 -4.68258271e-02 -1.05820916e+02] [-6.62876619e-02 8.30648904e-04 9.97800208e-01 -9.09751570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96864 meters Centerline goodness [0,1] 0.9997547095761381 Centerline is valid? [True, True] Translation: X:178.63, Y:-105.85, Z:-9.10 [[ 7.13155150e-01 6.99417353e-01 4.71709533e-02 1.78631648e+02] [-6.97830318e-01 7.14713173e-01 -4.70948843e-02 -1.05845777e+02] [-6.66526810e-02 6.68637974e-04 9.97776013e-01 -9.09928593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.65, Y:-105.87, Z:-9.10 [[ 7.11254503e-01 7.01342996e-01 4.72761481e-02 1.78653820e+02] [-6.99749930e-01 7.12823771e-01 -4.72472984e-02 -1.05870781e+02] [-6.68361240e-02 5.23372373e-04 9.97763829e-01 -9.10031991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02864 meters Centerline goodness [0,1] 0.9998039311798441 Centerline is valid? [True, True] Translation: X:178.50, Y:-106.14, Z:-7.38 [[ 7.52139929e-01 -6.58920822e-01 -1.04344724e-02 1.78499716e+02] [-6.58799350e-01 -7.52206768e-01 1.29767166e-02 -1.06144652e+02] [-1.63995095e-02 -2.88608308e-03 -9.99861354e-01 -7.38091843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05864 meters Centerline goodness [0,1] 0.9998038927293229 Centerline is valid? [True, True] Translation: X:178.50, Y:-106.22, Z:-7.38 [[ 8.03272080e-01 -5.95519790e-01 -1.04950412e-02 1.78499500e+02] [-5.95411867e-01 -8.03334194e-01 1.17848056e-02 -1.06220076e+02] [-1.54491104e-02 -3.21753322e-03 -9.99875478e-01 -7.38250098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08864 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:178.50, Y:-106.29, Z:-7.38 [[ 8.47922978e-01 -5.30005825e-01 -1.09748959e-02 1.78501628e+02] [-5.29908317e-01 -8.47987854e-01 1.06665587e-02 -1.06293322e+02] [-1.49599167e-02 -3.22873154e-03 -9.99882881e-01 -7.38262321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:178.62, Y:-106.03, Z:-9.11 [[ 8.46428753e-01 5.29345156e-01 5.78970773e-02 1.78618848e+02] [-5.28111217e-01 8.48406569e-01 -3.61225181e-02 -1.06033710e+02] [-6.82415407e-02 -9.57983921e-07 9.97668829e-01 -9.10521770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14864 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:178.65, Y:-106.05, Z:-9.11 [[ 8.46074781e-01 5.29994875e-01 5.71217796e-02 1.78645934e+02] [-5.28793346e-01 8.48000844e-01 -3.56674273e-02 -1.06050394e+02] [-6.73428710e-02 -2.83061868e-05 9.97729892e-01 -9.10626292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17864 meters Centerline goodness [0,1] 0.9997058102476097 Centerline is valid? [True, True] Translation: X:178.67, Y:-106.07, Z:-9.11 [[ 8.46562380e-01 5.29194736e-01 5.73155124e-02 1.78674211e+02] [-5.27982369e-01 8.48500401e-01 -3.58006736e-02 -1.06068148e+02] [-6.75777632e-02 4.59233994e-05 9.97714009e-01 -9.10767746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20864 meters Centerline goodness [0,1] 0.9995588451546493 Centerline is valid? [True, True] Translation: X:178.70, Y:-106.09, Z:-9.11 [[ 8.47625129e-01 5.27370122e-01 5.84157044e-02 1.78699774e+02] [-5.26104776e-01 8.49635633e-01 -3.65110554e-02 -1.06086929e+02] [-6.88869037e-02 2.14907040e-04 9.97624453e-01 -9.11110457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23864 meters Centerline goodness [0,1] 0.9992647419244155 Centerline is valid? [True, True] Translation: X:178.73, Y:-106.10, Z:-9.11 [[ 8.47674485e-01 5.27325210e-01 5.81041297e-02 1.78726504e+02] [-5.26071565e-01 8.49663502e-01 -3.63406399e-02 -1.06104533e+02] [-6.85322939e-02 2.38102780e-04 9.97648870e-01 -9.11251587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26864 meters Centerline goodness [0,1] 0.9993131531177942 Centerline is valid? [True, True] Translation: X:178.75, Y:-106.12, Z:-9.11 [[ 8.47364492e-01 5.27757214e-01 5.87004351e-02 1.78754131e+02] [-5.26477179e-01 8.49395239e-01 -3.67356469e-02 -1.06121827e+02] [-6.92473728e-02 2.24043267e-04 9.97599494e-01 -9.11346942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29864 meters Centerline goodness [0,1] 0.9993628075678855 Centerline is valid? [True, True] Translation: X:178.78, Y:-106.14, Z:-9.11 [[ 8.47486050e-01 5.27623431e-01 5.81455959e-02 1.78781111e+02] [-5.26365319e-01 8.49478340e-01 -3.64156619e-02 -1.06138883e+02] [-6.86071808e-02 2.55940317e-04 9.97643719e-01 -9.11387071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32864 meters Centerline goodness [0,1] 0.9988227792220533 Centerline is valid? [True, True] Translation: X:178.81, Y:-106.16, Z:-9.12 [[ 8.47575893e-01 5.27455343e-01 5.83606622e-02 1.78808653e+02] [-5.26186631e-01 8.49582711e-01 -3.65629147e-02 -1.06157529e+02] [-6.88675143e-02 2.81244911e-04 9.97625775e-01 -9.11574041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35864 meters Centerline goodness [0,1] 0.9992635868231136 Centerline is valid? [True, True] Translation: X:178.84, Y:-106.18, Z:-9.12 [[ 8.47592306e-01 5.27487695e-01 5.78274536e-02 1.78835296e+02] [-5.26241242e-01 8.49562622e-01 -3.62423169e-02 -1.06175044e+02] [-6.82454193e-02 2.87517987e-04 9.97668522e-01 -9.11738975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38864 meters Centerline goodness [0,1] 0.9990679421142997 Centerline is valid? [True, True] Translation: X:178.86, Y:-106.19, Z:-9.12 [[ 8.47415477e-01 5.27811352e-01 5.74646502e-02 1.78862698e+02] [-5.26580556e-01 8.49361586e-01 -3.60251803e-02 -1.06192128e+02] [-6.78227656e-02 2.68527934e-04 9.97697349e-01 -9.11858984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41864 meters Centerline goodness [0,1] 0.9989211984504487 Centerline is valid? [True, True] Translation: X:178.89, Y:-106.21, Z:-9.12 [[ 8.47065866e-01 5.28307693e-01 5.80551519e-02 1.78889476e+02] [-5.27051890e-01 8.49052957e-01 -3.64057841e-02 -1.06209269e+02] [-6.85253542e-02 2.40019456e-04 9.97649346e-01 -9.12088020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44864 meters Centerline goodness [0,1] 0.9989209868066115 Centerline is valid? [True, True] Translation: X:178.92, Y:-106.23, Z:-9.12 [[ 8.47048586e-01 5.28525722e-01 5.62961281e-02 1.78916296e+02] [-5.27344778e-01 8.48917258e-01 -3.53125320e-02 -1.06227093e+02] [-6.64543362e-02 2.23961124e-04 9.97789442e-01 -9.12239151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47864 meters Centerline goodness [0,1] 0.9989208809535488 Centerline is valid? [True, True] Translation: X:178.94, Y:-106.24, Z:-9.12 [[ 8.47183836e-01 5.28361339e-01 5.58018248e-02 1.78943862e+02] [-5.27199994e-01 8.49019574e-01 -3.50132917e-02 -1.06244708e+02] [-6.58765111e-02 2.43973086e-04 9.97827754e-01 -9.12245728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50864 meters Centerline goodness [0,1] 0.9988239329641789 Centerline is valid? [True, True] Translation: X:178.97, Y:-106.26, Z:-9.12 [[ 8.47549473e-01 5.27765104e-01 5.58917215e-02 1.78971772e+02] [-5.26597825e-01 8.49390313e-01 -3.50831517e-02 -1.06262794e+02] [-6.59895500e-02 3.02247738e-04 9.97820268e-01 -9.12465566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53864000000002 meters Centerline goodness [0,1] 0.9988723279074329 Centerline is valid? [True, True] Translation: X:179.00, Y:-106.28, Z:-9.13 [[ 8.47617340e-01 5.27633630e-01 5.61034579e-02 1.78999849e+02] [-5.26456184e-01 8.49471981e-01 -3.52312338e-02 -1.06281034e+02] [-6.62474993e-02 3.26592328e-04 9.97803168e-01 -9.12532522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56864000000002 meters Centerline goodness [0,1] 0.9988704449464689 Centerline is valid? [True, True] Translation: X:179.03, Y:-106.30, Z:-9.13 [[ 8.47781816e-01 5.27373090e-01 5.60679666e-02 1.79027809e+02] [-5.26195569e-01 8.49633742e-01 -3.52239763e-02 -1.06299380e+02] [-6.62134135e-02 3.59531033e-04 9.97805419e-01 -9.12658757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59864000000002 meters Centerline goodness [0,1] 0.9988220280749975 Centerline is valid? [True, True] Translation: X:179.05, Y:-106.32, Z:-9.13 [[ 8.48376531e-01 5.26362348e-01 5.65680065e-02 1.79054112e+02] [-5.25159994e-01 8.50260234e-01 -3.55600208e-02 -1.06317142e+02] [-6.68149825e-02 4.61033168e-04 9.97765276e-01 -9.12778067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62864000000002 meters Centerline goodness [0,1] 0.9987253652318855 Centerline is valid? [True, True] Translation: X:179.08, Y:-106.34, Z:-9.13 [[ 8.49084447e-01 5.25160872e-01 5.71109496e-02 1.79080549e+02] [-5.23930939e-01 8.51002774e-01 -3.59256256e-02 -1.06335575e+02] [-6.74683094e-02 5.81696502e-04 9.97721248e-01 -9.12975635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65864000000002 meters Centerline goodness [0,1] 0.998676081200353 Centerline is valid? [True, True] Translation: X:179.11, Y:-106.36, Z:-9.13 [[ 8.49824527e-01 5.24023477e-01 5.65479300e-02 1.79107461e+02] [-5.22813755e-01 8.51703545e-01 -3.55928340e-02 -1.06355627e+02] [-6.68135530e-02 6.83627767e-04 9.97765244e-01 -9.13083828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68864 meters Centerline goodness [0,1] 0.9987228607918263 Centerline is valid? [True, True] Translation: X:179.13, Y:-106.37, Z:-9.13 [[ 8.49569855e-01 5.24391916e-01 5.69577081e-02 1.79134230e+02] [-5.23163399e-01 8.51476746e-01 -3.58804695e-02 -1.06373695e+02] [-6.73135921e-02 6.84777097e-04 9.97731633e-01 -9.13175062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71864 meters Centerline goodness [0,1] 0.9985265225933202 Centerline is valid? [True, True] Translation: X:179.16, Y:-106.39, Z:-9.13 [[ 8.49122706e-01 5.25087224e-01 5.72191996e-02 1.79162284e+02] [-5.23847365e-01 8.51048166e-01 -3.60687834e-02 -1.06390751e+02] [-6.76355522e-02 6.52696010e-04 9.97709881e-01 -9.13235895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74864 meters Centerline goodness [0,1] 0.9985759182871734 Centerline is valid? [True, True] Translation: X:179.19, Y:-106.41, Z:-9.13 [[ 8.46790708e-01 5.28859589e-01 5.70353522e-02 1.79189114e+02] [-5.27633610e-01 8.48709248e-01 -3.59914632e-02 -1.06408649e+02] [-6.74408614e-02 3.83467815e-04 9.97723200e-01 -9.13348450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77864 meters Centerline goodness [0,1] 0.9981846727504661 Centerline is valid? [True, True] Translation: X:179.22, Y:-106.43, Z:-9.14 [[ 8.45670547e-01 5.30658350e-01 5.69477072e-02 1.79216032e+02] [-5.29437683e-01 8.47585772e-01 -3.59735868e-02 -1.06427432e+02] [-6.73577506e-02 2.71540726e-04 9.97728851e-01 -9.13564645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80864 meters Centerline goodness [0,1] 0.9981834249803614 Centerline is valid? [True, True] Translation: X:179.24, Y:-106.45, Z:-9.14 [[ 8.44285546e-01 5.32940223e-01 5.61839414e-02 1.79242154e+02] [-5.31754616e-01 8.46152885e-01 -3.55292052e-02 -1.06446992e+02] [-6.64751466e-02 1.20724216e-04 9.97788074e-01 -9.13740885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83864 meters Centerline goodness [0,1] 0.9981836925040499 Centerline is valid? [True, True] Translation: X:179.27, Y:-106.46, Z:-9.14 [[ 8.43473287e-01 5.34330285e-01 5.51721023e-02 1.79269941e+02] [-5.33187754e-01 8.45275781e-01 -3.49238286e-02 -1.06464211e+02] [-6.52965011e-02 4.02272153e-05 9.97865905e-01 -9.13769041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86864 meters Centerline goodness [0,1] 0.9984787515948572 Centerline is valid? [True, True] Translation: X:179.30, Y:-106.48, Z:-9.14 [[ 8.43407977e-01 5.34477665e-01 5.47412972e-02 1.79297766e+02] [-5.33350872e-01 8.45182597e-01 -3.46875361e-02 -1.06481240e+02] [-6.48061050e-02 5.94260688e-05 9.97897873e-01 -9.13796973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89864 meters Centerline goodness [0,1] 0.9983795727964645 Centerline is valid? [True, True] Translation: X:179.33, Y:-106.50, Z:-9.14 [[ 8.43669996e-01 5.34064391e-01 5.47372224e-02 1.79325430e+02] [-5.32934314e-01 8.45443795e-01 -3.47247151e-02 -1.06499591e+02] [-6.48224789e-02 1.24856121e-04 9.97896804e-01 -9.13935198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92864 meters Centerline goodness [0,1] 0.9986263736263736 Centerline is valid? [True, True] Translation: X:179.35, Y:-106.52, Z:-9.14 [[ 8.44538639e-01 5.32701066e-01 5.46265558e-02 1.79352801e+02] [-5.31570121e-01 8.46303435e-01 -3.46944084e-02 -1.06517886e+02] [-6.47123902e-02 2.62923546e-04 9.97903922e-01 -9.14118249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95864 meters Centerline goodness [0,1] 0.9984788262427008 Centerline is valid? [True, True] Translation: X:179.38, Y:-106.54, Z:-9.14 [[ 8.44950061e-01 5.32038672e-01 5.47197072e-02 1.79380151e+02] [-5.30899880e-01 8.46719983e-01 -3.47934908e-02 -1.06536360e+02] [-6.48437522e-02 3.48076140e-04 9.97895369e-01 -9.14298278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98864 meters Centerline goodness [0,1] 0.9987232997790326 Centerline is valid? [True, True] Translation: X:179.41, Y:-106.55, Z:-9.14 [[ 8.44464731e-01 5.32884915e-01 5.39720900e-02 1.79406899e+02] [-5.31776430e-01 8.46187669e-01 -3.43548625e-02 -1.06554777e+02] [-6.39777050e-02 3.10384348e-04 9.97951280e-01 -9.14349373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01864 meters Centerline goodness [0,1] 0.9986745213549337 Centerline is valid? [True, True] Translation: X:179.43, Y:-106.57, Z:-9.14 [[ 8.43306274e-01 5.34680306e-01 5.43277035e-02 1.79434703e+02] [-5.33558531e-01 8.45054394e-01 -3.46174268e-02 -1.06573227e+02] [-6.44191209e-02 2.06083571e-04 9.97922910e-01 -9.14475112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04864 meters Centerline goodness [0,1] 0.9986745213549337 Centerline is valid? [True, True] Translation: X:179.46, Y:-106.59, Z:-9.15 [[ 8.43030890e-01 5.35116218e-01 5.43097751e-02 1.79462334e+02] [-5.33993535e-01 8.44778427e-01 -3.46455369e-02 -1.06590448e+02] [-6.44191151e-02 2.06189021e-04 9.97922910e-01 -9.14609644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07864 meters Centerline goodness [0,1] 0.9983298128407919 Centerline is valid? [True, True] Translation: X:179.49, Y:-106.61, Z:-9.15 [[ 8.42016536e-01 5.36731512e-01 5.41058032e-02 1.79489916e+02] [-5.35618060e-01 8.43753086e-01 -3.45546337e-02 -1.06607847e+02] [-6.41984992e-02 1.15527581e-04 9.97937142e-01 -9.14711824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10864 meters Centerline goodness [0,1] 0.9981358842285994 Centerline is valid? [True, True] Translation: X:179.52, Y:-106.62, Z:-9.15 [[ 8.40486930e-01 5.39204155e-01 5.32972778e-02 1.79518051e+02] [-5.38126874e-01 8.42175087e-01 -3.40674512e-02 -1.06622917e+02] [-6.32549508e-02 -4.74499784e-05 9.97997399e-01 -9.14787715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13864 meters Centerline goodness [0,1] 0.9980807086614173 Centerline is valid? [True, True] Translation: X:179.55, Y:-106.64, Z:-9.15 [[ 8.40126650e-01 5.39698911e-01 5.39656959e-02 1.79546268e+02] [-5.38594002e-01 8.41858112e-01 -3.45169554e-02 -1.06639136e+02] [-6.40602221e-02 -6.69859756e-05 9.97946032e-01 -9.15095674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16864 meters Centerline goodness [0,1] 0.997988914504341 Centerline is valid? [True, True] Translation: X:179.57, Y:-106.66, Z:-9.15 [[ 8.40086784e-01 5.39699071e-01 5.45812073e-02 1.79574669e+02] [-5.38566146e-01 8.41858012e-01 -3.49513180e-02 -1.06656344e+02] [-6.48128204e-02 -3.34501278e-05 9.97897438e-01 -9.15222569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19864 meters Centerline goodness [0,1] 0.9979886185243328 Centerline is valid? [True, True] Translation: X:179.60, Y:-106.67, Z:-9.15 [[ 8.40939240e-01 5.38441989e-01 5.38648172e-02 1.79604103e+02] [-5.37333547e-01 8.42662575e-01 -3.45317918e-02 -1.06672432e+02] [-6.39832322e-02 9.57654822e-05 9.97950969e-01 -9.15260885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22864 meters Centerline goodness [0,1] 0.9982821242760381 Centerline is valid? [True, True] Translation: X:179.63, Y:-106.69, Z:-9.15 [[ 8.41693161e-01 5.37391351e-01 5.25657497e-02 1.79632642e+02] [-5.36331470e-01 8.43332968e-01 -3.37351457e-02 -1.06688056e+02] [-6.24594053e-02 2.01975619e-04 9.98047485e-01 -9.15409014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25864 meters Centerline goodness [0,1] 0.9980358458138964 Centerline is valid? [True, True] Translation: X:179.66, Y:-106.70, Z:-9.16 [[ 8.43608367e-01 5.34473017e-01 5.16092693e-02 1.79662145e+02] [-5.33444305e-01 8.45185427e-01 -3.31476537e-02 -1.06703117e+02] [-6.13359288e-02 4.32967193e-04 9.98117086e-01 -9.15505191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28864000000002 meters Centerline goodness [0,1] 0.9980871100647439 Centerline is valid? [True, True] Translation: X:179.69, Y:-106.72, Z:-9.16 [[ 8.44681548e-01 5.32729237e-01 5.20830297e-02 1.79690566e+02] [-5.31677424e-01 8.46285548e-01 -3.34647398e-02 -1.06718636e+02] [-6.19047606e-02 5.75677146e-04 9.98081895e-01 -9.15590339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31864000000002 meters Centerline goodness [0,1] 0.9982350345639065 Centerline is valid? [True, True] Translation: X:179.72, Y:-106.73, Z:-9.16 [[ 8.44947870e-01 5.32235814e-01 5.28027859e-02 1.79718860e+02] [-5.31153130e-01 8.46595915e-01 -3.39368513e-02 -1.06734714e+02] [-6.27650305e-02 6.28505280e-04 9.98028134e-01 -9.15795107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34864000000002 meters Centerline goodness [0,1] 0.9986265757590621 Centerline is valid? [True, True] Translation: X:179.75, Y:-106.75, Z:-9.16 [[ 8.45340899e-01 5.31520189e-01 5.37126989e-02 1.79746432e+02] [-5.30397757e-01 8.47045333e-01 -3.45314792e-02 -1.06750845e+02] [-6.38512693e-02 7.01776707e-04 9.97959179e-01 -9.15996791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37864000000002 meters Centerline goodness [0,1] 0.9984787515948572 Centerline is valid? [True, True] Translation: X:179.77, Y:-106.77, Z:-9.16 [[ 8.45798096e-01 5.30772880e-01 5.39048377e-02 1.79773371e+02] [-5.29640254e-01 8.47513751e-01 -3.46647195e-02 -1.06767958e+02] [-6.40841842e-02 7.69181795e-04 9.97944200e-01 -9.16266406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40864000000002 meters Centerline goodness [0,1] 0.9988699454625853 Centerline is valid? [True, True] Translation: X:179.80, Y:-106.79, Z:-9.16 [[ 8.45980206e-01 5.30455146e-01 5.41740648e-02 1.79800885e+02] [-5.29309274e-01 8.47712614e-01 -3.48570751e-02 -1.06785379e+02] [-6.44141529e-02 8.13560648e-04 9.97922920e-01 -9.16419686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43864 meters Centerline goodness [0,1] 0.9991168678245511 Centerline is valid? [True, True] Translation: X:179.83, Y:-106.80, Z:-9.17 [[ 8.46130854e-01 5.30182825e-01 5.44862371e-02 1.79828629e+02] [-5.29020759e-01 8.47882901e-01 -3.50944723e-02 -1.06802379e+02] [-6.48044353e-02 8.70165266e-04 9.97897604e-01 -9.16597946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46864 meters Centerline goodness [0,1] 0.9996558674598103 Centerline is valid? [True, True] Translation: X:179.86, Y:-106.82, Z:-9.17 [[ 8.46109568e-01 5.30362800e-01 5.30462015e-02 1.79855798e+02] [-5.29260121e-01 8.47770351e-01 -3.41929269e-02 -1.06819407e+02] [-6.31056533e-02 8.55723554e-04 9.98006485e-01 -9.16645098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49864 meters Centerline goodness [0,1] 0.9997055503754233 Centerline is valid? [True, True] Translation: X:179.88, Y:-106.84, Z:-9.17 [[ 8.45428206e-01 5.31598737e-01 5.15163145e-02 1.79883466e+02] [-5.30560496e-01 8.46995998e-01 -3.32165579e-02 -1.06836752e+02] [-6.12919925e-02 7.49693622e-04 9.98119597e-01 -9.16670659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52864 meters Centerline goodness [0,1] 0.999607746996813 Centerline is valid? [True, True] Translation: X:179.91, Y:-106.85, Z:-9.17 [[ 8.42971330e-01 5.35501603e-01 5.13553296e-02 1.79910759e+02] [-5.34476405e-01 8.44534078e-01 -3.31234720e-02 -1.06853134e+02] [-6.11089983e-02 4.73925264e-04 9.98130986e-01 -9.16896704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:179.94, Y:-106.87, Z:-9.17 [[ 8.39418687e-01 5.40932560e-01 5.26139935e-02 1.79938423e+02] [-5.39866345e-01 8.41065965e-01 -3.39466177e-02 -1.06871190e+02] [-6.26146700e-02 9.09008839e-05 9.98037772e-01 -9.17202666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:179.97, Y:-106.89, Z:-9.17 [[ 8.38456808e-01 5.42380898e-01 5.30390621e-02 1.79966303e+02] [-5.41299332e-01 8.40132705e-01 -3.42355273e-02 -1.06888168e+02] [-6.31285468e-02 -4.99791757e-06 9.98005404e-01 -9.17332181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.99, Y:-106.90, Z:-9.17 [[ 8.37682879e-01 5.43550176e-01 5.32972779e-02 1.79994871e+02] [-5.42459464e-01 8.39376673e-01 -3.44170087e-02 -1.06904832e+02] [-6.34438629e-02 -8.10738727e-05 9.97985406e-01 -9.17497854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.02, Y:-106.92, Z:-9.18 [[ 8.37904361e-01 5.43388384e-01 5.14329349e-02 1.80023584e+02] [-5.42371646e-01 8.39481424e-01 -3.32255479e-02 -1.06920394e+02] [-6.12313702e-02 -5.59340509e-05 9.98123598e-01 -9.17575436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.05, Y:-106.94, Z:-9.18 [[ 8.38713101e-01 5.42209337e-01 5.06889444e-02 1.80051570e+02] [-5.41219113e-01 8.40243437e-01 -3.27542172e-02 -1.06937022e+02] [-6.03506952e-02 3.75655941e-05 9.98177235e-01 -9.17702895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:180.08, Y:-106.95, Z:-9.18 [[ 8.40151937e-01 5.39958136e-01 5.08914000e-02 1.80080392e+02] [-5.38955272e-01 8.41691848e-01 -3.28944821e-02 -1.06952488e+02] [-6.05965198e-02 2.08174490e-04 9.98162321e-01 -9.17820891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:180.11, Y:-106.97, Z:-9.18 [[ 8.40229483e-01 5.39776883e-01 5.15299190e-02 1.80107762e+02] [-5.38747743e-01 8.41808091e-01 -3.33167684e-02 -1.06969117e+02] [-6.13619241e-02 2.32103518e-04 9.98115555e-01 -9.18076647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76864 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:180.14, Y:-106.98, Z:-9.18 [[ 8.40041385e-01 5.39931806e-01 5.29539124e-02 1.80136197e+02] [-5.38844628e-01 8.41708732e-01 -3.42473028e-02 -1.06984761e+02] [-6.30629785e-02 2.35220418e-04 9.98009522e-01 -9.18225353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.16, Y:-107.00, Z:-9.18 [[ 8.39422718e-01 5.40877144e-01 5.31169952e-02 1.80164547e+02] [-5.39784418e-01 8.41101590e-01 -3.43641886e-02 -1.07001155e+02] [-6.32635933e-02 1.74354256e-04 9.97996837e-01 -9.18330953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82864 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:180.19, Y:-107.02, Z:-9.18 [[ 8.38674873e-01 5.42118116e-01 5.22724157e-02 1.80192754e+02] [-5.41061465e-01 8.40302291e-01 -3.38312173e-02 -1.07017303e+02] [-6.22651464e-02 9.08021437e-05 9.98059639e-01 -9.18402021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:180.22, Y:-107.03, Z:-9.19 [[ 8.37662539e-01 5.43643349e-01 5.26628813e-02 1.80221935e+02] [-5.42573024e-01 8.39316334e-01 -3.40969985e-02 -1.07032317e+02] [-6.27374230e-02 -1.16804171e-05 9.98030067e-01 -9.18564793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.25, Y:-107.05, Z:-9.19 [[ 8.37330806e-01 5.44218236e-01 5.19964747e-02 1.80249619e+02] [-5.43175164e-01 8.38943687e-01 -3.36783488e-02 -1.07048413e+02] [-6.19504857e-02 -4.32747540e-05 9.98079223e-01 -9.18674220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:180.28, Y:-107.06, Z:-9.19 [[ 8.37978625e-01 5.43192654e-01 5.22835006e-02 1.80278923e+02] [-5.42135428e-01 8.39608087e-01 -3.38738663e-02 -1.07062377e+02] [-6.22976852e-02 4.08379186e-05 9.98057612e-01 -9.18763573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.31, Y:-107.08, Z:-9.19 [[ 8.38434400e-01 5.42427449e-01 5.29170965e-02 1.80307364e+02] [-5.41342275e-01 8.40102643e-01 -3.42941744e-02 -1.07078455e+02] [-6.30578942e-02 1.07154146e-04 9.98009865e-01 -9.18976990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:180.33, Y:-107.09, Z:-9.19 [[ 8.39262208e-01 5.41036323e-01 5.40244810e-02 1.80334967e+02] [-5.39901732e-01 8.40999196e-01 -3.50210280e-02 -1.07094029e+02] [-6.43821933e-02 2.23914438e-04 9.97925289e-01 -9.19212081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.36, Y:-107.11, Z:-9.19 [[ 8.41032029e-01 5.38404998e-01 5.27748497e-02 1.80363119e+02] [-5.37316654e-01 8.42686110e-01 -3.42189104e-02 -1.07110507e+02] [-6.28962651e-02 4.22393956e-04 9.98019980e-01 -9.19319654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03864000000002 meters Centerline goodness [0,1] 0.9999018549416037 Centerline is valid? [True, True] Translation: X:180.39, Y:-107.13, Z:-9.19 [[ 8.42500714e-01 5.36161144e-01 5.21897904e-02 1.80392012e+02] [-5.35091928e-01 8.44115441e-01 -3.38489411e-02 -1.07125268e+02] [-6.22026949e-02 5.91421501e-04 9.98063362e-01 -9.19320271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06864000000002 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:180.42, Y:-107.14, Z:-9.19 [[ 8.42796883e-01 5.35634264e-01 5.28142840e-02 1.80419618e+02] [-5.34537747e-01 8.44449832e-01 -3.42619022e-02 -1.07139789e+02] [-6.29508620e-02 6.44596084e-04 9.98016419e-01 -9.19471284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.45, Y:-107.16, Z:-9.19 [[ 8.42472491e-01 5.36234736e-01 5.18884320e-02 1.80446891e+02] [-5.35177172e-01 8.44068691e-01 -3.36665937e-02 -1.07155517e+02] [-6.18505979e-02 5.93674789e-04 9.98085242e-01 -9.19454209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12864000000002 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:180.47, Y:-107.17, Z:-9.20 [[ 8.41671680e-01 5.37422968e-01 5.25864602e-02 1.80473142e+02] [-5.36338650e-01 8.43312685e-01 -3.41257725e-02 -1.07172915e+02] [-6.26868029e-02 5.18545238e-04 9.98033114e-01 -9.19710222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15864000000002 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:180.50, Y:-107.19, Z:-9.20 [[ 8.41499359e-01 5.37679143e-01 5.27253966e-02 1.80499201e+02] [-5.36589285e-01 8.43149384e-01 -3.42206744e-02 -1.07189626e+02] [-6.28551286e-02 5.04792698e-04 9.98022534e-01 -9.19788550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18864 meters Centerline goodness [0,1] 0.9999017054111171 Centerline is valid? [True, True] Translation: X:180.53, Y:-107.20, Z:-9.20 [[ 8.41665378e-01 5.37426227e-01 5.26539806e-02 1.80527063e+02] [-5.36338533e-01 8.43310603e-01 -3.41790131e-02 -1.07204542e+02] [-6.27723582e-02 5.26933271e-04 9.98027732e-01 -9.19886419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21864 meters Centerline goodness [0,1] 0.9997058679347027 Centerline is valid? [True, True] Translation: X:180.55, Y:-107.22, Z:-9.20 [[ 8.42309682e-01 5.36473596e-01 5.20622751e-02 1.80553695e+02] [-5.35408130e-01 8.43916896e-01 -3.37995187e-02 -1.07221344e+02] [-6.20687829e-02 5.95096499e-04 9.98071697e-01 -9.19969263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.58, Y:-107.24, Z:-9.20 [[ 8.43216389e-01 5.35044473e-01 5.20915923e-02 1.80579501e+02] [-5.33974791e-01 8.44823600e-01 -3.38231755e-02 -1.07238720e+02] [-6.21051097e-02 7.04658755e-04 9.98069366e-01 -9.20144992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27864 meters Centerline goodness [0,1] 0.9994116781879688 Centerline is valid? [True, True] Translation: X:180.61, Y:-107.26, Z:-9.20 [[ 8.45180253e-01 5.31842859e-01 5.30425565e-02 1.80606052e+02] [-5.30727111e-01 8.46842517e-01 -3.44453837e-02 -1.07255789e+02] [-6.32382234e-02 9.61435381e-04 9.97997997e-01 -9.20260379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30864 meters Centerline goodness [0,1] 0.99935960591133 Centerline is valid? [True, True] Translation: X:180.63, Y:-107.27, Z:-9.20 [[ 8.45728940e-01 5.30997381e-01 5.27668622e-02 1.80632796e+02] [-5.29891277e-01 8.47372843e-01 -3.42709761e-02 -1.07272486e+02] [-6.29110046e-02 1.02325633e-03 9.98018616e-01 -9.20308141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33864 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:180.66, Y:-107.29, Z:-9.21 [[ 8.46080143e-01 5.30339773e-01 5.37411952e-02 1.80658543e+02] [-5.29190767e-01 8.47784479e-01 -3.49085705e-02 -1.07290299e+02] [-6.40743546e-02 1.09610394e-03 9.97944525e-01 -9.20562701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36864 meters Centerline goodness [0,1] 0.9997056514913658 Centerline is valid? [True, True] Translation: X:180.68, Y:-107.31, Z:-9.21 [[ 8.46238072e-01 5.30162069e-01 5.30028832e-02 1.80684250e+02] [-5.29043705e-01 8.47895613e-01 -3.44352525e-02 -1.07309353e+02] [-6.31971769e-02 1.09958000e-03 9.98000455e-01 -9.20713794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39864 meters Centerline goodness [0,1] 0.9996078815802373 Centerline is valid? [True, True] Translation: X:180.71, Y:-107.33, Z:-9.21 [[ 8.47215394e-01 5.28675490e-01 5.22331544e-02 1.80709099e+02] [-5.27586013e-01 8.48823176e-01 -3.39442892e-02 -1.07329606e+02] [-6.22822257e-02 1.20064272e-03 9.98057855e-01 -9.20826229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42864 meters Centerline goodness [0,1] 0.9993128834355828 Centerline is valid? [True, True] Translation: X:180.74, Y:-107.35, Z:-9.21 [[ 8.47722006e-01 5.27814016e-01 5.27234825e-02 1.80735230e+02] [-5.26701715e-01 8.49359003e-01 -3.42722503e-02 -1.07348332e+02] [-6.28705386e-02 1.28379209e-03 9.98020865e-01 -9.20929074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45864 meters Centerline goodness [0,1] 0.9995576526098496 Centerline is valid? [True, True] Translation: X:180.76, Y:-107.37, Z:-9.21 [[ 8.48432813e-01 5.26533429e-01 5.40768941e-02 1.80759302e+02] [-5.25360006e-01 8.50153236e-01 -3.51616138e-02 -1.07370024e+02] [-6.44874116e-02 1.42242946e-03 9.97917507e-01 -9.21101243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48864 meters Centerline goodness [0,1] 0.9994108983799705 Centerline is valid? [True, True] Translation: X:180.79, Y:-107.39, Z:-9.21 [[ 8.48618340e-01 5.26224914e-01 5.41687382e-02 1.80785357e+02] [-5.25046260e-01 8.50344177e-01 -3.52307537e-02 -1.07389479e+02] [-6.46013714e-02 1.45637037e-03 9.97910087e-01 -9.21169502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51864 meters Centerline goodness [0,1] 0.9994108116070114 Centerline is valid? [True, True] Translation: X:180.81, Y:-107.41, Z:-9.21 [[ 8.47180614e-01 5.28546042e-01 5.40748519e-02 1.80809912e+02] [-5.27375521e-01 8.48903662e-01 -3.51799902e-02 -1.07411180e+02] [-6.44985844e-02 1.28605243e-03 9.97916970e-01 -9.21220333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54864 meters Centerline goodness [0,1] 0.9997054491899853 Centerline is valid? [True, True] Translation: X:180.84, Y:-107.43, Z:-9.21 [[ 8.45906631e-01 5.30642681e-01 5.34819313e-02 1.80835595e+02] [-5.29501197e-01 8.47594882e-01 -3.48051589e-02 -1.07430164e+02] [-6.38001141e-02 1.12316815e-03 9.97962065e-01 -9.21340579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57864 meters Centerline goodness [0,1] 0.9995090578820757 Centerline is valid? [True, True] Translation: X:180.86, Y:-107.45, Z:-9.22 [[ 8.45020357e-01 5.32102659e-01 5.29844911e-02 1.80861041e+02] [-5.30984601e-01 8.46679241e-01 -3.44908042e-02 -1.07450231e+02] [-6.32135173e-02 1.01148280e-03 9.97999513e-01 -9.21524754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60864 meters Centerline goodness [0,1] 0.9995094672814677 Centerline is valid? [True, True] Translation: X:180.88, Y:-107.47, Z:-9.22 [[ 8.42668420e-01 5.35785299e-01 5.33296122e-02 1.80884667e+02] [-5.34659108e-01 8.44353924e-01 -3.47288055e-02 -1.07473839e+02] [-6.36362507e-02 7.51704810e-04 9.97972877e-01 -9.21562048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63864 meters Centerline goodness [0,1] 0.9994607578802882 Centerline is valid? [True, True] Translation: X:180.91, Y:-107.49, Z:-9.22 [[ 8.41964132e-01 5.36879956e-01 5.34444986e-02 1.80910283e+02] [-5.35750027e-01 8.43658370e-01 -3.48204613e-02 -1.07493015e+02] [-6.37833062e-02 6.84687952e-04 9.97963537e-01 -9.21601742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66864 meters Centerline goodness [0,1] 0.9998528618372652 Centerline is valid? [True, True] Translation: X:180.93, Y:-107.51, Z:-9.22 [[ 8.41112182e-01 5.38125817e-01 5.43222085e-02 1.80934580e+02] [-5.36960377e-01 8.42864304e-01 -3.54022401e-02 -1.07514383e+02] [-6.48371099e-02 6.08381820e-04 9.97895675e-01 -9.21774239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69864 meters Centerline goodness [0,1] 0.9999014729789645 Centerline is valid? [True, True] Translation: X:180.96, Y:-107.53, Z:-9.22 [[ 8.41107513e-01 5.38151330e-01 5.41414576e-02 1.80960881e+02] [-5.36992953e-01 8.42848010e-01 -3.52958972e-02 -1.07534015e+02] [-6.46275538e-02 6.14063109e-04 9.97909266e-01 -9.21926193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72864 meters Centerline goodness [0,1] 0.999754516889238 Centerline is valid? [True, True] Translation: X:180.99, Y:-107.55, Z:-9.22 [[ 8.40640378e-01 5.38907656e-01 5.38729328e-02 1.80986079e+02] [-5.37761474e-01 8.42364660e-01 -3.51336892e-02 -1.07554422e+02] [-6.43144688e-02 5.64009972e-04 9.97929522e-01 -9.22107828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75864 meters Centerline goodness [0,1] 0.9997057669674382 Centerline is valid? [True, True] Translation: X:181.01, Y:-107.57, Z:-9.22 [[ 8.40201230e-01 5.39551937e-01 5.42733880e-02 1.81013056e+02] [-5.38388923e-01 8.41952150e-01 -3.54110636e-02 -1.07573479e+02] [-6.48017037e-02 5.32228286e-04 9.97898019e-01 -9.22194159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78864000000002 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:181.04, Y:-107.59, Z:-9.22 [[ 8.39804077e-01 5.40235579e-01 5.36155869e-02 1.81038306e+02] [-5.39100124e-01 8.41513678e-01 -3.50112267e-02 -1.07592968e+02] [-6.40325601e-02 4.98401400e-04 9.97947685e-01 -9.22359221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81864000000002 meters Centerline goodness [0,1] 0.9998037387763112 Centerline is valid? [True, True] Translation: X:181.06, Y:-107.61, Z:-9.22 [[ 8.40013196e-01 5.40003058e-01 5.26737975e-02 1.81064692e+02] [-5.38904626e-01 8.41662885e-01 -3.44295356e-02 -1.07611180e+02] [-6.29256349e-02 5.35111083e-04 9.98018075e-01 -9.22478265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84864000000002 meters Centerline goodness [0,1] 0.9998527896363903 Centerline is valid? [True, True] Translation: X:181.09, Y:-107.63, Z:-9.23 [[ 8.40406558e-01 5.39400252e-01 5.25755185e-02 1.81091770e+02] [-5.38302534e-01 8.42049285e-01 -3.44003462e-02 -1.07630573e+02] [-6.28267332e-02 6.08741659e-04 9.98024264e-01 -9.22617557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.12, Y:-107.65, Z:-9.23 [[ 8.40705691e-01 5.38811900e-01 5.38114943e-02 1.81117919e+02] [-5.37658305e-01 8.42425811e-01 -3.52462733e-02 -1.07648385e+02] [-6.43233032e-02 6.99545743e-04 9.97928867e-01 -9.22868384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90864000000002 meters Centerline goodness [0,1] 0.9998528185252417 Centerline is valid? [True, True] Translation: X:181.14, Y:-107.67, Z:-9.23 [[ 8.41250709e-01 5.37794959e-01 5.54421061e-02 1.81144706e+02] [-5.36565817e-01 8.43075260e-01 -3.63487359e-02 -1.07666197e+02] [-6.62900349e-02 8.30060877e-04 9.97800051e-01 -9.22980823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93864 meters Centerline goodness [0,1] 0.9998528185252417 Centerline is valid? [True, True] Translation: X:181.17, Y:-107.68, Z:-9.23 [[ 8.40979740e-01 5.38220333e-01 5.54251760e-02 1.81172115e+02] [-5.36990414e-01 8.42803766e-01 -3.63745378e-02 -1.07683781e+02] [-6.62900629e-02 8.27461176e-04 9.97800052e-01 -9.23115402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96864 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:181.20, Y:-107.70, Z:-9.23 [[ 8.42572940e-01 5.35648606e-01 5.61374362e-02 1.81198367e+02] [-5.34378509e-01 8.44440296e-01 -3.68808317e-02 -1.07702349e+02] [-6.71598793e-02 1.07615136e-03 9.97741646e-01 -9.23326056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99864 meters Centerline goodness [0,1] 0.9998529051238049 Centerline is valid? [True, True] Translation: X:181.23, Y:-107.72, Z:-9.24 [[ 8.43286218e-01 5.34332560e-01 5.79402283e-02 1.81225021e+02] [-5.32973800e-01 8.45273419e-01 -3.81021755e-02 -1.07720308e+02] [-6.93345678e-02 1.25041577e-03 9.97592679e-01 -9.23547030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02864 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:181.25, Y:-107.74, Z:-9.24 [[ 8.44674387e-01 5.32297891e-01 5.64281379e-02 1.81252561e+02] [-5.31002205e-01 8.46555942e-01 -3.71442466e-02 -1.07738993e+02] [-6.75413796e-02 1.41132811e-03 9.97715476e-01 -9.23654702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:181.28, Y:-107.76, Z:-9.24 [[ 8.44511930e-01 5.32597174e-01 5.60343659e-02 1.81280128e+02] [-5.31317523e-01 8.46367685e-01 -3.69246701e-02 -1.07758074e+02] [-6.70916515e-02 1.41128388e-03 9.97745819e-01 -9.23770491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08864 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:181.31, Y:-107.78, Z:-9.24 [[ 8.44193860e-01 5.33003585e-01 5.69552921e-02 1.81306288e+02] [-5.31679734e-01 8.46111766e-01 -3.75704757e-02 -1.07776232e+02] [-6.82157410e-02 1.43479040e-03 9.97669562e-01 -9.24016684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11864 meters Centerline goodness [0,1] 0.9998527029017529 Centerline is valid? [True, True] Translation: X:181.33, Y:-107.80, Z:-9.24 [[ 8.43300141e-01 5.34367339e-01 5.74144512e-02 1.81332499e+02] [-5.33022571e-01 8.45251251e-01 -3.79112342e-02 -1.07797206e+02] [-6.87881620e-02 1.36735075e-03 9.97630352e-01 -9.24128116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14864 meters Centerline goodness [0,1] 0.9995580001964444 Centerline is valid? [True, True] Translation: X:181.36, Y:-107.82, Z:-9.24 [[ 8.42546668e-01 5.35579427e-01 5.71820698e-02 1.81358668e+02] [-5.34245685e-01 8.44483865e-01 -3.77961678e-02 -1.07816236e+02] [-6.85321852e-02 1.29576119e-03 9.97648064e-01 -9.24204397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17864 meters Centerline goodness [0,1] 0.9997054058035056 Centerline is valid? [True, True] Translation: X:181.39, Y:-107.84, Z:-9.24 [[ 8.42238073e-01 5.36061915e-01 5.72070876e-02 1.81385588e+02] [-5.34725526e-01 8.44177684e-01 -3.78503690e-02 -1.07836051e+02] [-6.85830880e-02 1.28893191e-03 9.97644575e-01 -9.24430257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20864 meters Centerline goodness [0,1] 0.9996561041513142 Centerline is valid? [True, True] Translation: X:181.41, Y:-107.86, Z:-9.25 [[ 8.41980834e-01 5.36544140e-01 5.64682278e-02 1.81411873e+02] [-5.35240587e-01 8.43871308e-01 -3.73995994e-02 -1.07855420e+02] [-6.77184531e-02 1.26565858e-03 9.97703668e-01 -9.24543589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23864 meters Centerline goodness [0,1] 0.9996565597095476 Centerline is valid? [True, True] Translation: X:181.44, Y:-107.88, Z:-9.25 [[ 8.41299236e-01 5.37750296e-01 5.51381424e-02 1.81436670e+02] [-5.36507826e-01 8.43103346e-01 -3.65527262e-02 -1.07876177e+02] [-6.61433917e-02 1.16973576e-03 9.97809442e-01 -9.24676416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26864 meters Centerline goodness [0,1] 0.9995585855117955 Centerline is valid? [True, True] Translation: X:181.46, Y:-107.89, Z:-9.25 [[ 8.40790706e-01 5.38494593e-01 5.56287869e-02 1.81463526e+02] [-5.37229037e-01 8.42628177e-01 -3.69149905e-02 -1.07894903e+02] [-6.67529061e-02 1.15238132e-03 9.97768872e-01 -9.24784786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29864 meters Centerline goodness [0,1] 0.9995581304006285 Centerline is valid? [True, True] Translation: X:181.49, Y:-107.91, Z:-9.25 [[ 8.39127393e-01 5.41086067e-01 5.55975382e-02 1.81490085e+02] [-5.39825050e-01 8.40966653e-01 -3.69324327e-02 -1.07913838e+02] [-6.67393003e-02 9.78072156e-04 9.97769968e-01 -9.24745933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32864 meters Centerline goodness [0,1] 0.9998524203069658 Centerline is valid? [True, True] Translation: X:181.52, Y:-107.93, Z:-9.25 [[ 8.38371380e-01 5.42278625e-01 5.53834033e-02 1.81516899e+02] [-5.41027580e-01 8.40198230e-01 -3.68251441e-02 -1.07932104e+02] [-6.65025259e-02 9.09198252e-04 9.97785842e-01 -9.24956609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35864 meters Centerline goodness [0,1] 0.9993129508759876 Centerline is valid? [True, True] Translation: X:181.54, Y:-107.95, Z:-9.25 [[ 8.37197263e-01 5.44133833e-01 5.49464792e-02 1.81543832e+02] [-5.42904151e-01 8.38998066e-01 -3.65694858e-02 -1.07950558e+02] [-6.59986842e-02 7.85201745e-04 9.97819401e-01 -9.25088277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38864 meters Centerline goodness [0,1] 0.9991661352822877 Centerline is valid? [True, True] Translation: X:181.57, Y:-107.97, Z:-9.25 [[ 8.36093489e-01 5.45936677e-01 5.38592870e-02 1.81570619e+02] [-5.44756755e-01 8.37826182e-01 -3.58798980e-02 -1.07968895e+02] [-6.47128731e-02 6.58738707e-04 9.97903708e-01 -9.25132833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41864 meters Centerline goodness [0,1] 0.999116174015516 Centerline is valid? [True, True] Translation: X:181.60, Y:-107.99, Z:-9.25 [[ 8.35661829e-01 5.46631211e-01 5.35128620e-02 1.81598378e+02] [-5.45465541e-01 8.37373227e-01 -3.56850452e-02 -1.07987164e+02] [-6.43167974e-02 6.31207957e-04 9.97929332e-01 -9.25309914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44864 meters Centerline goodness [0,1] 0.9993121745111526 Centerline is valid? [True, True] Translation: X:181.63, Y:-108.00, Z:-9.25 [[ 8.35582291e-01 5.46840303e-01 5.26110078e-02 1.81625651e+02] [-5.45711724e-01 8.37236693e-01 -3.51202980e-02 -1.08004488e+02] [-6.32530605e-02 6.35455295e-04 9.97997318e-01 -9.25247094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47864 meters Centerline goodness [0,1] 0.9991655213037502 Centerline is valid? [True, True] Translation: X:181.65, Y:-108.02, Z:-9.25 [[ 8.35232136e-01 5.47367140e-01 5.26924333e-02 1.81653726e+02] [-5.46233835e-01 8.36892360e-01 -3.52104483e-02 -1.08021815e+02] [-6.33709372e-02 6.26507980e-04 9.97989846e-01 -9.25356539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50864 meters Centerline goodness [0,1] 0.9989186532317522 Centerline is valid? [True, True] Translation: X:181.68, Y:-108.04, Z:-9.25 [[ 8.34713397e-01 5.48151644e-01 5.27571796e-02 1.81683190e+02] [-5.47014620e-01 8.36378751e-01 -3.52929292e-02 -1.08037503e+02] [-6.34708612e-02 6.00532229e-04 9.97983511e-01 -9.25496248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53864000000002 meters Centerline goodness [0,1] 0.9990659718808377 Centerline is valid? [True, True] Translation: X:181.71, Y:-108.05, Z:-9.26 [[ 8.33823155e-01 5.49539567e-01 5.23947631e-02 1.81711060e+02] [-5.48418527e-01 8.35467529e-01 -3.50874338e-02 -1.08053941e+02] [-6.30560564e-02 5.22455922e-04 9.98009850e-01 -9.25624504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56864000000002 meters Centerline goodness [0,1] 0.9986269798460256 Centerline is valid? [True, True] Translation: X:181.74, Y:-108.07, Z:-9.26 [[ 8.32361132e-01 5.51910225e-01 5.06956656e-02 1.81740186e+02] [-5.50863197e-01 8.33903457e-01 -3.39817976e-02 -1.08068856e+02] [-6.10301923e-02 3.58751059e-04 9.98135856e-01 -9.25680566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59864000000002 meters Centerline goodness [0,1] 0.9986747165365926 Centerline is valid? [True, True] Translation: X:181.77, Y:-108.09, Z:-9.26 [[ 8.31716138e-01 5.52934337e-01 5.01187142e-02 1.81768791e+02] [-5.51910827e-01 8.33224774e-01 -3.36290888e-02 -1.08085743e+02] [-6.03548323e-02 3.08794852e-04 9.98176938e-01 -9.25834311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62864000000002 meters Centerline goodness [0,1] 0.9985766871165644 Centerline is valid? [True, True] Translation: X:181.80, Y:-108.10, Z:-9.26 [[ 8.31786535e-01 5.52864040e-01 4.97243728e-02 1.81797681e+02] [-5.51854238e-01 8.33271406e-01 -3.34015540e-02 -1.08101905e+02] [-5.99004161e-02 3.42356960e-04 9.98204299e-01 -9.25919686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65864000000002 meters Centerline goodness [0,1] 0.9986683764056027 Centerline is valid? [True, True] Translation: X:181.83, Y:-108.12, Z:-9.26 [[ 8.32233077e-01 5.52284100e-01 4.86865371e-02 1.81826288e+02] [-5.51312932e-01 8.33655869e-01 -3.27405336e-02 -1.08118004e+02] [-5.86698935e-02 4.06237448e-04 9.98277356e-01 -9.25835387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68864 meters Centerline goodness [0,1] 0.9986744562816045 Centerline is valid? [True, True] Translation: X:181.85, Y:-108.13, Z:-9.26 [[ 8.33305259e-01 5.50753008e-01 4.76809100e-02 1.81854893e+02] [-5.49817043e-01 8.34668102e-01 -3.20995170e-02 -1.08134034e+02] [-5.74766402e-02 5.32919356e-04 9.98346709e-01 -9.25982788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71864 meters Centerline goodness [0,1] 0.9988214496169712 Centerline is valid? [True, True] Translation: X:181.88, Y:-108.15, Z:-9.26 [[ 8.35935746e-01 5.46766760e-01 4.75135527e-02 1.81882780e+02] [-5.45829296e-01 8.37284554e-01 -3.20149269e-02 -1.08150509e+02] [-5.72870616e-02 8.28132832e-04 9.98357404e-01 -9.26182491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74864 meters Centerline goodness [0,1] 0.9985762678580196 Centerline is valid? [True, True] Translation: X:181.91, Y:-108.17, Z:-9.26 [[ 8.37159240e-01 5.44847156e-01 4.80206513e-02 1.81909264e+02] [-5.43885877e-01 8.38534806e-01 -3.23656027e-02 -1.08168767e+02] [-5.79012941e-02 9.77409354e-04 9.98321834e-01 -9.26373356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77864 meters Centerline goodness [0,1] 0.9982323480310321 Centerline is valid? [True, True] Translation: X:181.94, Y:-108.19, Z:-9.26 [[ 8.39416655e-01 5.41284448e-01 4.88960683e-02 1.81936017e+02] [-5.40281179e-01 8.40838614e-01 -3.29647078e-02 -1.08186111e+02] [-5.89569859e-02 1.25349930e-03 9.98259737e-01 -9.26417380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80864 meters Centerline goodness [0,1] 0.9985754985754985 Centerline is valid? [True, True] Translation: X:181.96, Y:-108.20, Z:-9.27 [[ 8.39699784e-01 5.40776945e-01 4.96444313e-02 1.81963104e+02] [-5.39740855e-01 8.41164994e-01 -3.34852623e-02 -1.08204074e+02] [-5.98672156e-02 1.32243975e-03 9.98205474e-01 -9.26550610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83864 meters Centerline goodness [0,1] 0.9987232370850521 Centerline is valid? [True, True] Translation: X:181.99, Y:-108.22, Z:-9.27 [[ 8.40240321e-01 5.40162042e-01 4.71293060e-02 1.81987849e+02] [-5.39225767e-01 8.41559994e-01 -3.18174182e-02 -1.08224633e+02] [-5.68487000e-02 1.32094151e-03 9.98381931e-01 -9.26556616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86864 meters Centerline goodness [0,1] 0.998575358616624 Centerline is valid? [True, True] Translation: X:182.01, Y:-108.25, Z:-9.27 [[ 8.40358121e-01 5.40047708e-01 4.63325073e-02 1.82014359e+02] [-5.39141002e-01 8.41633353e-01 -3.13094182e-02 -1.08245136e+02] [-5.59035630e-02 1.33136945e-03 9.98435285e-01 -9.26661872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89864 meters Centerline goodness [0,1] 0.9981361585246223 Centerline is valid? [True, True] Translation: X:182.04, Y:-108.26, Z:-9.26 [[ 8.41283462e-01 5.38722407e-01 4.49478130e-02 1.82040183e+02] [-5.37865558e-01 8.42482166e-01 -3.04046300e-02 -1.08264049e+02] [-5.42473863e-02 1.40303182e-03 9.98526541e-01 -9.26457052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92864 meters Centerline goodness [0,1] 0.9983313702394975 Centerline is valid? [True, True] Translation: X:182.07, Y:-108.28, Z:-9.27 [[ 8.41560896e-01 5.38144466e-01 4.66453767e-02 1.82065528e+02] [-5.37219025e-01 8.42851246e-01 -3.15831705e-02 -1.08283539e+02] [-5.63114223e-02 1.52037749e-03 9.98412095e-01 -9.26543980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95864 meters Centerline goodness [0,1] 0.9981370722619864 Centerline is valid? [True, True] Translation: X:182.09, Y:-108.30, Z:-9.27 [[ 8.41988407e-01 5.37424897e-01 4.72229064e-02 1.82091752e+02] [-5.36473538e-01 8.43310072e-01 -3.20041514e-02 -1.08302903e+02] [-5.70233804e-02 1.61328479e-03 9.98371540e-01 -9.26670370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98864 meters Centerline goodness [0,1] 0.9984767333300575 Centerline is valid? [True, True] Translation: X:182.12, Y:-108.32, Z:-9.27 [[ 8.42991502e-01 5.35765897e-01 4.81687785e-02 1.82118072e+02] [-5.34771526e-01 8.44364681e-01 -3.26757035e-02 -1.08321603e+02] [-5.81785428e-02 1.78604925e-03 9.98304596e-01 -9.26821559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01864 meters Centerline goodness [0,1] 0.9976901906821309 Centerline is valid? [True, True] Translation: X:182.14, Y:-108.34, Z:-9.27 [[ 8.44511343e-01 5.33432057e-01 4.74429311e-02 1.82143915e+02] [-5.32462098e-01 8.45840687e-01 -3.22125283e-02 -1.08341575e+02] [-5.73123567e-02 1.94228288e-03 9.98354407e-01 -9.26965441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04864 meters Centerline goodness [0,1] 0.997398900667452 Centerline is valid? [True, True] Translation: X:182.17, Y:-108.36, Z:-9.27 [[ 8.45093654e-01 5.32517864e-01 4.73438591e-02 1.82170051e+02] [-5.31548843e-01 8.46416342e-01 -3.21745650e-02 -1.08360604e+02] [-5.72061467e-02 2.02494714e-03 9.98360334e-01 -9.27146766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07864 meters Centerline goodness [0,1] 0.9984754598209895 Centerline is valid? [True, True] Translation: X:182.19, Y:-108.38, Z:-9.27 [[ 8.45929997e-01 5.31248649e-01 4.66616928e-02 1.82193116e+02] [-5.30303835e-01 8.47213340e-01 -3.17395499e-02 -1.08383688e+02] [-5.63940016e-02 2.10456269e-03 9.98406374e-01 -9.27257236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10864 meters Centerline goodness [0,1] 0.9980362315283028 Centerline is valid? [True, True] Translation: X:182.22, Y:-108.40, Z:-9.27 [[ 8.45551802e-01 5.31879118e-01 4.63330731e-02 1.82218681e+02] [-5.30946864e-01 8.46817753e-01 -3.15455240e-02 -1.08404403e+02] [-5.60140743e-02 2.07297477e-03 9.98427827e-01 -9.27317562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13864 meters Centerline goodness [0,1] 0.9975417895771878 Centerline is valid? [True, True] Translation: X:182.24, Y:-108.43, Z:-9.27 [[ 8.45177276e-01 5.32598622e-01 4.48785133e-02 1.82242846e+02] [-5.31723399e-01 8.46365618e-01 -3.05854089e-02 -1.08426061e+02] [-5.42733773e-02 1.98713690e-03 9.98524137e-01 -9.27453150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16864 meters Centerline goodness [0,1] 0.9981819075229719 Centerline is valid? [True, True] Translation: X:182.27, Y:-108.45, Z:-9.27 [[ 8.44730288e-01 5.33338188e-01 4.45097452e-02 1.82268029e+02] [-5.32476839e-01 8.45899868e-01 -3.03616506e-02 -1.08446848e+02] [-5.38438152e-02 1.94699741e-03 9.98547471e-01 -9.27497706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19864 meters Centerline goodness [0,1] 0.9974464741701041 Centerline is valid? [True, True] Translation: X:182.29, Y:-108.47, Z:-9.28 [[ 8.44099546e-01 5.34289485e-01 4.50633224e-02 1.82292139e+02] [-5.33406304e-01 8.45299357e-01 -3.07686898e-02 -1.08470297e+02] [-5.45313849e-02 1.93477683e-03 9.98510183e-01 -9.27694655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22864 meters Centerline goodness [0,1] 0.9982811118750614 Centerline is valid? [True, True] Translation: X:182.32, Y:-108.49, Z:-9.28 [[ 8.43532579e-01 5.35183277e-01 4.50738152e-02 1.82317196e+02] [-5.34299246e-01 8.44733825e-01 -3.08071416e-02 -1.08490873e+02] [-5.45628433e-02 1.90392208e-03 9.98508523e-01 -9.27813354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25864 meters Centerline goodness [0,1] 0.9987731867700461 Centerline is valid? [True, True] Translation: X:182.34, Y:-108.51, Z:-9.28 [[ 8.43493003e-01 5.35225603e-01 4.53112241e-02 1.82343405e+02] [-5.34330679e-01 8.44706935e-01 -3.09987064e-02 -1.08511797e+02] [-5.48660065e-02 1.93601479e-03 9.98491849e-01 -9.27985763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28864000000002 meters Centerline goodness [0,1] 0.9985763377515955 Centerline is valid? [True, True] Translation: X:182.37, Y:-108.54, Z:-9.28 [[ 8.43353415e-01 5.35540765e-01 4.41713366e-02 1.82367086e+02] [-5.34689104e-01 8.44507255e-01 -3.02499382e-02 -1.08535551e+02] [-5.35030893e-02 1.89345630e-03 9.98565889e-01 -9.28055133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31864000000002 meters Centerline goodness [0,1] 0.9991646191646192 Centerline is valid? [True, True] Translation: X:182.39, Y:-108.56, Z:-9.28 [[ 8.43182524e-01 5.35779936e-01 4.45319162e-02 1.82392103e+02] [-5.34912896e-01 8.44355477e-01 -3.05290423e-02 -1.08556677e+02] [-5.39576156e-02 1.92085865e-03 9.98541379e-01 -9.28185065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34864000000002 meters Centerline goodness [0,1] 0.999116217410517 Centerline is valid? [True, True] Translation: X:182.41, Y:-108.58, Z:-9.28 [[ 8.42052481e-01 5.37504963e-01 4.51224404e-02 1.82414984e+02] [-5.36615482e-01 8.43258531e-01 -3.09656887e-02 -1.08580787e+02] [-5.46940942e-02 1.86133486e-03 9.98501423e-01 -9.28167283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37864000000002 meters Centerline goodness [0,1] 0.9996072077380076 Centerline is valid? [True, True] Translation: X:182.44, Y:-108.60, Z:-9.28 [[ 8.41175301e-01 5.38872395e-01 4.51736008e-02 1.82439985e+02] [-5.37981300e-01 8.42385486e-01 -3.10292462e-02 -1.08600935e+02] [-5.47743899e-02 1.79848308e-03 9.98497137e-01 -9.28180082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40864000000002 meters Centerline goodness [0,1] 0.9997052755673446 Centerline is valid? [True, True] Translation: X:182.46, Y:-108.62, Z:-9.28 [[ 8.38221612e-01 5.43426854e-01 4.55168442e-02 1.82463295e+02] [-5.42527240e-01 8.39455116e-01 -3.12937962e-02 -1.08623888e+02] [-5.52152370e-02 1.53700847e-03 9.98473292e-01 -9.28317390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43864 meters Centerline goodness [0,1] 0.9998522313072604 Centerline is valid? [True, True] Translation: X:182.49, Y:-108.65, Z:-9.28 [[ 8.36664458e-01 5.45799343e-01 4.57784006e-02 1.82487289e+02] [-5.44891538e-01 8.37914728e-01 -3.14979418e-02 -1.08645021e+02] [-5.55499521e-02 1.40894527e-03 9.98454915e-01 -9.28423353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:182.51, Y:-108.67, Z:-9.29 [[ 8.34190244e-01 5.49569223e-01 4.58290924e-02 1.82511909e+02] [-5.48664479e-01 8.35447368e-01 -3.15433914e-02 -1.08666656e+02] [-5.56230717e-02 1.16839429e-03 9.98451155e-01 -9.28572423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49864 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:182.53, Y:-108.69, Z:-9.28 [[ 8.29361474e-01 5.56843155e-01 4.56644993e-02 1.82534548e+02] [-5.55955320e-01 8.30617378e-01 -3.14396824e-02 -1.08688741e+02] [-5.54366986e-02 6.87440018e-04 9.98461967e-01 -9.28484592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52864 meters Centerline goodness [0,1] 0.9999018693881556 Centerline is valid? [True, True] Translation: X:182.56, Y:-108.71, Z:-9.29 [[ 8.24541119e-01 5.63955720e-01 4.56715274e-02 1.82560206e+02] [-5.63077945e-01 8.25805000e-01 -3.14536062e-02 -1.08709067e+02] [-5.54542169e-02 2.18161885e-04 9.98461207e-01 -9.28610402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.59, Y:-108.73, Z:-9.29 [[ 8.21854472e-01 5.67847331e-01 4.58763136e-02 1.82587162e+02] [-5.66966641e-01 8.23133894e-01 -3.16136146e-02 -1.08728864e+02] [-5.57140553e-02 -2.85488961e-05 9.98446765e-01 -9.28810094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:182.61, Y:-108.75, Z:-9.29 [[ 8.19552993e-01 5.71181243e-01 4.56604862e-02 1.82614822e+02] [-5.70312451e-01 8.20823937e-01 -3.14924344e-02 -1.08747798e+02] [-5.54671079e-02 -2.31024904e-04 9.98460488e-01 -9.28882357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.64, Y:-108.77, Z:-9.29 [[ 8.17375341e-01 5.74223498e-01 4.65287633e-02 1.82641854e+02] [-5.73324201e-01 8.18698480e-01 -3.21272329e-02 -1.08765177e+02] [-5.65412398e-02 -4.16058108e-04 9.98400178e-01 -9.29063895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.67, Y:-108.78, Z:-9.29 [[ 8.14225039e-01 5.78586159e-01 4.77036837e-02 1.82669732e+02] [-5.77646609e-01 8.15620958e-01 -3.29673642e-02 -1.08780492e+02] [-5.79825848e-02 -7.13017695e-04 9.98317340e-01 -9.29153597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.70, Y:-108.80, Z:-9.29 [[ 8.12490365e-01 5.80937579e-01 4.86922653e-02 1.82697196e+02] [-5.79961506e-01 8.13947636e-01 -3.36733843e-02 -1.08796592e+02] [-5.91950886e-02 -8.80339265e-04 9.98246045e-01 -9.29416777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.72, Y:-108.81, Z:-9.30 [[ 8.11933362e-01 5.81761896e-01 4.81384755e-02 1.82724991e+02] [-5.80807361e-01 8.13358644e-01 -3.33245563e-02 -1.08813904e+02] [-5.85408022e-02 -9.01861897e-04 9.98284609e-01 -9.29597000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.75, Y:-108.83, Z:-9.30 [[ 8.11631822e-01 5.82225535e-01 4.76152551e-02 1.82753445e+02] [-5.81290289e-01 8.13026830e-01 -3.29996041e-02 -1.08830044e+02] [-5.79256921e-02 -8.94756638e-04 9.98320496e-01 -9.29682405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.78, Y:-108.84, Z:-9.30 [[ 8.11785314e-01 5.81989464e-01 4.78838919e-02 1.82784023e+02] [-5.81041012e-01 8.13195879e-01 -3.32235624e-02 -1.08843599e+02] [-5.82747468e-02 -8.52104956e-04 9.98300219e-01 -9.29798003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.81, Y:-108.86, Z:-9.30 [[ 8.11677109e-01 5.82106639e-01 4.82921427e-02 1.82812626e+02] [-5.81139888e-01 8.13112022e-01 -3.35450509e-02 -1.08861002e+02] [-5.87937186e-02 -8.36740430e-04 9.98269802e-01 -9.30016920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.84, Y:-108.88, Z:-9.30 [[ 8.11724375e-01 5.82058490e-01 4.80775739e-02 1.82842263e+02] [-5.81098015e-01 8.13146528e-01 -3.34338272e-02 -1.08876214e+02] [-5.85545553e-02 -7.98730247e-04 9.98283891e-01 -9.30164889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.87, Y:-108.89, Z:-9.30 [[ 8.11415766e-01 5.82490094e-01 4.80598013e-02 1.82869139e+02] [-5.81528863e-01 8.12837408e-01 -3.34593594e-02 -1.08894533e+02] [-5.85545497e-02 -7.98709860e-04 9.98283891e-01 -9.30299418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.90, Y:-108.91, Z:-9.30 [[ 8.11763247e-01 5.82019414e-01 4.78939839e-02 1.82898791e+02] [-5.81061786e-01 8.13174561e-01 -3.33816315e-02 -1.08910466e+02] [-5.83749270e-02 -7.31382284e-04 9.98294462e-01 -9.30476076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.93, Y:-108.93, Z:-9.31 [[ 8.11864116e-01 5.81811188e-01 4.87072758e-02 1.82927743e+02] [-5.80818035e-01 8.13323586e-01 -3.39875691e-02 -1.08926605e+02] [-5.93891242e-02 -6.96776452e-04 9.98234665e-01 -9.30680959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.96, Y:-108.94, Z:-9.31 [[ 8.12576494e-01 5.80855157e-01 4.82361682e-02 1.82955452e+02] [-5.79877296e-01 8.14006718e-01 -3.36954715e-02 -1.08942782e+02] [-5.88367534e-02 -5.90910631e-04 9.98267443e-01 -9.30866672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.98, Y:-108.96, Z:-9.31 [[ 8.13744224e-01 5.79188769e-01 4.85871089e-02 1.82984335e+02] [-5.78191557e-01 8.15193334e-01 -3.39757462e-02 -1.08958867e+02] [-5.92862579e-02 -4.45088948e-04 9.98240924e-01 -9.31075602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.01, Y:-108.98, Z:-9.31 [[ 8.14005573e-01 5.78800393e-01 4.88367950e-02 1.83012973e+02] [-5.77789894e-01 8.15469162e-01 -3.41889339e-02 -1.08975525e+02] [-5.96134687e-02 -3.87423880e-04 9.98221461e-01 -9.31328515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.04, Y:-108.99, Z:-9.32 [[ 8.13702926e-01 5.79217234e-01 4.89381682e-02 1.83041424e+02] [-5.78200973e-01 8.15173139e-01 -3.42985237e-02 -1.08993223e+02] [-5.97593762e-02 -3.87287322e-04 9.98212736e-01 -9.31514680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.07, Y:-109.01, Z:-9.32 [[ 8.13468294e-01 5.79430080e-01 5.03002733e-02 1.83068785e+02] [-5.78354436e-01 8.15021862e-01 -3.52918005e-02 -1.09010060e+02] [-6.14449532e-02 -3.82625403e-04 9.98110400e-01 -9.31668061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.10, Y:-109.03, Z:-9.32 [[ 8.12998535e-01 5.80045024e-01 5.08050412e-02 1.83097037e+02] [-5.78946618e-01 8.14584316e-01 -3.56820094e-02 -1.09026363e+02] [-6.20821617e-02 -4.03985440e-04 9.98070960e-01 -9.31889034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.13, Y:-109.04, Z:-9.32 [[ 8.12562334e-01 5.80651097e-01 5.08601727e-02 1.83125131e+02] [-5.79549102e-01 8.14152398e-01 -3.57590781e-02 -1.09044038e+02] [-6.21714795e-02 -4.19487467e-04 9.98065394e-01 -9.31992786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.15, Y:-109.06, Z:-9.32 [[ 8.12339446e-01 5.80912957e-01 5.14272396e-02 1.83152690e+02] [-5.79784182e-01 8.13965581e-01 -3.61985462e-02 -1.09062367e+02] [-6.28882075e-02 -4.11193136e-04 9.98020493e-01 -9.32205934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.18, Y:-109.08, Z:-9.32 [[ 8.12360635e-01 5.80767733e-01 5.27165821e-02 1.83179480e+02] [-5.79578665e-01 8.14069222e-01 -3.71466408e-02 -1.09079791e+02] [-6.44885173e-02 -3.76937581e-04 9.97918378e-01 -9.32291067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:183.21, Y:-109.10, Z:-9.32 [[ 8.12211369e-01 5.80874948e-01 5.38236645e-02 1.83206558e+02] [-5.79633108e-01 8.13992729e-01 -3.79644180e-02 -1.09097072e+02] [-6.58646508e-02 -3.62846038e-04 9.97828500e-01 -9.32459745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.23, Y:-109.11, Z:-9.33 [[ 8.12887932e-01 5.79916455e-01 5.39454788e-02 1.83234991e+02] [-5.78664263e-01 8.14675911e-01 -3.80897648e-02 -1.09114868e+02] [-6.60369635e-02 -2.53610601e-04 9.97817145e-01 -9.32620212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.26, Y:-109.13, Z:-9.33 [[ 8.13476253e-01 5.79102606e-01 5.38196780e-02 1.83261665e+02] [-5.77851672e-01 8.15254653e-01 -3.80433511e-02 -1.09133819e+02] [-6.59077466e-02 -1.52428261e-04 9.97825709e-01 -9.32811869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.29, Y:-109.15, Z:-9.33 [[ 8.14839430e-01 5.77118591e-01 5.45053662e-02 1.83287950e+02] [-5.75828214e-01 8.16660352e-01 -3.85712059e-02 -1.09153863e+02] [-6.67725316e-02 4.36117954e-05 9.97768223e-01 -9.32972496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.31, Y:-109.17, Z:-9.33 [[ 8.15581002e-01 5.76092762e-01 5.42656272e-02 1.83314856e+02] [-5.74808629e-01 8.17384306e-01 -3.84439465e-02 -1.09172876e+02] [-6.65031514e-02 1.61801636e-04 9.97786202e-01 -9.33139296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.34, Y:-109.19, Z:-9.33 [[ 8.16568961e-01 5.74709597e-01 5.40741210e-02 1.83340864e+02] [-5.73428685e-01 8.18357369e-01 -3.83504772e-02 -1.09192894e+02] [-6.62923427e-02 3.08157175e-04 9.97800196e-01 -9.33341299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.37, Y:-109.21, Z:-9.34 [[ 8.16138458e-01 5.75323878e-01 5.40412062e-02 1.83367313e+02] [-5.74043074e-01 8.17925638e-01 -3.83692583e-02 -1.09213226e+02] [-6.62764386e-02 2.92647201e-04 9.97801257e-01 -9.33545698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.39, Y:-109.23, Z:-9.34 [[ 8.15181569e-01 5.76739444e-01 5.33912177e-02 1.83392358e+02] [-5.75489736e-01 8.16928130e-01 -3.79472483e-02 -1.09232960e+02] [-6.55024626e-02 2.07799679e-04 9.97852386e-01 -9.33655532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:183.42, Y:-109.25, Z:-9.34 [[ 8.13078050e-01 5.79889085e-01 5.13101825e-02 1.83416694e+02] [-5.78739083e-01 8.14695434e-01 -3.65023858e-02 -1.09253884e+02] [-6.29695065e-02 -1.59193092e-05 9.98015451e-01 -9.33825934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.44, Y:-109.27, Z:-9.34 [[ 8.11491377e-01 5.82140676e-01 5.09311168e-02 1.83442844e+02] [-5.81009750e-01 8.13088069e-01 -3.62693159e-02 -1.09273903e+02] [-6.25253275e-02 -1.59238356e-04 9.98043365e-01 -9.34013083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.47, Y:-109.29, Z:-9.34 [[ 8.09012420e-01 5.85718867e-01 4.93184966e-02 1.83467765e+02] [-5.84663188e-01 8.10514190e-01 -3.51525889e-02 -1.09294768e+02] [-6.05628758e-02 -3.95828452e-04 9.98164306e-01 -9.34123687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54864 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:183.49, Y:-109.32, Z:-9.34 [[ 8.07545224e-01 5.87815240e-01 4.84144119e-02 1.83493609e+02] [-5.86800256e-01 8.08995037e-01 -3.45324337e-02 -1.09315280e+02] [-5.94657098e-02 -5.23087362e-04 9.98230212e-01 -9.34245423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.52, Y:-109.34, Z:-9.34 [[ 8.05860912e-01 5.90059379e-01 4.91743747e-02 1.83518952e+02] [-5.89014106e-01 8.07359574e-01 -3.51126933e-02 -1.09335156e+02] [-6.04199762e-02 -6.68453290e-04 9.98172821e-01 -9.34384088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.55, Y:-109.35, Z:-9.34 [[ 8.04797511e-01 5.91517717e-01 4.90688977e-02 1.83545826e+02] [-5.90477461e-01 8.06291654e-01 -3.50732991e-02 -1.09354146e+02] [-6.03103205e-02 -7.47174281e-04 9.98179396e-01 -9.34445490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.57, Y:-109.37, Z:-9.35 [[ 8.02864175e-01 5.94171056e-01 4.86813463e-02 1.83572301e+02] [-5.93149800e-01 8.04338195e-01 -3.48336594e-02 -1.09372971e+02] [-5.98534184e-02 -9.08633623e-04 9.98206764e-01 -9.34605011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.60, Y:-109.39, Z:-9.35 [[ 8.01751175e-01 5.95704660e-01 4.82805464e-02 1.83598644e+02] [-5.94700848e-01 8.03202954e-01 -3.45820278e-02 -1.09392164e+02] [-5.93797526e-02 -9.86300454e-04 9.98234978e-01 -9.34718117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.63, Y:-109.41, Z:-9.35 [[ 7.99915731e-01 5.98130263e-01 4.87341029e-02 1.83625934e+02] [-5.97109682e-01 8.01398075e-01 -3.49450079e-02 -1.09409610e+02] [-5.99570830e-02 -1.14654314e-03 9.98200297e-01 -9.34866376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.65, Y:-109.43, Z:-9.35 [[ 7.99197234e-01 5.99048987e-01 4.92350744e-02 1.83653515e+02] [-5.98006915e-01 8.00711478e-01 -3.53391898e-02 -1.09426333e+02] [-6.05929950e-02 -1.19993220e-03 9.98161835e-01 -9.34962869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75864 meters Centerline goodness [0,1] 0.9999017971128351 Centerline is valid? [True, True] Translation: X:183.68, Y:-109.44, Z:-9.35 [[ 7.98414875e-01 6.00081018e-01 4.93604969e-02 1.83681313e+02] [-5.99033375e-01 7.99938250e-01 -3.54656438e-02 -1.09444680e+02] [-6.07676092e-02 -1.25228754e-03 9.98151156e-01 -9.35100450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78864000000002 meters Centerline goodness [0,1] 0.9998525508699498 Centerline is valid? [True, True] Translation: X:183.71, Y:-109.46, Z:-9.35 [[ 7.97996162e-01 6.00615783e-01 4.96266760e-02 1.83708500e+02] [-5.99555372e-01 7.99536787e-01 -3.56970834e-02 -1.09463336e+02] [-6.11185848e-02 -1.26780467e-03 9.98129707e-01 -9.35301591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81864000000002 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:183.74, Y:-109.48, Z:-9.35 [[ 7.97665547e-01 6.01096079e-01 4.91241093e-02 1.83736219e+02] [-6.00055574e-01 7.99175773e-01 -3.53750046e-02 -1.09480781e+02] [-6.05225746e-02 -1.25977316e-03 9.98166034e-01 -9.35388184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.76, Y:-109.50, Z:-9.36 [[ 7.97283316e-01 6.01600874e-01 4.91497885e-02 1.83764256e+02] [-6.00557825e-01 7.98795833e-01 -3.54332607e-02 -1.09499010e+02] [-6.05773268e-02 -1.26694248e-03 9.98162703e-01 -9.35550027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87864000000002 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:183.79, Y:-109.52, Z:-9.36 [[ 7.97058672e-01 6.01961006e-01 4.83778956e-02 1.83791058e+02] [-6.00948929e-01 7.98524514e-01 -3.49139677e-02 -1.09516982e+02] [-5.96477827e-02 -1.24416376e-03 9.98218711e-01 -9.35643615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90864000000002 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:183.82, Y:-109.54, Z:-9.36 [[ 7.96887076e-01 6.02116022e-01 4.92674726e-02 1.83817927e+02] [-6.01064401e-01 7.98407625e-01 -3.55928484e-02 -1.09535557e+02] [-6.07665501e-02 -1.24944300e-03 9.98151224e-01 -9.35874103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93864 meters Centerline goodness [0,1] 0.999852616064849 Centerline is valid? [True, True] Translation: X:183.85, Y:-109.55, Z:-9.36 [[ 7.96650560e-01 6.02427587e-01 4.92837459e-02 1.83845755e+02] [-6.01373429e-01 7.98172576e-01 -3.56445971e-02 -1.09554292e+02] [-6.08102230e-02 -1.24164708e-03 9.98148574e-01 -9.35963484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96864 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:183.87, Y:-109.57, Z:-9.36 [[ 7.96684031e-01 6.02448055e-01 4.84860301e-02 1.83873676e+02] [-6.01425580e-01 7.98157201e-01 -3.51049137e-02 -1.09570683e+02] [-5.98483611e-02 -1.19321462e-03 9.98206767e-01 -9.36068304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.90, Y:-109.59, Z:-9.36 [[ 7.96822135e-01 6.02302946e-01 4.80171431e-02 1.83900051e+02] [-6.01297897e-01 7.98266781e-01 -3.47992185e-02 -1.09588546e+02] [-5.92901621e-02 -1.14381954e-03 9.98240136e-01 -9.36156041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.93, Y:-109.61, Z:-9.36 [[ 7.97620616e-01 6.01143792e-01 4.92696065e-02 1.83926482e+02] [-6.00081104e-01 7.99140180e-01 -3.57441082e-02 -1.09607687e+02] [-6.08606709e-02 -1.05552227e-03 9.98145713e-01 -9.36286944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05864 meters Centerline goodness [0,1] 0.9998528257456829 Centerline is valid? [True, True] Translation: X:183.95, Y:-109.63, Z:-9.36 [[ 7.98253292e-01 6.00292413e-01 4.94034478e-02 1.83952360e+02] [-5.99219949e-01 7.99780028e-01 -3.58797887e-02 -1.09626878e+02] [-6.10502558e-02 -9.62372058e-04 9.98134230e-01 -9.36488565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08864 meters Centerline goodness [0,1] 0.9997049712346954 Centerline is valid? [True, True] Translation: X:183.98, Y:-109.65, Z:-9.37 [[ 7.99084457e-01 5.99200798e-01 4.92182277e-02 1.83978881e+02] [-5.98132174e-01 8.00598329e-01 -3.57801349e-02 -1.09645367e+02] [-6.08435162e-02 -8.47655836e-04 9.98146957e-01 -9.36654080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11864 meters Centerline goodness [0,1] 0.999803362501229 Centerline is valid? [True, True] Translation: X:184.01, Y:-109.67, Z:-9.37 [[ 8.00037694e-01 5.97869226e-01 4.99207108e-02 1.84005605e+02] [-5.96764956e-01 8.01593326e-01 -3.63280496e-02 -1.09665555e+02] [-6.17355315e-02 -7.27121763e-04 9.98092278e-01 -9.36855132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:184.03, Y:-109.69, Z:-9.37 [[ 8.00301964e-01 5.97574876e-01 4.92040028e-02 1.84030384e+02] [-5.96499245e-01 8.01812838e-01 -3.58444421e-02 -1.09685484e+02] [-6.08721391e-02 -6.63773098e-04 9.98145351e-01 -9.36915112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17864 meters Centerline goodness [0,1] 0.9998035652899867 Centerline is valid? [True, True] Translation: X:184.05, Y:-109.71, Z:-9.37 [[ 8.00342243e-01 5.97606059e-01 4.81590306e-02 1.84054468e+02] [-5.96573713e-01 8.01789628e-01 -3.51169068e-02 -1.09706675e+02] [-5.95994875e-02 -6.24867675e-04 9.98222175e-01 -9.36934132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20864 meters Centerline goodness [0,1] 0.9998528401844403 Centerline is valid? [True, True] Translation: X:184.08, Y:-109.73, Z:-9.37 [[ 8.00036957e-01 5.98044897e-01 4.77825112e-02 1.84080685e+02] [-5.97027345e-01 8.01462358e-01 -3.48774781e-02 -1.09726361e+02] [-5.91541819e-02 -6.24194324e-04 9.98248663e-01 -9.37108634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23864 meters Centerline goodness [0,1] 0.999656340517453 Centerline is valid? [True, True] Translation: X:184.11, Y:-109.75, Z:-9.37 [[ 7.99953720e-01 5.98210411e-01 4.70993703e-02 1.84106405e+02] [-5.97219836e-01 8.01338848e-01 -3.44168333e-02 -1.09747213e+02] [-5.83310631e-02 -5.96804364e-04 9.98297116e-01 -9.37232887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26864 meters Centerline goodness [0,1] 0.9993624950961161 Centerline is valid? [True, True] Translation: X:184.13, Y:-109.77, Z:-9.37 [[ 7.99299465e-01 5.99033324e-01 4.77435020e-02 1.84131674e+02] [-5.98014632e-01 8.00723844e-01 -3.49260157e-02 -1.09767814e+02] [-5.91512077e-02 -6.34967128e-04 9.98248832e-01 -9.37330848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29864 meters Centerline goodness [0,1] 0.9996566607808515 Centerline is valid? [True, True] Translation: X:184.16, Y:-109.79, Z:-9.37 [[ 7.97977905e-01 6.00729487e-01 4.85319083e-02 1.84156597e+02] [-5.99677763e-01 7.99452018e-01 -3.55394314e-02 -1.09787625e+02] [-6.01485164e-02 -7.43825116e-04 9.98189162e-01 -9.37459008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32864 meters Centerline goodness [0,1] 0.9996074005005644 Centerline is valid? [True, True] Translation: X:184.18, Y:-109.81, Z:-9.37 [[ 7.95325551e-01 6.04254102e-01 4.83140532e-02 1.84182595e+02] [-6.03216238e-01 7.96791079e-01 -3.54139269e-02 -1.09807147e+02] [-5.98952172e-02 -9.78220457e-04 9.98204191e-01 -9.37480547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35864 meters Centerline goodness [0,1] 0.9996566607808515 Centerline is valid? [True, True] Translation: X:184.21, Y:-109.83, Z:-9.38 [[ 7.93822676e-01 6.06263901e-01 4.78502009e-02 1.84208573e+02] [-6.05247527e-01 7.95262781e-01 -3.51075636e-02 -1.09825717e+02] [-5.93379323e-02 -1.09203564e-03 9.98237355e-01 -9.37657077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38864 meters Centerline goodness [0,1] 0.9998036809815951 Centerline is valid? [True, True] Translation: X:184.23, Y:-109.84, Z:-9.38 [[ 7.90834678e-01 6.10260728e-01 4.65011436e-02 1.84234810e+02] [-6.09305904e-01 7.92199523e-01 -3.41501301e-02 -1.09844335e+02] [-5.76786671e-02 -1.32631419e-03 9.98334319e-01 -9.37750598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41864 meters Centerline goodness [0,1] 0.999361367655728 Centerline is valid? [True, True] Translation: X:184.26, Y:-109.86, Z:-9.38 [[ 7.89564157e-01 6.11870246e-01 4.69387353e-02 1.84261619e+02] [-6.10898244e-01 7.90956860e-01 -3.45048055e-02 -1.09862816e+02] [-5.82389785e-02 -1.43103327e-03 9.98301645e-01 -9.37825690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44864 meters Centerline goodness [0,1] 0.9997543480396973 Centerline is valid? [True, True] Translation: X:184.29, Y:-109.88, Z:-9.38 [[ 7.87528131e-01 6.14384999e-01 4.82754253e-02 1.84288858e+02] [-6.13359453e-01 7.89004688e-01 -3.55215999e-02 -1.09879441e+02] [-5.99134750e-02 -1.63592930e-03 9.98202234e-01 -9.37957019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47864 meters Centerline goodness [0,1] 0.9998528546203649 Centerline is valid? [True, True] Translation: X:184.32, Y:-109.90, Z:-9.38 [[ 7.86569283e-01 6.15591778e-01 4.85337568e-02 1.84316434e+02] [-6.14555524e-01 7.88063345e-01 -3.57445461e-02 -1.09896938e+02] [-6.02517234e-02 -1.71112639e-03 9.98181748e-01 -9.38114820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50864 meters Centerline goodness [0,1] 0.9999017343880509 Centerline is valid? [True, True] Translation: X:184.34, Y:-109.91, Z:-9.38 [[ 7.85580098e-01 6.16853008e-01 4.85414937e-02 1.84344442e+02] [-6.15816749e-01 7.87076359e-01 -3.57845944e-02 -1.09912422e+02] [-6.02796968e-02 -1.78099971e-03 9.98179937e-01 -9.38242666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.37, Y:-109.93, Z:-9.38 [[ 7.84962317e-01 6.17618734e-01 4.87981542e-02 1.84371803e+02] [-6.16570753e-01 7.86475545e-01 -3.60100461e-02 -1.09930684e+02] [-6.06190340e-02 -1.82098545e-03 9.98159314e-01 -9.38417584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56864000000002 meters Centerline goodness [0,1] 0.9999509683746016 Centerline is valid? [True, True] Translation: X:184.40, Y:-109.95, Z:-9.39 [[ 7.84760657e-01 6.17909571e-01 4.83577673e-02 1.84399835e+02] [-6.16878640e-01 7.86247121e-01 -3.57240476e-02 -1.09948892e+02] [-6.00953862e-02 -1.79604667e-03 9.98191023e-01 -9.38585800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59864000000002 meters Centerline goodness [0,1] 0.9996565934065934 Centerline is valid? [True, True] Translation: X:184.43, Y:-109.96, Z:-9.39 [[ 7.85451790e-01 6.16993057e-01 4.88370019e-02 1.84429346e+02] [-6.15937488e-01 7.86966729e-01 -3.61161708e-02 -1.09963199e+02] [-6.07165223e-02 -1.71302930e-03 9.98153580e-01 -9.38708698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62864000000002 meters Centerline goodness [0,1] 0.9997058246715043 Centerline is valid? [True, True] Translation: X:184.46, Y:-109.98, Z:-9.39 [[ 7.86256928e-01 6.16001418e-01 4.83972765e-02 1.84457108e+02] [-6.14960862e-01 7.87743429e-01 -3.58249788e-02 -1.09979908e+02] [-6.01928742e-02 -1.59479310e-03 9.98185491e-01 -9.38857603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65864000000002 meters Centerline goodness [0,1] 0.9997057958223007 Centerline is valid? [True, True] Translation: X:184.49, Y:-110.00, Z:-9.39 [[ 7.88200178e-01 6.13560201e-01 4.77949681e-02 1.84485790e+02] [-6.12538901e-01 7.89646769e-01 -3.54129195e-02 -1.09995548e+02] [-5.94691001e-02 -1.36380774e-03 9.98229215e-01 -9.39057918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68864 meters Centerline goodness [0,1] 0.9994597514856834 Centerline is valid? [True, True] Translation: X:184.51, Y:-110.01, Z:-9.39 [[ 7.89495769e-01 6.11958215e-01 4.69422398e-02 1.84512875e+02] [-6.10968290e-01 7.90889193e-01 -3.48142656e-02 -1.10012818e+02] [-5.84309860e-02 -1.19450463e-03 9.98290736e-01 -9.39254012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71864 meters Centerline goodness [0,1] 0.9993136582017845 Centerline is valid? [True, True] Translation: X:184.54, Y:-110.03, Z:-9.39 [[ 7.91752799e-01 6.09023880e-01 4.70894847e-02 1.84541390e+02] [-6.08020543e-01 7.93151312e-01 -3.49573420e-02 -1.10029023e+02] [-5.86389426e-02 -9.53800630e-04 9.98278801e-01 -9.39383790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74864 meters Centerline goodness [0,1] 0.9993136582017845 Centerline is valid? [True, True] Translation: X:184.57, Y:-110.05, Z:-9.40 [[ 7.91432821e-01 6.09440940e-01 4.70726013e-02 1.84567701e+02] [-6.08436989e-01 7.92830893e-01 -3.49800653e-02 -1.10048178e+02] [-5.86388964e-02 -9.56340032e-04 9.98278801e-01 -9.39518343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77864 meters Centerline goodness [0,1] 0.9993136582017845 Centerline is valid? [True, True] Translation: X:184.60, Y:-110.06, Z:-9.40 [[ 7.92796245e-01 6.07652000e-01 4.72563381e-02 1.84595636e+02] [-6.06634811e-01 7.94203004e-01 -3.51538814e-02 -1.10064063e+02] [-5.88924520e-02 -7.97474496e-04 9.98264015e-01 -9.39717892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80864 meters Centerline goodness [0,1] 0.9992154555261351 Centerline is valid? [True, True] Translation: X:184.62, Y:-110.08, Z:-9.40 [[ 7.92985861e-01 6.07352473e-01 4.79207463e-02 1.84622839e+02] [-6.06303747e-01 7.94432124e-01 -3.56842598e-02 -1.10082124e+02] [-5.97427037e-02 -7.57414528e-04 9.98213522e-01 -9.39917026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83864 meters Centerline goodness [0,1] 0.9994110429447852 Centerline is valid? [True, True] Translation: X:184.65, Y:-110.10, Z:-9.40 [[ 7.93208357e-01 6.07015736e-01 4.85015400e-02 1.84650106e+02] [-6.05938363e-01 7.94689495e-01 -3.61566859e-02 -1.10100636e+02] [-6.04913417e-02 -7.09158338e-04 9.98168470e-01 -9.40030880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86864 meters Centerline goodness [0,1] 0.9994605463194547 Centerline is valid? [True, True] Translation: X:184.68, Y:-110.12, Z:-9.40 [[ 7.94912155e-01 6.04666609e-01 4.99295220e-02 1.84677777e+02] [-6.03517568e-01 7.96478518e-01 -3.72627975e-02 -1.10118587e+02] [-6.22993610e-02 -5.12693010e-04 9.98057376e-01 -9.40199670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89864 meters Centerline goodness [0,1] 0.9994111874386653 Centerline is valid? [True, True] Translation: X:184.70, Y:-110.14, Z:-9.40 [[ 7.96076701e-01 6.03150309e-01 4.97151013e-02 1.84704181e+02] [-6.02005741e-01 7.97627466e-01 -3.71418016e-02 -1.10137303e+02] [-6.20562193e-02 -3.61053562e-04 9.98072590e-01 -9.40284035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92864 meters Centerline goodness [0,1] 0.9996554948570303 Centerline is valid? [True, True] Translation: X:184.73, Y:-110.16, Z:-9.41 [[ 7.98092650e-01 6.00361052e-01 5.11344207e-02 1.84730498e+02] [-5.99142010e-01 7.99729075e-01 -3.82394875e-02 -1.10156228e+02] [-6.38511819e-02 -1.18125634e-04 9.97959424e-01 -9.40590176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95864 meters Centerline goodness [0,1] 0.9997547937815703 Centerline is valid? [True, True] Translation: X:184.76, Y:-110.17, Z:-9.41 [[ 7.98693869e-01 5.99616780e-01 5.04759509e-02 1.84756407e+02] [-5.98425204e-01 8.00287271e-01 -3.77830525e-02 -1.10174877e+02] [-6.30506133e-02 -2.89888641e-05 9.98010330e-01 -9.40671662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:184.78, Y:-110.19, Z:-9.41 [[ 7.99375965e-01 5.98665084e-01 5.09723804e-02 1.84783378e+02] [-5.97445542e-01 8.00999445e-01 -3.81931117e-02 -1.10194183e+02] [-6.36937308e-02 7.74341399e-05 9.97969490e-01 -9.40914907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:184.81, Y:-110.21, Z:-9.41 [[ 7.99343186e-01 5.98770808e-01 5.02393296e-02 1.84808925e+02] [-5.97583904e-01 8.00920414e-01 -3.76824717e-02 -1.10213192e+02] [-6.28008687e-02 9.90122681e-05 9.98026072e-01 -9.40993489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04864 meters Centerline goodness [0,1] 0.9993612107513145 Centerline is valid? [True, True] Translation: X:184.83, Y:-110.23, Z:-9.41 [[ 7.98874970e-01 5.99478563e-01 4.92365140e-02 1.84834380e+02] [-5.98337835e-01 8.00390809e-01 -3.69646840e-02 -1.10233572e+02] [-6.15679889e-02 7.00916127e-05 9.98102889e-01 -9.41052934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07864 meters Centerline goodness [0,1] 0.9994607843137255 Centerline is valid? [True, True] Translation: X:184.86, Y:-110.26, Z:-9.41 [[ 7.98032281e-01 6.00693465e-01 4.80815860e-02 1.84858676e+02] [-5.99605840e-01 7.99479431e-01 -3.61313636e-02 -1.10255135e+02] [-6.01441130e-02 3.99477415e-06 9.98189704e-01 -9.41218339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10864 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:184.89, Y:-110.28, Z:-9.41 [[ 7.96728098e-01 6.02429579e-01 4.79889579e-02 1.84885019e+02] [-6.01347133e-01 7.98172032e-01 -3.60975425e-02 -1.10275380e+02] [-6.00496714e-02 -9.80958415e-05 9.98195385e-01 -9.41363700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13864 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:184.91, Y:-110.30, Z:-9.41 [[ 7.94929762e-01 6.04865509e-01 4.71634288e-02 1.84911570e+02] [-6.03822036e-01 7.96327606e-01 -3.55146974e-02 -1.10295875e+02] [-5.90391558e-02 -2.46627635e-04 9.98255637e-01 -9.41398124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16864 meters Centerline goodness [0,1] 0.9999018645731109 Centerline is valid? [True, True] Translation: X:184.94, Y:-110.32, Z:-9.41 [[ 7.93883045e-01 6.06214053e-01 4.74787539e-02 1.84937433e+02] [-6.05156643e-01 7.95301465e-01 -3.57912859e-02 -1.10316525e+02] [-5.94571031e-02 -3.17988317e-04 9.98230811e-01 -9.41494598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:184.96, Y:-110.34, Z:-9.42 [[ 7.91689769e-01 6.09043649e-01 4.78867700e-02 1.84962545e+02] [-6.07970848e-01 7.93136545e-01 -3.61368116e-02 -1.10337108e+02] [-5.99896429e-02 -5.04616115e-04 9.98198872e-01 -9.41609732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22864 meters Centerline goodness [0,1] 0.9999018260357353 Centerline is valid? [True, True] Translation: X:184.99, Y:-110.36, Z:-9.42 [[ 7.90882115e-01 6.10031001e-01 4.86585797e-02 1.84989506e+02] [-6.08923023e-01 7.92377349e-01 -3.67544388e-02 -1.10355575e+02] [-6.09773035e-02 -5.60901151e-04 9.98138995e-01 -9.41787969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:185.02, Y:-110.37, Z:-9.42 [[ 7.89885403e-01 6.11238677e-01 4.96822831e-02 1.85016564e+02] [-6.10083666e-01 7.91446063e-01 -3.75639404e-02 -1.10372723e+02] [-6.22813806e-02 -6.39141199e-04 9.98058426e-01 -9.42028943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28864000000002 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:185.04, Y:-110.39, Z:-9.42 [[ 7.89808961e-01 6.11415992e-01 4.87061690e-02 1.85042556e+02] [-6.10304182e-01 7.91309111e-01 -3.68604918e-02 -1.10391680e+02] [-6.10787294e-02 -6.12831918e-04 9.98132763e-01 -9.42140857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31864000000002 meters Centerline goodness [0,1] 0.9999018308545624 Centerline is valid? [True, True] Translation: X:185.07, Y:-110.41, Z:-9.42 [[ 7.89361525e-01 6.11952896e-01 4.92141953e-02 1.85069450e+02] [-6.10816475e-01 7.90893959e-01 -3.72824177e-02 -1.10411138e+02] [-6.17382932e-02 -6.31535220e-04 9.98092172e-01 -9.42273276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34864000000002 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:185.10, Y:-110.43, Z:-9.42 [[ 7.88806366e-01 6.12694268e-01 4.88901901e-02 1.85098175e+02] [-6.11571714e-01 7.90319750e-01 -3.70773575e-02 -1.10427300e+02] [-6.13559672e-02 -6.53001759e-04 9.98115734e-01 -9.42268883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37864000000002 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:185.13, Y:-110.45, Z:-9.42 [[ 7.88904976e-01 6.12630905e-01 4.80865154e-02 1.85125435e+02] [-6.11542585e-01 7.90368905e-01 -3.65056343e-02 -1.10445044e+02] [-6.03705663e-02 -6.07475310e-04 9.98175849e-01 -9.42370342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40864000000002 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:185.15, Y:-110.46, Z:-9.42 [[ 7.88758524e-01 6.12851219e-01 4.76799068e-02 1.85153330e+02] [-6.11779491e-01 7.90198098e-01 -3.62328600e-02 -1.10462373e+02] [-5.98819241e-02 -5.90611867e-04 9.98205293e-01 -9.42433677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.18, Y:-110.48, Z:-9.43 [[ 7.88497074e-01 6.13053109e-01 4.93786272e-02 1.85180178e+02] [-6.11901484e-01 7.90041474e-01 -3.75638595e-02 -1.10480176e+02] [-6.20398043e-02 -5.95861921e-04 9.98073498e-01 -9.42702469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.21, Y:-110.50, Z:-9.43 [[ 7.88951067e-01 6.12454226e-01 4.95583964e-02 1.85209915e+02] [-6.11290655e-01 7.90505882e-01 -3.77383887e-02 -1.10496362e+02] [-6.22892395e-02 -5.20842579e-04 9.98058004e-01 -9.42771450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49864 meters Centerline goodness [0,1] 0.9999505464615993 Centerline is valid? [True, True] Translation: X:185.24, Y:-110.51, Z:-9.43 [[ 7.89000841e-01 6.12364292e-01 4.98763099e-02 1.85237279e+02] [-6.11182944e-01 7.90575575e-01 -3.80219695e-02 -1.10514866e+02] [-6.27142888e-02 -4.84183950e-04 9.98031404e-01 -9.43008384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52864 meters Centerline goodness [0,1] 0.9997548058061985 Centerline is valid? [True, True] Translation: X:185.26, Y:-110.53, Z:-9.43 [[ 7.89949593e-01 6.11159513e-01 4.96355696e-02 1.85262985e+02] [-6.09984724e-01 7.91507374e-01 -3.78776009e-02 -1.10533457e+02] [-6.24361754e-02 -3.55543777e-04 9.98048895e-01 -9.43183363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:185.29, Y:-110.55, Z:-9.43 [[ 7.89700555e-01 6.11468702e-01 4.97901651e-02 1.85290523e+02] [-6.10284811e-01 7.91268541e-01 -3.80334847e-02 -1.10552638e+02] [-6.26536768e-02 -3.51117559e-04 9.98035267e-01 -9.43239014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:185.32, Y:-110.57, Z:-9.43 [[ 7.88467930e-01 6.13024564e-01 5.01917071e-02 1.85320111e+02] [-6.11821990e-01 7.90063722e-01 -3.83818651e-02 -1.10569033e+02] [-6.31836731e-02 -4.45520408e-04 9.98001816e-01 -9.43286076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.35, Y:-110.59, Z:-9.43 [[ 7.86887542e-01 6.15048845e-01 5.02286244e-02 1.85347390e+02] [-6.13845980e-01 7.88488799e-01 -3.84516070e-02 -1.10587399e+02] [-6.32543242e-02 -5.75548661e-04 9.97997274e-01 -9.43348386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:185.37, Y:-110.61, Z:-9.44 [[ 7.85045396e-01 6.17473635e-01 4.92953926e-02 1.85374976e+02] [-6.16317348e-01 7.86591244e-01 -3.77775254e-02 -1.10606130e+02] [-6.21019501e-02 -7.24533227e-04 9.98069548e-01 -9.43519722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:185.40, Y:-110.62, Z:-9.44 [[ 7.83054087e-01 6.20015655e-01 4.90600137e-02 1.85403110e+02] [-6.18872951e-01 7.84588933e-01 -3.76361015e-02 -1.10622825e+02] [-6.18269159e-02 -8.90812382e-04 9.98086489e-01 -9.43752841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.43, Y:-110.64, Z:-9.44 [[ 7.81771444e-01 6.21671272e-01 4.85617031e-02 1.85430940e+02] [-6.20552626e-01 7.83277641e-01 -3.72904123e-02 -1.10640443e+02] [-6.12196743e-02 -9.82512953e-04 9.98123833e-01 -9.43836978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.46, Y:-110.66, Z:-9.44 [[ 7.81094773e-01 6.22389900e-01 5.02172124e-02 1.85459794e+02] [-6.21193079e-01 7.82706657e-01 -3.85933612e-02 -1.10655412e+02] [-6.33254646e-02 -1.04951210e-03 9.97992377e-01 -9.44119467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.49, Y:-110.67, Z:-9.44 [[ 7.81099140e-01 6.22285189e-01 5.14322647e-02 1.85486451e+02] [-6.21028757e-01 7.82789898e-01 -3.95380603e-02 -1.10672953e+02] [-6.48646065e-02 -1.05777057e-03 9.97893513e-01 -9.44320757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:185.52, Y:-110.69, Z:-9.44 [[ 7.82489216e-01 6.20559930e-01 5.11468484e-02 1.85516282e+02] [-6.19313045e-01 7.84158505e-01 -3.93292676e-02 -1.10687255e+02] [-6.45134037e-02 -9.01182661e-04 9.97916434e-01 -9.44434501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.54, Y:-110.70, Z:-9.45 [[ 7.83748847e-01 6.19022342e-01 5.04884630e-02 1.85544945e+02] [-6.17803525e-01 7.85373012e-01 -3.88334452e-02 -1.10703047e+02] [-6.36910464e-02 -7.56282491e-04 9.97969378e-01 -9.44567984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.57, Y:-110.72, Z:-9.45 [[ 7.84807116e-01 6.17690474e-01 5.03613892e-02 1.85572893e+02] [-6.16474379e-01 7.86421052e-01 -3.87462188e-02 -1.10719619e+02] [-6.35384269e-02 -6.38197924e-04 9.97979189e-01 -9.44789889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.60, Y:-110.74, Z:-9.45 [[ 7.87609964e-01 6.14155644e-01 4.98336253e-02 1.85601895e+02] [-6.12957182e-01 7.89184851e-01 -3.83505470e-02 -1.10735205e+02] [-6.28811471e-02 -3.40605649e-04 9.98020964e-01 -9.44897011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91864 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:185.63, Y:-110.75, Z:-9.45 [[ 7.90712944e-01 6.10036235e-01 5.12721369e-02 1.85631148e+02] [-6.08758115e-01 7.92373518e-01 -3.94685327e-02 -1.10749137e+02] [-6.47039186e-02 -4.04979803e-06 9.97904506e-01 -9.45173720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.66, Y:-110.77, Z:-9.45 [[ 7.92102855e-01 6.08204462e-01 5.15790630e-02 1.85658191e+02] [-6.06906389e-01 7.93780391e-01 -3.97155600e-02 -1.10766495e+02] [-6.50976296e-02 1.55145569e-04 9.97878888e-01 -9.45234936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:185.69, Y:-110.78, Z:-9.45 [[ 7.96263634e-01 6.02728985e-01 5.17879830e-02 1.85685192e+02] [-6.01408038e-01 7.97945733e-01 -3.98870807e-02 -1.10783780e+02] [-6.53650997e-02 6.14922565e-04 9.97861226e-01 -9.45411131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00864 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:185.71, Y:-110.80, Z:-9.46 [[ 7.98472590e-01 5.99794328e-01 5.18486957e-02 1.85711282e+02] [-5.98463388e-01 8.00153745e-01 -3.99444290e-02 -1.10802032e+02] [-6.54453700e-02 8.64985609e-04 9.97855779e-01 -9.45576659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03864000000002 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:185.74, Y:-110.82, Z:-9.46 [[ 8.02339614e-01 5.94533331e-01 5.27376788e-02 1.85738240e+02] [-5.93144325e-01 8.04069875e-01 -4.06379800e-02 -1.10818832e+02] [-6.65654125e-02 1.32440627e-03 9.97781184e-01 -9.45727066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06864000000002 meters Centerline goodness [0,1] 0.9999019751997256 Centerline is valid? [True, True] Translation: X:185.76, Y:-110.84, Z:-9.46 [[ 8.04081774e-01 5.92155778e-01 5.29531453e-02 1.85764313e+02] [-5.90749742e-01 8.05822054e-01 -4.08112614e-02 -1.10838001e+02] [-6.68374366e-02 1.53353447e-03 9.97762700e-01 -9.45947006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09864000000002 meters Centerline goodness [0,1] 0.9998528906977885 Centerline is valid? [True, True] Translation: X:185.79, Y:-110.86, Z:-9.46 [[ 8.07887591e-01 5.86956274e-01 5.29147612e-02 1.85788393e+02] [-5.85540469e-01 8.09616235e-01 -4.07910706e-02 -1.10858510e+02] [-6.67832246e-02 1.97086570e-03 9.97765562e-01 -9.46156169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12864000000002 meters Centerline goodness [0,1] 0.9998525436225116 Centerline is valid? [True, True] Translation: X:185.81, Y:-110.88, Z:-9.46 [[ 8.09450902e-01 5.84809986e-01 5.27874726e-02 1.85813243e+02] [-5.83395860e-01 8.11167466e-01 -4.07015049e-02 -1.10878680e+02] [-6.66221270e-02 2.14987686e-03 9.97775962e-01 -9.46311757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15864000000002 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:185.84, Y:-110.90, Z:-9.46 [[ 8.10413014e-01 5.83467710e-01 5.28788985e-02 1.85838197e+02] [-5.82045148e-01 8.12133159e-01 -4.07820747e-02 -1.10898406e+02] [-6.67397307e-02 2.27241778e-03 9.97767831e-01 -9.46451954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18864 meters Centerline goodness [0,1] 0.999460466941338 Centerline is valid? [True, True] Translation: X:185.86, Y:-110.92, Z:-9.47 [[ 8.12466719e-01 5.80625574e-01 5.26476373e-02 1.85862087e+02] [-5.79208817e-01 8.14166861e-01 -4.06136637e-02 -1.10920360e+02] [-6.64452933e-02 2.50327440e-03 9.97786929e-01 -9.46529973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21864 meters Centerline goodness [0,1] 0.9994606521206177 Centerline is valid? [True, True] Translation: X:185.88, Y:-110.94, Z:-9.47 [[ 8.13992064e-01 5.78495914e-01 5.25299677e-02 1.85884138e+02] [-5.77080407e-01 8.15680881e-01 -4.05327624e-02 -1.10944996e+02] [-6.62957277e-02 2.67933181e-03 9.97796421e-01 -9.46716633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24864 meters Centerline goodness [0,1] 0.9995090578820757 Centerline is valid? [True, True] Translation: X:185.91, Y:-110.97, Z:-9.47 [[ 8.14223313e-01 5.78185436e-01 5.23640837e-02 1.85908031e+02] [-5.76777575e-01 8.15900906e-01 -4.04145933e-02 -1.10967415e+02] [-6.60910326e-02 2.70407478e-03 9.97809934e-01 -9.46814266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27864 meters Centerline goodness [0,1] 0.9995575656277652 Centerline is valid? [True, True] Translation: X:185.93, Y:-110.99, Z:-9.47 [[ 8.13784652e-01 5.78756109e-01 5.28763303e-02 1.85932060e+02] [-5.77320939e-01 8.15496236e-01 -4.08218463e-02 -1.10990757e+02] [-6.67463413e-02 2.69357935e-03 9.97766341e-01 -9.46879464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30864 meters Centerline goodness [0,1] 0.9997542876799843 Centerline is valid? [True, True] Translation: X:185.95, Y:-111.02, Z:-9.47 [[ 8.12635010e-01 5.80433928e-01 5.21612517e-02 1.85953174e+02] [-5.79039949e-01 8.14303412e-01 -4.02826383e-02 -1.11016350e+02] [-6.58564952e-02 2.53163362e-03 9.97825893e-01 -9.47065540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33864 meters Centerline goodness [0,1] 0.9997546614327772 Centerline is valid? [True, True] Translation: X:185.98, Y:-111.04, Z:-9.47 [[ 8.12059123e-01 5.81194740e-01 5.26560076e-02 1.85976290e+02] [-5.79775080e-01 8.13760662e-01 -4.06748270e-02 -1.11038922e+02] [-6.64893832e-02 2.50172332e-03 9.97783996e-01 -9.47212272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:186.00, Y:-111.07, Z:-9.47 [[ 8.10706513e-01 5.83023017e-01 5.32833148e-02 1.85996908e+02] [-5.81571874e-01 8.12452103e-01 -4.11793184e-02 -1.11065427e+02] [-6.72986316e-02 2.39626434e-03 9.97730000e-01 -9.47371095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39864 meters Centerline goodness [0,1] 0.9998036617091248 Centerline is valid? [True, True] Translation: X:186.02, Y:-111.09, Z:-9.47 [[ 8.09980113e-01 5.84033892e-01 5.32600144e-02 1.86020208e+02] [-5.82584408e-01 8.11725921e-01 -4.11878231e-02 -1.11088521e+02] [-6.72876188e-02 2.33286361e-03 9.97730893e-01 -9.47441033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42864 meters Centerline goodness [0,1] 0.9998525581166757 Centerline is valid? [True, True] Translation: X:186.04, Y:-111.11, Z:-9.48 [[ 8.07934716e-01 5.87039496e-01 5.12457327e-02 1.86041011e+02] [-5.85703109e-01 8.09555795e-01 -3.96394074e-02 -1.11113208e+02] [-6.47561776e-02 2.01126837e-03 9.97899089e-01 -9.47531853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45864 meters Centerline goodness [0,1] 0.9998527896363903 Centerline is valid? [True, True] Translation: X:186.06, Y:-111.14, Z:-9.48 [[ 8.06259774e-01 5.89309634e-01 5.15687096e-02 1.86064226e+02] [-5.87959906e-01 8.07905143e-01 -3.99052588e-02 -1.11135807e+02] [-6.51791792e-02 1.85367133e-03 9.97871855e-01 -9.47700278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:186.09, Y:-111.16, Z:-9.48 [[ 8.02974014e-01 5.93843994e-01 5.08138159e-02 1.86085609e+02] [-5.92540979e-01 8.04578838e-01 -3.93456639e-02 -1.11160376e+02] [-6.42489071e-02 1.48427745e-03 9.97932801e-01 -9.47735676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51864 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:186.11, Y:-111.18, Z:-9.48 [[ 8.00499954e-01 5.97026533e-01 5.25275499e-02 1.86109752e+02] [-5.95639608e-01 8.02220459e-01 -4.06914307e-02 -1.11181729e+02] [-6.64325390e-02 1.28599916e-03 9.97790090e-01 -9.47950492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:186.13, Y:-111.20, Z:-9.48 [[ 7.98643561e-01 5.99522604e-01 5.23556119e-02 1.86134088e+02] [-5.98148266e-01 8.00357073e-01 -4.05858124e-02 -1.11203644e+02] [-6.62352962e-02 1.09717926e-03 9.97803428e-01 -9.47962503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.16, Y:-111.23, Z:-9.48 [[ 7.95588135e-01 6.03478875e-01 5.34112949e-02 1.86156568e+02] [-6.02056437e-01 7.97378590e-01 -4.14177596e-02 -1.11226990e+02] [-6.75837660e-02 7.94864223e-04 9.97713287e-01 -9.48209840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.18, Y:-111.25, Z:-9.48 [[ 7.92302244e-01 6.07758911e-01 5.37239256e-02 1.86181719e+02] [-6.06327933e-01 7.94121465e-01 -4.16837699e-02 -1.11247137e+02] [-6.79970052e-02 4.51827690e-04 9.97685423e-01 -9.48298619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.21, Y:-111.27, Z:-9.49 [[ 7.90546882e-01 6.10046196e-01 5.36587878e-02 1.86208880e+02] [-6.08621156e-01 7.92365797e-01 -4.16741277e-02 -1.11266667e+02] [-6.79405313e-02 2.87478295e-04 9.97689331e-01 -9.48543098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.23, Y:-111.29, Z:-9.49 [[ 7.90233830e-01 6.10453542e-01 5.36373741e-02 1.86234790e+02] [-6.09027568e-01 7.92052013e-01 -4.17016762e-02 -1.11286378e+02] [-6.79405260e-02 2.87435756e-04 9.97689332e-01 -9.48677643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.26, Y:-111.31, Z:-9.49 [[ 7.88916773e-01 6.12283515e-01 5.21461719e-02 1.86260521e+02] [-6.10937133e-01 7.90638269e-01 -4.05825892e-02 -1.11305146e+02] [-6.60768095e-02 1.58252516e-04 9.97814527e-01 -9.48739510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.29, Y:-111.33, Z:-9.49 [[ 7.85769757e-01 6.16335944e-01 5.19219920e-02 1.86287079e+02] [-6.15007316e-01 7.87483322e-01 -4.04477377e-02 -1.11325527e+02] [-6.58170973e-02 -1.49795880e-04 9.97831693e-01 -9.48975931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.31, Y:-111.34, Z:-9.49 [[ 7.84886189e-01 6.17532943e-01 5.10561917e-02 1.86313979e+02] [-6.16248215e-01 7.86544988e-01 -3.98135587e-02 -1.11343797e+02] [-6.47441758e-02 -2.14174609e-04 9.97901872e-01 -9.48937956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78864000000002 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:186.34, Y:-111.36, Z:-9.49 [[ 7.83457999e-01 6.19351709e-01 5.09610089e-02 1.86342964e+02] [-6.18073077e-01 7.85113591e-01 -3.97784020e-02 -1.11360422e+02] [-6.46470019e-02 -3.32920353e-04 9.97908139e-01 -9.49126989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.37, Y:-111.38, Z:-9.49 [[ 7.82833057e-01 6.20106628e-01 5.13826313e-02 1.86369719e+02] [-6.18805535e-01 7.84517455e-01 -4.01506317e-02 -1.11379398e+02] [-6.52082440e-02 -3.64614868e-04 9.97871611e-01 -9.49355710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.40, Y:-111.40, Z:-9.49 [[ 7.83250602e-01 6.19648712e-01 5.05367996e-02 1.86396268e+02] [-6.18387166e-01 7.84879218e-01 -3.95212155e-02 -1.11398459e+02] [-6.41545540e-02 -2.96292434e-04 9.97939931e-01 -9.49464735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87864000000002 meters Centerline goodness [0,1] 0.999901772997397 Centerline is valid? [True, True] Translation: X:186.42, Y:-111.41, Z:-9.50 [[ 7.84615958e-01 6.17857219e-01 5.12860117e-02 1.86424685e+02] [-6.16552594e-01 7.86290302e-01 -4.01305359e-02 -1.11414937e+02] [-6.51206349e-02 -1.33464626e-04 9.97877390e-01 -9.49664120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.45, Y:-111.43, Z:-9.50 [[ 7.85608667e-01 6.16602043e-01 5.11951409e-02 1.86453674e+02] [-6.15296682e-01 7.87274997e-01 -4.01007848e-02 -1.11431574e+02] [-6.50308803e-02 3.32376849e-06 9.97883252e-01 -9.49798297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:186.48, Y:-111.45, Z:-9.50 [[ 7.86275489e-01 6.15675807e-01 5.20975571e-02 1.86479423e+02] [-6.14319127e-01 7.87999548e-01 -4.08500115e-02 -1.11450618e+02] [-6.62032153e-02 1.14836990e-04 9.97806154e-01 -9.50073059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96864 meters Centerline goodness [0,1] 0.9997057958223007 Centerline is valid? [True, True] Translation: X:186.50, Y:-111.47, Z:-9.50 [[ 7.86084587e-01 6.15975295e-01 5.14340195e-02 1.86504553e+02] [-6.14651184e-01 7.87765461e-01 -4.03670613e-02 -1.11470288e+02] [-6.53830566e-02 1.17943732e-04 9.97860232e-01 -9.50245749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99864 meters Centerline goodness [0,1] 0.9996565260058882 Centerline is valid? [True, True] Translation: X:186.53, Y:-111.49, Z:-9.50 [[ 7.85681383e-01 6.16461907e-01 5.17637055e-02 1.86532213e+02] [-6.15119177e-01 7.87384725e-01 -4.06656188e-02 -1.11488636e+02] [-6.58267560e-02 1.09371732e-04 9.97831061e-01 -9.50384344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02864 meters Centerline goodness [0,1] 0.9998037676609105 Centerline is valid? [True, True] Translation: X:186.56, Y:-111.51, Z:-9.51 [[ 7.84587481e-01 6.17836701e-01 5.19643663e-02 1.86558959e+02] [-6.16483651e-01 7.86306435e-01 -4.08668340e-02 -1.11508472e+02] [-6.61089456e-02 2.84241057e-05 9.97812410e-01 -9.50598360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05864 meters Centerline goodness [0,1] 0.9997055214723927 Centerline is valid? [True, True] Translation: X:186.58, Y:-111.53, Z:-9.51 [[ 7.82697354e-01 6.20332103e-01 5.07241010e-02 1.86584581e+02] [-6.19045574e-01 7.84339251e-01 -3.99314025e-02 -1.11528639e+02] [-6.45556343e-02 -1.46327133e-04 9.97914099e-01 -9.50741787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08864 meters Centerline goodness [0,1] 0.9998035749361619 Centerline is valid? [True, True] Translation: X:186.61, Y:-111.55, Z:-9.51 [[ 7.82091820e-01 6.21089354e-01 5.07976408e-02 1.86611192e+02] [-6.19798151e-01 7.83739742e-01 -4.00283542e-02 -1.11547522e+02] [-6.46733145e-02 -1.78435485e-04 9.97906474e-01 -9.50853922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11864 meters Centerline goodness [0,1] 0.9998529411764706 Centerline is valid? [True, True] Translation: X:186.64, Y:-111.57, Z:-9.51 [[ 7.80847156e-01 6.22603136e-01 5.14106425e-02 1.86638289e+02] [-6.21281108e-01 7.82537705e-01 -4.05527468e-02 -1.11565104e+02] [-6.54790335e-02 -2.74963995e-04 9.97853907e-01 -9.50985582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14864 meters Centerline goodness [0,1] 0.999803902343367 Centerline is valid? [True, True] Translation: X:186.66, Y:-111.58, Z:-9.51 [[ 7.80286859e-01 6.23217085e-01 5.24679218e-02 1.86663917e+02] [-6.21838839e-01 7.82048831e-01 -4.14256604e-02 -1.11584430e+02] [-6.68496562e-02 -3.02693086e-04 9.97763014e-01 -9.51258333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17864 meters Centerline goodness [0,1] 0.9997054925636872 Centerline is valid? [True, True] Translation: X:186.69, Y:-111.60, Z:-9.51 [[ 7.80576040e-01 6.22875984e-01 5.22164133e-02 1.86691093e+02] [-6.21507490e-01 7.82320555e-01 -4.12672922e-02 -1.11603516e+02] [-6.65543786e-02 -2.40632494e-04 9.97782770e-01 -9.51398564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20864 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:186.72, Y:-111.62, Z:-9.52 [[ 7.80885722e-01 6.22438958e-01 5.27942419e-02 1.86717892e+02] [-6.21035969e-01 7.82668330e-01 -4.17685429e-02 -1.11622432e+02] [-6.73187495e-02 -1.70664355e-04 9.97731505e-01 -9.51573148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23864 meters Centerline goodness [0,1] 0.9994106090373281 Centerline is valid? [True, True] Translation: X:186.74, Y:-111.64, Z:-9.52 [[ 7.81118659e-01 6.22256469e-01 5.14832617e-02 1.86743945e+02] [-6.20919294e-01 7.82813434e-01 -4.07720251e-02 -1.11641055e+02] [-6.56724453e-02 -1.19160943e-04 9.97841228e-01 -9.51714275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26864 meters Centerline goodness [0,1] 0.9993133552405709 Centerline is valid? [True, True] Translation: X:186.77, Y:-111.66, Z:-9.52 [[ 7.82046250e-01 6.21201603e-01 5.01221670e-02 1.86770766e+02] [-6.19929782e-01 7.83650795e-01 -3.97303064e-02 -1.11659447e+02] [-6.39588061e-02 -1.28689501e-06 9.97952540e-01 -9.51844561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29864 meters Centerline goodness [0,1] 0.9997056514913658 Centerline is valid? [True, True] Translation: X:186.80, Y:-111.68, Z:-9.52 [[ 7.82369311e-01 6.20738275e-01 5.08158902e-02 1.86797189e+02] [-6.19428170e-01 7.84017851e-01 -4.03082134e-02 -1.11678546e+02] [-6.48614158e-02 5.91152719e-05 9.97894280e-01 -9.52095250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32864 meters Centerline goodness [0,1] 0.9997550460513424 Centerline is valid? [True, True] Translation: X:186.82, Y:-111.70, Z:-9.52 [[ 7.82711525e-01 6.20302161e-01 5.08713776e-02 1.86824093e+02] [-6.18987442e-01 7.84362937e-01 -4.03649492e-02 -1.11697287e+02] [-6.49400884e-02 1.05367063e-04 9.97889159e-01 -9.52083133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35864 meters Centerline goodness [0,1] 0.9995094913425222 Centerline is valid? [True, True] Translation: X:186.85, Y:-111.72, Z:-9.52 [[ 7.82415898e-01 6.20558834e-01 5.22694484e-02 1.86849115e+02] [-6.19170364e-01 7.84159884e-01 -4.14889985e-02 -1.11717527e+02] [-6.67339692e-02 9.79586864e-05 9.97770799e-01 -9.52229895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38864 meters Centerline goodness [0,1] 0.9990156511467664 Centerline is valid? [True, True] Translation: X:186.87, Y:-111.74, Z:-9.52 [[ 7.82983607e-01 6.19780542e-01 5.29976501e-02 1.86874926e+02] [-6.18349798e-01 7.84775157e-01 -4.20889628e-02 -1.11736581e+02] [-6.76771594e-02 1.83881674e-04 9.97707256e-01 -9.52256870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41864 meters Centerline goodness [0,1] 0.9991669525162934 Centerline is valid? [True, True] Translation: X:186.90, Y:-111.76, Z:-9.52 [[ 7.83129353e-01 6.19606016e-01 5.28847985e-02 1.86901693e+02] [-6.18178205e-01 7.84912946e-01 -4.20401603e-02 -1.11756469e+02] [-6.75582992e-02 2.30653757e-04 9.97715302e-01 -9.52426963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44864 meters Centerline goodness [0,1] 0.999607554574442 Centerline is valid? [True, True] Translation: X:186.93, Y:-111.78, Z:-9.53 [[ 7.84255919e-01 6.18135820e-01 5.33925225e-02 1.86927392e+02] [-6.16674847e-01 7.86071217e-01 -4.24755821e-02 -1.11775298e+02] [-6.82260040e-02 3.85900998e-04 9.97669817e-01 -9.52645385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47864 meters Centerline goodness [0,1] 0.9996074390303744 Centerline is valid? [True, True] Translation: X:186.95, Y:-111.80, Z:-9.53 [[ 7.84566548e-01 6.17675494e-01 5.41508700e-02 1.86952571e+02] [-6.16170783e-01 7.86432953e-01 -4.30903205e-02 -1.11795306e+02] [-6.92018636e-02 4.41040011e-04 9.97602580e-01 -9.52806825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50864 meters Centerline goodness [0,1] 0.9988212180746562 Centerline is valid? [True, True] Translation: X:186.98, Y:-111.81, Z:-9.53 [[ 7.84680748e-01 6.17683101e-01 5.23804471e-02 1.86977926e+02] [-6.16273880e-01 7.86426978e-01 -4.17026765e-02 -1.11814920e+02] [-6.69524352e-02 4.42585954e-04 9.97756070e-01 -9.52915821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53864000000002 meters Centerline goodness [0,1] 0.9985281130409185 Centerline is valid? [True, True] Translation: X:187.00, Y:-111.83, Z:-9.53 [[ 7.83848300e-01 6.18814070e-01 5.14877662e-02 1.87002981e+02] [-6.17453169e-01 7.85537406e-01 -4.10191209e-02 -1.11834536e+02] [-6.58287755e-02 3.61483730e-04 9.97830868e-01 -9.53004417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56864000000002 meters Centerline goodness [0,1] 0.9985279685966634 Centerline is valid? [True, True] Translation: X:187.03, Y:-111.85, Z:-9.53 [[ 7.83108679e-01 6.19828224e-01 5.05348336e-02 1.87028162e+02] [-6.18518711e-01 7.84737469e-01 -4.02704411e-02 -1.11853921e+02] [-6.46173334e-02 2.79391775e-04 9.97910077e-01 -9.53103750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59864000000002 meters Centerline goodness [0,1] 0.9987731867700461 Centerline is valid? [True, True] Translation: X:187.05, Y:-111.87, Z:-9.53 [[ 7.82043412e-01 6.21090039e-01 5.15292673e-02 1.87054569e+02] [-6.19730373e-01 7.83739197e-01 -4.10747712e-02 -1.11872907e+02] [-6.58966378e-02 1.88002199e-04 9.97826437e-01 -9.53210007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62864000000002 meters Centerline goodness [0,1] 0.9988200589970502 Centerline is valid? [True, True] Translation: X:187.08, Y:-111.89, Z:-9.53 [[ 7.81974083e-01 6.21047277e-01 5.30736535e-02 1.87081428e+02] [-6.19603802e-01 7.83773077e-01 -4.23189296e-02 -1.11891341e+02] [-6.78797568e-02 2.07668628e-04 9.97693488e-01 -9.53410750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65864000000002 meters Centerline goodness [0,1] 0.9985762678580196 Centerline is valid? [True, True] Translation: X:187.11, Y:-111.91, Z:-9.54 [[ 7.82682670e-01 6.20132791e-01 5.33212849e-02 1.87106866e+02] [-6.18672904e-01 7.84496802e-01 -4.25277016e-02 -1.11910369e+02] [-6.82031998e-02 2.97260874e-04 9.97671406e-01 -9.53582063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68864 meters Centerline goodness [0,1] 0.9979009880714688 Centerline is valid? [True, True] Translation: X:187.13, Y:-111.93, Z:-9.54 [[ 7.83909407e-01 6.18635248e-01 5.26922321e-02 1.87132407e+02] [-6.17205446e-01 7.85678206e-01 -4.20380173e-02 -1.11929513e+02] [-6.74053376e-02 4.32064631e-04 9.97725580e-01 -9.53570018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71864 meters Centerline goodness [0,1] 0.9975469754206937 Centerline is valid? [True, True] Translation: X:187.16, Y:-111.95, Z:-9.54 [[ 7.85878669e-01 6.16115750e-01 5.28781745e-02 1.87159442e+02] [-6.14669248e-01 7.87655347e-01 -4.21991643e-02 -1.11946425e+02] [-6.76493466e-02 6.60835313e-04 9.97708940e-01 -9.53785867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74864 meters Centerline goodness [0,1] 0.9979382455451377 Centerline is valid? [True, True] Translation: X:187.19, Y:-111.97, Z:-9.54 [[ 7.86716027e-01 6.15014416e-01 5.32462375e-02 1.87185202e+02] [-6.13544398e-01 7.88515489e-01 -4.25040738e-02 -1.11965194e+02] [-6.81261011e-02 7.69705360e-04 9.97676421e-01 -9.53926908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77864 meters Centerline goodness [0,1] 0.9978863546991742 Centerline is valid? [True, True] Translation: X:187.21, Y:-111.98, Z:-9.54 [[ 7.87785072e-01 6.13642276e-01 5.32713529e-02 1.87211413e+02] [-6.12166979e-01 7.89583657e-01 -4.25351376e-02 -1.11984035e+02] [-6.81635483e-02 8.97583215e-04 9.97673757e-01 -9.54178562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80864 meters Centerline goodness [0,1] 0.9977958463949843 Centerline is valid? [True, True] Translation: X:187.24, Y:-112.00, Z:-9.54 [[ 7.88484567e-01 6.12779262e-01 5.28551186e-02 1.87237193e+02] [-6.11324134e-01 7.90253520e-01 -4.22158360e-02 -1.12004394e+02] [-6.76379323e-02 9.74925582e-04 9.97709457e-01 -9.54217639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83864 meters Centerline goodness [0,1] 0.9975959179668334 Centerline is valid? [True, True] Translation: X:187.26, Y:-112.03, Z:-9.54 [[ 7.89352141e-01 6.11664837e-01 5.28140524e-02 1.87261721e+02] [-6.10208517e-01 7.91116274e-01 -4.21972438e-02 -1.12025501e+02] [-6.75926266e-02 1.08090015e-03 9.97712418e-01 -9.54220919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86864 meters Centerline goodness [0,1] 0.9971557473519027 Centerline is valid? [True, True] Translation: X:187.29, Y:-112.05, Z:-9.54 [[ 7.89566992e-01 6.11452882e-01 5.20513038e-02 1.87286443e+02] [-6.10037205e-01 7.91280090e-01 -4.15983966e-02 -1.12045719e+02] [-6.66226199e-02 1.09148895e-03 9.97777648e-01 -9.54329646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89864 meters Centerline goodness [0,1] 0.9977922778786243 Centerline is valid? [True, True] Translation: X:187.31, Y:-112.07, Z:-9.54 [[ 7.89002942e-01 6.12208404e-01 5.17226101e-02 1.87311098e+02] [-6.10811491e-01 7.90695776e-01 -4.13462407e-02 -1.12066798e+02] [-6.62093654e-02 1.02954097e-03 9.97805221e-01 -9.54497987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92864 meters Centerline goodness [0,1] 0.9983324341556722 Centerline is valid? [True, True] Translation: X:187.34, Y:-112.09, Z:-9.55 [[ 7.88006389e-01 6.13432466e-01 5.24074484e-02 1.87337513e+02] [-6.11999759e-01 7.89746605e-01 -4.19117515e-02 -1.12087043e+02] [-6.70986335e-02 9.53382164e-04 9.97745892e-01 -9.54582700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95864 meters Centerline goodness [0,1] 0.997446724933713 Centerline is valid? [True, True] Translation: X:187.36, Y:-112.11, Z:-9.55 [[ 7.86930708e-01 6.14816662e-01 5.23500994e-02 1.87362829e+02] [-6.13388634e-01 7.88669605e-01 -4.18884032e-02 -1.12106894e+02] [-6.70406204e-02 8.52314868e-04 9.97749883e-01 -9.54756024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98864 meters Centerline goodness [0,1] 0.9973027315972733 Centerline is valid? [True, True] Translation: X:187.39, Y:-112.13, Z:-9.55 [[ 7.86533754e-01 6.15334632e-01 5.22297280e-02 1.87387753e+02] [-6.13913586e-01 7.88265581e-01 -4.18029059e-02 -1.12126597e+02] [-6.68936726e-02 8.14856926e-04 9.97759777e-01 -9.54903184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01864 meters Centerline goodness [0,1] 0.9974492298636319 Centerline is valid? [True, True] Translation: X:187.41, Y:-112.15, Z:-9.55 [[ 7.86205881e-01 6.15778654e-01 5.19322882e-02 1.87412677e+02] [-6.14373955e-01 7.87918802e-01 -4.15764987e-02 -1.12146872e+02] [-6.65203467e-02 7.81842524e-04 9.97784762e-01 -9.54939496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04864 meters Centerline goodness [0,1] 0.9969107046535576 Centerline is valid? [True, True] Translation: X:187.44, Y:-112.17, Z:-9.55 [[ 7.86778590e-01 6.15076727e-01 5.15758638e-02 1.87439027e+02] [-6.13688810e-01 7.88466805e-01 -4.13054663e-02 -1.12166468e+02] [-6.60718876e-02 8.46726040e-04 9.97814506e-01 -9.55043729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07864 meters Centerline goodness [0,1] 0.9965664393976553 Centerline is valid? [True, True] Translation: X:187.47, Y:-112.19, Z:-9.55 [[ 7.87357018e-01 6.14372033e-01 5.11461748e-02 1.87465690e+02] [-6.13004635e-01 7.89015954e-01 -4.09773433e-02 -1.12186644e+02] [-6.55304816e-02 9.10956630e-04 9.97850152e-01 -9.55220244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10864 meters Centerline goodness [0,1] 0.996367206676485 Centerline is valid? [True, True] Translation: X:187.49, Y:-112.21, Z:-9.55 [[ 7.87859104e-01 6.13776412e-01 5.05623137e-02 1.87491034e+02] [-6.12437787e-01 7.89479315e-01 -4.05261286e-02 -1.12207213e+02] [-6.47918826e-02 9.62607843e-04 9.97898334e-01 -9.55276757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13864 meters Centerline goodness [0,1] 0.9967529272852504 Centerline is valid? [True, True] Translation: X:187.52, Y:-112.23, Z:-9.55 [[ 7.87798505e-01 6.13829123e-01 5.08657357e-02 1.87516147e+02] [-6.12473464e-01 7.89438316e-01 -4.07848188e-02 -1.12227189e+02] [-6.51902703e-02 9.76306012e-04 9.97872374e-01 -9.55408676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16864 meters Centerline goodness [0,1] 0.9975976859342061 Centerline is valid? [True, True] Translation: X:187.54, Y:-112.25, Z:-9.55 [[ 7.86846710e-01 6.14876737e-01 5.29041943e-02 1.87542170e+02] [-6.13411710e-01 7.88622676e-01 -4.24305163e-02 -1.12245822e+02] [-6.78109847e-02 9.34259819e-04 9.97697749e-01 -9.55491787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19864 meters Centerline goodness [0,1] 0.9978328325863173 Centerline is valid? [True, True] Translation: X:187.57, Y:-112.27, Z:-9.56 [[ 7.85935501e-01 6.16034249e-01 5.29829458e-02 1.87567329e+02] [-6.14566658e-01 7.87718915e-01 -4.25056854e-02 -1.12265933e+02] [-6.79206266e-02 8.45175218e-04 9.97690370e-01 -9.55516772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22864 meters Centerline goodness [0,1] 0.9982827985477382 Centerline is valid? [True, True] Translation: X:187.59, Y:-112.29, Z:-9.56 [[ 7.84480866e-01 6.17837118e-01 5.35449895e-02 1.87593403e+02] [-6.16341337e-01 7.86305789e-01 -4.29716581e-02 -1.12286961e+02] [-6.86522206e-02 7.08453150e-04 9.97640402e-01 -9.55660726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25864 meters Centerline goodness [0,1] 0.9989189720406859 Centerline is valid? [True, True] Translation: X:187.62, Y:-112.31, Z:-9.56 [[ 7.83183640e-01 6.19477542e-01 5.35813538e-02 1.87618907e+02] [-6.17982542e-01 7.85014167e-01 -4.30155205e-02 -1.12306153e+02] [-6.87092707e-02 5.76710636e-04 9.97636559e-01 -9.55953061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28864000000002 meters Centerline goodness [0,1] 0.9993126135415132 Centerline is valid? [True, True] Translation: X:187.65, Y:-112.32, Z:-9.56 [[ 7.82457243e-01 6.20522530e-01 5.20812154e-02 1.87645229e+02] [-6.19111754e-01 7.84188472e-01 -4.18219658e-02 -1.12324799e+02] [-6.67929608e-02 4.79807408e-04 9.97766741e-01 -9.56060380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31864000000002 meters Centerline goodness [0,1] 0.9993136918476396 Centerline is valid? [True, True] Translation: X:187.67, Y:-112.35, Z:-9.56 [[ 7.82213324e-01 6.20815386e-01 5.22548811e-02 1.87671665e+02] [-6.19394948e-01 7.83956656e-01 -4.19745225e-02 -1.12345226e+02] [-6.70239912e-02 4.66621402e-04 9.97751255e-01 -9.56140954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34864000000002 meters Centerline goodness [0,1] 0.9997060120535058 Centerline is valid? [True, True] Translation: X:187.70, Y:-112.37, Z:-9.56 [[ 7.82520169e-01 6.20442251e-01 5.20922146e-02 1.87697435e+02] [-6.19028724e-01 7.84251971e-01 -4.18603120e-02 -1.12365660e+02] [-6.68253282e-02 5.09961334e-04 9.97764559e-01 -9.56150726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37864000000002 meters Centerline goodness [0,1] 0.9996076123209732 Centerline is valid? [True, True] Translation: X:187.72, Y:-112.38, Z:-9.56 [[ 7.83454516e-01 6.19284812e-01 5.18203032e-02 1.87723856e+02] [-6.17882398e-01 7.85166186e-01 -4.16581643e-02 -1.12384777e+02] [-6.64858183e-02 6.18423786e-04 9.97787178e-01 -9.56212288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40864000000002 meters Centerline goodness [0,1] 0.999853135555882 Centerline is valid? [True, True] Translation: X:187.75, Y:-112.40, Z:-9.56 [[ 7.85144814e-01 6.17013225e-01 5.33132445e-02 1.87751445e+02] [-6.15522480e-01 7.86952327e-01 -4.28732147e-02 -1.12402069e+02] [-6.84083222e-02 8.46181681e-04 9.97657048e-01 -9.56437421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43864 meters Centerline goodness [0,1] 0.9998520564158201 Centerline is valid? [True, True] Translation: X:187.78, Y:-112.42, Z:-9.57 [[ 7.85728406e-01 6.16304276e-01 5.29141795e-02 1.87777016e+02] [-6.14833294e-01 7.87507593e-01 -4.25653953e-02 -1.12422229e+02] [-6.79035532e-02 9.11440963e-04 9.97691474e-01 -9.56601370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46864 meters Centerline goodness [0,1] 0.9997548538929202 Centerline is valid? [True, True] Translation: X:187.80, Y:-112.44, Z:-9.57 [[ 7.85895262e-01 6.16078461e-01 5.30656804e-02 1.87801705e+02] [-6.14597539e-01 7.87684224e-01 -4.27016297e-02 -1.12443205e+02] [-6.81065536e-02 9.44971906e-04 9.97677605e-01 -9.56770305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49864 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:187.83, Y:-112.46, Z:-9.57 [[ 7.85911081e-01 6.16087338e-01 5.27272628e-02 1.87825745e+02] [-6.14624552e-01 7.87677279e-01 -4.24401293e-02 -1.12464552e+02] [-6.76788931e-02 9.46697670e-04 9.97706706e-01 -9.56803537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:187.85, Y:-112.48, Z:-9.57 [[ 7.85883655e-01 6.16174245e-01 5.21169915e-02 1.87851701e+02] [-6.14744636e-01 7.87609308e-01 -4.19596239e-02 -1.12483978e+02] [-6.69022671e-02 9.36741654e-04 9.97759094e-01 -9.56897667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:187.88, Y:-112.50, Z:-9.57 [[ 7.85768135e-01 6.16322086e-01 5.21107047e-02 1.87877071e+02] [-6.14892284e-01 7.87493628e-01 -4.19674306e-02 -1.12504326e+02] [-6.69023022e-02 9.34199416e-04 9.97759094e-01 -9.57032209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58864 meters Centerline goodness [0,1] 0.9998040656380113 Centerline is valid? [True, True] Translation: X:187.90, Y:-112.52, Z:-9.57 [[ 7.85844739e-01 6.16247799e-01 5.18333540e-02 1.87903914e+02] [-6.14831965e-01 7.87551745e-01 -4.17600754e-02 -1.12524207e+02] [-6.65560029e-02 9.48132695e-04 9.97782241e-01 -9.57108681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61864 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:187.93, Y:-112.55, Z:-9.57 [[ 7.86097888e-01 6.15931821e-01 5.17503914e-02 1.87929071e+02] [-6.14518771e-01 7.87798845e-01 -4.17092342e-02 -1.12545853e+02] [-6.64589431e-02 9.85954024e-04 9.97788673e-01 -9.57227806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64864 meters Centerline goodness [0,1] 0.9997548418730081 Centerline is valid? [True, True] Translation: X:187.95, Y:-112.57, Z:-9.57 [[ 7.87245608e-01 6.14490970e-01 5.14315124e-02 1.87952952e+02] [-6.13091313e-01 7.88923071e-01 -4.14660147e-02 -1.12567771e+02] [-6.60559983e-02 1.11172443e-03 9.97815298e-01 -9.57343069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:187.98, Y:-112.59, Z:-9.58 [[ 7.87938361e-01 6.13627517e-01 5.11312929e-02 1.87978312e+02] [-6.12241667e-01 7.89594747e-01 -4.12343977e-02 -1.12588107e+02] [-6.56755613e-02 1.18545575e-03 9.97840326e-01 -9.57505922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.00, Y:-112.61, Z:-9.58 [[ 7.88206332e-01 6.13426941e-01 4.93777939e-02 1.88002111e+02] [-6.12133591e-01 7.89750608e-01 -3.98301980e-02 -1.12609561e+02] [-6.34290593e-02 1.16860802e-03 9.97985666e-01 -9.57644993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73864 meters Centerline goodness [0,1] 0.9998530060267529 Centerline is valid? [True, True] Translation: X:188.03, Y:-112.63, Z:-9.58 [[ 7.88264217e-01 6.13325594e-01 4.97115671e-02 1.88025798e+02] [-6.12013829e-01 7.89829281e-01 -4.01096004e-02 -1.12630758e+02] [-6.38638958e-02 1.19279626e-03 9.97957905e-01 -9.57815425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76864 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:188.05, Y:-112.65, Z:-9.58 [[ 7.86922160e-01 6.15053233e-01 4.96289738e-02 1.88050155e+02] [-6.13748607e-01 7.88484876e-01 -4.00530694e-02 -1.12651908e+02] [-6.37664651e-02 1.05893436e-03 9.97964286e-01 -9.57739084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79864 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:188.08, Y:-112.67, Z:-9.58 [[ 7.85943184e-01 6.16341418e-01 4.91585995e-02 1.88075407e+02] [-6.15063311e-01 7.87478475e-01 -3.96834388e-02 -1.12671205e+02] [-6.31698859e-02 9.53277321e-04 9.98002333e-01 -9.57768260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.10, Y:-112.69, Z:-9.58 [[ 7.82381199e-01 6.20862837e-01 4.90815378e-02 1.88100167e+02] [-6.19596890e-01 7.83918989e-01 -3.96322082e-02 -1.12691637e+02] [-6.30821147e-02 5.96726334e-04 9.98008162e-01 -9.57879131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:188.13, Y:-112.71, Z:-9.58 [[ 7.80188610e-01 6.23547859e-01 4.99379546e-02 1.88125366e+02] [-6.22241872e-01 7.81785078e-01 -4.03378785e-02 -1.12712204e+02] [-6.41933455e-02 3.97667082e-04 9.97937401e-01 -9.58062123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.15, Y:-112.73, Z:-9.58 [[ 7.77808910e-01 6.26580791e-01 4.90898435e-02 1.88152696e+02] [-6.25323926e-01 7.79356458e-01 -3.96673528e-02 -1.12730384e+02] [-6.31132878e-02 1.56566773e-04 9.98006357e-01 -9.58092397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91864 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:188.18, Y:-112.75, Z:-9.58 [[ 7.76946763e-01 6.27672694e-01 4.87925866e-02 1.88179382e+02] [-6.26432414e-01 7.78477349e-01 -3.94391595e-02 -1.12748726e+02] [-6.27388070e-02 7.68695743e-05 9.98029978e-01 -9.58260988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94864 meters Centerline goodness [0,1] 0.999901666748611 Centerline is valid? [True, True] Translation: X:188.21, Y:-112.77, Z:-9.58 [[ 7.75651917e-01 6.29362264e-01 4.76156000e-02 1.88206421e+02] [-6.28183713e-01 7.77112050e-01 -3.84978390e-02 -1.12765856e+02] [-6.12317436e-02 -5.04217840e-05 9.98123575e-01 -9.58440762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.23, Y:-112.78, Z:-9.59 [[ 7.75192694e-01 6.29907937e-01 4.78777364e-02 1.88232997e+02] [-6.28716765e-01 7.76669803e-01 -3.87201003e-02 -1.12784621e+02] [-6.15752906e-02 -8.59966846e-05 9.98102438e-01 -9.58518655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00864 meters Centerline goodness [0,1] 0.999853063623451 Centerline is valid? [True, True] Translation: X:188.26, Y:-112.80, Z:-9.59 [[ 7.76383287e-01 6.28429240e-01 4.80175186e-02 1.88260915e+02] [-6.27227735e-01 7.77866755e-01 -3.88417197e-02 -1.12799917e+02] [-6.17605038e-02 3.81425594e-05 9.98090997e-01 -9.58598837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.29, Y:-112.82, Z:-9.59 [[ 7.76755294e-01 6.27891232e-01 4.90287008e-02 1.88285972e+02] [-6.26637134e-01 7.78301094e-01 -3.96649570e-02 -1.12818577e+02] [-6.30643703e-02 8.67608078e-05 9.98009458e-01 -9.58787748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.31, Y:-112.84, Z:-9.59 [[ 7.77309014e-01 6.27243343e-01 4.85436452e-02 1.88310374e+02] [-6.26012379e-01 7.78823323e-01 -3.92776425e-02 -1.12837801e+02] [-6.24435629e-02 1.41942759e-04 9.98048486e-01 -9.58979293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09864000000002 meters Centerline goodness [0,1] 0.9998527535093747 Centerline is valid? [True, True] Translation: X:188.33, Y:-112.86, Z:-9.59 [[ 7.77210812e-01 6.27312055e-01 4.92233516e-02 1.88334868e+02] [-6.26046145e-01 7.78767979e-01 -3.98328958e-02 -1.12857203e+02] [-6.33212258e-02 1.42467764e-04 9.97993187e-01 -9.59211972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12864000000002 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:188.36, Y:-112.88, Z:-9.59 [[ 7.77089376e-01 6.27445094e-01 4.94444709e-02 1.88359931e+02] [-6.26167706e-01 7.78660796e-01 -4.00171059e-02 -1.12876694e+02] [-6.36090079e-02 1.36336931e-04 9.97974887e-01 -9.59365489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.38, Y:-112.90, Z:-9.59 [[ 7.77039147e-01 6.27508813e-01 4.94252309e-02 1.88384255e+02] [-6.26232218e-01 7.78609447e-01 -4.00067320e-02 -1.12896987e+02] [-6.35875286e-02 1.35124902e-04 9.97976256e-01 -9.59477666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.41, Y:-112.92, Z:-9.60 [[ 7.76137801e-01 6.28727248e-01 4.80849357e-02 1.88408164e+02] [-6.27521040e-01 7.77625904e-01 -3.89268365e-02 -1.12917877e+02] [-6.18664544e-02 3.82805230e-05 9.98084435e-01 -9.59705060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.43, Y:-112.94, Z:-9.60 [[ 7.76269886e-01 6.28594962e-01 4.76805799e-02 1.88432597e+02] [-6.27408414e-01 7.77732840e-01 -3.86045457e-02 -1.12936902e+02] [-6.13493758e-02 5.23492580e-05 9.98116352e-01 -9.59837208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.46, Y:-112.96, Z:-9.60 [[ 7.76064861e-01 6.28908025e-01 4.68831152e-02 1.88456504e+02] [-6.27761144e-01 7.77479707e-01 -3.79638196e-02 -1.12956795e+02] [-6.03264215e-02 3.09883683e-05 9.98178702e-01 -9.59944254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.48, Y:-112.98, Z:-9.60 [[ 7.75997029e-01 6.28926611e-01 4.77486042e-02 1.88479098e+02] [-6.27736674e-01 7.77464673e-01 -3.86697743e-02 -1.12978695e+02] [-6.14433030e-02 3.40799439e-05 9.98110575e-01 -9.60181867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.50, Y:-113.00, Z:-9.60 [[ 7.75900376e-01 6.29025514e-01 4.80157183e-02 1.88503487e+02] [-6.27821980e-01 7.77384655e-01 -3.88929207e-02 -1.12999306e+02] [-6.17913220e-02 3.17084145e-05 9.98089090e-01 -9.60277851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.53, Y:-113.02, Z:-9.60 [[ 7.75445711e-01 6.29570034e-01 4.82236613e-02 1.88528861e+02] [-6.28356452e-01 7.76943738e-01 -3.90716946e-02 -1.13019711e+02] [-6.20654398e-02 -3.67071807e-06 9.98072082e-01 -9.60407082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36864 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:188.55, Y:-113.04, Z:-9.61 [[ 7.74902988e-01 6.30248035e-01 4.80913107e-02 1.88553857e+02] [-6.29041780e-01 7.76393851e-01 -3.89747062e-02 -1.13039634e+02] [-6.19015299e-02 -4.98273899e-05 9.98082260e-01 -9.60592834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.58, Y:-113.06, Z:-9.61 [[ 7.74139593e-01 6.31236167e-01 4.74214223e-02 1.88578196e+02] [-6.30064551e-01 7.75590670e-01 -3.84418326e-02 -1.13059979e+02] [-6.10454877e-02 -1.19212560e-04 9.98134978e-01 -9.60745957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.60, Y:-113.08, Z:-9.61 [[ 7.74117689e-01 6.31327884e-01 4.65500416e-02 1.88603219e+02] [-6.30198635e-01 7.75516014e-01 -3.77437680e-02 -1.13078646e+02] [-5.99289959e-02 -1.17654235e-04 9.98202636e-01 -9.60763328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.63, Y:-113.10, Z:-9.61 [[ 7.74807835e-01 6.30389413e-01 4.77703661e-02 1.88629290e+02] [-6.29198071e-01 7.76279065e-01 -3.87375974e-02 -1.13095446e+02] [-6.15029064e-02 -4.28282221e-05 9.98106903e-01 -9.60896171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.65, Y:-113.11, Z:-9.61 [[ 7.75152176e-01 6.29953477e-01 4.79345482e-02 1.88653053e+02] [-6.28752985e-01 7.76632871e-01 -3.88724496e-02 -1.13114443e+02] [-6.17153805e-02 -6.92640799e-06 9.98093789e-01 -9.61054587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51864 meters Centerline goodness [0,1] 0.9999020280199863 Centerline is valid? [True, True] Translation: X:188.68, Y:-113.13, Z:-9.61 [[ 7.76290690e-01 6.28512990e-01 4.84167958e-02 1.88677503e+02] [-6.27285394e-01 7.77799081e-01 -3.92635275e-02 -1.13133216e+02] [-6.23361763e-02 1.08762073e-04 9.98055204e-01 -9.61248873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:188.70, Y:-113.15, Z:-9.61 [[ 7.76496368e-01 6.28304935e-01 4.78152495e-02 1.88702064e+02] [-6.27107289e-01 7.77967154e-01 -3.87757045e-02 -1.13150850e+02] [-6.15616601e-02 1.23902224e-04 9.98103275e-01 -9.61294460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.73, Y:-113.17, Z:-9.61 [[ 7.76585251e-01 6.28176462e-01 4.80591409e-02 1.88726660e+02] [-6.26966414e-01 7.78070893e-01 -3.89717887e-02 -1.13167526e+02] [-6.18745790e-02 1.33449027e-04 9.98083924e-01 -9.61485935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:188.75, Y:-113.18, Z:-9.62 [[ 7.76386348e-01 6.28394177e-01 4.84251588e-02 1.88751855e+02] [-6.27166355e-01 7.77895073e-01 -3.92634394e-02 -1.13183777e+02] [-6.23426092e-02 1.12968011e-04 9.98054801e-01 -9.61546040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63864 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:188.77, Y:-113.20, Z:-9.62 [[ 7.77100294e-01 6.27480334e-01 4.88217581e-02 1.88774802e+02] [-6.26231492e-01 7.78632391e-01 -3.95691690e-02 -1.13200584e+02] [-6.28430776e-02 1.75490477e-04 9.98023405e-01 -9.61760977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:188.80, Y:-113.22, Z:-9.62 [[ 7.78184519e-01 6.26186697e-01 4.81567820e-02 1.88798391e+02] [-6.24971505e-01 7.79673111e-01 -3.89930587e-02 -1.13215158e+02] [-6.19634827e-02 2.47178102e-04 9.98078387e-01 -9.61817849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:188.82, Y:-113.23, Z:-9.62 [[ 7.78971724e-01 6.25195959e-01 4.83018243e-02 1.88820828e+02] [-6.23974068e-01 7.80467761e-01 -3.90696372e-02 -1.13232092e+02] [-6.21241959e-02 2.95056786e-04 9.98068383e-01 -9.61949502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.84, Y:-113.25, Z:-9.62 [[ 7.80452919e-01 6.23247895e-01 4.95509986e-02 1.88844055e+02] [-6.21960576e-01 7.82024217e-01 -4.00395629e-02 -1.13248750e+02] [-6.37046542e-02 4.30226146e-04 9.97968703e-01 -9.62102898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.87, Y:-113.26, Z:-9.62 [[ 7.81539795e-01 6.21918020e-01 4.91276401e-02 1.88866299e+02] [-6.20652363e-01 7.83082193e-01 -3.96600938e-02 -1.13264937e+02] [-6.31363072e-02 5.04755706e-04 9.98004786e-01 -9.62075170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78864000000002 meters Centerline goodness [0,1] 0.9999510355971208 Centerline is valid? [True, True] Translation: X:188.89, Y:-113.28, Z:-9.62 [[ 7.82195260e-01 6.21059268e-01 4.95576474e-02 1.88889480e+02] [-6.19772120e-01 7.83763411e-01 -3.99679182e-02 -1.13282196e+02] [-6.36639168e-02 5.48268026e-04 9.97971245e-01 -9.62207081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.91, Y:-113.30, Z:-9.62 [[ 7.82797314e-01 6.20334257e-01 4.91301742e-02 1.88912005e+02] [-6.19070148e-01 7.84337351e-01 -3.95862436e-02 -1.13298509e+02] [-6.30913338e-02 5.72980926e-04 9.98007593e-01 -9.62318502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.93, Y:-113.32, Z:-9.62 [[ 7.83466843e-01 6.19515249e-01 4.87909968e-02 1.88934042e+02] [-6.18269488e-01 7.84984390e-01 -3.92727405e-02 -1.13315982e+02] [-6.26302325e-02 6.02905456e-04 9.98036618e-01 -9.62494581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.96, Y:-113.33, Z:-9.63 [[ 7.83529457e-01 6.19507419e-01 4.78763823e-02 1.88956399e+02] [-6.18310263e-01 7.84990600e-01 -3.84990440e-02 -1.13333366e+02] [-6.14329534e-02 5.62676505e-04 9.98111054e-01 -9.62544818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.98, Y:-113.35, Z:-9.63 [[ 7.83117260e-01 6.19936531e-01 4.90515503e-02 1.88978933e+02] [-6.18682946e-01 7.84651791e-01 -3.94078540e-02 -1.13351590e+02] [-6.29187551e-02 5.13613039e-04 9.98018520e-01 -9.62842466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93864 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:189.00, Y:-113.37, Z:-9.63 [[ 7.82763819e-01 6.20306739e-01 5.00035307e-02 1.89000902e+02] [-6.19007075e-01 7.84359187e-01 -4.01361144e-02 -1.13369823e+02] [-6.41174309e-02 4.64558945e-04 9.97942252e-01 -9.62974662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.02, Y:-113.39, Z:-9.63 [[ 7.82364621e-01 6.20961741e-01 4.80844601e-02 1.89023297e+02] [-6.19763330e-01 7.83840787e-01 -3.85620935e-02 -1.13387345e+02] [-6.16361458e-02 3.68632581e-04 9.98098617e-01 -9.62935813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.05, Y:-113.41, Z:-9.63 [[ 7.82313689e-01 6.20951276e-01 4.90388060e-02 1.89046196e+02] [-6.19707010e-01 7.83849087e-01 -3.92916083e-02 -1.13405142e+02] [-6.28371976e-02 3.48671160e-04 9.98023730e-01 -9.63123345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.07, Y:-113.42, Z:-9.63 [[ 7.82574846e-01 6.20616208e-01 4.91134732e-02 1.89068652e+02] [-6.19369845e-01 7.84114407e-01 -3.93140277e-02 -1.13422208e+02] [-6.29095047e-02 3.46764837e-04 9.98019175e-01 -9.63206086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.09, Y:-113.44, Z:-9.63 [[ 7.83006777e-01 6.20046043e-01 4.94296624e-02 1.89090605e+02] [-6.18785038e-01 7.84565340e-01 -3.95260017e-02 -1.13438928e+02] [-6.32887409e-02 3.62791715e-04 9.97995192e-01 -9.63297178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.11, Y:-113.45, Z:-9.63 [[ 7.84894883e-01 6.17620131e-01 4.98537488e-02 1.89114092e+02] [-6.16335011e-01 7.86476377e-01 -3.98254098e-02 -1.13454885e+02] [-6.38057706e-02 5.32149585e-04 9.97962194e-01 -9.63366009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.14, Y:-113.47, Z:-9.63 [[ 7.86764463e-01 6.15309199e-01 4.89516970e-02 1.89135663e+02] [-6.14068030e-01 7.88285564e-01 -3.90682101e-02 -1.13472282e+02] [-6.26269451e-02 6.77807258e-04 9.98036776e-01 -9.63432627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.16, Y:-113.49, Z:-9.64 [[ 7.89870251e-01 6.11257462e-01 4.96920757e-02 1.89158113e+02] [-6.09972899e-01 7.91431202e-01 -3.96196258e-02 -1.13490689e+02] [-6.35456511e-02 9.83544355e-04 9.97978448e-01 -9.63686244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17864 meters Centerline goodness [0,1] 0.9999510475817506 Centerline is valid? [True, True] Translation: X:189.18, Y:-113.51, Z:-9.64 [[ 7.91168807e-01 6.09566661e-01 4.98036649e-02 1.89180657e+02] [-6.08275223e-01 7.92734059e-01 -3.96732168e-02 -1.13508830e+02] [-6.36645317e-02 1.09387627e-03 9.97970757e-01 -9.63860005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20864 meters Centerline goodness [0,1] 0.9998530132288094 Centerline is valid? [True, True] Translation: X:189.20, Y:-113.53, Z:-9.64 [[ 7.92858032e-01 6.07418030e-01 4.91881869e-02 1.89201866e+02] [-6.06156365e-01 7.94381419e-01 -3.91487173e-02 -1.13528056e+02] [-6.28538185e-02 1.22364243e-03 9.98021994e-01 -9.63932095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23864 meters Centerline goodness [0,1] 0.9998040272402136 Centerline is valid? [True, True] Translation: X:189.22, Y:-113.55, Z:-9.64 [[ 7.93336928e-01 6.06773162e-01 4.94251905e-02 1.89223296e+02] [-6.05500232e-01 7.94874052e-01 -3.93028023e-02 -1.13547486e+02] [-6.31346871e-02 1.25340007e-03 9.98004229e-01 -9.63937620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26864 meters Centerline goodness [0,1] 0.9998038061604866 Centerline is valid? [True, True] Translation: X:189.24, Y:-113.57, Z:-9.64 [[ 7.93755838e-01 6.06144465e-01 5.04039371e-02 1.89244525e+02] [-6.04821589e-01 7.95353503e-01 -4.00456202e-02 -1.13566783e+02] [-6.43623790e-02 1.30105553e-03 9.97925744e-01 -9.64078847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29864 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:189.26, Y:-113.59, Z:-9.64 [[ 7.92541840e-01 6.07644142e-01 5.14395595e-02 1.89263722e+02] [-6.06271955e-01 7.94208550e-01 -4.08300803e-02 -1.13587109e+02] [-6.56638970e-02 1.17318465e-03 9.97841108e-01 -9.64301786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.28, Y:-113.61, Z:-9.64 [[ 7.91901069e-01 6.08478822e-01 5.14414229e-02 1.89284996e+02] [-6.07110876e-01 7.93569387e-01 -4.07922995e-02 -1.13606949e+02] [-6.56435888e-02 1.07281823e-03 9.97842557e-01 -9.64413381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35864 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:189.30, Y:-113.63, Z:-9.65 [[ 7.91387774e-01 6.09072472e-01 5.23078808e-02 1.89304505e+02] [-6.07660964e-01 7.93113914e-01 -4.14544599e-02 -1.13629295e+02] [-6.67348785e-02 1.02109548e-03 9.97770221e-01 -9.64591789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.33, Y:-113.65, Z:-9.65 [[ 7.92065383e-01 6.08192890e-01 5.22861217e-02 1.89325694e+02] [-6.06780722e-01 7.93788519e-01 -4.14360001e-02 -1.13653540e+02] [-6.67052038e-02 1.09381060e-03 9.97772128e-01 -9.64749276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41864 meters Centerline goodness [0,1] 0.9999019078915101 Centerline is valid? [True, True] Translation: X:189.35, Y:-113.68, Z:-9.65 [[ 7.92006908e-01 6.08297977e-01 5.19483328e-02 1.89348567e+02] [-6.06903899e-01 7.93708007e-01 -4.11734970e-02 -1.13675780e+02] [-6.62775626e-02 1.08204831e-03 9.97800638e-01 -9.64870202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:189.37, Y:-113.70, Z:-9.65 [[ 7.91568685e-01 6.08868368e-01 5.19454186e-02 1.89372266e+02] [-6.07475193e-01 7.93270590e-01 -4.11784038e-02 -1.13697448e+02] [-6.62790004e-02 1.03998182e-03 9.97800588e-01 -9.64975038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:189.40, Y:-113.72, Z:-9.65 [[ 7.91493953e-01 6.08965948e-01 5.19403225e-02 1.89397116e+02] [-6.07572561e-01 7.93195684e-01 -4.11848311e-02 -1.13717096e+02] [-6.62789993e-02 1.04002999e-03 9.97800588e-01 -9.65106079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:189.42, Y:-113.74, Z:-9.65 [[ 7.88972529e-01 6.12281330e-01 5.13217451e-02 1.89421396e+02] [-6.10927282e-01 7.90639611e-01 -4.07045641e-02 -1.13738833e+02] [-6.54996492e-02 7.60928664e-04 9.97852302e-01 -9.65237981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53864000000002 meters Centerline goodness [0,1] 0.9999019223224794 Centerline is valid? [True, True] Translation: X:189.45, Y:-113.76, Z:-9.65 [[ 7.86814979e-01 6.15051967e-01 5.13153655e-02 1.89445727e+02] [-6.13703446e-01 7.88486391e-01 -4.07098554e-02 -1.13759499e+02] [-6.55001439e-02 5.38707463e-04 9.97852414e-01 -9.65363980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.47, Y:-113.78, Z:-9.66 [[ 7.84585715e-01 6.17827615e-01 5.20988788e-02 1.89469714e+02] [-6.16442933e-01 7.86313509e-01 -4.13421721e-02 -1.13780713e+02] [-6.65083878e-02 3.20491986e-04 9.97785815e-01 -9.65556634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59864000000002 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:189.49, Y:-113.80, Z:-9.66 [[ 7.79943070e-01 6.23670705e-01 5.21886884e-02 1.89493955e+02] [-6.22293510e-01 7.81687165e-01 -4.14241912e-02 -1.13802254e+02] [-6.66302824e-02 -1.68171263e-04 9.97777719e-01 -9.65580868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.52, Y:-113.82, Z:-9.66 [[ 7.77574211e-01 6.26627163e-01 5.21224024e-02 1.89519134e+02] [-6.25259367e-01 7.79319080e-01 -4.13823098e-02 -1.13821568e+02] [-6.65512621e-02 -4.12203436e-04 9.97782922e-01 -9.65698090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65864000000002 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:189.55, Y:-113.84, Z:-9.66 [[ 7.74229239e-01 6.30849667e-01 5.09684575e-02 1.89545588e+02] [-6.29550244e-01 7.75904722e-01 -4.04765748e-02 -1.13839828e+02] [-6.50813005e-02 -7.49057124e-04 9.97879684e-01 -9.65805083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:189.57, Y:-113.86, Z:-9.66 [[ 7.72172795e-01 6.33342059e-01 5.12543771e-02 1.89570649e+02] [-6.32032897e-01 7.73871384e-01 -4.07123701e-02 -1.13858079e+02] [-6.54491521e-02 -9.57467872e-04 9.97855446e-01 -9.65905327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:189.60, Y:-113.87, Z:-9.66 [[ 7.71275835e-01 6.34385434e-01 5.18527448e-02 1.89598077e+02] [-6.33047688e-01 7.73016174e-01 -4.11900483e-02 -1.13871692e+02] [-6.62133771e-02 -1.05637129e-03 9.97804927e-01 -9.66066949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.62, Y:-113.89, Z:-9.66 [[ 7.71416770e-01 6.34190788e-01 5.21364624e-02 1.89623700e+02] [-6.32838154e-01 7.73175883e-01 -4.14116637e-02 -1.13886785e+02] [-6.65735510e-02 -1.04829075e-03 9.97780970e-01 -9.66149838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:189.65, Y:-113.90, Z:-9.66 [[ 7.71782115e-01 6.33722493e-01 5.24229838e-02 1.89646821e+02] [-6.32355208e-01 7.73559786e-01 -4.16190811e-02 -1.13901737e+02] [-6.69272600e-02 -1.02908433e-03 9.97757327e-01 -9.66206727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:189.67, Y:-113.92, Z:-9.66 [[ 7.73972583e-01 6.31117654e-01 5.15455758e-02 1.89671611e+02] [-6.29792698e-01 7.75686684e-01 -4.08818635e-02 -1.13916915e+02] [-6.57844826e-02 -8.21585690e-04 9.97833517e-01 -9.66401622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83864 meters Centerline goodness [0,1] 0.9999510643503793 Centerline is valid? [True, True] Translation: X:189.70, Y:-113.93, Z:-9.67 [[ 7.75648949e-01 6.29038347e-01 5.17635551e-02 1.89696921e+02] [-6.27700016e-01 7.77373977e-01 -4.10169473e-02 -1.13930748e+02] [-6.60408734e-02 -6.77232295e-04 9.97816689e-01 -9.66533250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.72, Y:-113.95, Z:-9.67 [[ 7.76563008e-01 6.27889283e-01 5.20090576e-02 1.89720411e+02] [-6.26538287e-01 7.78302430e-01 -4.11716272e-02 -1.13945781e+02] [-6.63299994e-02 -6.13303148e-04 9.97797552e-01 -9.66608475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.74, Y:-113.96, Z:-9.67 [[ 7.77944975e-01 6.26163884e-01 5.21575096e-02 1.89743652e+02] [-6.24804157e-01 7.79691310e-01 -4.12459338e-02 -1.13960802e+02] [-6.64934711e-02 -5.01161910e-04 9.97786734e-01 -9.66721447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.77, Y:-113.98, Z:-9.67 [[ 7.79639519e-01 6.24096203e-01 5.16347771e-02 1.89769006e+02] [-6.22761741e-01 7.81347429e-01 -4.07922552e-02 -1.13975676e+02] [-6.58029919e-02 -3.52909469e-04 9.97832572e-01 -9.66781288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95864 meters Centerline goodness [0,1] 0.9998531643091381 Centerline is valid? [True, True] Translation: X:189.79, Y:-113.99, Z:-9.67 [[ 7.80347974e-01 6.23292785e-01 5.06275022e-02 1.89793487e+02] [-6.22010571e-01 7.81988497e-01 -3.99604776e-02 -1.13990618e+02] [-6.44972018e-02 -3.07763820e-04 9.97917840e-01 -9.66836968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:189.82, Y:-114.01, Z:-9.67 [[ 7.81219213e-01 6.22153820e-01 5.11973232e-02 1.89816272e+02] [-6.20842656e-01 7.82894989e-01 -4.03711910e-02 -1.14007038e+02] [-6.51992184e-02 -2.46732090e-04 9.97872237e-01 -9.66998364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01864 meters Centerline goodness [0,1] 0.9996571988246817 Centerline is valid? [True, True] Translation: X:189.84, Y:-114.02, Z:-9.67 [[ 7.82076376e-01 6.21069395e-01 5.12771778e-02 1.89839337e+02] [-6.19754578e-01 7.83755555e-01 -4.03917385e-02 -1.14023360e+02] [-6.52748455e-02 -1.89841189e-04 9.97867305e-01 -9.67068095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04864 meters Centerline goodness [0,1] 0.9997553816046967 Centerline is valid? [True, True] Translation: X:189.86, Y:-114.04, Z:-9.67 [[ 7.83908021e-01 6.18681519e-01 5.21669676e-02 1.89864400e+02] [-6.17318085e-01 7.85641889e-01 -4.10512425e-02 -1.14038211e+02] [-6.63822000e-02 -2.32142944e-05 9.97794269e-01 -9.67066700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07864 meters Centerline goodness [0,1] 0.9997551420176298 Centerline is valid? [True, True] Translation: X:189.89, Y:-114.05, Z:-9.67 [[ 7.85271600e-01 6.16973655e-01 5.18847099e-02 1.89887683e+02] [-6.15623815e-01 7.86983799e-01 -4.07899256e-02 -1.14054169e+02] [-6.59987356e-02 8.97070975e-05 9.97819703e-01 -9.67193850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10864 meters Centerline goodness [0,1] 0.9998040368410739 Centerline is valid? [True, True] Translation: X:189.91, Y:-114.07, Z:-9.67 [[ 7.86689115e-01 6.15191051e-01 5.15772025e-02 1.89910744e+02] [-6.13856099e-01 7.88378037e-01 -4.05063030e-02 -1.14069763e+02] [-6.55814488e-02 2.04887259e-04 9.97847199e-01 -9.67286243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13864 meters Centerline goodness [0,1] 0.9998530276308054 Centerline is valid? [True, True] Translation: X:189.93, Y:-114.09, Z:-9.67 [[ 7.87297372e-01 6.14407284e-01 5.16385186e-02 1.89932958e+02] [-6.13070233e-01 7.88988994e-01 -4.05124265e-02 -1.14086988e+02] [-6.56333528e-02 2.37288323e-04 9.97843779e-01 -9.67480794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16864 meters Centerline goodness [0,1] 0.999755034050267 Centerline is valid? [True, True] Translation: X:189.96, Y:-114.10, Z:-9.68 [[ 7.88801118e-01 6.12357472e-01 5.30200212e-02 1.89956803e+02] [-6.10946027e-01 7.90580911e-01 -4.15544881e-02 -1.14103091e+02] [-6.73628180e-02 3.85855432e-04 9.97728471e-01 -9.67546282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19864 meters Centerline goodness [0,1] 0.9996569804478855 Centerline is valid? [True, True] Translation: X:189.98, Y:-114.12, Z:-9.68 [[ 7.89400640e-01 6.11563295e-01 5.32631745e-02 1.89979218e+02] [-6.10139149e-01 7.91195393e-01 -4.17141403e-02 -1.14120272e+02] [-6.76524154e-02 4.31221116e-04 9.97708858e-01 -9.67688294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22864 meters Centerline goodness [0,1] 0.9994616024668396 Centerline is valid? [True, True] Translation: X:190.00, Y:-114.14, Z:-9.68 [[ 7.91087533e-01 6.09313659e-01 5.40127679e-02 1.90001068e+02] [-6.07845743e-01 7.92929058e-01 -4.22736462e-02 -1.14138292e+02] [-6.85862033e-02 6.10723451e-04 9.97645007e-01 -9.67908290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25864 meters Centerline goodness [0,1] 0.9997545048362547 Centerline is valid? [True, True] Translation: X:190.02, Y:-114.16, Z:-9.68 [[ 7.92097639e-01 6.07980597e-01 5.42302923e-02 1.90023444e+02] [-6.06500315e-01 7.93951576e-01 -4.24059270e-02 -1.14156761e+02] [-6.88382069e-02 6.98945271e-04 9.97627592e-01 -9.68050173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28864000000002 meters Centerline goodness [0,1] 0.9994107537441689 Centerline is valid? [True, True] Translation: X:190.05, Y:-114.17, Z:-9.68 [[ 7.93294165e-01 6.06443505e-01 5.39503684e-02 1.90045210e+02] [-6.04977641e-01 7.95126179e-01 -4.21475181e-02 -1.14174584e+02] [-6.84574389e-02 7.96613589e-04 9.97653720e-01 -9.68171695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31864000000002 meters Centerline goodness [0,1] 0.9993635562518359 Centerline is valid? [True, True] Translation: X:190.07, Y:-114.19, Z:-9.68 [[ 7.95199635e-01 6.03924023e-01 5.41600817e-02 1.90066399e+02] [-6.02443699e-01 7.97041281e-01 -4.22703860e-02 -1.14193712e+02] [-6.86959225e-02 9.84995568e-04 9.97637159e-01 -9.68306141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34864000000002 meters Centerline goodness [0,1] 0.9989213571288488 Centerline is valid? [True, True] Translation: X:190.09, Y:-114.21, Z:-9.68 [[ 7.95905741e-01 6.03029118e-01 5.37581129e-02 1.90087372e+02] [-6.01571341e-01 7.97718520e-01 -4.19176039e-02 -1.14212548e+02] [-6.81613779e-02 1.02312152e-03 9.97673784e-01 -9.68446725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37864000000002 meters Centerline goodness [0,1] 0.9991184249191889 Centerline is valid? [True, True] Translation: X:190.11, Y:-114.23, Z:-9.69 [[ 7.96132115e-01 6.02740767e-01 5.36397537e-02 1.90106425e+02] [-6.01291621e-01 7.97936429e-01 -4.17832736e-02 -1.14233554e+02] [-6.79855959e-02 1.01187152e-03 9.97685790e-01 -9.68738668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40864000000002 meters Centerline goodness [0,1] 0.9989217800431288 Centerline is valid? [True, True] Translation: X:190.13, Y:-114.25, Z:-9.69 [[ 7.96616190e-01 6.02197616e-01 5.25421477e-02 1.90127243e+02] [-6.00808649e-01 7.98346429e-01 -4.08894528e-02 -1.14253374e+02] [-6.65703669e-02 1.00542329e-03 9.97781226e-01 -9.68970404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43864 meters Centerline goodness [0,1] 0.9988243362398354 Centerline is valid? [True, True] Translation: X:190.15, Y:-114.27, Z:-9.69 [[ 7.96808407e-01 6.02163671e-01 4.99527239e-02 1.90147328e+02] [-6.00910423e-01 7.98372122e-01 -3.88409440e-02 -1.14274744e+02] [-6.32694676e-02 9.31678274e-04 9.97996045e-01 -9.68909856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46864 meters Centerline goodness [0,1] 0.9989701338825953 Centerline is valid? [True, True] Translation: X:190.17, Y:-114.29, Z:-9.69 [[ 7.96533681e-01 6.02507336e-01 5.01896987e-02 1.90168072e+02] [-6.01245163e-01 7.98112860e-01 -3.89886766e-02 -1.14293381e+02] [-6.35480076e-02 8.79480520e-04 9.97978395e-01 -9.68980909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49864 meters Centerline goodness [0,1] 0.9990694029485233 Centerline is valid? [True, True] Translation: X:190.19, Y:-114.31, Z:-9.69 [[ 7.96207883e-01 6.02814400e-01 5.16508025e-02 1.90189277e+02] [-6.01480845e-01 7.97880994e-01 -4.00838302e-02 -1.14312581e+02] [-6.53743037e-02 8.48093285e-04 9.97860452e-01 -9.68991633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52864 meters Centerline goodness [0,1] 0.9991185975908334 Centerline is valid? [True, True] Translation: X:190.21, Y:-114.33, Z:-9.69 [[ 7.96040531e-01 6.02972372e-01 5.23812166e-02 1.90211087e+02] [-6.01603565e-01 7.97761650e-01 -4.06140345e-02 -1.14330863e+02] [-6.62768665e-02 8.17690910e-04 9.97800936e-01 -9.69190618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55864 meters Centerline goodness [0,1] 0.9994114762138303 Centerline is valid? [True, True] Translation: X:190.23, Y:-114.35, Z:-9.69 [[ 7.96260462e-01 6.02631566e-01 5.29572651e-02 1.90233608e+02] [-6.01234194e-01 7.98019119e-01 -4.10235317e-02 -1.14348326e+02] [-6.69829851e-02 8.25697718e-04 9.97753776e-01 -9.69476955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58864 meters Centerline goodness [0,1] 0.9995594713656387 Centerline is valid? [True, True] Translation: X:190.26, Y:-114.37, Z:-9.70 [[ 7.96567551e-01 6.02265511e-01 5.25013426e-02 1.90257254e+02] [-6.00893334e-01 7.98295417e-01 -4.06402339e-02 -1.14365586e+02] [-6.63877924e-02 8.24984832e-04 9.97793556e-01 -9.69572964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:190.28, Y:-114.38, Z:-9.70 [[ 7.97942987e-01 6.00507047e-01 5.17520686e-02 1.90280183e+02] [-5.99171885e-01 7.99618916e-01 -4.00330071e-02 -1.14381084e+02] [-6.54220359e-02 9.35672773e-04 9.97857245e-01 -9.69595690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64864 meters Centerline goodness [0,1] 0.9996566776202854 Centerline is valid? [True, True] Translation: X:190.30, Y:-114.40, Z:-9.70 [[ 7.98706629e-01 5.99427223e-01 5.24854768e-02 1.90303400e+02] [-5.98054214e-01 8.00428629e-01 -4.05606555e-02 -1.14398720e+02] [-6.63240393e-02 1.00690385e-03 9.97797629e-01 -9.69723120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67864 meters Centerline goodness [0,1] 0.9998529627995882 Centerline is valid? [True, True] Translation: X:190.33, Y:-114.42, Z:-9.70 [[ 8.00183743e-01 5.97428334e-01 5.27765413e-02 1.90325792e+02] [-5.96038114e-01 8.01921482e-01 -4.07492783e-02 -1.14416222e+02] [-6.66674157e-02 1.15007990e-03 9.97774590e-01 -9.69887515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70864 meters Centerline goodness [0,1] 0.9998039119564684 Centerline is valid? [True, True] Translation: X:190.35, Y:-114.43, Z:-9.70 [[ 8.00543578e-01 5.96917385e-01 5.31000517e-02 1.90347210e+02] [-5.95511501e-01 8.02301856e-01 -4.09607499e-02 -1.14433274e+02] [-6.70524537e-02 1.16917377e-03 9.97748767e-01 -9.70022150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73864 meters Centerline goodness [0,1] 0.999754950009802 Centerline is valid? [True, True] Translation: X:190.37, Y:-114.45, Z:-9.70 [[ 8.02404540e-01 5.94353004e-01 5.37723161e-02 1.90370283e+02] [-5.92908219e-01 8.04203104e-01 -4.14392441e-02 -1.14450772e+02] [-6.78734027e-02 1.36898941e-03 9.97693002e-01 -9.70183692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:190.39, Y:-114.47, Z:-9.70 [[ 8.03409227e-01 5.92916813e-01 5.46192809e-02 1.90392612e+02] [-5.91425363e-01 8.05262349e-01 -4.20546028e-02 -1.14468533e+02] [-6.89177316e-02 1.48382794e-03 9.97621243e-01 -9.70387909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79864 meters Centerline goodness [0,1] 0.9998037098832073 Centerline is valid? [True, True] Translation: X:190.41, Y:-114.49, Z:-9.71 [[ 8.04291233e-01 5.91695058e-01 5.48868919e-02 1.90414383e+02] [-5.90188665e-01 8.06160347e-01 -4.22236302e-02 -1.14487599e+02] [-6.92311491e-02 1.56647414e-03 9.97599416e-01 -9.70515824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82864 meters Centerline goodness [0,1] 0.999607554574442 Centerline is valid? [True, True] Translation: X:190.44, Y:-114.51, Z:-9.71 [[ 8.05682501e-01 5.89818852e-01 5.46756724e-02 1.90435055e+02] [-5.88322260e-01 8.07533814e-01 -4.20244869e-02 -1.14508513e+02] [-6.89392889e-02 1.69147856e-03 9.97619423e-01 -9.70558756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85864 meters Centerline goodness [0,1] 0.9997059400117624 Centerline is valid? [True, True] Translation: X:190.46, Y:-114.53, Z:-9.71 [[ 8.06144334e-01 5.89281891e-01 5.36485413e-02 1.90456164e+02] [-5.87842298e-01 8.07925767e-01 -4.11993682e-02 -1.14527434e+02] [-6.76220805e-02 1.67575540e-03 9.97709600e-01 -9.70615372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88864 meters Centerline goodness [0,1] 0.9995099480544938 Centerline is valid? [True, True] Translation: X:190.48, Y:-114.55, Z:-9.71 [[ 8.06117103e-01 5.89301617e-01 5.38406980e-02 1.90475385e+02] [-5.87854325e-01 8.07911433e-01 -4.13087051e-02 -1.14548259e+02] [-6.78418022e-02 1.64916655e-03 9.97694728e-01 -9.70900988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91864 meters Centerline goodness [0,1] 0.9996081696625361 Centerline is valid? [True, True] Translation: X:190.50, Y:-114.57, Z:-9.71 [[ 8.05803590e-01 5.89772063e-01 5.33805915e-02 1.90495583e+02] [-5.88353068e-01 8.07568242e-01 -4.09170033e-02 -1.14568476e+02] [-6.72401759e-02 1.56443341e-03 9.97735592e-01 -9.71014190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94864 meters Centerline goodness [0,1] 0.9995089373404047 Centerline is valid? [True, True] Translation: X:190.52, Y:-114.59, Z:-9.71 [[ 8.04503839e-01 5.91575366e-01 5.30297925e-02 1.90516345e+02] [-5.90180469e-01 8.06248514e-01 -4.06244626e-02 -1.14590873e+02] [-6.67876228e-02 1.38538827e-03 9.97766252e-01 -9.71009139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97864 meters Centerline goodness [0,1] 0.9995085028998328 Centerline is valid? [True, True] Translation: X:190.54, Y:-114.61, Z:-9.71 [[ 8.03931495e-01 5.92373771e-01 5.27964571e-02 1.90538713e+02] [-5.90993192e-01 8.05662213e-01 -4.04406504e-02 -1.14610863e+02] [-6.64920911e-02 1.30916585e-03 9.97786093e-01 -9.71080460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00864 meters Centerline goodness [0,1] 0.9994111874386653 Centerline is valid? [True, True] Translation: X:190.56, Y:-114.63, Z:-9.71 [[ 8.03831345e-01 5.92518797e-01 5.26938634e-02 1.90560456e+02] [-5.91144106e-01 8.05555588e-01 -4.03588977e-02 -1.14632835e+02] [-6.63612417e-02 1.29208027e-03 9.97794827e-01 -9.71221963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03864000000002 meters Centerline goodness [0,1] 0.9995091783645823 Centerline is valid? [True, True] Translation: X:190.58, Y:-114.65, Z:-9.71 [[ 8.03751248e-01 5.92580057e-01 5.32241222e-02 1.90583872e+02] [-5.91177594e-01 8.05510512e-01 -4.07660154e-02 -1.14652927e+02] [-6.70297176e-02 1.30082731e-03 9.97750131e-01 -9.71348396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06864000000002 meters Centerline goodness [0,1] 0.9995095394575506 Centerline is valid? [True, True] Translation: X:190.61, Y:-114.67, Z:-9.71 [[ 8.03803643e-01 5.92498614e-01 5.33394416e-02 1.90607472e+02] [-5.91089641e-01 8.05570399e-01 -4.08579213e-02 -1.14673949e+02] [-6.71769370e-02 1.31335456e-03 9.97740214e-01 -9.71436763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09864000000002 meters Centerline goodness [0,1] 0.9994603610675039 Centerline is valid? [True, True] Translation: X:190.63, Y:-114.69, Z:-9.72 [[ 8.03942885e-01 5.92303473e-01 5.34081759e-02 1.90631895e+02] [-5.90889945e-01 8.05713850e-01 -4.09177747e-02 -1.14694307e+02] [-6.72674471e-02 1.33719973e-03 9.97734084e-01 -9.71629471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12864000000002 meters Centerline goodness [0,1] 0.9992641287284144 Centerline is valid? [True, True] Translation: X:190.66, Y:-114.72, Z:-9.72 [[ 8.04398572e-01 5.91810901e-01 5.19884107e-02 1.90656168e+02] [-5.90469929e-01 8.06075701e-01 -3.98400095e-02 -1.14715004e+02] [-6.54843465e-02 1.34965358e-03 9.97852684e-01 -9.71722286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15864000000002 meters Centerline goodness [0,1] 0.9992639842983317 Centerline is valid? [True, True] Translation: X:190.68, Y:-114.74, Z:-9.72 [[ 8.04930992e-01 5.91092421e-01 5.19215646e-02 1.90680324e+02] [-5.89752746e-01 8.06602597e-01 -3.97988587e-02 -1.14736573e+02] [-6.54048726e-02 1.41444945e-03 9.97857806e-01 -9.71830021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18864 meters Centerline goodness [0,1] 0.9987728856820302 Centerline is valid? [True, True] Translation: X:190.71, Y:-114.76, Z:-9.72 [[ 8.07047581e-01 5.88192807e-01 5.19944596e-02 1.90705939e+02] [-5.86842681e-01 8.08719028e-01 -3.98648015e-02 -1.14756386e+02] [-6.54970983e-02 1.66022354e-03 9.97851379e-01 -9.72114991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21864 meters Centerline goodness [0,1] 0.9984315263209489 Centerline is valid? [True, True] Translation: X:190.73, Y:-114.78, Z:-9.72 [[ 8.08337901e-01 5.86425397e-01 5.19142793e-02 1.90730487e+02] [-5.85075136e-01 8.10001224e-01 -3.98133460e-02 -1.14776617e+02] [-6.53981870e-02 1.80888249e-03 9.97857608e-01 -9.72208507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24864 meters Centerline goodness [0,1] 0.9984810622764466 Centerline is valid? [True, True] Translation: X:190.75, Y:-114.80, Z:-9.72 [[ 8.09825612e-01 5.84432524e-01 5.11967184e-02 1.90754795e+02] [-5.83114765e-01 8.11439967e-01 -3.92727705e-02 -1.14797248e+02] [-6.44953478e-02 1.95053297e-03 9.97916101e-01 -9.72308415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27864 meters Centerline goodness [0,1] 0.9971048628490112 Centerline is valid? [True, True] Translation: X:190.78, Y:-114.82, Z:-9.72 [[ 8.12256385e-01 5.81089121e-01 5.07444387e-02 1.90778602e+02] [-5.79787426e-01 8.13836945e-01 -3.89354230e-02 -1.14818872e+02] [-6.39226497e-02 2.20455846e-03 9.97952421e-01 -9.72384547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30864 meters Centerline goodness [0,1] 0.9977933604668269 Centerline is valid? [True, True] Translation: X:190.80, Y:-114.84, Z:-9.73 [[ 8.13144531e-01 5.79841989e-01 5.07862110e-02 1.90803582e+02] [-5.78535102e-01 8.14725672e-01 -3.89771118e-02 -1.14839837e+02] [-6.39773959e-02 2.31241958e-03 9.97948669e-01 -9.72574684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33864 meters Centerline goodness [0,1] 0.998183335788285 Centerline is valid? [True, True] Translation: X:190.83, Y:-114.86, Z:-9.73 [[ 8.13471021e-01 5.79379644e-01 5.08342961e-02 1.90825375e+02] [-5.78068762e-01 8.15054393e-01 -3.90236139e-02 -1.14864139e+02] [-6.40422039e-02 2.35886039e-03 9.97944403e-01 -9.72707016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36864 meters Centerline goodness [0,1] 0.998183335788285 Centerline is valid? [True, True] Translation: X:190.85, Y:-114.88, Z:-9.73 [[ 8.13367675e-01 5.79525199e-01 5.08288287e-02 1.90851219e+02] [-5.78214156e-01 8.14950914e-01 -3.90307343e-02 -1.14883906e+02] [-6.40422945e-02 2.35638927e-03 9.97944403e-01 -9.72841623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39864 meters Centerline goodness [0,1] 0.998429679065659 Centerline is valid? [True, True] Translation: X:190.87, Y:-114.91, Z:-9.73 [[ 8.12583032e-01 5.80624472e-01 5.08334441e-02 1.90874670e+02] [-5.79314517e-01 8.14168301e-01 -3.90469997e-02 -1.14906800e+02] [-6.40586224e-02 2.28037732e-03 9.97943532e-01 -9.72903693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42864 meters Centerline goodness [0,1] 0.9977403350198949 Centerline is valid? [True, True] Translation: X:190.90, Y:-114.93, Z:-9.73 [[ 8.11569406e-01 5.82052839e-01 5.06911414e-02 1.90896832e+02] [-5.80752379e-01 8.13148072e-01 -3.89472404e-02 -1.14930519e+02] [-6.38887558e-02 2.16938782e-03 9.97954669e-01 -9.72993595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45864 meters Centerline goodness [0,1] 0.9980378691258707 Centerline is valid? [True, True] Translation: X:190.92, Y:-114.95, Z:-9.73 [[ 8.10718574e-01 5.83292330e-01 5.00544913e-02 1.90920874e+02] [-5.82026124e-01 8.12259713e-01 -3.84675057e-02 -1.14952572e+02] [-6.30950477e-02 2.05329981e-03 9.98005410e-01 -9.73060888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48864 meters Centerline goodness [0,1] 0.9988679431018359 Centerline is valid? [True, True] Translation: X:190.94, Y:-114.97, Z:-9.73 [[ 8.09536886e-01 5.84812453e-01 5.14239719e-02 1.90943630e+02] [-5.83478335e-01 8.11166080e-01 -3.95300160e-02 -1.14974977e+02] [-6.48310274e-02 1.99623248e-03 9.97894259e-01 -9.73262794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51864 meters Centerline goodness [0,1] 0.9991651934786879 Centerline is valid? [True, True] Translation: X:190.96, Y:-115.00, Z:-9.73 [[ 8.07359508e-01 5.87812220e-01 5.14530764e-02 1.90964735e+02] [-5.86481948e-01 8.08995474e-01 -3.95632166e-02 -1.15001171e+02] [-6.48810481e-02 1.76543860e-03 9.97891443e-01 -9.73400942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54864 meters Centerline goodness [0,1] 0.9995096597038344 Centerline is valid? [True, True] Translation: X:190.99, Y:-115.02, Z:-9.74 [[ 8.06040916e-01 5.89646113e-01 5.11419992e-02 1.90988519e+02] [-5.88334261e-01 8.07660091e-01 -3.93443063e-02 -1.15022432e+02] [-6.45045690e-02 1.62453033e-03 9.97916089e-01 -9.73592265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57864 meters Centerline goodness [0,1] 0.9993618379068283 Centerline is valid? [True, True] Translation: X:191.01, Y:-115.05, Z:-9.74 [[ 8.04565357e-01 5.91783431e-01 4.96684649e-02 1.91011892e+02] [-5.90548477e-01 8.06095723e-01 -3.82384799e-02 -1.15045733e+02] [-6.26664360e-02 1.43371990e-03 9.98033498e-01 -9.73712567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60864 meters Centerline goodness [0,1] 0.9994600166903932 Centerline is valid? [True, True] Translation: X:191.04, Y:-115.07, Z:-9.74 [[ 8.03162802e-01 5.93620808e-01 5.04365831e-02 1.91035663e+02] [-5.92349372e-01 8.04743789e-01 -3.88542837e-02 -1.15067558e+02] [-6.36532383e-02 1.33023705e-03 9.97971190e-01 -9.73822292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63864 meters Centerline goodness [0,1] 0.9992630079103818 Centerline is valid? [True, True] Translation: X:191.06, Y:-115.09, Z:-9.74 [[ 8.00835573e-01 5.96770601e-01 5.02716137e-02 1.91058092e+02] [-5.95511461e-01 8.02411135e-01 -3.87617122e-02 -1.15090798e+02] [-6.34703529e-02 1.10443583e-03 9.97983113e-01 -9.73903665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66864 meters Centerline goodness [0,1] 0.9996076123209732 Centerline is valid? [True, True] Translation: X:191.08, Y:-115.11, Z:-9.74 [[ 7.99323777e-01 5.98763579e-01 5.06327540e-02 1.91082242e+02] [-5.97487986e-01 8.00925223e-01 -3.90754880e-02 -1.15111365e+02] [-6.39500288e-02 9.81504505e-04 9.97952619e-01 -9.74149130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69864 meters Centerline goodness [0,1] 0.9997547095761381 Centerline is valid? [True, True] Translation: X:191.11, Y:-115.14, Z:-9.74 [[ 7.97813071e-01 6.00714477e-01 5.13460849e-02 1.91105923e+02] [-5.99404191e-01 7.99463173e-01 -3.96642383e-02 -1.15135126e+02] [-6.48761861e-02 8.67589306e-04 9.97892944e-01 -9.74362782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72864 meters Centerline goodness [0,1] 0.9997058390939844 Centerline is valid? [True, True] Translation: X:191.13, Y:-115.16, Z:-9.74 [[ 7.97006371e-01 6.01871015e-01 5.03202408e-02 1.91130136e+02] [-6.00612471e-01 7.98592925e-01 -3.89101574e-02 -1.15156154e+02] [-6.36042843e-02 7.88679208e-04 9.97974886e-01 -9.74493452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75864 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:191.15, Y:-115.18, Z:-9.75 [[ 7.95561572e-01 6.03754522e-01 5.06187827e-02 1.91154681e+02] [-6.02482361e-01 7.97170010e-01 -3.91788247e-02 -1.15178321e+02] [-6.40061681e-02 6.72243671e-04 9.97949277e-01 -9.74567894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78864000000002 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:191.18, Y:-115.20, Z:-9.75 [[ 7.94496940e-01 6.05096189e-01 5.13148479e-02 1.91181015e+02] [-6.03788814e-01 7.96152143e-01 -3.97596889e-02 -1.15198462e+02] [-6.49128624e-02 6.05619990e-04 9.97890752e-01 -9.74696708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81864000000002 meters Centerline goodness [0,1] 0.9998528834837191 Centerline is valid? [True, True] Translation: X:191.21, Y:-115.22, Z:-9.75 [[ 7.93173586e-01 6.06856207e-01 5.10020196e-02 1.91206565e+02] [-6.05565796e-01 7.94811489e-01 -3.95570990e-02 -1.15218492e+02] [-6.45424622e-02 4.90567447e-04 9.97914841e-01 -9.74719774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.23, Y:-115.24, Z:-9.75 [[ 7.90480339e-01 6.10414287e-01 5.03510846e-02 1.91233082e+02] [-6.09161533e-01 7.92082285e-01 -3.90881049e-02 -1.15236568e+02] [-6.37421398e-02 2.26434533e-04 9.97966376e-01 -9.74835040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.26, Y:-115.25, Z:-9.75 [[ 7.87503144e-01 6.14216884e-01 5.07584322e-02 1.91260671e+02] [-6.12949115e-01 7.89137261e-01 -3.94431865e-02 -1.15254505e+02] [-6.42820413e-02 -5.07026991e-05 9.97931770e-01 -9.75021227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.29, Y:-115.27, Z:-9.75 [[ 7.86465292e-01 6.15602143e-01 5.00634170e-02 1.91287649e+02] [-6.14369181e-01 7.88057095e-01 -3.89425843e-02 -1.15273044e+02] [-6.34259693e-02 -1.30429595e-04 9.97986538e-01 -9.75094047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.32, Y:-115.29, Z:-9.75 [[ 7.84903856e-01 6.17562441e-01 5.04238866e-02 1.91315872e+02] [-6.16313188e-01 7.86521814e-01 -3.92618232e-02 -1.15291051e+02] [-6.39061142e-02 -2.60149821e-04 9.97955881e-01 -9.75284129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.34, Y:-115.31, Z:-9.75 [[ 7.84252226e-01 6.18387059e-01 5.04568271e-02 1.91343716e+02] [-6.17135176e-01 7.85873627e-01 -3.93295852e-02 -1.15309654e+02] [-6.39735963e-02 -2.94368094e-04 9.97951548e-01 -9.75462243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:191.37, Y:-115.33, Z:-9.76 [[ 7.83887298e-01 6.18809849e-01 5.09418757e-02 1.91371844e+02] [-6.17531872e-01 7.85540757e-01 -3.97505398e-02 -1.15327355e+02] [-6.46149452e-02 -2.98288628e-04 9.97910226e-01 -9.75602442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.40, Y:-115.34, Z:-9.76 [[ 7.83669281e-01 6.19111908e-01 5.06251194e-02 1.91401757e+02] [-6.17847705e-01 7.85302720e-01 -3.95455637e-02 -1.15342585e+02] [-6.42391733e-02 -2.87970324e-04 9.97934490e-01 -9.75812517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.43, Y:-115.36, Z:-9.76 [[ 7.83304489e-01 6.19575672e-01 5.05970767e-02 1.91429996e+02] [-6.18311115e-01 7.84936877e-01 -3.95659352e-02 -1.15360802e+02] [-6.42296022e-02 -2.92560297e-04 9.97935104e-01 -9.75895465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.46, Y:-115.38, Z:-9.76 [[ 7.82878342e-01 6.20125694e-01 5.04541808e-02 1.91460171e+02] [-6.18867319e-01 7.84502407e-01 -3.94868881e-02 -1.15376490e+02] [-6.40682601e-02 -3.11014102e-04 9.97945470e-01 -9.76005557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:191.49, Y:-115.40, Z:-9.76 [[ 7.82817478e-01 6.20116435e-01 5.15014841e-02 1.91486902e+02] [-6.18804254e-01 7.84509728e-01 -4.03209748e-02 -1.15395165e+02] [-6.54071144e-02 -3.05373660e-04 9.97858615e-01 -9.76215340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:191.51, Y:-115.41, Z:-9.76 [[ 7.83691077e-01 6.18920076e-01 5.25950116e-02 1.91512791e+02] [-6.17548075e-01 7.85453944e-01 -4.11883004e-02 -1.15413884e+02] [-6.68032253e-02 -2.01044724e-04 9.97766149e-01 -9.76392679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:191.54, Y:-115.43, Z:-9.77 [[ 7.84869180e-01 6.17442492e-01 5.23940745e-02 1.91538793e+02] [-6.16076939e-01 7.86616021e-01 -4.10419326e-02 -1.15432362e+02] [-6.65550516e-02 -6.62330543e-05 9.97782752e-01 -9.76523639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:191.57, Y:-115.45, Z:-9.77 [[ 7.86728757e-01 6.15061035e-01 5.25146362e-02 1.91566937e+02] [-6.13682992e-01 7.88479488e-01 -4.11495279e-02 -1.15450527e+02] [-6.67161847e-02 1.46177814e-04 9.97771983e-01 -9.76682770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.59, Y:-115.47, Z:-9.77 [[ 7.87723243e-01 6.13798636e-01 5.23767834e-02 1.91593377e+02] [-6.12423940e-01 7.89462580e-01 -4.10579252e-02 -1.15470903e+02] [-6.65508089e-02 2.65485924e-04 9.97783002e-01 -9.76855637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:191.62, Y:-115.49, Z:-9.77 [[ 7.88564144e-01 6.12750646e-01 5.19926527e-02 1.91619363e+02] [-6.11392717e-01 7.90276226e-01 -4.07729388e-02 -1.15491781e+02] [-6.60722019e-02 3.64148385e-04 9.97814778e-01 -9.77013997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29864 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:191.65, Y:-115.51, Z:-9.77 [[ 7.89623712e-01 6.11458077e-01 5.11215516e-02 1.91646178e+02] [-6.10141709e-01 7.91276686e-01 -4.01036200e-02 -1.15510461e+02] [-6.49729743e-02 4.75378382e-04 9.97886911e-01 -9.77036284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:191.67, Y:-115.53, Z:-9.77 [[ 7.90189784e-01 6.10646638e-01 5.20652389e-02 1.91671925e+02] [-6.09278687e-01 7.91903005e-01 -4.08547653e-02 -1.15529619e+02] [-6.61784442e-02 5.60777817e-04 9.97807646e-01 -9.77195026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:191.70, Y:-115.55, Z:-9.77 [[ 7.90251650e-01 6.10544308e-01 5.23256780e-02 1.91696388e+02] [-6.09161617e-01 7.91981887e-01 -4.10708486e-02 -1.15550824e+02] [-6.65165621e-02 5.81511276e-04 9.97785152e-01 -9.77284913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38864 meters Centerline goodness [0,1] 0.9999017536965171 Centerline is valid? [True, True] Translation: X:191.72, Y:-115.57, Z:-9.77 [[ 7.90423445e-01 6.10322133e-01 5.23227611e-02 1.91722050e+02] [-6.08938145e-01 7.92153091e-01 -4.10830377e-02 -1.15572195e+02] [-6.65215241e-02 6.11671076e-04 9.97784803e-01 -9.77475192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41864 meters Centerline goodness [0,1] 0.999901941557168 Centerline is valid? [True, True] Translation: X:191.75, Y:-115.59, Z:-9.78 [[ 7.91272219e-01 6.09319392e-01 5.11678944e-02 1.91747233e+02] [-6.07992897e-01 7.92924587e-01 -4.01900178e-02 -1.15592144e+02] [-6.50608387e-02 6.91528215e-04 9.97881060e-01 -9.77651697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44864 meters Centerline goodness [0,1] 0.9998529123357521 Centerline is valid? [True, True] Translation: X:191.77, Y:-115.61, Z:-9.78 [[ 7.91783603e-01 6.08716269e-01 5.04304534e-02 1.91772688e+02] [-6.07425894e-01 7.93387647e-01 -3.96210074e-02 -1.15612142e+02] [-6.41288506e-02 7.38500702e-04 9.97941354e-01 -9.77790043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47864 meters Centerline goodness [0,1] 0.9998528401844403 Centerline is valid? [True, True] Translation: X:191.80, Y:-115.63, Z:-9.78 [[ 7.92064080e-01 6.08381014e-01 5.00702972e-02 1.91796381e+02] [-6.07107529e-01 7.93644724e-01 -3.93509834e-02 -1.15634705e+02] [-6.36784184e-02 7.70446049e-04 9.97970173e-01 -9.77890247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50864 meters Centerline goodness [0,1] 0.9999017826449934 Centerline is valid? [True, True] Translation: X:191.82, Y:-115.66, Z:-9.78 [[ 7.92435463e-01 6.07969442e-01 4.91853174e-02 1.91821118e+02] [-6.06738893e-01 7.93960022e-01 -3.86704088e-02 -1.15655080e+02] [-6.25616026e-02 8.01158241e-04 9.98040783e-01 -9.78043963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53864000000002 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:191.85, Y:-115.68, Z:-9.78 [[ 7.91900067e-01 6.08648417e-01 4.94103977e-02 1.91845529e+02] [-6.07407133e-01 7.93439680e-01 -3.88593554e-02 -1.15676773e+02] [-6.28558552e-02 7.60498185e-04 9.98022326e-01 -9.78089160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56864000000002 meters Centerline goodness [0,1] 0.9997541185148758 Centerline is valid? [True, True] Translation: X:191.87, Y:-115.70, Z:-9.78 [[ 7.91837657e-01 6.08719370e-01 4.95363889e-02 1.91870854e+02] [-6.07470915e-01 7.93385239e-01 -3.89737111e-02 -1.15697605e+02] [-6.30254926e-02 7.68936628e-04 9.98011621e-01 -9.78169216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59864000000002 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:191.90, Y:-115.72, Z:-9.78 [[ 7.91307865e-01 6.09327735e-01 5.05131090e-02 1.91895828e+02] [-6.08029851e-01 7.92918126e-01 -3.97560766e-02 -1.15718491e+02] [-6.42772398e-02 7.45818009e-04 9.97931801e-01 -9.78264601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62864000000002 meters Centerline goodness [0,1] 0.9997548538929202 Centerline is valid? [True, True] Translation: X:191.92, Y:-115.74, Z:-9.78 [[ 7.90085156e-01 6.10837761e-01 5.14069644e-02 1.91920487e+02] [-6.09495844e-01 7.91755527e-01 -4.04722298e-02 -1.15740941e+02] [-6.54237144e-02 6.44176827e-04 9.97857366e-01 -9.78402332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65864000000002 meters Centerline goodness [0,1] 0.9998035942256702 Centerline is valid? [True, True] Translation: X:191.94, Y:-115.76, Z:-9.78 [[ 7.88431630e-01 6.13003581e-01 5.10115016e-02 1.91944897e+02] [-6.11685252e-01 7.90079983e-01 -4.01842418e-02 -1.15762361e+02] [-6.49362504e-02 4.79544072e-04 9.97889299e-01 -9.78450355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.97, Y:-115.78, Z:-9.79 [[ 7.87678359e-01 6.13928782e-01 5.15194528e-02 1.91970605e+02] [-6.12583412e-01 7.89361298e-01 -4.06239530e-02 -1.15783173e+02] [-6.56076761e-02 4.38646428e-04 9.97845399e-01 -9.78678325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:192.00, Y:-115.80, Z:-9.79 [[ 7.86852983e-01 6.15021446e-01 5.10979907e-02 1.91995410e+02] [-6.13697688e-01 7.88510291e-01 -4.03319667e-02 -1.15803399e+02] [-6.50963160e-02 3.76609542e-04 9.97878914e-01 -9.78738826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:192.02, Y:-115.82, Z:-9.79 [[ 7.85900125e-01 6.16234611e-01 5.11458406e-02 1.92020660e+02] [-6.14908382e-01 7.87562575e-01 -4.04088154e-02 -1.15824803e+02] [-6.51818605e-02 3.07286996e-04 9.97873354e-01 -9.78853601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77864 meters Centerline goodness [0,1] 0.9998529195469922 Centerline is valid? [True, True] Translation: X:192.05, Y:-115.84, Z:-9.79 [[ 7.85580089e-01 6.16710705e-01 5.03172855e-02 1.92045239e+02] [-6.15425567e-01 7.87189824e-01 -3.97938727e-02 -1.15844965e+02] [-6.41505624e-02 2.94730127e-04 9.97940188e-01 -9.78927970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80864 meters Centerline goodness [0,1] 0.9997057381069152 Centerline is valid? [True, True] Translation: X:192.07, Y:-115.87, Z:-9.79 [[ 7.85367106e-01 6.16996208e-01 5.01416797e-02 1.92069927e+02] [-6.15718168e-01 7.86966066e-01 -3.96931769e-02 -1.15866529e+02] [-6.39503400e-02 3.00572301e-04 9.97953037e-01 -9.79090324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83864 meters Centerline goodness [0,1] 0.9998528834837191 Centerline is valid? [True, True] Translation: X:192.10, Y:-115.89, Z:-9.79 [[ 7.85108340e-01 6.17253007e-01 5.10256784e-02 1.92095232e+02] [-6.15927319e-01 7.86764657e-01 -4.04340632e-02 -1.15886490e+02] [-6.51032474e-02 3.17010912e-04 9.97878483e-01 -9.79180079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86864 meters Centerline goodness [0,1] 0.9997547577006082 Centerline is valid? [True, True] Translation: X:192.12, Y:-115.91, Z:-9.79 [[ 7.84707466e-01 6.17683621e-01 5.19724631e-02 1.92121182e+02] [-6.16306608e-01 7.86426630e-01 -4.12228171e-02 -1.15905700e+02] [-6.63351880e-02 3.16879942e-04 9.97797345e-01 -9.79176372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89864 meters Centerline goodness [0,1] 0.9998528618372652 Centerline is valid? [True, True] Translation: X:192.15, Y:-115.93, Z:-9.79 [[ 7.84421828e-01 6.17963998e-01 5.29423557e-02 1.92146607e+02] [-6.16533028e-01 7.86206327e-01 -4.20313685e-02 -1.15925682e+02] [-6.75974875e-02 3.29612093e-04 9.97712619e-01 -9.79447022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92864 meters Centerline goodness [0,1] 0.9998039311798441 Centerline is valid? [True, True] Translation: X:192.17, Y:-115.95, Z:-9.80 [[ 7.84152256e-01 6.18380472e-01 5.20656529e-02 1.92171657e+02] [-6.16995579e-01 7.85878804e-01 -4.13637554e-02 -1.15946714e+02] [-6.64958317e-02 3.11204455e-04 9.97786654e-01 -9.79557716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95864 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:192.20, Y:-115.97, Z:-9.80 [[ 7.83644817e-01 6.19108234e-01 5.10469935e-02 1.92197325e+02] [-6.17777174e-01 7.85305626e-01 -4.05763118e-02 -1.15966326e+02] [-6.52086199e-02 2.61749026e-04 9.97871619e-01 -9.79659420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.22, Y:-115.99, Z:-9.80 [[ 7.83054104e-01 6.19885043e-01 5.06833633e-02 1.92223649e+02] [-6.18572010e-01 7.84692604e-01 -4.03259979e-02 -1.15985943e+02] [-6.47683433e-02 2.26128232e-04 9.97900301e-01 -9.79761658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:192.25, Y:-116.01, Z:-9.80 [[ 7.81835756e-01 6.21395519e-01 5.09946989e-02 1.92250448e+02] [-6.20066679e-01 7.83497027e-01 -4.06167885e-02 -1.16005397e+02] [-6.51932854e-02 1.35543960e-04 9.97872646e-01 -9.79851763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:192.28, Y:-116.02, Z:-9.80 [[ 7.81355819e-01 6.21903136e-01 5.21495312e-02 1.92275956e+02] [-6.20511641e-01 7.83094166e-01 -4.15792024e-02 -1.16024769e+02] [-6.66962300e-02 1.28760591e-04 9.97773319e-01 -9.80079536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07864 meters Centerline goodness [0,1] 0.9998527245949926 Centerline is valid? [True, True] Translation: X:192.30, Y:-116.04, Z:-9.80 [[ 7.81872425e-01 6.21323325e-01 5.13111773e-02 1.92302489e+02] [-6.19972552e-01 7.83554264e-01 -4.09481435e-02 -1.16042440e+02] [-6.56471284e-02 2.04702730e-04 9.97842880e-01 -9.80166469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.33, Y:-116.06, Z:-9.80 [[ 7.82179399e-01 6.20895846e-01 5.18047902e-02 1.92329039e+02] [-6.19515313e-01 7.83893024e-01 -4.13824119e-02 -1.16061587e+02] [-6.63035813e-02 2.74609252e-04 9.97799459e-01 -9.80296764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.36, Y:-116.08, Z:-9.80 [[ 7.82484297e-01 6.20493250e-01 5.20235672e-02 1.92355811e+02] [-6.19097200e-01 7.84211711e-01 -4.16010757e-02 -1.16081236e+02] [-6.66106773e-02 3.44543715e-04 9.97778983e-01 -9.80454316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16864 meters Centerline goodness [0,1] 0.9999019367492032 Centerline is valid? [True, True] Translation: X:192.38, Y:-116.10, Z:-9.80 [[ 7.82873191e-01 6.19939442e-01 5.27698352e-02 1.92381845e+02] [-6.18498866e-01 7.84649541e-01 -4.22403904e-02 -1.16101023e+02] [-6.75923110e-02 4.30786006e-04 9.97712932e-01 -9.80498747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19864 meters Centerline goodness [0,1] 0.9999020040178352 Centerline is valid? [True, True] Translation: X:192.41, Y:-116.12, Z:-9.81 [[ 7.83329892e-01 6.19410466e-01 5.22011065e-02 1.92408511e+02] [-6.17996961e-01 7.85067145e-01 -4.18250430e-02 -1.16120786e+02] [-6.68882430e-02 5.02681198e-04 9.97760347e-01 -9.80629972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22864 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:192.43, Y:-116.14, Z:-9.81 [[ 7.84320017e-01 6.18228230e-01 5.13416607e-02 1.92434926e+02] [-6.16855603e-01 7.85998385e-01 -4.11789120e-02 -1.16140112e+02] [-6.58124283e-02 6.27053858e-04 9.97831815e-01 -9.80796255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25864 meters Centerline goodness [0,1] 0.9998526667321481 Centerline is valid? [True, True] Translation: X:192.46, Y:-116.16, Z:-9.81 [[ 7.86132819e-01 6.16054052e-01 4.97252092e-02 1.92459957e+02] [-6.14759632e-01 7.87703459e-01 -3.99231154e-02 -1.16161453e+02] [-6.37635163e-02 8.15819901e-04 9.97964703e-01 -9.80989785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28864000000002 meters Centerline goodness [0,1] 0.9998526667321481 Centerline is valid? [True, True] Translation: X:192.49, Y:-116.18, Z:-9.81 [[ 7.86015272e-01 6.16205285e-01 4.97095343e-02 1.92485351e+02] [-6.14909934e-01 7.87585144e-01 -3.99426252e-02 -1.16181760e+02] [-6.37633475e-02 8.28626943e-04 9.97964703e-01 -9.81124106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31864000000002 meters Centerline goodness [0,1] 0.9995093469407782 Centerline is valid? [True, True] Translation: X:192.51, Y:-116.20, Z:-9.81 [[ 7.86808799e-01 6.15142161e-01 5.03193407e-02 1.92509490e+02] [-6.13811716e-01 7.88415654e-01 -4.04466754e-02 -1.16203067e+02] [-6.45530112e-02 9.37199218e-04 9.97913839e-01 -9.81320578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34864000000002 meters Centerline goodness [0,1] 0.999607554574442 Centerline is valid? [True, True] Translation: X:192.53, Y:-116.22, Z:-9.81 [[ 7.86923536e-01 6.14831376e-01 5.22850716e-02 1.92533407e+02] [-6.13392696e-01 7.88657939e-01 -4.20482527e-02 -1.16224587e+02] [-6.70876219e-02 1.01747867e-03 9.97746569e-01 -9.81483519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37864000000002 meters Centerline goodness [0,1] 0.9997057958223007 Centerline is valid? [True, True] Translation: X:192.56, Y:-116.25, Z:-9.82 [[ 7.86416558e-01 6.15502209e-01 5.20194975e-02 1.92558695e+02] [-6.14076946e-01 7.88134543e-01 -4.18741815e-02 -1.16245876e+02] [-6.67720141e-02 9.86575482e-04 9.97767771e-01 -9.81513042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40864000000002 meters Centerline goodness [0,1] 0.9996554100620262 Centerline is valid? [True, True] Translation: X:192.58, Y:-116.27, Z:-9.82 [[ 7.85083877e-01 6.17247018e-01 5.14725638e-02 1.92581945e+02] [-6.15852679e-01 7.86768948e-01 -4.14740980e-02 -1.16268313e+02] [-6.60967782e-02 8.61129388e-04 9.97812845e-01 -9.81664870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43864 meters Centerline goodness [0,1] 0.9996041563582385 Centerline is valid? [True, True] Translation: X:192.61, Y:-116.29, Z:-9.82 [[ 7.84349619e-01 6.18230191e-01 5.08636057e-02 1.92606756e+02] [-6.16868344e-01 7.85996688e-01 -4.10201496e-02 -1.16289367e+02] [-6.53385205e-02 7.97990473e-04 9.97862837e-01 -9.81752788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46864 meters Centerline goodness [0,1] 0.9997546975420694 Centerline is valid? [True, True] Translation: X:192.63, Y:-116.31, Z:-9.82 [[ 7.83539937e-01 6.19216731e-01 5.13401094e-02 1.92632212e+02] [-6.17828703e-01 7.85219760e-01 -4.14442068e-02 -1.16310091e+02] [-6.59762146e-02 7.53797954e-04 9.97820911e-01 -9.81907648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:192.66, Y:-116.33, Z:-9.82 [[ 7.82194653e-01 6.20820903e-01 5.24683780e-02 1.92657940e+02] [-6.19371716e-01 7.83952142e-01 -4.23994977e-02 -1.16331041e+02] [-6.74551917e-02 6.67231099e-04 9.97722082e-01 -9.82006523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52864 meters Centerline goodness [0,1] 0.9995091783645823 Centerline is valid? [True, True] Translation: X:192.68, Y:-116.35, Z:-9.82 [[ 7.81292285e-01 6.21949279e-01 5.25496052e-02 1.92683377e+02] [-6.20495157e-01 7.83057296e-01 -4.25091962e-02 -1.16351593e+02] [-6.75879156e-02 6.05331487e-04 9.97713139e-01 -9.82248571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55864 meters Centerline goodness [0,1] 0.9999019223224794 Centerline is valid? [True, True] Translation: X:192.71, Y:-116.37, Z:-9.82 [[ 7.79881292e-01 6.23894581e-01 5.04055830e-02 1.92709572e+02] [-6.22558709e-01 7.81508384e-01 -4.08080968e-02 -1.16371252e+02] [-6.48523362e-02 4.45036568e-04 9.97894772e-01 -9.82319902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:192.74, Y:-116.39, Z:-9.82 [[ 7.77923443e-01 6.26288980e-01 5.09630184e-02 1.92735837e+02] [-6.24926575e-01 7.79590944e-01 -4.12884483e-02 -1.16390617e+02] [-6.55888078e-02 2.71107276e-04 9.97846699e-01 -9.82483537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.76, Y:-116.41, Z:-9.83 [[ 7.75275463e-01 6.29421632e-01 5.26912297e-02 1.92762837e+02] [-6.27969461e-01 7.77063966e-01 -4.27311158e-02 -1.16407697e+02] [-6.78403446e-02 3.99024286e-05 9.97696189e-01 -9.82612151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:-116.43, Z:-9.83 [[ 7.73610662e-01 6.31472039e-01 5.26270504e-02 1.92789318e+02] [-6.30025422e-01 7.75398640e-01 -4.27190360e-02 -1.16426762e+02] [-6.77828201e-02 -1.08477873e-04 9.97700094e-01 -9.82816585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67864 meters Centerline goodness [0,1] 0.9999017874680809 Centerline is valid? [True, True] Translation: X:192.82, Y:-116.44, Z:-9.83 [[ 7.72490948e-01 6.32814605e-01 5.29472517e-02 1.92818843e+02] [-6.31350337e-01 7.74303325e-01 -4.30245665e-02 -1.16443403e+02] [-6.82238070e-02 -1.92177076e-04 9.97670023e-01 -9.82873211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.85, Y:-116.46, Z:-9.83 [[ 7.72328239e-01 6.33064017e-01 5.23358576e-02 1.92845723e+02] [-6.31631125e-01 7.74099424e-01 -4.25699801e-02 -1.16460854e+02] [-6.74626798e-02 -1.78958834e-04 9.97721782e-01 -9.83021239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:192.87, Y:-116.48, Z:-9.83 [[ 7.72074571e-01 6.33366537e-01 5.24183856e-02 1.92873711e+02] [-6.31927746e-01 7.73851922e-01 -4.26676361e-02 -1.16479254e+02] [-6.75883214e-02 -1.82035421e-04 9.97713278e-01 -9.83240702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.90, Y:-116.50, Z:-9.83 [[ 7.72629377e-01 6.32712584e-01 5.21405088e-02 1.92902021e+02] [-6.31286541e-01 7.74386708e-01 -4.24562123e-02 -1.16495504e+02] [-6.72394967e-02 -1.12684604e-04 9.97736858e-01 -9.83494234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.93, Y:-116.51, Z:-9.84 [[ 7.73053955e-01 6.32136905e-01 5.28253352e-02 1.92928531e+02] [-6.30670982e-01 7.74856716e-01 -4.30253652e-02 -1.16513377e+02] [-6.81299869e-02 -5.44773110e-05 9.97676452e-01 -9.83631695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.96, Y:-116.53, Z:-9.84 [[ 7.74243216e-01 6.30713426e-01 5.24215224e-02 1.92957219e+02] [-6.29265572e-01 7.76015829e-01 -4.27115050e-02 -1.16529832e+02] [-6.76186508e-02 8.20336957e-05 9.97711236e-01 -9.83857424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.98, Y:-116.55, Z:-9.84 [[ 7.73900567e-01 6.31147806e-01 5.22528485e-02 1.92984115e+02] [-6.29708878e-01 7.75662584e-01 -4.25944208e-02 -1.16548674e+02] [-6.74139547e-02 5.97637639e-05 9.97725090e-01 -9.83980105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.01, Y:-116.56, Z:-9.84 [[ 7.73673702e-01 6.31413305e-01 5.24045804e-02 1.93012739e+02] [-6.29965492e-01 7.75446475e-01 -4.27345744e-02 -1.16564762e+02] [-6.76201260e-02 4.95390688e-05 9.97711139e-01 -9.84137916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.04, Y:-116.58, Z:-9.84 [[ 7.73508912e-01 6.31585402e-01 5.27621386e-02 1.93039401e+02] [-6.30117362e-01 7.75306312e-01 -4.30375693e-02 -1.16583624e+02] [-6.80887196e-02 4.36038067e-05 9.97679269e-01 -9.84352719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.07, Y:-116.60, Z:-9.84 [[ 7.74805201e-01 6.30004210e-01 5.26459453e-02 1.93065756e+02] [-6.28538219e-01 7.76591694e-01 -4.29540258e-02 -1.16601436e+02] [-6.79456209e-02 1.91013857e-04 9.97689008e-01 -9.84497986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97864 meters Centerline goodness [0,1] 0.9999019703950593 Centerline is valid? [True, True] Translation: X:193.09, Y:-116.62, Z:-9.85 [[ 7.75949222e-01 6.28575234e-01 5.28770228e-02 1.93091726e+02] [-6.27092235e-01 7.77748718e-01 -4.31539140e-02 -1.16620022e+02] [-6.82505183e-02 3.26475555e-04 9.97668161e-01 -9.84633382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00864 meters Centerline goodness [0,1] 0.9998529555925889 Centerline is valid? [True, True] Translation: X:193.12, Y:-116.64, Z:-9.85 [[ 7.77542813e-01 6.26498381e-01 5.41013119e-02 1.93118363e+02] [-6.24939983e-01 7.79422541e-01 -4.41646942e-02 -1.16637593e+02] [-6.98368915e-02 5.29867656e-04 9.97558283e-01 -9.84767280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03864000000002 meters Centerline goodness [0,1] 0.9998529267575252 Centerline is valid? [True, True] Translation: X:193.15, Y:-116.65, Z:-9.85 [[ 7.80629043e-01 6.22760835e-01 5.27943051e-02 1.93145842e+02] [-6.21267676e-01 7.82411795e-01 -4.31075169e-02 -1.16654028e+02] [-6.81525602e-02 8.51584409e-04 9.97674548e-01 -9.84858767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06864000000002 meters Centerline goodness [0,1] 0.9995591692789969 Centerline is valid? [True, True] Translation: X:193.17, Y:-116.67, Z:-9.85 [[ 7.82337323e-01 6.20611913e-01 5.28125595e-02 1.93172039e+02] [-6.19112186e-01 7.84117184e-01 -4.31316977e-02 -1.16673411e+02] [-6.81792809e-02 1.04663774e-03 9.97672537e-01 -9.85016448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09864000000002 meters Centerline goodness [0,1] 0.9998035170448963 Centerline is valid? [True, True] Translation: X:193.20, Y:-116.69, Z:-9.85 [[ 7.85595400e-01 6.16443339e-01 5.32679795e-02 1.93198245e+02] [-6.14907390e-01 7.87397974e-01 -4.35124325e-02 -1.16690865e+02] [-6.87660484e-02 1.42829259e-03 9.97631791e-01 -9.85201621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12864000000002 meters Centerline goodness [0,1] 0.9994098263905966 Centerline is valid? [True, True] Translation: X:193.22, Y:-116.71, Z:-9.85 [[ 7.86589901e-01 6.15109286e-01 5.40082825e-02 1.93223523e+02] [-6.13526764e-01 7.88440295e-01 -4.41226857e-02 -1.16708965e+02] [-6.97225799e-02 1.57093220e-03 9.97565183e-01 -9.85376716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15864000000002 meters Centerline goodness [0,1] 0.9998527751877117 Centerline is valid? [True, True] Translation: X:193.25, Y:-116.73, Z:-9.85 [[ 7.87747286e-01 6.13680764e-01 5.33866412e-02 1.93249082e+02] [-6.12131007e-01 7.89552466e-01 -4.36180335e-02 -1.16725664e+02] [-6.89191023e-02 1.68036908e-03 9.97620837e-01 -9.85443258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18864 meters Centerline goodness [0,1] 0.9995101400999314 Centerline is valid? [True, True] Translation: X:193.27, Y:-116.74, Z:-9.86 [[ 7.88744372e-01 6.12397299e-01 5.34028424e-02 1.93273375e+02] [-6.10843589e-01 7.90548120e-01 -4.36323374e-02 -1.16744572e+02] [-6.89378422e-02 1.79397664e-03 9.97619344e-01 -9.85624756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21864 meters Centerline goodness [0,1] 0.9996083039561301 Centerline is valid? [True, True] Translation: X:193.30, Y:-116.76, Z:-9.86 [[ 7.91172741e-01 6.09255647e-01 5.34158196e-02 1.93297375e+02] [-6.07693905e-01 7.92971167e-01 -4.36445380e-02 -1.16763242e+02] [-6.89478861e-02 2.06990076e-03 9.97618116e-01 -9.85790067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24864 meters Centerline goodness [0,1] 0.9996080928819869 Centerline is valid? [True, True] Translation: X:193.32, Y:-116.78, Z:-9.86 [[ 7.92529396e-01 6.07476697e-01 5.35650925e-02 1.93321307e+02] [-6.05902071e-01 7.94334364e-01 -4.37675576e-02 -1.16782517e+02] [-6.91363650e-02 2.23187547e-03 9.97604722e-01 -9.85958890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27864 meters Centerline goodness [0,1] 0.999461180504531 Centerline is valid? [True, True] Translation: X:193.34, Y:-116.80, Z:-9.86 [[ 7.94457163e-01 6.04944139e-01 5.36694105e-02 1.93343772e+02] [-6.03357408e-01 7.96264114e-01 -4.38554273e-02 -1.16803810e+02] [-6.92651094e-02 2.45942192e-03 9.97595257e-01 -9.86141752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30864 meters Centerline goodness [0,1] 0.9992634421802111 Centerline is valid? [True, True] Translation: X:193.37, Y:-116.83, Z:-9.86 [[ 7.95634958e-01 6.03469557e-01 5.28157785e-02 1.93366996e+02] [-6.01929476e-01 7.97381963e-01 -4.31614617e-02 -1.16825200e+02] [-6.81609773e-02 2.54939386e-03 9.97671079e-01 -9.86213176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33864 meters Centerline goodness [0,1] 0.9996072077380076 Centerline is valid? [True, True] Translation: X:193.39, Y:-116.85, Z:-9.86 [[ 7.97145161e-01 6.01442686e-01 5.31628401e-02 1.93389985e+02] [-5.99877415e-01 7.98911235e-01 -4.34502686e-02 -1.16846799e+02] [-6.86052364e-02 2.74498427e-03 9.97640109e-01 -9.86423949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36864 meters Centerline goodness [0,1] 0.9997057381069152 Centerline is valid? [True, True] Translation: X:193.41, Y:-116.87, Z:-9.87 [[ 7.97000436e-01 6.01595478e-01 5.36021089e-02 1.93414452e+02] [-6.00004035e-01 7.98796132e-01 -4.38166208e-02 -1.16867449e+02] [-6.91770382e-02 2.76038427e-03 9.97600580e-01 -9.86575604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39864 meters Centerline goodness [0,1] 0.9996079007989022 Centerline is valid? [True, True] Translation: X:193.44, Y:-116.89, Z:-9.87 [[ 7.96246542e-01 6.02668030e-01 5.27512050e-02 1.93436889e+02] [-6.01128426e-01 7.97987665e-01 -4.31312230e-02 -1.16890721e+02] [-6.80886201e-02 2.63283841e-03 9.97675803e-01 -9.86630213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42864 meters Centerline goodness [0,1] 0.9993631197334901 Centerline is valid? [True, True] Translation: X:193.46, Y:-116.91, Z:-9.87 [[ 7.95676406e-01 6.03441298e-01 5.25133946e-02 1.93460359e+02] [-6.01916543e-01 7.97403304e-01 -4.29470171e-02 -1.16913255e+02] [-6.77903581e-02 2.56324725e-03 9.97696295e-01 -9.86696113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45864 meters Centerline goodness [0,1] 0.9992638759385581 Centerline is valid? [True, True] Translation: X:193.48, Y:-116.94, Z:-9.87 [[ 7.94051977e-01 6.05685580e-01 5.12487637e-02 1.93479559e+02] [-6.04237518e-01 7.95700690e-01 -4.19217547e-02 -1.16939006e+02] [-6.61700789e-02 2.32162642e-03 9.97805658e-01 -9.86719255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48864 meters Centerline goodness [0,1] 0.9998040080356705 Centerline is valid? [True, True] Translation: X:193.50, Y:-116.96, Z:-9.87 [[ 7.93008673e-01 6.07025977e-01 5.15432561e-02 1.93502835e+02] [-6.05563446e-01 7.94678861e-01 -4.21713216e-02 -1.16961664e+02] [-6.65594237e-02 2.22951198e-03 9.97779972e-01 -9.86855591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51864 meters Centerline goodness [0,1] 0.9999018790168277 Centerline is valid? [True, True] Translation: X:193.52, Y:-116.99, Z:-9.87 [[ 7.91407753e-01 6.09018645e-01 5.26313400e-02 1.93524679e+02] [-6.07497297e-01 7.93153087e-01 -4.30722036e-02 -1.16986334e+02] [-6.79764849e-02 2.11427906e-03 9.97684683e-01 -9.87117588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54864 meters Centerline goodness [0,1] 0.9995583689091712 Centerline is valid? [True, True] Translation: X:193.55, Y:-117.01, Z:-9.87 [[ 7.90767581e-01 6.09907102e-01 5.19611292e-02 1.93547992e+02] [-6.08425452e-01 7.92470342e-01 -4.25350115e-02 -1.17009470e+02] [-6.71200595e-02 2.02083466e-03 9.97742860e-01 -9.87240573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:193.57, Y:-117.03, Z:-9.87 [[ 7.90173407e-01 6.10689255e-01 5.18133207e-02 1.93570664e+02] [-6.09216837e-01 7.91867916e-01 -4.24269896e-02 -1.17032196e+02] [-6.69390129e-02 1.95913153e-03 9.97755145e-01 -9.87404233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60864 meters Centerline goodness [0,1] 0.9999018308545624 Centerline is valid? [True, True] Translation: X:193.59, Y:-117.06, Z:-9.87 [[ 7.88372463e-01 6.13098791e-01 5.07812182e-02 1.93592270e+02] [-6.11688722e-01 7.90004356e-01 -4.15935594e-02 -1.17056313e+02] [-6.56183446e-02 1.72891833e-03 9.97843296e-01 -9.87342240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63864 meters Centerline goodness [0,1] 0.9997545891822912 Centerline is valid? [True, True] Translation: X:193.62, Y:-117.08, Z:-9.88 [[ 7.87282758e-01 6.14487172e-01 5.09055391e-02 1.93615717e+02] [-6.13072385e-01 7.88925138e-01 -4.17058511e-02 -1.17078198e+02] [-6.57883700e-02 1.62551726e-03 9.97832275e-01 -9.87531398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66864 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:193.64, Y:-117.10, Z:-9.88 [[ 7.85513592e-01 6.16649421e-01 5.20757921e-02 1.93636670e+02] [-6.15172757e-01 7.87236484e-01 -4.26754836e-02 -1.17102612e+02] [-6.73117757e-02 1.48656382e-03 9.97730883e-01 -9.87697704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:193.66, Y:-117.13, Z:-9.88 [[ 7.83667015e-01 6.18864918e-01 5.35931324e-02 1.93658626e+02] [-6.17304291e-01 7.85496264e-01 -4.39435036e-02 -1.17127580e+02] [-6.92922980e-02 1.35380375e-03 9.97595481e-01 -9.87813555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72864 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:193.68, Y:-117.15, Z:-9.88 [[ 7.83490333e-01 6.19136105e-01 5.30413212e-02 1.93683062e+02] [-6.17605111e-01 7.85282535e-01 -4.35346701e-02 -1.17150157e+02] [-6.86063092e-02 1.35040209e-03 9.97642897e-01 -9.88029813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75864 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:193.71, Y:-117.17, Z:-9.88 [[ 7.84125440e-01 6.18312401e-01 5.32641470e-02 1.93705115e+02] [-6.16763710e-01 7.85931065e-01 -4.37594271e-02 -1.17173609e+02] [-6.89189442e-02 1.46148707e-03 9.97621192e-01 -9.88155051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78864000000002 meters Centerline goodness [0,1] 0.9996562730174319 Centerline is valid? [True, True] Translation: X:193.73, Y:-117.20, Z:-9.88 [[ 7.84703158e-01 6.17659258e-01 5.23258521e-02 1.93729849e+02] [-6.16160604e-01 7.86444354e-01 -4.30277498e-02 -1.17196116e+02] [-6.77278589e-02 1.52288252e-03 9.97702670e-01 -9.88223751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81864000000002 meters Centerline goodness [0,1] 0.9995085995085995 Centerline is valid? [True, True] Translation: X:193.75, Y:-117.22, Z:-9.88 [[ 7.85225212e-01 6.17001615e-01 5.22529876e-02 1.93753975e+02] [-6.15502907e-01 7.86960238e-01 -4.30087791e-02 -1.17217721e+02] [-6.76575097e-02 1.60971187e-03 9.97707307e-01 -9.88365021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84864000000002 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:193.78, Y:-117.24, Z:-9.89 [[ 7.86615929e-01 6.15301949e-01 5.13701484e-02 1.93776182e+02] [-6.13847445e-01 7.88289560e-01 -4.23188316e-02 -1.17241434e+02] [-6.65334113e-02 1.75523268e-03 9.97782654e-01 -9.88551161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87864000000002 meters Centerline goodness [0,1] 0.9998038446449589 Centerline is valid? [True, True] Translation: X:193.80, Y:-117.26, Z:-9.89 [[ 7.87070326e-01 6.14741812e-01 5.11156193e-02 1.93799726e+02] [-6.13298098e-01 7.88726304e-01 -4.21456917e-02 -1.17263679e+02] [-6.62249523e-02 1.82251120e-03 9.97803054e-01 -9.88585106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90864000000002 meters Centerline goodness [0,1] 0.9996074582924436 Centerline is valid? [True, True] Translation: X:193.82, Y:-117.29, Z:-9.89 [[ 7.87926231e-01 6.13557949e-01 5.21430445e-02 1.93821379e+02] [-6.12050477e-01 7.89647189e-01 -4.30294150e-02 -1.17287166e+02] [-6.75756481e-02 1.98982960e-03 9.97712169e-01 -9.88721339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93864 meters Centerline goodness [0,1] 0.999754516889238 Centerline is valid? [True, True] Translation: X:193.85, Y:-117.31, Z:-9.89 [[ 7.87819843e-01 6.13681439e-01 5.22971043e-02 1.93845526e+02] [-6.12162747e-01 7.89551158e-01 -4.31942000e-02 -1.17309269e+02] [-6.77987181e-02 2.01490881e-03 9.97696985e-01 -9.88810875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96864 meters Centerline goodness [0,1] 0.9998038638815337 Centerline is valid? [True, True] Translation: X:193.87, Y:-117.33, Z:-9.89 [[ 7.87304201e-01 6.14268524e-01 5.31627263e-02 1.93869058e+02] [-6.12697546e-01 7.89094456e-01 -4.39506085e-02 -1.17331059e+02] [-6.89478880e-02 2.02982674e-03 9.97618198e-01 -9.88949455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:193.89, Y:-117.36, Z:-9.89 [[ 7.84825249e-01 6.17513337e-01 5.22169245e-02 1.93890657e+02] [-6.16002458e-01 7.86558478e-01 -4.32056921e-02 -1.17355416e+02] [-6.77517558e-02 1.74316424e-03 9.97700687e-01 -9.89174991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02864 meters Centerline goodness [0,1] 0.9999019030802433 Centerline is valid? [True, True] Translation: X:193.91, Y:-117.38, Z:-9.89 [[ 7.81556852e-01 6.21739211e-01 5.10807219e-02 1.93909817e+02] [-6.20300785e-01 7.83223139e-01 -4.22900818e-02 -1.17381037e+02] [-6.63010054e-02 1.36669134e-03 9.97798732e-01 -9.89265067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:193.93, Y:-117.40, Z:-9.89 [[ 7.79748972e-01 6.23949281e-01 5.17574692e-02 1.93933023e+02] [-6.22476089e-01 7.81463904e-01 -4.28682294e-02 -1.17403539e+02] [-6.71941949e-02 1.20867081e-03 9.97739184e-01 -9.89383816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08864 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:193.96, Y:-117.43, Z:-9.90 [[ 7.76972468e-01 6.27329219e-01 5.26482209e-02 1.93955185e+02] [-6.25809872e-01 7.78753570e-01 -4.36449340e-02 -1.17427103e+02] [-6.83797324e-02 9.63135707e-04 9.97658902e-01 -9.89535599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11864 meters Centerline goodness [0,1] 0.9998526812021213 Centerline is valid? [True, True] Translation: X:193.98, Y:-117.45, Z:-9.90 [[ 7.75523443e-01 6.29151547e-01 5.22658741e-02 1.93978746e+02] [-6.27655710e-01 7.77282219e-01 -4.33665956e-02 -1.17449482e+02] [-6.79094952e-02 8.26837183e-04 9.97691143e-01 -9.89667665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14864 meters Centerline goodness [0,1] 0.9999018549416037 Centerline is valid? [True, True] Translation: X:194.00, Y:-117.47, Z:-9.90 [[ 7.74465789e-01 6.30450368e-01 5.22979400e-02 1.94002799e+02] [-6.28952815e-01 7.76229204e-01 -4.34347724e-02 -1.17472608e+02] [-6.79786566e-02 7.45808716e-04 9.97686497e-01 -9.89865645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17864 meters Centerline goodness [0,1] 0.9999018549416037 Centerline is valid? [True, True] Translation: X:194.03, Y:-117.49, Z:-9.90 [[ 7.74147264e-01 6.30843287e-01 5.22758082e-02 1.94028044e+02] [-6.29344831e-01 7.75909911e-01 -4.34613981e-02 -1.17493152e+02] [-6.79786490e-02 7.46012746e-04 9.97686497e-01 -9.90000194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:194.05, Y:-117.52, Z:-9.90 [[ 7.72936294e-01 6.32387655e-01 5.15299854e-02 1.94050563e+02] [-6.30932327e-01 7.74651826e-01 -4.28829438e-02 -1.17515871e+02] [-6.70364416e-02 6.33850020e-04 9.97750326e-01 -9.90152981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.08, Y:-117.54, Z:-9.90 [[ 7.71989626e-01 6.33578168e-01 5.10952346e-02 1.94075231e+02] [-6.32147382e-01 7.73678484e-01 -4.25592633e-02 -1.17536704e+02] [-6.64959037e-02 5.55590916e-04 9.97786543e-01 -9.90157856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.10, Y:-117.56, Z:-9.90 [[ 7.69600355e-01 6.36385430e-01 5.22386668e-02 1.94099722e+02] [-6.34893368e-01 7.71371156e-01 -4.35540083e-02 -1.17558958e+02] [-6.80125371e-02 3.53197174e-04 9.97684404e-01 -9.90253484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.12, Y:-117.58, Z:-9.90 [[ 7.68289814e-01 6.38065274e-01 5.10241816e-02 1.94124288e+02] [-6.36642757e-01 7.69982241e-01 -4.25834317e-02 -1.17579435e+02] [-6.64587227e-02 2.32241202e-04 9.97789148e-01 -9.90335689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.15, Y:-117.60, Z:-9.91 [[ 7.66898426e-01 6.39742029e-01 5.09601783e-02 1.94149784e+02] [-6.38324010e-01 7.68589697e-01 -4.25715416e-02 -1.17600076e+02] [-6.64022724e-02 1.18942876e-04 9.97792926e-01 -9.90532000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:194.18, Y:-117.62, Z:-9.91 [[ 7.64427512e-01 6.42592202e-01 5.22095942e-02 1.94175675e+02] [-6.41107292e-01 7.66208361e-01 -4.36598982e-02 -1.17619409e+02] [-6.80589377e-02 -9.71242571e-05 9.97681298e-01 -9.90720253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.20, Y:-117.64, Z:-9.91 [[ 7.62687904e-01 6.44595796e-01 5.29473368e-02 1.94201522e+02] [-6.43070529e-01 7.64523511e-01 -4.43181347e-02 -1.17638672e+02] [-6.90467671e-02 -2.47966621e-04 9.97613393e-01 -9.90859700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.23, Y:-117.66, Z:-9.91 [[ 7.62065043e-01 6.45320946e-01 5.30824539e-02 1.94227460e+02] [-6.43786602e-01 7.63911512e-01 -4.44748594e-02 -1.17658667e+02] [-6.92508560e-02 -2.81036937e-04 9.97599238e-01 -9.90971878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.25, Y:-117.68, Z:-9.91 [[ 7.62659944e-01 6.44753646e-01 5.14056890e-02 1.94254455e+02] [-6.43310657e-01 7.64390410e-01 -4.31126269e-02 -1.17677096e+02] [-6.70910391e-02 -1.89553985e-04 9.97746840e-01 -9.91072091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.28, Y:-117.70, Z:-9.91 [[ 7.62868314e-01 6.44526386e-01 5.11632037e-02 1.94280719e+02] [-6.43093663e-01 7.64582055e-01 -4.29513912e-02 -1.17697248e+02] [-6.68017724e-02 -1.36476669e-04 9.97766257e-01 -9.91259752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.31, Y:-117.72, Z:-9.91 [[ 7.63180639e-01 6.44247140e-01 5.00093498e-02 1.94305908e+02] [-6.42875029e-01 7.64817374e-01 -4.20247662e-02 -1.17716927e+02] [-6.53223550e-02 -7.72743430e-05 9.97864211e-01 -9.91276180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.33, Y:-117.74, Z:-9.92 [[ 7.64055470e-01 6.43231954e-01 4.97181183e-02 1.94332286e+02] [-6.41870992e-01 7.65671373e-01 -4.18207835e-02 -1.17737477e+02] [-6.49682042e-02 4.07804644e-05 9.97887334e-01 -9.91541958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56864000000002 meters Centerline goodness [0,1] 0.9999508768482586 Centerline is valid? [True, True] Translation: X:194.36, Y:-117.76, Z:-9.92 [[ 7.65161517e-01 6.41929273e-01 4.95445325e-02 1.94357197e+02] [-6.40572207e-01 7.66763832e-01 -4.17189848e-02 -1.17759171e+02] [-6.47695932e-02 1.84911198e-04 9.97900228e-01 -9.91793381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.38, Y:-117.78, Z:-9.92 [[ 7.66032285e-01 6.40876085e-01 4.97230498e-02 1.94382882e+02] [-6.39504110e-01 7.67644285e-01 -4.19135414e-02 -1.17780167e+02] [-6.50310014e-02 3.09031158e-04 9.97883196e-01 -9.91952583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62864000000002 meters Centerline goodness [0,1] 0.9998526377836723 Centerline is valid? [True, True] Translation: X:194.41, Y:-117.80, Z:-9.92 [[ 7.66741127e-01 6.40025881e-01 4.97485202e-02 1.94408391e+02] [-6.38647835e-01 7.68353238e-01 -4.19790961e-02 -1.17801085e+02] [-6.50921446e-02 4.15314765e-04 9.97879171e-01 -9.92059380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65864000000002 meters Centerline goodness [0,1] 0.9998526884360422 Centerline is valid? [True, True] Translation: X:194.43, Y:-117.82, Z:-9.92 [[ 7.67401523e-01 6.39241123e-01 4.96556960e-02 1.94433211e+02] [-6.37863721e-01 7.69006191e-01 -4.19446379e-02 -1.17823525e+02] [-6.49982751e-02 5.14812069e-04 9.97885244e-01 -9.92174050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:-117.85, Z:-9.92 [[ 7.67316031e-01 6.39327034e-01 4.98703565e-02 1.94457436e+02] [-6.37934964e-01 7.68934749e-01 -4.21702917e-02 -1.17845790e+02] [-6.53076576e-02 5.43896778e-04 9.97865028e-01 -9.92318095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71864 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:194.48, Y:-117.87, Z:-9.92 [[ 7.66813767e-01 6.40071988e-01 4.80051775e-02 1.94479622e+02] [-6.38781180e-01 7.68314784e-01 -4.06324593e-02 -1.17869575e+02] [-6.28907866e-02 4.92725279e-04 9.98020293e-01 -9.92471047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.50, Y:-117.89, Z:-9.93 [[ 7.65704472e-01 6.41417094e-01 4.77574419e-02 1.94503566e+02] [-6.40139779e-01 7.67192247e-01 -4.04613451e-02 -1.17892894e+02] [-6.25917375e-02 4.09994587e-04 9.98039131e-01 -9.92688083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.53, Y:-117.92, Z:-9.93 [[ 7.63065160e-01 6.44537723e-01 4.79863025e-02 1.94525229e+02] [-6.43251561e-01 7.64572487e-01 -4.06981792e-02 -1.17917865e+02] [-6.29205184e-02 1.88098595e-04 9.98018523e-01 -9.92766619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.55, Y:-117.94, Z:-9.93 [[ 7.61491837e-01 6.46440748e-01 4.73765919e-02 1.94548224e+02] [-6.45188257e-01 7.62964190e-01 -4.02213615e-02 -1.17940277e+02] [-6.21473701e-02 6.14177103e-05 9.98066982e-01 -9.92848352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.57, Y:-117.96, Z:-9.93 [[ 7.56588658e-01 6.52187285e-01 4.71735939e-02 1.94571099e+02] [-6.50954201e-01 7.58057783e-01 -4.00877162e-02 -1.17964309e+02] [-6.19050089e-02 -3.77937734e-04 9.98081974e-01 -9.92798717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.60, Y:-117.99, Z:-9.93 [[ 7.54026176e-01 6.55163732e-01 4.69575242e-02 1.94595031e+02] [-6.53945527e-01 7.55486686e-01 -3.99389006e-02 -1.17986547e+02] [-6.16423035e-02 -5.92686386e-04 9.98098129e-01 -9.92920655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.62, Y:-118.01, Z:-9.93 [[ 7.49478775e-01 6.60373140e-01 4.67854809e-02 1.94616109e+02] [-6.59172831e-01 7.50936955e-01 -3.98104131e-02 -1.18010809e+02] [-6.14226741e-02 -1.00265829e-03 9.98111341e-01 -9.93050705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.64, Y:-118.03, Z:-9.93 [[ 7.47114382e-01 6.63073416e-01 4.64084566e-02 1.94639381e+02] [-6.61896302e-01 7.48553410e-01 -3.95104651e-02 -1.18032477e+02] [-6.09375475e-02 -1.19874915e-03 9.98140861e-01 -9.93151932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:-118.05, Z:-9.93 [[ 7.44056395e-01 6.66545781e-01 4.57908496e-02 1.94663303e+02] [-6.65404212e-01 7.45462715e-01 -3.90202063e-02 -1.18053294e+02] [-6.01441249e-02 -1.43619013e-03 9.98188670e-01 -9.93245977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.69, Y:-118.07, Z:-9.93 [[ 7.43294187e-01 6.67398528e-01 4.57488534e-02 1.94688659e+02] [-6.66258477e-01 7.44699285e-01 -3.90207245e-02 -1.18074532e+02] [-6.01115124e-02 -1.47668372e-03 9.98190576e-01 -9.93356162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.71, Y:-118.10, Z:-9.94 [[ 7.42644176e-01 6.68083767e-01 4.63002035e-02 1.94713715e+02] [-6.66914881e-01 7.44084518e-01 -3.95319132e-02 -1.18095295e+02] [-6.08618941e-02 -1.52014958e-03 9.98145039e-01 -9.93549839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.74, Y:-118.12, Z:-9.94 [[ 7.42166220e-01 6.68587452e-01 4.66917547e-02 1.94739227e+02] [-6.67397279e-01 7.43631918e-01 -3.99054071e-02 -1.18115625e+02] [-6.14017336e-02 -1.54550488e-03 9.98111937e-01 -9.93652201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.77, Y:-118.14, Z:-9.94 [[ 7.42393100e-01 6.68318770e-01 4.69308805e-02 1.94765579e+02] [-6.67113168e-01 7.43873494e-01 -4.01527970e-02 -1.18135731e+02] [-6.17455059e-02 -1.49904889e-03 9.98090800e-01 -9.93834388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.79, Y:-118.15, Z:-9.94 [[ 7.42417670e-01 6.68194385e-01 4.82935649e-02 1.94791727e+02] [-6.66914671e-01 7.43985225e-01 -4.13618935e-02 -1.18154931e+02] [-6.35674837e-02 -1.49988644e-03 9.97976415e-01 -9.94157083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.82, Y:-118.17, Z:-9.94 [[ 7.42048364e-01 6.68664257e-01 4.74588027e-02 1.94817810e+02] [-6.67427045e-01 7.43562980e-01 -4.06845672e-02 -1.18174366e+02] [-6.24929247e-02 -1.48537188e-03 9.98044302e-01 -9.94292062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.84, Y:-118.19, Z:-9.94 [[ 7.41211776e-01 6.69522146e-01 4.84272678e-02 1.94843630e+02] [-6.68233197e-01 7.42790456e-01 -4.15539732e-02 -1.18194270e+02] [-6.37926177e-02 -1.56041372e-03 9.97961957e-01 -9.94477222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.87, Y:-118.21, Z:-9.95 [[ 7.39789357e-01 6.71092132e-01 4.84464521e-02 1.94869606e+02] [-6.69803033e-01 7.41372086e-01 -4.16092176e-02 -1.18213218e+02] [-6.38404658e-02 -1.66752427e-03 9.97958724e-01 -9.94619077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.90, Y:-118.23, Z:-9.95 [[ 7.39155409e-01 6.71765152e-01 4.87940889e-02 1.94896095e+02] [-6.70456273e-01 7.40762219e-01 -4.19490264e-02 -1.18233226e+02] [-6.43247116e-02 -1.70745323e-03 9.97927561e-01 -9.94738719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25864 meters Centerline goodness [0,1] 0.9998528257456829 Centerline is valid? [True, True] Translation: X:194.92, Y:-118.25, Z:-9.95 [[ 7.38885225e-01 6.71987732e-01 4.98107594e-02 1.94923350e+02] [-6.70621364e-01 7.40560255e-01 -4.28660079e-02 -1.18250123e+02] [-6.56933001e-02 -1.73109958e-03 9.97838360e-01 -9.94891753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28864000000002 meters Centerline goodness [0,1] 0.9996560196560197 Centerline is valid? [True, True] Translation: X:194.95, Y:-118.27, Z:-9.95 [[ 7.38205949e-01 6.72747250e-01 4.96297669e-02 1.94950369e+02] [-6.71389892e-01 7.39870280e-01 -4.27502167e-02 -1.18269455e+02] [-6.54796803e-02 -1.76245956e-03 9.97852346e-01 -9.95049985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31864000000002 meters Centerline goodness [0,1] 0.9996562730174319 Centerline is valid? [True, True] Translation: X:194.98, Y:-118.29, Z:-9.95 [[ 7.37447234e-01 6.73500722e-01 5.06789436e-02 1.94978584e+02] [-6.72084078e-01 7.39184287e-01 -4.36987550e-02 -1.18286203e+02] [-6.68922218e-02 -1.83498509e-03 9.97758520e-01 -9.95306703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34864000000002 meters Centerline goodness [0,1] 0.9997545409916544 Centerline is valid? [True, True] Translation: X:195.01, Y:-118.31, Z:-9.95 [[ 7.37473888e-01 6.73461681e-01 5.08097289e-02 1.95006416e+02] [-6.72034725e-01 7.39219932e-01 -4.38545303e-02 -1.18305249e+02] [-6.70939101e-02 -1.80433120e-03 9.97745033e-01 -9.95407592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37864000000002 meters Centerline goodness [0,1] 0.999460466941338 Centerline is valid? [True, True] Translation: X:195.03, Y:-118.32, Z:-9.96 [[ 7.37239754e-01 6.73628597e-01 5.19813154e-02 1.95033106e+02] [-6.72132258e-01 7.39067773e-01 -4.49116364e-02 -1.18323904e+02] [-6.86714777e-02 -1.82767512e-03 9.97637654e-01 -9.95680834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40864000000002 meters Centerline goodness [0,1] 0.9991158267020336 Centerline is valid? [True, True] Translation: X:195.06, Y:-118.34, Z:-9.96 [[ 7.38058444e-01 6.72865677e-01 5.02146844e-02 1.95061822e+02] [-6.71465042e-01 7.39762800e-01 -4.34246120e-02 -1.18340362e+02] [-6.63658865e-02 -1.66750359e-03 9.97793961e-01 -9.95773841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43864 meters Centerline goodness [0,1] 0.9984238006107773 Centerline is valid? [True, True] Translation: X:195.09, Y:-118.36, Z:-9.96 [[ 7.39890824e-01 6.70760464e-01 5.14000723e-02 1.95090356e+02] [-6.69284923e-01 7.41672571e-01 -4.44914649e-02 -1.18357140e+02] [-6.79651394e-02 -1.48246679e-03 9.97686595e-01 -9.95984069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46864 meters Centerline goodness [0,1] 0.9984781541482572 Centerline is valid? [True, True] Translation: X:195.12, Y:-118.38, Z:-9.96 [[ 7.41361358e-01 6.69153542e-01 5.11553944e-02 1.95117142e+02] [-6.67685425e-01 7.43123040e-01 -4.43206708e-02 -1.18375337e+02] [-6.76720861e-02 -1.29807859e-03 9.97706772e-01 -9.96050768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49864 meters Centerline goodness [0,1] 0.9980381578302026 Centerline is valid? [True, True] Translation: X:195.14, Y:-118.39, Z:-9.96 [[ 7.42392996e-01 6.67868547e-01 5.29551134e-02 1.95143951e+02] [-6.66288882e-01 7.44278300e-01 -4.59231820e-02 -1.18393839e+02] [-7.00839906e-02 -1.19035463e-03 9.97540384e-01 -9.96260944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52864 meters Centerline goodness [0,1] 0.998281196287384 Centerline is valid? [True, True] Translation: X:195.17, Y:-118.41, Z:-9.97 [[ 7.45903491e-01 6.63982342e-01 5.24922084e-02 1.95172568e+02] [-6.62418179e-01 7.47747834e-01 -4.55558307e-02 -1.18410561e+02] [-6.94992023e-02 -7.91539946e-04 9.97581693e-01 -9.96503684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55864 meters Centerline goodness [0,1] 0.9979383467504418 Centerline is valid? [True, True] Translation: X:195.20, Y:-118.43, Z:-9.97 [[ 7.47169288e-01 6.62557446e-01 5.24946263e-02 1.95198097e+02] [-6.60987482e-01 7.49010832e-01 -4.55886210e-02 -1.18429786e+02] [-6.95241240e-02 -6.35873381e-04 9.97580068e-01 -9.96782153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58864 meters Centerline goodness [0,1] 0.9982231874043729 Centerline is valid? [True, True] Translation: X:195.22, Y:-118.45, Z:-9.97 [[ 7.50061587e-01 6.59119717e-01 5.44868299e-02 1.95224622e+02] [-6.57415962e-01 7.52037972e-01 -4.73618222e-02 -1.18447564e+02] [-7.21932759e-02 -2.96228152e-04 9.97390617e-01 -9.96938449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61864 meters Centerline goodness [0,1] 0.9984797214457358 Centerline is valid? [True, True] Translation: X:195.25, Y:-118.47, Z:-9.97 [[ 7.51222289e-01 6.57842938e-01 5.39234827e-02 1.95250183e+02] [-6.56168889e-01 7.53155128e-01 -4.69014159e-02 -1.18467942e+02] [-7.14665127e-02 -1.49522736e-04 9.97442988e-01 -9.97003305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64864 meters Centerline goodness [0,1] 0.9990194155716807 Centerline is valid? [True, True] Translation: X:195.28, Y:-118.49, Z:-9.97 [[ 7.53316224e-01 6.55485736e-01 5.34145743e-02 1.95275531e+02] [-6.53835366e-01 7.55207549e-01 -4.64851832e-02 -1.18487556e+02] [-7.08094643e-02 9.37049222e-05 9.97489855e-01 -9.97259131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67864 meters Centerline goodness [0,1] 0.9995091783645823 Centerline is valid? [True, True] Translation: X:195.30, Y:-118.51, Z:-9.97 [[ 7.54362056e-01 6.54337031e-01 5.27346097e-02 1.95299771e+02] [-6.52722767e-01 7.56203013e-01 -4.59346492e-02 -1.18508256e+02] [-6.99348127e-02 2.30276026e-04 9.97551537e-01 -9.97415729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70864 meters Centerline goodness [0,1] 0.9993130183031552 Centerline is valid? [True, True] Translation: X:195.32, Y:-118.53, Z:-9.98 [[ 7.55163307e-01 6.53359695e-01 5.33806035e-02 1.95324606e+02] [-6.51700154e-01 7.57047543e-01 -4.65395228e-02 -1.18529292e+02] [-7.08187032e-02 3.56792403e-04 9.97489140e-01 -9.97535093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73864 meters Centerline goodness [0,1] 0.999509611612397 Centerline is valid? [True, True] Translation: X:195.35, Y:-118.55, Z:-9.98 [[ 7.56483112e-01 6.51866344e-01 5.29487565e-02 1.95350065e+02] [-6.50226825e-01 7.58333695e-01 -4.62069632e-02 -1.18550610e+02] [-7.02735904e-02 5.26085504e-04 9.97527617e-01 -9.97737577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76864 meters Centerline goodness [0,1] 0.9993125797898458 Centerline is valid? [True, True] Translation: X:195.37, Y:-118.57, Z:-9.98 [[ 7.56154802e-01 6.52151869e-01 5.41096630e-02 1.95373856e+02] [-6.50436944e-01 7.58088149e-01 -4.72666869e-02 -1.18572209e+02] [-7.18449524e-02 5.46008445e-04 9.97415663e-01 -9.97834843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79864 meters Centerline goodness [0,1] 0.9988215074883379 Centerline is valid? [True, True] Translation: X:195.40, Y:-118.59, Z:-9.98 [[ 7.56566105e-01 6.51560956e-01 5.54621497e-02 1.95396708e+02] [-6.49754366e-01 7.58596005e-01 -4.84908793e-02 -1.18594373e+02] [-7.36681289e-02 6.49781730e-04 9.97282600e-01 -9.97938070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82864 meters Centerline goodness [0,1] 0.9992628992628992 Centerline is valid? [True, True] Translation: X:195.42, Y:-118.62, Z:-9.98 [[ 7.57233705e-01 6.50752598e-01 5.58405915e-02 1.95420202e+02] [-6.48916550e-01 7.59289457e-01 -4.88552064e-02 -1.18615524e+02] [-7.41918249e-02 7.58924941e-04 9.97243700e-01 -9.98171969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85864 meters Centerline goodness [0,1] 0.9994598310744451 Centerline is valid? [True, True] Translation: X:195.44, Y:-118.64, Z:-9.98 [[ 7.58112632e-01 6.49775602e-01 5.52892783e-02 1.95444375e+02] [-6.47970515e-01 7.60125585e-01 -4.84077048e-02 -1.18638411e+02] [-7.34809405e-02 8.72670349e-04 9.97296240e-01 -9.98333739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88864 meters Centerline goodness [0,1] 0.9992644895557516 Centerline is valid? [True, True] Translation: X:195.47, Y:-118.66, Z:-9.98 [[ 7.58001375e-01 6.49989138e-01 5.42958244e-02 1.95467893e+02] [-6.48245703e-01 7.59942999e-01 -4.75830446e-02 -1.18660957e+02] [-7.21901938e-02 8.70978409e-04 9.97390504e-01 -9.98434262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91864 meters Centerline goodness [0,1] 0.9990678963893249 Centerline is valid? [True, True] Translation: X:195.49, Y:-118.69, Z:-9.98 [[ 7.57439852e-01 6.50619089e-01 5.45863594e-02 1.95489819e+02] [-6.48855291e-01 7.59403766e-01 -4.78824875e-02 -1.18685879e+02] [-7.26063473e-02 8.49456150e-04 9.97360314e-01 -9.98448116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94864 meters Centerline goodness [0,1] 0.9989214100112762 Centerline is valid? [True, True] Translation: X:195.51, Y:-118.71, Z:-9.99 [[ 7.56911566e-01 6.51255633e-01 5.43229304e-02 1.95513914e+02] [-6.49506996e-01 7.58857975e-01 -4.76994361e-02 -1.18708829e+02] [-7.22879154e-02 8.21131557e-04 9.97383468e-01 -9.98561080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97864 meters Centerline goodness [0,1] 0.9990674388927064 Centerline is valid? [True, True] Translation: X:195.54, Y:-118.73, Z:-9.99 [[ 7.56030190e-01 6.52272892e-01 5.43914112e-02 1.95536782e+02] [-6.50518946e-01 7.57983835e-01 -4.78080183e-02 -1.18733360e+02] [-7.24116848e-02 7.61661670e-04 9.97374537e-01 -9.98689272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00864 meters Centerline goodness [0,1] 0.9989210397253556 Centerline is valid? [True, True] Translation: X:195.56, Y:-118.76, Z:-9.99 [[ 7.55091121e-01 6.53377205e-01 5.41814342e-02 1.95559760e+02] [-6.51636317e-01 7.57032202e-01 -4.76692270e-02 -1.18755725e+02] [-7.21630767e-02 6.88019785e-04 9.97392609e-01 -9.98779279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03864000000002 meters Centerline goodness [0,1] 0.9987244272187608 Centerline is valid? [True, True] Translation: X:195.58, Y:-118.78, Z:-9.99 [[ 7.54391206e-01 6.54260538e-01 5.32640316e-02 1.95582623e+02] [-6.52577433e-01 7.56268973e-01 -4.69034674e-02 -1.18778286e+02] [-7.09690223e-02 6.24658304e-04 9.97478324e-01 -9.98820055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06864000000002 meters Centerline goodness [0,1] 0.9976959654885044 Centerline is valid? [True, True] Translation: X:195.60, Y:-118.80, Z:-9.99 [[ 7.53357547e-01 6.55479742e-01 5.29028785e-02 1.95603762e+02] [-6.53819488e-01 7.55212566e-01 -4.66267905e-02 -1.18802510e+02] [-7.05158352e-02 5.37711541e-04 9.97510515e-01 -9.98880088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09864000000002 meters Centerline goodness [0,1] 0.9976959654885044 Centerline is valid? [True, True] Translation: X:195.63, Y:-118.82, Z:-9.99 [[ 7.53024327e-01 6.55864293e-01 5.28809303e-02 1.95628399e+02] [-6.54203239e-01 7.54878628e-01 -4.66516743e-02 -1.18823790e+02] [-7.05158514e-02 5.34969764e-04 9.97510515e-01 -9.99014666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12864000000002 meters Centerline goodness [0,1] 0.9977924944812362 Centerline is valid? [True, True] Translation: X:195.65, Y:-118.85, Z:-9.99 [[ 7.53668330e-01 6.55121337e-01 5.29157951e-02 1.95650417e+02] [-6.53452862e-01 7.55523409e-01 -4.67304517e-02 -1.18849312e+02] [-7.05932380e-02 6.41283754e-04 9.97504979e-01 -9.99266081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15864000000002 meters Centerline goodness [0,1] 0.9977394466558553 Centerline is valid? [True, True] Translation: X:195.67, Y:-118.87, Z:-9.99 [[ 7.54057339e-01 6.54672706e-01 5.29261440e-02 1.95673897e+02] [-6.52999073e-01 7.55912118e-01 -4.67876233e-02 -1.18872767e+02] [-7.06380936e-02 7.19827768e-04 9.97501750e-01 -9.99357691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18864 meters Centerline goodness [0,1] 0.9980872038844475 Centerline is valid? [True, True] Translation: X:195.70, Y:-118.90, Z:-9.99 [[ 7.55060220e-01 6.53457817e-01 5.36371661e-02 1.95695889e+02] [-6.51732460e-01 7.56962421e-01 -4.74625437e-02 -1.18896821e+02] [-7.16160893e-02 8.79996435e-04 9.97431883e-01 -9.99425042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21864 meters Centerline goodness [0,1] 0.9979401667484061 Centerline is valid? [True, True] Translation: X:195.72, Y:-118.92, Z:-10.00 [[ 7.54656231e-01 6.53992380e-01 5.28009510e-02 1.95719331e+02] [-6.52318850e-01 7.56500660e-01 -4.67639816e-02 -1.18918425e+02] [-7.05272419e-02 8.47674409e-04 9.97509493e-01 -9.99560199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24864 meters Centerline goodness [0,1] 0.9974918855119504 Centerline is valid? [True, True] Translation: X:195.74, Y:-118.94, Z:-10.00 [[ 7.52728369e-01 6.56224299e-01 5.26276648e-02 1.95741466e+02] [-6.54564265e-01 7.54565586e-01 -4.66519099e-02 -1.18941605e+02] [-7.03251416e-02 6.68027382e-04 9.97523899e-01 -9.99650631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27864 meters Centerline goodness [0,1] 0.997694835450488 Centerline is valid? [True, True] Translation: X:195.76, Y:-118.96, Z:-10.00 [[ 7.51425211e-01 6.57749165e-01 5.22129026e-02 1.95764445e+02] [-6.56116789e-01 7.53236842e-01 -4.63143577e-02 -1.18964922e+02] [-6.97919120e-02 5.44014042e-04 9.97561423e-01 -9.99772714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30864 meters Centerline goodness [0,1] 0.9976460203030749 Centerline is valid? [True, True] Translation: X:195.79, Y:-118.99, Z:-10.00 [[ 7.48842475e-01 6.60784743e-01 5.09752027e-02 1.95786357e+02] [-6.59234239e-01 7.50575412e-01 -4.52412376e-02 -1.18989046e+02] [-6.81554533e-02 2.73961428e-04 9.97674676e-01 -9.99775365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33864 meters Centerline goodness [0,1] 0.9975481782964742 Centerline is valid? [True, True] Translation: X:195.81, Y:-119.01, Z:-10.00 [[ 7.47524544e-01 6.62327084e-01 5.02980026e-02 1.95810132e+02] [-6.60818312e-01 7.49214794e-01 -4.46805571e-02 -1.19011253e+02] [-6.72771507e-02 1.61971913e-04 9.97734313e-01 -9.99937902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36864 meters Centerline goodness [0,1] 0.9970552147239263 Centerline is valid? [True, True] Translation: X:195.83, Y:-119.03, Z:-10.00 [[ 7.46733740e-01 6.63194235e-01 5.06174717e-02 1.95834544e+02] [-6.61665235e-01 7.48447321e-01 -4.50080409e-02 -1.19033991e+02] [-6.77335844e-02 1.17201379e-04 9.97703437e-01 -1.00011245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39864 meters Centerline goodness [0,1] 0.996905849418005 Centerline is valid? [True, True] Translation: X:195.86, Y:-119.06, Z:-10.00 [[ 7.45334893e-01 6.64761617e-01 5.06743570e-02 1.95857198e+02] [-6.63229568e-01 7.47055549e-01 -4.51059566e-02 -1.19058531e+02] [-6.78412682e-02 1.03114469e-05 9.97696127e-01 -1.00027018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42864 meters Centerline goodness [0,1] 0.9969091890300741 Centerline is valid? [True, True] Translation: X:195.88, Y:-119.08, Z:-10.00 [[ 7.44315053e-01 6.65936915e-01 5.02307448e-02 1.95880791e+02] [-6.64431116e-01 7.46008057e-01 -4.47579102e-02 -1.19081973e+02] [-6.72784850e-02 -6.08835615e-05 9.97734234e-01 -1.00037912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45864 meters Centerline goodness [0,1] 0.997105288980473 Centerline is valid? [True, True] Translation: X:195.90, Y:-119.10, Z:-10.00 [[ 7.43281811e-01 6.67135837e-01 4.96177720e-02 1.95904678e+02] [-6.65666331e-01 7.44936075e-01 -4.42558358e-02 -1.19103357e+02] [-6.64867224e-02 -1.34322420e-04 9.97787301e-01 -1.00044210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48864 meters Centerline goodness [0,1] 0.997103014828636 Centerline is valid? [True, True] Translation: X:195.93, Y:-119.13, Z:-10.00 [[ 7.41351231e-01 6.69220225e-01 5.04246223e-02 1.95928809e+02] [-6.67704456e-01 7.43064064e-01 -4.50172798e-02 -1.19125062e+02] [-6.75951989e-02 -2.95129229e-04 9.97712785e-01 -1.00044833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51864 meters Centerline goodness [0,1] 0.9962704877809402 Centerline is valid? [True, True] Translation: X:195.95, Y:-119.15, Z:-10.01 [[ 7.38126411e-01 6.72715464e-01 5.12182202e-02 1.95952110e+02] [-6.71156997e-01 7.39901043e-01 -4.57682442e-02 -1.19146680e+02] [-6.86854202e-02 -5.92716993e-04 9.97638192e-01 -1.00062368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54864 meters Centerline goodness [0,1] 0.9966629042547971 Centerline is valid? [True, True] Translation: X:195.98, Y:-119.17, Z:-10.01 [[ 7.36620054e-01 6.74365983e-01 5.11997860e-02 1.95976930e+02] [-6.72809530e-01 7.38396921e-01 -4.57965406e-02 -1.19168692e+02] [-6.86893934e-02 -7.13053792e-04 9.97637839e-01 -1.00077769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57864 meters Centerline goodness [0,1] 0.9968113809173412 Centerline is valid? [True, True] Translation: X:196.00, Y:-119.19, Z:-10.01 [[ 7.35325489e-01 6.75796775e-01 5.09425592e-02 1.96001800e+02] [-6.74256060e-01 7.37087558e-01 -4.56146648e-02 -1.19189887e+02] [-6.83753699e-02 -8.06703541e-04 9.97659340e-01 -1.00086004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60864 meters Centerline goodness [0,1] 0.9980871100647439 Centerline is valid? [True, True] Translation: X:196.03, Y:-119.21, Z:-10.01 [[ 7.33905816e-01 6.77405745e-01 5.00370948e-02 1.96027090e+02] [-6.75919943e-01 7.35609026e-01 -4.48507733e-02 -1.19211152e+02] [-6.71899101e-02 -9.04826873e-04 9.97739794e-01 -1.00102725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63864 meters Centerline goodness [0,1] 0.9981846727504661 Centerline is valid? [True, True] Translation: X:196.05, Y:-119.23, Z:-10.01 [[ 7.33813208e-01 6.77468412e-01 5.05442982e-02 1.96051961e+02] [-6.75949163e-01 7.35551336e-01 -4.53537269e-02 -1.19232482e+02] [-6.79036434e-02 -8.84212199e-04 9.97691492e-01 -1.00114473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66864 meters Centerline goodness [0,1] 0.9987731867700461 Centerline is valid? [True, True] Translation: X:196.08, Y:-119.25, Z:-10.01 [[ 7.34194742e-01 6.77003485e-01 5.12285184e-02 1.96077431e+02] [-6.75438243e-01 7.35979357e-01 -4.60170080e-02 -1.19253683e+02] [-6.88568068e-02 -8.16255140e-04 9.97626220e-01 -1.00141221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69864 meters Centerline goodness [0,1] 0.9990666601169131 Centerline is valid? [True, True] Translation: X:196.10, Y:-119.28, Z:-10.02 [[ 7.33912996e-01 6.77308901e-01 5.12285675e-02 1.96102039e+02] [-6.75741037e-01 7.35698306e-01 -4.60657490e-02 -1.19275334e+02] [-6.88895122e-02 -8.08993451e-04 9.97623968e-01 -1.00157839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72864 meters Centerline goodness [0,1] 0.9997548538929202 Centerline is valid? [True, True] Translation: X:196.13, Y:-119.30, Z:-10.02 [[ 7.35208645e-01 6.75858577e-01 5.18018610e-02 1.96127804e+02] [-6.74248331e-01 7.37031050e-01 -4.66306630e-02 -1.19296419e+02] [-6.96953136e-02 -6.44051770e-04 9.97568117e-01 -1.00183124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75864 meters Centerline goodness [0,1] 0.9997547095761381 Centerline is valid? [True, True] Translation: X:196.15, Y:-119.32, Z:-10.02 [[ 7.36219928e-01 6.74812731e-01 5.10685396e-02 1.96152242e+02] [-6.73242156e-01 7.37988837e-01 -4.60160333e-02 -1.19317177e+02] [-6.87402173e-02 -5.03572943e-04 9.97634467e-01 -1.00186950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.18, Y:-119.34, Z:-10.02 [[ 7.36904619e-01 6.74072753e-01 5.09657296e-02 1.96177362e+02] [-6.72503671e-01 7.38664851e-01 -4.59679293e-02 -1.19338960e+02] [-6.86323217e-02 -4.00660755e-04 9.97641942e-01 -1.00200576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81864000000002 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:196.20, Y:-119.36, Z:-10.02 [[ 7.38453096e-01 6.72373477e-01 5.09993309e-02 1.96202160e+02] [-6.70794923e-01 7.40212040e-01 -4.60467954e-02 -1.19361040e+02] [-6.87109627e-02 -2.06693612e-04 9.97636588e-01 -1.00223792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.23, Y:-119.38, Z:-10.02 [[ 7.38399146e-01 6.72408381e-01 5.13192883e-02 1.96226423e+02] [-6.70806624e-01 7.40180342e-01 -4.63846451e-02 -1.19382796e+02] [-6.91749525e-02 -1.74936140e-04 9.97604529e-01 -1.00239214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.25, Y:-119.40, Z:-10.03 [[ 7.37604330e-01 6.73218124e-01 5.21268551e-02 1.96249735e+02] [-6.71564186e-01 7.39443919e-01 -4.71617959e-02 -1.19404310e+02] [-7.02950618e-02 -2.19784165e-04 9.97526218e-01 -1.00254007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.27, Y:-119.43, Z:-10.03 [[ 7.36669313e-01 6.74296521e-01 5.14054965e-02 1.96273699e+02] [-6.72687790e-01 7.38460642e-01 -4.65512320e-02 -1.19425571e+02] [-6.93502698e-02 -2.86985787e-04 9.97592330e-01 -1.00255342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.30, Y:-119.45, Z:-10.03 [[ 7.33731613e-01 6.77455243e-01 5.18875179e-02 1.96298458e+02] [-6.75820989e-01 7.35563785e-01 -4.70309261e-02 -1.19446182e+02] [-7.00279265e-02 -5.58596406e-04 9.97544875e-01 -1.00267461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.32, Y:-119.47, Z:-10.03 [[ 7.32308445e-01 6.78971749e-01 5.21699632e-02 1.96323505e+02] [-6.77320407e-01 7.34164088e-01 -4.73303200e-02 -1.19466734e+02] [-7.04372636e-02 -6.75387629e-04 9.97515983e-01 -1.00278259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.35, Y:-119.49, Z:-10.03 [[ 7.30605244e-01 6.80833405e-01 5.17866007e-02 1.96348852e+02] [-6.79207739e-01 7.32437854e-01 -4.70280479e-02 -1.19487823e+02] [-6.99487327e-02 -8.14921569e-04 9.97550255e-01 -1.00294701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.37, Y:-119.51, Z:-10.03 [[ 7.28703689e-01 6.82865528e-01 5.18228158e-02 1.96374369e+02] [-6.81239412e-01 7.30543440e-01 -4.71078071e-02 -1.19507679e+02] [-7.00271156e-02 -9.76111726e-04 9.97544611e-01 -1.00302523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.40, Y:-119.53, Z:-10.03 [[ 7.27269718e-01 6.84394411e-01 5.17981521e-02 1.96400189e+02] [-6.82770514e-01 7.29111174e-01 -4.71309017e-02 -1.19528864e+02] [-7.00227372e-02 -1.08937334e-03 9.97544801e-01 -1.00313437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.43, Y:-119.55, Z:-10.03 [[ 7.26649643e-01 6.85029978e-01 5.20982252e-02 1.96428775e+02] [-6.83385300e-01 7.28514016e-01 -4.74537641e-02 -1.19547038e+02] [-7.04615382e-02 -1.12090051e-03 9.97513867e-01 -1.00329821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.46, Y:-119.56, Z:-10.04 [[ 7.27369893e-01 6.84310022e-01 5.15056577e-02 1.96456108e+02] [-6.82697550e-01 7.29190499e-01 -4.69603244e-02 -1.19564194e+02] [-6.96928568e-02 -1.00526018e-03 9.97567990e-01 -1.00351650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.48, Y:-119.58, Z:-10.04 [[ 7.27681517e-01 6.83944705e-01 5.19543122e-02 1.96482012e+02] [-6.82299802e-01 7.29533240e-01 -4.74155298e-02 -1.19584687e+02] [-7.03319983e-02 -9.45012246e-04 9.97523191e-01 -1.00370580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.51, Y:-119.61, Z:-10.04 [[ 7.28646115e-01 6.82847020e-01 5.28657409e-02 1.96508351e+02] [-6.81137263e-01 7.30560936e-01 -4.82985288e-02 -1.19605399e+02] [-7.16021516e-02 -8.16290692e-04 9.97432938e-01 -1.00386777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.53, Y:-119.63, Z:-10.04 [[ 7.29505638e-01 6.81941811e-01 5.26962167e-02 1.96533427e+02] [-6.80237231e-01 7.31406105e-01 -4.81914833e-02 -1.19625357e+02] [-7.14061220e-02 -6.89969788e-04 9.97447086e-01 -1.00405640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.56, Y:-119.64, Z:-10.04 [[ 7.30127658e-01 6.81363692e-01 5.15472790e-02 1.96559727e+02] [-6.79728305e-01 7.31944788e-01 -4.71832535e-02 -1.19644666e+02] [-6.98787181e-02 -5.88346201e-04 9.97555321e-01 -1.00407375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.58, Y:-119.67, Z:-10.04 [[ 7.29008003e-01 6.82501506e-01 5.23357033e-02 1.96583987e+02] [-6.80815443e-01 7.30883874e-01 -4.79488746e-02 -1.19665214e+02] [-7.09765007e-02 -6.75841723e-04 9.97477759e-01 -1.00433451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.61, Y:-119.69, Z:-10.04 [[ 7.27914016e-01 6.83654522e-01 5.25136181e-02 1.96608407e+02] [-6.81956617e-01 7.29805401e-01 -4.81585922e-02 -1.19686972e+02] [-7.12485614e-02 -7.56695071e-04 9.97458305e-01 -1.00444712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.63, Y:-119.71, Z:-10.05 [[ 7.26813222e-01 6.84893705e-01 5.16057456e-02 1.96632489e+02] [-6.83253924e-01 7.28642523e-01 -4.73724484e-02 -1.19707817e+02] [-7.00472324e-02 -8.28906335e-04 9.97543331e-01 -1.00457789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.66, Y:-119.73, Z:-10.05 [[ 7.23783762e-01 6.88103277e-01 5.14873330e-02 1.96657925e+02] [-6.86476086e-01 7.25611920e-01 -4.73067028e-02 -1.19728166e+02] [-6.99117198e-02 -1.10499950e-03 9.97552570e-01 -1.00473235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.68, Y:-119.75, Z:-10.05 [[ 7.21053056e-01 6.90935054e-01 5.18771799e-02 1.96682345e+02] [-6.89287317e-01 7.22915560e-01 -4.77083642e-02 -1.19748878e+02] [-7.04662017e-02 -1.35802034e-03 9.97513243e-01 -1.00478006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.71, Y:-119.77, Z:-10.05 [[ 7.19775525e-01 6.92204247e-01 5.26922578e-02 1.96706403e+02] [-6.90504451e-01 7.21700152e-01 -4.85025094e-02 -1.19769770e+02] [-7.16016535e-02 -1.47331943e-03 9.97432220e-01 -1.00496036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.73, Y:-119.79, Z:-10.05 [[ 7.18204637e-01 6.93962887e-01 5.09667673e-02 1.96732829e+02] [-6.92374201e-01 7.20009074e-01 -4.69563522e-02 -1.19789066e+02] [-6.92825006e-02 -1.56380488e-03 9.97595855e-01 -1.00509190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.76, Y:-119.81, Z:-10.05 [[ 7.17370443e-01 6.94936584e-01 4.94246029e-02 1.96757659e+02] [-6.93442240e-01 7.19069297e-01 -4.55763643e-02 -1.19809255e+02] [-6.72123974e-02 -1.57797075e-03 9.97737442e-01 -1.00523796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50864 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:196.78, Y:-119.83, Z:-10.05 [[ 7.16375271e-01 6.96001571e-01 4.88700771e-02 1.96783197e+02] [-6.94540193e-01 7.18038414e-01 -4.51082795e-02 -1.19830399e+02] [-6.64860260e-02 -1.62777681e-03 9.97786029e-01 -1.00534175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53864000000002 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:196.81, Y:-119.85, Z:-10.05 [[ 7.16329345e-01 6.95928489e-01 5.05549856e-02 1.96809564e+02] [-6.94361031e-01 7.18109211e-01 -4.67110281e-02 -1.19849273e+02] [-6.88115360e-02 -1.64293170e-03 9.97628324e-01 -1.00544206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56864000000002 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:196.84, Y:-119.87, Z:-10.06 [[ 7.16659288e-01 6.95562832e-01 5.09098471e-02 1.96835454e+02] [-6.93969157e-01 7.18463521e-01 -4.70847870e-02 -1.19869747e+02] [-6.93272958e-02 -1.58611377e-03 9.97592708e-01 -1.00554015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.86, Y:-119.89, Z:-10.06 [[ 7.17995152e-01 6.94240735e-01 5.01274791e-02 1.96861679e+02] [-6.92689377e-01 7.19741505e-01 -4.64068148e-02 -1.19888260e+02] [-6.82963284e-02 -1.40290425e-03 9.97664093e-01 -1.00573718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62864000000002 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:196.89, Y:-119.91, Z:-10.06 [[ 7.21713814e-01 6.90305789e-01 5.10596635e-02 1.96887499e+02] [-6.88683204e-01 7.23517024e-01 -4.73134326e-02 -1.19907873e+02] [-6.96032721e-02 -1.01717477e-03 9.97574233e-01 -1.00596657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.91, Y:-119.93, Z:-10.06 [[ 7.24226982e-01 6.87624084e-01 5.16565453e-02 1.96912653e+02] [-6.85953348e-01 7.26066511e-01 -4.79106118e-02 -1.19928163e+02] [-7.04505781e-02 -7.35822404e-04 9.97515000e-01 -1.00611400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.94, Y:-119.95, Z:-10.06 [[ 7.29870650e-01 6.81606947e-01 5.19692523e-02 1.96937986e+02] [-6.79897409e-01 7.31718494e-01 -4.82447772e-02 -1.19948008e+02] [-7.09108383e-02 -1.21313126e-04 9.97482651e-01 -1.00630135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.96, Y:-119.97, Z:-10.06 [[ 7.31721546e-01 6.79665832e-01 5.13608374e-02 1.96960973e+02] [-6.77988318e-01 7.33521879e-01 -4.77230928e-02 -1.19970149e+02] [-7.01100535e-02 9.79674496e-05 9.97539258e-01 -1.00643815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.98, Y:-119.99, Z:-10.07 [[ 7.34243828e-01 6.76944346e-01 5.13064726e-02 1.96983621e+02] [-6.75260536e-01 7.36034102e-01 -4.77180184e-02 -1.19994946e+02] [-7.00657562e-02 3.91424262e-04 9.97542298e-01 -1.00651119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:-120.02, Z:-10.07 [[ 7.34819288e-01 6.76314101e-01 5.13794791e-02 1.97007843e+02] [-6.74620515e-01 7.36613194e-01 -4.78347458e-02 -1.20017594e+02] [-7.01981153e-02 4.88243177e-04 9.97532950e-01 -1.00667281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.03, Y:-120.04, Z:-10.07 [[ 7.34385100e-01 6.76801531e-01 5.11684742e-02 1.97031139e+02] [-6.75119623e-01 7.36165376e-01 -4.76868207e-02 -1.20040544e+02] [-6.99429723e-02 4.75649545e-04 9.97550878e-01 -1.00674990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.05, Y:-120.07, Z:-10.07 [[ 7.33881943e-01 6.77282227e-01 5.20199773e-02 1.97052105e+02] [-6.75541631e-01 7.35723156e-01 -4.85277539e-02 -1.20065048e+02] [-7.11392871e-02 4.71981984e-04 9.97466280e-01 -1.00694142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.07, Y:-120.09, Z:-10.07 [[ 7.32945125e-01 6.78294428e-01 5.20395266e-02 1.97074641e+02] [-6.76551788e-01 7.34790108e-01 -4.85919254e-02 -1.20088978e+02] [-7.11977617e-02 4.07780065e-04 9.97462136e-01 -1.00708669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:197.10, Y:-120.11, Z:-10.07 [[ 7.32340178e-01 6.78919684e-01 5.24015801e-02 1.97097541e+02] [-6.77150668e-01 7.34212444e-01 -4.89801948e-02 -1.20112585e+02] [-7.17275106e-02 3.86399654e-04 9.97424190e-01 -1.00723916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:197.12, Y:-120.14, Z:-10.07 [[ 7.31981640e-01 6.79370814e-01 5.15574999e-02 1.97117757e+02] [-6.77656244e-01 7.33795039e-01 -4.82374930e-02 -1.20137494e+02] [-7.06037825e-02 3.70697523e-04 9.97504370e-01 -1.00738602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.14, Y:-120.16, Z:-10.07 [[ 7.31220077e-01 6.80304209e-01 5.00338034e-02 1.97139408e+02] [-6.78688966e-01 7.32929800e-01 -4.68529228e-02 -1.20161525e+02] [-6.85455061e-02 3.02407556e-04 9.97647945e-01 -1.00742850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.16, Y:-120.18, Z:-10.08 [[ 7.30874347e-01 6.80677243e-01 5.00117959e-02 1.97163394e+02] [-6.79061265e-01 7.32583375e-01 -4.68764067e-02 -1.20183538e+02] [-6.85455135e-02 2.99689760e-04 9.97647945e-01 -1.00756307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:-120.21, Z:-10.08 [[ 7.30042487e-01 6.81600838e-01 4.95808934e-02 1.97185775e+02] [-6.80011687e-01 7.31724154e-01 -4.65173877e-02 -1.20206467e+02] [-6.79858277e-02 2.44082392e-04 9.97686257e-01 -1.00775580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:197.21, Y:-120.23, Z:-10.08 [[ 7.28990456e-01 6.82748065e-01 4.92746920e-02 1.97209868e+02] [-6.81178168e-01 7.30653852e-01 -4.62736635e-02 -1.20229143e+02] [-6.75959977e-02 1.68214678e-04 9.97712761e-01 -1.00782369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07864 meters Centerline goodness [0,1] 0.999901748870112 Centerline is valid? [True, True] Translation: X:197.23, Y:-120.25, Z:-10.08 [[ 7.27595354e-01 6.84177221e-01 5.00652706e-02 1.97232785e+02] [-6.82556641e-01 7.29315793e-01 -4.70627893e-02 -1.20252374e+02] [-6.87126809e-02 7.02838801e-05 9.97636488e-01 -1.00800426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10864 meters Centerline goodness [0,1] 0.9997538158542589 Centerline is valid? [True, True] Translation: X:197.25, Y:-120.28, Z:-10.08 [[ 7.26071435e-01 6.85882886e-01 4.88358217e-02 1.97253632e+02] [-6.84342084e-01 7.27711937e-01 -4.59483399e-02 -1.20277463e+02] [-6.70535904e-02 -5.86308862e-05 9.97749374e-01 -1.00789271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.28, Y:-120.30, Z:-10.08 [[ 7.24362341e-01 6.87709049e-01 4.85331100e-02 1.97277309e+02] [-6.86188469e-01 7.25986381e-01 -4.57073193e-02 -1.20301029e+02] [-6.66677140e-02 -1.94199685e-04 9.97775214e-01 -1.00804558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16864 meters Centerline goodness [0,1] 0.9993121745111526 Centerline is valid? [True, True] Translation: X:197.30, Y:-120.32, Z:-10.08 [[ 7.21786460e-01 6.90492527e-01 4.73748363e-02 1.97300256e+02] [-6.89046852e-01 7.23339411e-01 -4.46601941e-02 -1.20323411e+02] [-6.51056164e-02 -4.08358372e-04 9.97878295e-01 -1.00800961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19864 meters Centerline goodness [0,1] 0.9994111874386653 Centerline is valid? [True, True] Translation: X:197.32, Y:-120.35, Z:-10.08 [[ 7.20558825e-01 6.91749441e-01 4.77251584e-02 1.97324107e+02] [-6.90282189e-01 7.22137429e-01 -4.50336969e-02 -1.20345664e+02] [-6.56161579e-02 -4.94399045e-04 9.97844815e-01 -1.00824419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22864 meters Centerline goodness [0,1] 0.9991645370552389 Centerline is valid? [True, True] Translation: X:197.35, Y:-120.37, Z:-10.08 [[ 7.19325245e-01 6.93064759e-01 4.72486152e-02 1.97347890e+02] [-6.91626515e-01 7.20875099e-01 -4.46301979e-02 -1.20368031e+02] [-6.49919676e-02 -5.74767030e-04 9.97885622e-01 -1.00817519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25864 meters Centerline goodness [0,1] 0.9996566102526367 Centerline is valid? [True, True] Translation: X:197.37, Y:-120.39, Z:-10.08 [[ 7.19607943e-01 6.92738496e-01 4.77261521e-02 1.97372751e+02] [-6.91267161e-01 7.21188678e-01 -4.51287302e-02 -1.20390113e+02] [-6.56819692e-02 -5.16528937e-04 9.97840474e-01 -1.00832028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28864000000002 meters Centerline goodness [0,1] 0.9994590341300286 Centerline is valid? [True, True] Translation: X:197.40, Y:-120.41, Z:-10.09 [[ 7.19950961e-01 6.92402495e-01 4.74278380e-02 1.97396900e+02] [-6.90945712e-01 7.21511319e-01 -4.48936482e-02 -1.20412407e+02] [-6.53041960e-02 -4.48836152e-04 9.97865302e-01 -1.00857025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31864000000002 meters Centerline goodness [0,1] 0.9995073891625615 Centerline is valid? [True, True] Translation: X:197.42, Y:-120.43, Z:-10.08 [[ 7.20672887e-01 6.91762757e-01 4.57698399e-02 1.97420369e+02] [-6.90402181e-01 7.22124760e-01 -4.33665801e-02 -1.20434255e+02] [-6.30509197e-02 -3.46478792e-04 9.98010251e-01 -1.00845469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34864000000002 meters Centerline goodness [0,1] 0.999754649393984 Centerline is valid? [True, True] Translation: X:197.44, Y:-120.46, Z:-10.09 [[ 7.20618694e-01 6.91830708e-01 4.55957109e-02 1.97444349e+02] [-6.90478007e-01 7.22059671e-01 -4.32429658e-02 -1.20457124e+02] [-6.28396356e-02 -3.21146072e-04 9.98023585e-01 -1.00855447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37864000000002 meters Centerline goodness [0,1] 0.9997545650893384 Centerline is valid? [True, True] Translation: X:197.47, Y:-120.48, Z:-10.09 [[ 7.21156556e-01 6.91166402e-01 4.71404869e-02 1.97468723e+02] [-6.89715989e-01 7.22695612e-01 -4.47538522e-02 -1.20478029e+02] [-6.50005820e-02 -2.39013641e-04 9.97885197e-01 -1.00861902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40864000000002 meters Centerline goodness [0,1] 0.9997055070187494 Centerline is valid? [True, True] Translation: X:197.49, Y:-120.50, Z:-10.09 [[ 7.21581995e-01 6.90741047e-01 4.68639611e-02 1.97493728e+02] [-6.89303951e-01 7.23102190e-01 -4.45341006e-02 -1.20499823e+02] [-6.46489642e-02 -1.68508374e-04 9.97908053e-01 -1.00876048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43864 meters Centerline goodness [0,1] 0.9997545650893384 Centerline is valid? [True, True] Translation: X:197.52, Y:-120.52, Z:-10.09 [[ 7.21823811e-01 6.90602356e-01 4.51527648e-02 1.97517689e+02] [-6.89265505e-01 7.23234659e-01 -4.29498799e-02 -1.20521550e+02] [-6.23173327e-02 -1.19997297e-04 9.98056379e-01 -1.00861288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46864 meters Centerline goodness [0,1] 0.9993132878795311 Centerline is valid? [True, True] Translation: X:197.54, Y:-120.54, Z:-10.09 [[ 7.21619817e-01 6.90823085e-01 4.50367136e-02 1.97541937e+02] [-6.89490989e-01 7.23023827e-01 -4.28803181e-02 -1.20544481e+02] [-6.21853306e-02 -1.09120872e-04 9.98064614e-01 -1.00870220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49864 meters Centerline goodness [0,1] 0.9997058246715043 Centerline is valid? [True, True] Translation: X:197.57, Y:-120.57, Z:-10.09 [[ 7.21463937e-01 6.90948262e-01 4.56101625e-02 1.97566690e+02] [-6.89579348e-01 7.22904207e-01 -4.34721858e-02 -1.20567011e+02] [-6.30088095e-02 -8.82118070e-05 9.98012967e-01 -1.00880177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52864 meters Centerline goodness [0,1] 0.9993129845912259 Centerline is valid? [True, True] Translation: X:197.59, Y:-120.59, Z:-10.09 [[ 7.22331729e-01 6.90054595e-01 4.54040654e-02 1.97592892e+02] [-6.88693433e-01 7.23757318e-01 -4.33208935e-02 -1.20587871e+02] [-6.27553062e-02 2.25742112e-05 9.98028943e-01 -1.00876553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55864 meters Centerline goodness [0,1] 0.9995092024539878 Centerline is valid? [True, True] Translation: X:197.62, Y:-120.61, Z:-10.09 [[ 7.22504370e-01 6.89920093e-01 4.46956388e-02 1.97616865e+02] [-6.88598255e-01 7.23885530e-01 -4.26870260e-02 -1.20609522e+02] [-6.18051631e-02 6.42239858e-05 9.98088231e-01 -1.00888442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58864 meters Centerline goodness [0,1] 0.9994600962010406 Centerline is valid? [True, True] Translation: X:197.64, Y:-120.63, Z:-10.09 [[ 7.21510299e-01 6.91052889e-01 4.32295452e-02 1.97640619e+02] [-6.89816244e-01 7.22804196e-01 -4.13236540e-02 -1.20631264e+02] [-5.98033271e-02 -5.00057023e-06 9.98210179e-01 -1.00895913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61864 meters Centerline goodness [0,1] 0.9990680792623111 Centerline is valid? [True, True] Translation: X:197.67, Y:-120.65, Z:-10.09 [[ 7.20879638e-01 6.91756287e-01 4.24945615e-02 1.97665164e+02] [-6.90560845e-01 7.22131040e-01 -4.06507160e-02 -1.20652951e+02] [-5.88070302e-02 -4.08068652e-05 9.98269368e-01 -1.00892161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64864 meters Centerline goodness [0,1] 0.9997545650893384 Centerline is valid? [True, True] Translation: X:197.69, Y:-120.67, Z:-10.09 [[ 7.21030295e-01 6.91573551e-01 4.29107953e-02 1.97690466e+02] [-6.90352885e-01 7.22306045e-01 -4.10715307e-02 -1.20674257e+02] [-5.93987112e-02 -9.77348053e-06 9.98234338e-01 -1.00911928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67864 meters Centerline goodness [0,1] 0.999558390578999 Centerline is valid? [True, True] Translation: X:197.72, Y:-120.69, Z:-10.09 [[ 7.20967150e-01 6.91571524e-01 4.39908516e-02 1.97715906e+02] [-6.90285944e-01 7.22307986e-01 -4.21484246e-02 -1.20694623e+02] [-6.09235936e-02 2.13631058e-05 9.98142432e-01 -1.00918985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70864 meters Centerline goodness [0,1] 0.9998037965370089 Centerline is valid? [True, True] Translation: X:197.74, Y:-120.72, Z:-10.09 [[ 7.22317215e-01 6.90102500e-01 4.49041220e-02 1.97738651e+02] [-6.88757619e-01 7.23711620e-01 -4.30631351e-02 -1.20717236e+02] [-6.22156120e-02 1.77187652e-04 9.98062717e-01 -1.00933014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:197.76, Y:-120.74, Z:-10.09 [[ 7.23442589e-01 6.88952997e-01 4.44363468e-02 1.97762532e+02] [-6.87631343e-01 7.24805958e-01 -4.26551286e-02 -1.20739490e+02] [-6.15951076e-02 3.02711862e-04 9.98101173e-01 -1.00949784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76864 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:197.79, Y:-120.76, Z:-10.10 [[ 7.24216696e-01 6.88158847e-01 4.41313677e-02 1.97786390e+02] [-6.86851119e-01 7.25559950e-01 -4.24063557e-02 -1.20762382e+02] [-6.12022618e-02 3.99711526e-04 9.98125304e-01 -1.00964241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:197.81, Y:-120.79, Z:-10.10 [[ 7.26209459e-01 6.86030075e-01 4.45259214e-02 1.97808274e+02] [-6.84692202e-01 7.27572922e-01 -4.28279325e-02 -1.20786321e+02] [-6.17771045e-02 6.15498551e-04 9.98089781e-01 -1.00984259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:-120.81, Z:-10.10 [[ 7.26961632e-01 6.85277499e-01 4.38353215e-02 1.97830722e+02] [-6.83977092e-01 7.28281720e-01 -4.22027757e-02 -1.20810258e+02] [-6.08450759e-02 6.97442957e-04 9.98146978e-01 -1.00992798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:197.85, Y:-120.84, Z:-10.10 [[ 7.27260067e-01 6.84941765e-01 4.41313261e-02 1.97852429e+02] [-6.83620435e-01 7.28597418e-01 -4.25311949e-02 -1.20835305e+02] [-6.12853620e-02 7.62163268e-04 9.98119995e-01 -1.01004215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88864 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:197.88, Y:-120.86, Z:-10.10 [[ 7.26278406e-01 6.85975353e-01 4.42435637e-02 1.97875557e+02] [-6.84646527e-01 7.27624432e-01 -4.26827701e-02 -1.20859574e+02] [-6.14720262e-02 7.08371968e-04 9.98108555e-01 -1.01023595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:197.90, Y:-120.88, Z:-10.10 [[ 7.24683606e-01 6.87707117e-01 4.35039449e-02 1.97897226e+02] [-6.86423040e-01 7.25988005e-01 -4.20098391e-02 -1.20883589e+02] [-6.04738075e-02 5.81731568e-04 9.98169615e-01 -1.01031873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.92, Y:-120.91, Z:-10.11 [[ 7.20477912e-01 6.92035665e-01 4.47014138e-02 1.97916948e+02] [-6.90685554e-01 7.21863265e-01 -4.32075426e-02 -1.20910091e+02] [-6.21694690e-02 2.55459314e-04 9.98065575e-01 -1.01053998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.94, Y:-120.93, Z:-10.11 [[ 7.18077774e-01 6.94546017e-01 4.43862672e-02 1.97939649e+02] [-6.93216918e-01 7.19448278e-01 -4.29474112e-02 -1.20933605e+02] [-6.17625769e-02 7.02700793e-05 9.98090867e-01 -1.01053845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:-120.96, Z:-10.11 [[ 7.12978214e-01 6.99733230e-01 4.51162134e-02 1.97961046e+02] [-6.98367537e-01 7.14404145e-01 -4.36978337e-02 -1.20957133e+02] [-6.28080362e-02 -3.52095374e-04 9.98025564e-01 -1.01066500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.98, Y:-120.98, Z:-10.11 [[ 7.10915137e-01 7.01788346e-01 4.57469659e-02 1.97983862e+02] [-7.00385791e-01 7.12385328e-01 -4.43496194e-02 -1.20979773e+02] [-6.37135133e-02 -5.11709164e-04 9.97968099e-01 -1.01081587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.01, Y:-121.00, Z:-10.11 [[ 7.09080489e-01 7.03593172e-01 4.64920258e-02 1.98007258e+02] [-7.02145666e-01 7.10602716e-01 -4.51136819e-02 -1.21002233e+02] [-6.47790383e-02 -6.54942845e-04 9.97899417e-01 -1.01089003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.03, Y:-121.02, Z:-10.11 [[ 7.06954266e-01 7.05709221e-01 4.67991552e-02 1.98031541e+02] [-7.04244390e-01 7.08501105e-01 -4.54535352e-02 -1.21023845e+02] [-6.52342321e-02 -8.24471914e-04 9.97869638e-01 -1.01104342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.06, Y:-121.05, Z:-10.11 [[ 7.06502248e-01 7.06165267e-01 4.67460044e-02 1.98055474e+02] [-7.04701904e-01 7.08046551e-01 -4.54456615e-02 -1.21046136e+02] [-6.51904949e-02 -8.34536308e-04 9.97872488e-01 -1.01116771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.08, Y:-121.07, Z:-10.11 [[ 7.07044694e-01 7.05620058e-01 4.67774915e-02 1.98080170e+02] [-7.04150408e-01 7.08589987e-01 -4.55239930e-02 -1.21068156e+02] [-6.52687047e-02 -7.50891999e-04 9.97867442e-01 -1.01135622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.10, Y:-121.09, Z:-10.11 [[ 7.07351496e-01 7.05332033e-01 4.64820883e-02 1.98104242e+02] [-7.03877333e-01 7.08876753e-01 -4.52818933e-02 -1.21089633e+02] [-6.48888416e-02 -6.87473387e-04 9.97892262e-01 -1.01149132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21864 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:198.13, Y:-121.11, Z:-10.12 [[ 7.07177781e-01 7.05438635e-01 4.74965062e-02 1.98128646e+02] [-7.03917054e-01 7.08770673e-01 -4.63132143e-02 -1.21111370e+02] [-6.63352613e-02 -6.81924567e-04 9.97797158e-01 -1.01162302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.15, Y:-121.13, Z:-10.12 [[ 7.07446531e-01 7.05193241e-01 4.71370317e-02 1.98152813e+02] [-7.03691321e-01 7.09014883e-01 -4.60045736e-02 -1.21133304e+02] [-6.58629713e-02 -6.24144136e-04 9.97828482e-01 -1.01168026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.18, Y:-121.16, Z:-10.12 [[ 7.07557221e-01 7.05071455e-01 4.72971749e-02 1.98176530e+02] [-7.03556069e-01 7.09136026e-01 -4.62055664e-02 -1.21155888e+02] [-6.61183566e-02 -5.83132253e-04 9.97811617e-01 -1.01186791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.20, Y:-121.18, Z:-10.12 [[ 7.08114450e-01 7.04586439e-01 4.61722294e-02 1.98199825e+02] [-7.03138443e-01 7.09618000e-01 -4.51511191e-02 -1.21178708e+02] [-6.45775113e-02 -4.93309611e-04 9.97912572e-01 -1.01192997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:198.22, Y:-121.20, Z:-10.12 [[ 7.07706184e-01 7.05012677e-01 4.59247410e-02 1.98222823e+02] [-7.03578298e-01 7.09194526e-01 -4.49522213e-02 -1.21201844e+02] [-6.42614608e-02 -4.98686077e-04 9.97932972e-01 -1.01200243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:198.25, Y:-121.23, Z:-10.12 [[ 7.07751866e-01 7.04877900e-01 4.72698753e-02 1.98245570e+02] [-7.03354739e-01 7.09328505e-01 -4.63161246e-02 -1.21225027e+02] [-6.61770826e-02 -4.67167232e-04 9.97807785e-01 -1.01227391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.27, Y:-121.25, Z:-10.12 [[ 7.05903131e-01 7.06689628e-01 4.78595811e-02 1.98268419e+02] [-7.05129922e-01 7.07523418e-01 -4.69298034e-02 -1.21246932e+02] [-6.70265797e-02 -6.19327565e-04 9.97750998e-01 -1.01238270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:-121.27, Z:-10.12 [[ 7.04496194e-01 7.08183633e-01 4.64871492e-02 1.98292626e+02] [-7.06713533e-01 7.06027921e-01 -4.56131231e-02 -1.21268339e+02] [-6.51236926e-02 -7.18825838e-04 9.97876940e-01 -1.01241239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.32, Y:-121.29, Z:-10.13 [[ 7.02467698e-01 7.10244008e-01 4.57447495e-02 1.98317667e+02] [-7.08822146e-01 7.03955042e-01 -4.49273190e-02 -1.21290016e+02] [-6.41116062e-02 -8.64901157e-04 9.97942360e-01 -1.01260514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:198.34, Y:-121.31, Z:-10.13 [[ 7.01208994e-01 7.11468591e-01 4.60259686e-02 1.98341024e+02] [-7.10028869e-01 7.02717254e-01 -4.52489383e-02 -1.21312551e+02] [-6.45364407e-02 -9.50803900e-04 9.97914898e-01 -1.01272611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51864 meters Centerline goodness [0,1] 0.9997052321296979 Centerline is valid? [True, True] Translation: X:198.37, Y:-121.34, Z:-10.13 [[ 7.00462723e-01 7.12200601e-01 4.60681740e-02 1.98365755e+02] [-7.10756987e-01 7.01975303e-01 -4.53340902e-02 -1.21335019e+02] [-6.46256867e-02 -9.88436215e-04 9.97909086e-01 -1.01274534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54864 meters Centerline goodness [0,1] 0.9998037484054558 Centerline is valid? [True, True] Translation: X:198.39, Y:-121.35, Z:-10.13 [[ 7.00099861e-01 7.12557280e-01 4.60685026e-02 1.98392594e+02] [-7.11111325e-01 7.01613246e-01 -4.53821140e-02 -1.21354504e+02] [-6.46596274e-02 -9.87822207e-04 9.97906888e-01 -1.01283409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.42, Y:-121.38, Z:-10.13 [[ 6.99879308e-01 7.12722518e-01 4.68568726e-02 1.98418138e+02] [-7.11223726e-01 7.01445394e-01 -4.62079051e-02 -1.21375807e+02] [-6.58009520e-02 -9.85762892e-04 9.97832282e-01 -1.01299905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60864 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:198.44, Y:-121.40, Z:-10.13 [[ 7.00929431e-01 7.11760426e-01 4.57714762e-02 1.98442908e+02] [-7.10325404e-01 7.02421800e-01 -4.51822494e-02 -1.21396818e+02] [-6.43098198e-02 -8.43073968e-04 9.97929625e-01 -1.01327904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63864 meters Centerline goodness [0,1] 0.9997544083697627 Centerline is valid? [True, True] Translation: X:198.47, Y:-121.42, Z:-10.13 [[ 7.01052990e-01 7.11614301e-01 4.61496662e-02 1.98466886e+02] [-7.10152255e-01 7.02569881e-01 -4.55997485e-02 -1.21419399e+02] [-6.48727986e-02 -8.05449493e-04 9.97893216e-01 -1.01335565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66864 meters Centerline goodness [0,1] 0.999803536345776 Centerline is valid? [True, True] Translation: X:198.49, Y:-121.44, Z:-10.13 [[ 7.01600339e-01 7.11089782e-01 4.59160823e-02 1.98491615e+02] [-7.09638474e-01 7.03100848e-01 -4.54140289e-02 -1.21440141e+02] [-6.45770883e-02 -7.21320491e-04 9.97912461e-01 -1.01336040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69864 meters Centerline goodness [0,1] 0.9997543842412929 Centerline is valid? [True, True] Translation: X:198.52, Y:-121.46, Z:-10.13 [[ 7.01257342e-01 7.11437117e-01 4.57752082e-02 1.98516052e+02] [-7.09992653e-01 7.02749393e-01 -4.53180205e-02 -1.21462765e+02] [-6.44094217e-02 -7.20466918e-04 9.97923297e-01 -1.01343289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72864 meters Centerline goodness [0,1] 0.9998522822394013 Centerline is valid? [True, True] Translation: X:198.54, Y:-121.49, Z:-10.14 [[ 7.00959849e-01 7.11748034e-01 4.54975362e-02 1.98540106e+02] [-7.10318690e-01 7.02434502e-01 -4.50902344e-02 -1.21485242e+02] [-6.40519249e-02 -7.11306402e-04 9.97946314e-01 -1.01368944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:198.56, Y:-121.51, Z:-10.14 [[ 6.99729949e-01 7.12947026e-01 4.56567357e-02 1.98564435e+02] [-7.11507128e-01 7.01217451e-01 -4.52956158e-02 -1.21507989e+02] [-6.43086744e-02 -7.90393965e-04 9.97929742e-01 -1.01384457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78864000000002 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:198.59, Y:-121.53, Z:-10.14 [[ 6.98618912e-01 7.14080585e-01 4.49503428e-02 1.98588822e+02] [-7.12684354e-01 7.00062996e-01 -4.46409380e-02 -1.21530367e+02] [-6.33452988e-02 -8.48402494e-04 9.97991309e-01 -1.01394049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81864000000002 meters Centerline goodness [0,1] 0.9997051741929144 Centerline is valid? [True, True] Translation: X:198.61, Y:-121.55, Z:-10.14 [[ 6.96293474e-01 7.16356819e-01 4.48141206e-02 1.98613280e+02] [-7.14970991e-01 6.97733376e-01 -4.45490528e-02 -1.21550737e+02] [-6.31813254e-02 -1.02158155e-03 9.98001541e-01 -1.01401749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84864000000002 meters Centerline goodness [0,1] 0.9998527462818436 Centerline is valid? [True, True] Translation: X:198.64, Y:-121.57, Z:-10.14 [[ 6.94902654e-01 7.17652931e-01 4.56571118e-02 1.98637236e+02] [-7.16214615e-01 6.96400020e-01 -4.54272753e-02 -1.21572560e+02] [-6.43966308e-02 -1.13275652e-03 9.97923740e-01 -1.01417434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87864000000002 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:198.66, Y:-121.59, Z:-10.14 [[ 6.94163444e-01 7.18364487e-01 4.57118940e-02 1.98664654e+02] [-7.16921421e-01 6.95665937e-01 -4.55256013e-02 -1.21592548e+02] [-6.45041828e-02 -1.16962777e-03 9.97916751e-01 -1.01432575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90864000000002 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:198.69, Y:-121.62, Z:-10.14 [[ 6.93787159e-01 7.18729414e-01 4.56881541e-02 1.98687940e+02] [-7.17285570e-01 6.95288905e-01 -4.55494180e-02 -1.21615312e+02] [-6.45041731e-02 -1.16985230e-03 9.97916752e-01 -1.01446030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93864 meters Centerline goodness [0,1] 0.9997053913385053 Centerline is valid? [True, True] Translation: X:198.71, Y:-121.64, Z:-10.15 [[ 6.93497836e-01 7.19063470e-01 4.48160532e-02 1.98712554e+02] [-7.17672162e-01 6.94943459e-01 -4.47242376e-02 -1.21635693e+02] [-6.33041885e-02 -1.14707184e-03 9.97993619e-01 -1.01462528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96864 meters Centerline goodness [0,1] 0.9997543601080816 Centerline is valid? [True, True] Translation: X:198.74, Y:-121.66, Z:-10.15 [[ 6.93238162e-01 7.19287589e-01 4.52351060e-02 1.98737894e+02] [-7.17867789e-01 6.94711484e-01 -4.51861803e-02 -1.21656422e+02] [-6.39272063e-02 -1.14804096e-03 9.97953904e-01 -1.01477451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99864 meters Centerline goodness [0,1] 0.9995579567779961 Centerline is valid? [True, True] Translation: X:198.77, Y:-121.67, Z:-10.15 [[ 6.94084900e-01 7.18432545e-01 4.58348066e-02 1.98766236e+02] [-7.16969806e-01 6.95595842e-01 -4.58336348e-02 -1.21674975e+02] [-6.48108758e-02 -1.04973852e-03 9.97897013e-01 -1.01493095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02864 meters Centerline goodness [0,1] 0.9995088891071604 Centerline is valid? [True, True] Translation: X:198.64, Y:-121.92, Z:-8.45 [[ 7.64496114e-01 -6.44517256e-01 -1.19665217e-02 1.98641243e+02] [-6.44367084e-01 -7.64583052e-01 1.42764675e-02 -1.21921219e+02] [-1.83508294e-02 -3.20347117e-03 -9.99826477e-01 -8.45349472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05864 meters Centerline goodness [0,1] 0.9997546855068198 Centerline is valid? [True, True] Translation: X:198.79, Y:-121.70, Z:-10.15 [[ 7.44806519e-01 6.65477492e-01 4.90199612e-02 1.98787758e+02] [-6.64117700e-01 7.46417400e-01 -4.25293486e-02 -1.21695982e+02] [-6.48916762e-02 -8.78887806e-04 9.97891927e-01 -1.01506383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08864 meters Centerline goodness [0,1] 0.9998527173646227 Centerline is valid? [True, True] Translation: X:198.81, Y:-121.71, Z:-10.15 [[ 7.45463977e-01 6.64772931e-01 4.85840460e-02 1.98814769e+02] [-6.63433646e-01 7.47045068e-01 -4.21836988e-02 -1.21714168e+02] [-6.43370530e-02 -7.85862848e-04 9.97927916e-01 -1.01521132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11864 meters Centerline goodness [0,1] 0.999901927131859 Centerline is valid? [True, True] Translation: X:198.84, Y:-121.73, Z:-10.15 [[ 7.46701920e-01 6.63273740e-01 5.00418637e-02 1.98843490e+02] [-6.61848642e-01 7.48376576e-01 -4.34611865e-02 -1.21729836e+02] [-6.62768223e-02 -6.67588167e-04 9.97801051e-01 -1.01544057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14864 meters Centerline goodness [0,1] 0.9997546373540093 Centerline is valid? [True, True] Translation: X:198.87, Y:-121.75, Z:-10.16 [[ 7.48034485e-01 6.61785459e-01 4.98439220e-02 1.98870083e+02] [-6.60367563e-01 7.49693091e-01 -4.33006903e-02 -1.21748569e+02] [-6.60234111e-02 -5.24899759e-04 9.97817936e-01 -1.01563521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17864 meters Centerline goodness [0,1] 0.9997548178296475 Centerline is valid? [True, True] Translation: X:198.90, Y:-121.76, Z:-10.16 [[ 7.51155186e-01 6.58358033e-01 4.82761608e-02 1.98899126e+02] [-6.57020166e-01 7.52704894e-01 -4.19504980e-02 -1.21764960e+02] [-6.39561498e-02 -2.07077039e-04 9.97952688e-01 -1.01573846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20864 meters Centerline goodness [0,1] 0.9999017826449934 Centerline is valid? [True, True] Translation: X:198.93, Y:-121.78, Z:-10.16 [[ 7.53106924e-01 6.56140958e-01 4.80520931e-02 1.98925514e+02] [-6.54810165e-01 7.54638352e-01 -4.17684707e-02 -1.21782991e+02] [-6.36679568e-02 -8.87446935e-06 9.97971137e-01 -1.01583098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23864 meters Centerline goodness [0,1] 0.9995094432180525 Centerline is valid? [True, True] Translation: X:198.95, Y:-121.80, Z:-10.16 [[ 7.55364758e-01 6.53513263e-01 4.84200198e-02 1.98952185e+02] [-6.52155872e-01 7.56915032e-01 -4.20993300e-02 -1.21801768e+02] [-6.41623114e-02 2.22949955e-04 9.97939451e-01 -1.01597627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26864 meters Centerline goodness [0,1] 0.9994596187856161 Centerline is valid? [True, True] Translation: X:198.98, Y:-121.82, Z:-10.16 [[ 7.59680709e-01 6.48560931e-01 4.74756709e-02 1.98979110e+02] [-6.47245639e-01 7.61162474e-01 -4.12888834e-02 -1.21819626e+02] [-6.29150558e-02 6.37947285e-04 9.98018682e-01 -1.01618116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29864 meters Centerline goodness [0,1] 0.9988717747473757 Centerline is valid? [True, True] Translation: X:199.00, Y:-121.84, Z:-10.16 [[ 7.62018363e-01 6.45829159e-01 4.72515903e-02 1.99004114e+02] [-6.44520398e-01 7.63481464e-01 -4.11036677e-02 -1.21839038e+02] [-6.26216605e-02 8.67135828e-04 9.98036961e-01 -1.01637278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32864 meters Centerline goodness [0,1] 0.9987679873841908 Centerline is valid? [True, True] Translation: X:199.03, Y:-121.86, Z:-10.17 [[ 7.66319317e-01 6.40746558e-01 4.68887386e-02 1.99029520e+02] [-6.39447862e-01 7.67751400e-01 -4.07948343e-02 -1.21857492e+02] [-6.21380444e-02 1.27896583e-03 9.98066745e-01 -1.01653366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35864 meters Centerline goodness [0,1] 0.9983312883435583 Centerline is valid? [True, True] Translation: X:199.05, Y:-121.88, Z:-10.17 [[ 7.67689415e-01 6.39067734e-01 4.73855808e-02 1.99053302e+02] [-6.37737764e-01 7.69149122e-01 -4.12331398e-02 -1.21878420e+02] [-6.27973472e-02 1.43467065e-03 9.98025268e-01 -1.01670679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38864 meters Centerline goodness [0,1] 0.9984259714707329 Centerline is valid? [True, True] Translation: X:199.08, Y:-121.90, Z:-10.17 [[ 7.69339285e-01 6.37131630e-01 4.66942238e-02 1.99076839e+02] [-6.35836243e-01 7.70753402e-01 -4.06382207e-02 -1.21899696e+02] [-6.18816276e-02 1.57469978e-03 9.98082253e-01 -1.01679237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41864 meters Centerline goodness [0,1] 0.9981798504525777 Centerline is valid? [True, True] Translation: X:199.10, Y:-121.92, Z:-10.17 [[ 7.70723043e-01 6.35535777e-01 4.56099485e-02 1.99098693e+02] [-6.34296729e-01 7.72069617e-01 -3.97009579e-02 -1.21923030e+02] [-6.04454346e-02 1.66820195e-03 9.98170109e-01 -1.01695666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44864 meters Centerline goodness [0,1] 0.9982801827920004 Centerline is valid? [True, True] Translation: X:199.12, Y:-121.95, Z:-10.17 [[ 7.71687998e-01 6.34362657e-01 4.56251315e-02 1.99120853e+02] [-6.33120143e-01 7.73033565e-01 -3.97239405e-02 -1.21946859e+02] [-6.04691425e-02 1.76829838e-03 9.98168501e-01 -1.01710955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47864 meters Centerline goodness [0,1] 0.9986738051967189 Centerline is valid? [True, True] Translation: X:199.14, Y:-121.97, Z:-10.17 [[ 7.71821733e-01 6.34221123e-01 4.53296754e-02 1.99143624e+02] [-6.32993844e-01 7.73149672e-01 -3.94763007e-02 -1.21969625e+02] [-6.00833275e-02 1.77526133e-03 9.98191786e-01 -1.01718106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50864 meters Centerline goodness [0,1] 0.9984268226734182 Centerline is valid? [True, True] Translation: X:199.17, Y:-121.99, Z:-10.17 [[ 7.71563512e-01 6.34505865e-01 4.57389656e-02 1.99165834e+02] [-6.33256204e-01 7.72916005e-01 -3.98425617e-02 -1.21993470e+02] [-6.06327177e-02 1.77658315e-03 9.98158563e-01 -1.01742564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53864000000002 meters Centerline goodness [0,1] 0.9993126472898665 Centerline is valid? [True, True] Translation: X:199.19, Y:-122.02, Z:-10.18 [[ 7.69978741e-01 6.36287785e-01 4.76507308e-02 1.99185477e+02] [-6.34934099e-01 7.71449881e-01 -4.15183145e-02 -1.22020278e+02] [-6.31777471e-02 1.71314571e-03 9.98000820e-01 -1.01758752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56864000000002 meters Centerline goodness [0,1] 0.9995580436063641 Centerline is valid? [True, True] Translation: X:199.21, Y:-122.04, Z:-10.18 [[ 7.69214667e-01 6.37208501e-01 4.76877684e-02 1.99206956e+02] [-6.35853769e-01 7.70689699e-01 -4.15616589e-02 -1.22044098e+02] [-6.32359143e-02 1.64739032e-03 9.97997247e-01 -1.01763117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59864000000002 meters Centerline goodness [0,1] 0.9994599106397604 Centerline is valid? [True, True] Translation: X:199.23, Y:-122.07, Z:-10.18 [[ 7.67255773e-01 6.39604786e-01 4.71624431e-02 1.99227302e+02] [-6.38283537e-01 7.68702566e-01 -4.11155931e-02 -1.22069493e+02] [-6.25516211e-02 1.44316513e-03 9.98040687e-01 -1.01788116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62864000000002 meters Centerline goodness [0,1] 0.9995570866141732 Centerline is valid? [True, True] Translation: X:199.25, Y:-122.09, Z:-10.18 [[ 7.66159500e-01 6.41009515e-01 4.58957822e-02 1.99248730e+02] [-6.39760263e-01 7.67531831e-01 -4.00211716e-02 -1.22093242e+02] [-6.08804255e-02 1.30030307e-03 9.98144220e-01 -1.01802607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65864000000002 meters Centerline goodness [0,1] 0.9999018308545624 Centerline is valid? [True, True] Translation: X:199.27, Y:-122.12, Z:-10.18 [[ 7.62307310e-01 6.45468564e-01 4.75173401e-02 1.99268111e+02] [-6.44137269e-01 7.63786199e-01 -4.14466067e-02 -1.22120772e+02] [-6.30455703e-02 9.87361625e-04 9.98010161e-01 -1.01810233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68864 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:199.29, Y:-122.14, Z:-10.18 [[ 7.60293687e-01 6.47729528e-01 4.89894694e-02 1.99291759e+02] [-6.46317448e-01 7.61869901e-01 -4.27552313e-02 -1.22144202e+02] [-6.50174280e-02 8.43783526e-04 9.97883772e-01 -1.01818056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71864 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:199.32, Y:-122.17, Z:-10.18 [[ 7.58172827e-01 6.50139996e-01 4.99194359e-02 1.99315748e+02] [-6.48675964e-01 7.59814134e-01 -4.36116438e-02 -1.22166641e+02] [-6.62831669e-02 6.83625012e-04 9.97800619e-01 -1.01826411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.34, Y:-122.19, Z:-10.18 [[ 7.54901951e-01 6.53982879e-01 4.92893309e-02 1.99338079e+02] [-6.52561034e-01 7.56509256e-01 -4.31027025e-02 -1.22189442e+02] [-6.54762645e-02 3.74017486e-04 9.97854057e-01 -1.01842703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.36, Y:-122.21, Z:-10.19 [[ 7.53775666e-01 6.55251395e-01 4.96775202e-02 1.99362414e+02] [-6.53807060e-01 7.55410830e-01 -4.34834020e-02 -1.22211433e+02] [-6.60194965e-02 2.97216788e-04 9.97818289e-01 -1.01856937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.39, Y:-122.23, Z:-10.19 [[ 7.52859774e-01 6.56320904e-01 4.94472597e-02 1.99388167e+02] [-6.54889313e-01 7.54481819e-01 -4.33263426e-02 -1.22232123e+02] [-6.57430428e-02 2.36178631e-04 9.97836558e-01 -1.01870069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83864 meters Centerline goodness [0,1] 0.9997544566124834 Centerline is valid? [True, True] Translation: X:199.41, Y:-122.25, Z:-10.19 [[ 7.52515285e-01 6.56783616e-01 4.85389203e-02 1.99413192e+02] [-6.55402471e-01 7.54079062e-01 -4.25719282e-02 -1.22252001e+02] [-6.45627285e-02 2.23498427e-04 9.97913626e-01 -1.01877562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:199.44, Y:-122.27, Z:-10.19 [[ 7.51950607e-01 6.57514347e-01 4.73831961e-02 1.99437912e+02] [-6.56197363e-01 7.53442001e-01 -4.15953328e-02 -1.22272170e+02] [-6.30500182e-02 1.84907388e-04 9.98010351e-01 -1.01890046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.46, Y:-122.29, Z:-10.19 [[ 7.52247158e-01 6.57289104e-01 4.57738718e-02 1.99463390e+02] [-6.56057877e-01 7.53638498e-01 -4.02128758e-02 -1.22292589e+02] [-6.09284371e-02 2.19712368e-04 9.98142113e-01 -1.01906155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92864 meters Centerline goodness [0,1] 0.9999016764170886 Centerline is valid? [True, True] Translation: X:199.49, Y:-122.31, Z:-10.19 [[ 7.52217807e-01 6.57372961e-01 4.50462071e-02 1.99489191e+02] [-6.56179191e-01 7.53565351e-01 -3.95996482e-02 -1.22313009e+02] [-5.99769988e-02 2.29176871e-04 9.98199733e-01 -1.01917961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95864 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:199.52, Y:-122.33, Z:-10.19 [[ 7.52224315e-01 6.57315547e-01 4.57695423e-02 1.99515321e+02] [-6.56080406e-01 7.53615418e-01 -4.02778071e-02 -1.22333136e+02] [-6.09678616e-02 2.69445920e-04 9.98139693e-01 -1.01928507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98864 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:199.54, Y:-122.35, Z:-10.19 [[ 7.53129237e-01 6.56203641e-01 4.68309148e-02 1.99540851e+02] [-6.54905727e-01 7.54583741e-01 -4.12536906e-02 -1.22353289e+02] [-6.24086689e-02 3.99526212e-04 9.98050599e-01 -1.01948916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:199.56, Y:-122.37, Z:-10.20 [[ 7.53198517e-01 6.56070035e-01 4.75825960e-02 1.99564939e+02] [-6.54727380e-01 7.54699881e-01 -4.19541123e-02 -1.22374171e+02] [-6.34354155e-02 4.46146711e-04 9.97985846e-01 -1.01960273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04864 meters Centerline goodness [0,1] 0.9997544083697627 Centerline is valid? [True, True] Translation: X:199.59, Y:-122.40, Z:-10.20 [[ 7.53543685e-01 6.55690283e-01 4.73515430e-02 1.99590446e+02] [-6.54357413e-01 7.55029799e-01 -4.17896893e-02 -1.22395050e+02] [-6.31529192e-02 5.05523267e-04 9.98003734e-01 -1.01962715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:199.62, Y:-122.42, Z:-10.20 [[ 7.53445997e-01 6.55827732e-01 4.70012393e-02 1.99615924e+02] [-6.54512132e-01 7.54910401e-01 -4.15229517e-02 -1.22416434e+02] [-6.27136276e-02 5.22420369e-04 9.98031426e-01 -1.01975870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10864 meters Centerline goodness [0,1] 0.9996564754379939 Centerline is valid? [True, True] Translation: X:199.64, Y:-122.44, Z:-10.20 [[ 7.52694318e-01 6.56699961e-01 4.68660341e-02 1.99641553e+02] [-6.55390958e-01 7.54151796e-01 -4.14458829e-02 -1.22437988e+02] [-6.25616135e-02 4.80505596e-04 9.98040988e-01 -1.02004345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13864 meters Centerline goodness [0,1] 0.999901772997397 Centerline is valid? [True, True] Translation: X:199.67, Y:-122.46, Z:-10.20 [[ 7.52371464e-01 6.57082510e-01 4.66878439e-02 1.99667081e+02] [-6.55781548e-01 7.53818510e-01 -4.13305583e-02 -1.22459719e+02] [-6.23517479e-02 4.78906164e-04 9.98054122e-01 -1.02014899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16864 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:199.69, Y:-122.48, Z:-10.20 [[ 7.51260520e-01 6.58363779e-01 4.65270381e-02 1.99692036e+02] [-6.57071612e-01 7.52699789e-01 -4.12301393e-02 -1.22480986e+02] [-6.21653221e-02 4.02979955e-04 9.98065785e-01 -1.02022255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19864 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:199.72, Y:-122.50, Z:-10.20 [[ 7.50514591e-01 6.59173246e-01 4.71007470e-02 1.99716960e+02] [-6.57848548e-01 7.51991023e-01 -4.17706665e-02 -1.22500769e+02] [-6.29534447e-02 3.64336647e-04 9.98016398e-01 -1.02044917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22864 meters Centerline goodness [0,1] 0.9997055792727808 Centerline is valid? [True, True] Translation: X:199.74, Y:-122.52, Z:-10.21 [[ 7.49717533e-01 6.60054739e-01 4.74485227e-02 1.99742988e+02] [-6.58710740e-01 7.51217443e-01 -4.21012397e-02 -1.22521312e+02] [-6.34332807e-02 3.09186072e-04 9.97986034e-01 -1.02051395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25864 meters Centerline goodness [0,1] 0.9997055070187494 Centerline is valid? [True, True] Translation: X:199.77, Y:-122.54, Z:-10.21 [[ 7.49390347e-01 6.60358380e-01 4.83830357e-02 1.99767653e+02] [-6.58959391e-01 7.50950539e-01 -4.29628832e-02 -1.22541446e+02] [-6.47041666e-02 3.13514189e-04 9.97904441e-01 -1.02066426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28864000000002 meters Centerline goodness [0,1] 0.9996071884513404 Centerline is valid? [True, True] Translation: X:199.79, Y:-122.56, Z:-10.21 [[ 7.48880024e-01 6.60916631e-01 4.86612365e-02 1.99793500e+02] [-6.59501149e-01 7.50459276e-01 -4.32331838e-02 -1.22562656e+02] [-6.50918065e-02 2.84326321e-04 9.97879239e-01 -1.02080920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31864000000002 meters Centerline goodness [0,1] 0.9999018404907976 Centerline is valid? [True, True] Translation: X:199.82, Y:-122.58, Z:-10.21 [[ 7.48103972e-01 6.61718459e-01 4.96903332e-02 1.99818246e+02] [-6.60241268e-01 7.49752371e-01 -4.41910562e-02 -1.22583630e+02] [-6.64974828e-02 2.51896061e-04 9.97786561e-01 -1.02105455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34864000000002 meters Centerline goodness [0,1] 0.9997055214723927 Centerline is valid? [True, True] Translation: X:199.84, Y:-122.61, Z:-10.21 [[ 7.47883805e-01 6.61932784e-01 5.01478263e-02 1.99843478e+02] [-6.60425867e-01 7.49563152e-01 -4.46402935e-02 -1.22605231e+02] [-6.71378364e-02 2.66830920e-04 9.97743674e-01 -1.02124319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37864000000002 meters Centerline goodness [0,1] 0.9999016909162407 Centerline is valid? [True, True] Translation: X:199.87, Y:-122.63, Z:-10.21 [[ 7.47632946e-01 6.62191072e-01 5.04773415e-02 1.99869019e+02] [-6.60661730e-01 7.49334976e-01 -4.49796947e-02 -1.22625739e+02] [-6.76095897e-02 2.79853904e-04 9.97711815e-01 -1.02141367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40864000000002 meters Centerline goodness [0,1] 0.9997048986818807 Centerline is valid? [True, True] Translation: X:199.89, Y:-122.65, Z:-10.22 [[ 7.47498115e-01 6.62364255e-01 5.02012076e-02 1.99894566e+02] [-6.60848933e-01 7.49181891e-01 -4.47792586e-02 -1.22647481e+02] [-6.72700159e-02 2.96996867e-04 9.97734763e-01 -1.02150876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43864 meters Centerline goodness [0,1] 0.9998527101335428 Centerline is valid? [True, True] Translation: X:199.92, Y:-122.67, Z:-10.22 [[ 7.47390424e-01 6.62514623e-01 4.98189564e-02 1.99919706e+02] [-6.61019612e-01 7.49048914e-01 -4.44836761e-02 -1.22668831e+02] [-6.67879211e-02 3.15366341e-04 9.97767144e-01 -1.02165029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46864 meters Centerline goodness [0,1] 0.9997544566124834 Centerline is valid? [True, True] Translation: X:199.95, Y:-122.69, Z:-10.22 [[ 7.47928042e-01 6.61914441e-01 4.97284245e-02 1.99945559e+02] [-6.60420499e-01 7.49579289e-01 -4.44483254e-02 -1.22690161e+02] [-6.66963856e-02 4.02478029e-04 9.97773236e-01 -1.02171584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49864 meters Centerline goodness [0,1] 0.9995577612893716 Centerline is valid? [True, True] Translation: X:199.97, Y:-122.71, Z:-10.22 [[ 7.48437868e-01 6.61262351e-01 5.07233797e-02 1.99969418e+02] [-6.59704203e-01 7.50154557e-01 -4.53707579e-02 -1.22711269e+02] [-6.80523484e-02 4.94766580e-04 9.97681629e-01 -1.02189625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52864 meters Centerline goodness [0,1] 0.999754516889238 Centerline is valid? [True, True] Translation: X:199.99, Y:-122.73, Z:-10.22 [[ 7.48440161e-01 6.61124922e-01 5.24515290e-02 1.99992414e+02] [-6.59456579e-01 7.50275645e-01 -4.69412085e-02 -1.22734065e+02] [-7.03871075e-02 5.43179785e-04 9.97519604e-01 -1.02207261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55864 meters Centerline goodness [0,1] 0.9996074582924436 Centerline is valid? [True, True] Translation: X:200.02, Y:-122.76, Z:-10.22 [[ 7.48657107e-01 6.60923307e-01 5.18933454e-02 2.00017143e+02] [-6.59286799e-01 7.50453220e-01 -4.64852811e-02 -1.22755475e+02] [-6.96667339e-02 5.88938505e-04 9.97570148e-01 -1.02223078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58864 meters Centerline goodness [0,1] 0.9998527535093747 Centerline is valid? [True, True] Translation: X:200.04, Y:-122.78, Z:-10.22 [[ 7.48229491e-01 6.61451261e-01 5.13308707e-02 2.00041390e+02] [-6.59848284e-01 7.49987938e-01 -4.60253647e-02 -1.22776195e+02] [-6.89410694e-02 5.66948219e-04 9.97620573e-01 -1.02243155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61864 meters Centerline goodness [0,1] 0.9998527607361963 Centerline is valid? [True, True] Translation: X:200.06, Y:-122.80, Z:-10.23 [[ 7.47415530e-01 6.62415894e-01 5.07465101e-02 2.00064578e+02] [-6.60848740e-01 7.49136123e-01 -4.55413231e-02 -1.22798218e+02] [-6.81833401e-02 5.02524839e-04 9.97672682e-01 -1.02265956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64864 meters Centerline goodness [0,1] 0.9995097798911712 Centerline is valid? [True, True] Translation: X:200.09, Y:-122.82, Z:-10.23 [[ 7.46943520e-01 6.63017220e-01 4.98351642e-02 2.00087588e+02] [-6.61504613e-01 7.48603998e-01 -4.47627172e-02 -1.22820499e+02] [-6.69852555e-02 4.69030518e-04 9.97753855e-01 -1.02272300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67864 meters Centerline goodness [0,1] 0.9993625263570833 Centerline is valid? [True, True] Translation: X:200.11, Y:-122.84, Z:-10.23 [[ 7.46112542e-01 6.63974560e-01 4.95364347e-02 2.00111573e+02] [-6.62479391e-01 7.47755050e-01 -4.45358450e-02 -1.22843434e+02] [-6.66117873e-02 4.11885385e-04 9.97778883e-01 -1.02271948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70864 meters Centerline goodness [0,1] 0.9994603345925526 Centerline is valid? [True, True] Translation: X:200.14, Y:-122.87, Z:-10.23 [[ 7.45047879e-01 6.65181283e-01 4.93712320e-02 2.00135733e+02] [-6.63695723e-01 7.46681825e-01 -4.44324300e-02 -1.22866730e+02] [-6.64202223e-02 3.36812224e-04 9.97791682e-01 -1.02285319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73864 meters Centerline goodness [0,1] 0.9995581737849779 Centerline is valid? [True, True] Translation: X:200.16, Y:-122.89, Z:-10.23 [[ 7.44925284e-01 6.65396681e-01 4.83071270e-02 2.00159864e+02] [-6.63972252e-01 7.46489879e-01 -4.35167659e-02 -1.22888633e+02] [-6.50166930e-02 3.42147249e-04 9.97884118e-01 -1.02291168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76864 meters Centerline goodness [0,1] 0.9993617752466984 Centerline is valid? [True, True] Translation: X:200.18, Y:-122.91, Z:-10.23 [[ 7.44429193e-01 6.65927135e-01 4.86438898e-02 2.00184720e+02] [-6.64481142e-01 7.46016717e-01 -4.38619283e-02 -1.22911109e+02] [-6.54980032e-02 3.29152393e-04 9.97852646e-01 -1.02297123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79864 meters Centerline goodness [0,1] 0.9997054491899853 Centerline is valid? [True, True] Translation: X:200.21, Y:-122.93, Z:-10.23 [[ 7.43328997e-01 6.67021032e-01 5.04474463e-02 2.00209208e+02] [-6.65465090e-01 7.45038835e-01 -4.55340262e-02 -1.22932631e+02] [-6.79574598e-02 2.75747642e-04 9.97688182e-01 -1.02323682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82864 meters Centerline goodness [0,1] 0.9997054491899853 Centerline is valid? [True, True] Translation: X:200.23, Y:-122.95, Z:-10.23 [[ 7.42987517e-01 6.67403022e-01 5.04257447e-02 2.00233606e+02] [-6.65846328e-01 7.44696671e-01 -4.55580510e-02 -1.22954213e+02] [-6.79574651e-02 2.73266319e-04 9.97688182e-01 -1.02337105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85864 meters Centerline goodness [0,1] 0.9996069954804481 Centerline is valid? [True, True] Translation: X:200.26, Y:-122.98, Z:-10.23 [[ 7.42631250e-01 6.67783187e-01 5.06403162e-02 2.00258001e+02] [-6.66210844e-01 7.44355788e-01 -4.57992519e-02 -1.22976554e+02] [-6.82783828e-02 2.74827880e-04 9.97666270e-01 -1.02349203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88864 meters Centerline goodness [0,1] 0.9990186938815564 Centerline is valid? [True, True] Translation: X:200.28, Y:-123.00, Z:-10.24 [[ 7.43702352e-01 6.66587069e-01 5.06802824e-02 2.00282273e+02] [-6.65006217e-01 7.45427060e-01 -4.58827808e-02 -1.22999487e+02] [-6.83633223e-02 4.20429141e-04 9.97660403e-01 -1.02370599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91864 meters Centerline goodness [0,1] 0.999362838798216 Centerline is valid? [True, True] Translation: X:200.31, Y:-123.02, Z:-10.24 [[ 7.44204664e-01 6.66032800e-01 5.05937485e-02 2.00306470e+02] [-6.64452843e-01 7.45922284e-01 -4.58515640e-02 -1.23021661e+02] [-6.82776500e-02 5.05787718e-04 9.97666230e-01 -1.02380746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94864 meters Centerline goodness [0,1] 0.998822663723326 Centerline is valid? [True, True] Translation: X:200.33, Y:-123.04, Z:-10.24 [[ 7.45255176e-01 6.64841749e-01 5.07953882e-02 2.00330598e+02] [-6.63243319e-01 7.46983952e-01 -4.60790017e-02 -1.23042917e+02] [-6.85785839e-02 6.50912638e-04 9.97645505e-01 -1.02402187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97864 meters Centerline goodness [0,1] 0.9989678560896491 Centerline is valid? [True, True] Translation: X:200.35, Y:-123.07, Z:-10.24 [[ 7.47297370e-01 6.62616921e-01 4.98543570e-02 2.00354506e+02] [-6.61069451e-01 7.48957982e-01 -4.52672320e-02 -1.23066054e+02] [-6.73336525e-02 8.70890950e-04 9.97730134e-01 -1.02404937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00864 meters Centerline goodness [0,1] 0.9990187901682774 Centerline is valid? [True, True] Translation: X:200.38, Y:-123.09, Z:-10.24 [[ 7.47743041e-01 6.62012666e-01 5.11817749e-02 2.00378031e+02] [-6.60377036e-01 7.49492002e-01 -4.65178378e-02 -1.23088579e+02] [-6.91557288e-02 9.84120739e-04 9.97605391e-01 -1.02429467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03864000000002 meters Centerline goodness [0,1] 0.9989689709347996 Centerline is valid? [True, True] Translation: X:200.40, Y:-123.11, Z:-10.24 [[ 7.48016960e-01 6.61684319e-01 5.14245969e-02 2.00400474e+02] [-6.60029473e-01 7.49781808e-01 -4.67796461e-02 -1.23112309e+02] [-6.95105855e-02 1.05021905e-03 9.97580661e-01 -1.02449218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06864000000002 meters Centerline goodness [0,1] 0.9988712210443659 Centerline is valid? [True, True] Translation: X:200.42, Y:-123.14, Z:-10.25 [[ 7.47235828e-01 6.62566864e-01 5.14175859e-02 2.00423951e+02] [-6.60911535e-01 7.49002103e-01 -4.68165914e-02 -1.23135545e+02] [-6.95310021e-02 1.00055884e-03 9.97579289e-01 -1.02463878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09864000000002 meters Centerline goodness [0,1] 0.9991160438049403 Centerline is valid? [True, True] Translation: X:200.45, Y:-123.16, Z:-10.25 [[ 7.47286880e-01 6.62535922e-01 5.10731946e-02 2.00447145e+02] [-6.60900334e-01 7.49029444e-01 -4.65364386e-02 -1.23158592e+02] [-6.90873888e-02 1.02177866e-03 9.97610089e-01 -1.02463658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12864000000002 meters Centerline goodness [0,1] 0.9993118364136846 Centerline is valid? [True, True] Translation: X:200.47, Y:-123.18, Z:-10.25 [[ 7.46144512e-01 6.63880396e-01 5.03108962e-02 2.00468780e+02] [-6.62294699e-01 7.47838221e-01 -4.58664012e-02 -1.23182347e+02] [-6.80742157e-02 9.02323715e-04 9.97679852e-01 -1.02498134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15864000000002 meters Centerline goodness [0,1] 0.9991653983995287 Centerline is valid? [True, True] Translation: X:200.49, Y:-123.21, Z:-10.25 [[ 7.45117239e-01 6.65051464e-01 5.00684590e-02 2.00491428e+02] [-6.63480934e-01 7.46797077e-01 -4.56856148e-02 -1.23205130e+02] [-6.77742639e-02 8.21671186e-04 9.97700343e-01 -1.02518196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18864 meters Centerline goodness [0,1] 0.9990661555096825 Centerline is valid? [True, True] Translation: X:200.51, Y:-123.23, Z:-10.25 [[ 7.44357189e-01 6.65856523e-01 5.06701683e-02 2.00514250e+02] [-6.64246843e-01 7.46079397e-01 -4.62781238e-02 -1.23228554e+02] [-6.86185592e-02 7.89954816e-04 9.97642656e-01 -1.02540441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21864 meters Centerline goodness [0,1] 0.9995578916343273 Centerline is valid? [True, True] Translation: X:200.54, Y:-123.25, Z:-10.26 [[ 7.44232159e-01 6.65991774e-01 5.07291886e-02 2.00538717e+02] [-6.64375414e-01 7.45958642e-01 -4.63790160e-02 -1.23250681e+02] [-6.87299197e-02 8.13529528e-04 9.97634971e-01 -1.02553981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24864 meters Centerline goodness [0,1] 0.9987717401984868 Centerline is valid? [True, True] Translation: X:200.56, Y:-123.27, Z:-10.26 [[ 7.43897376e-01 6.66395263e-01 5.03393247e-02 2.00562895e+02] [-6.64801423e-01 7.45598220e-01 -4.60691138e-02 -1.23272949e+02] [-6.82331501e-02 8.05038195e-04 9.97669078e-01 -1.02559165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27864 meters Centerline goodness [0,1] 0.998819768871404 Centerline is valid? [True, True] Translation: X:200.59, Y:-123.30, Z:-10.26 [[ 7.42581113e-01 6.67854413e-01 5.04358435e-02 2.00586617e+02] [-6.66254583e-01 7.44291598e-01 -4.62044037e-02 -1.23296262e+02] [-6.83967894e-02 7.07405623e-04 9.97657947e-01 -1.02576658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30864 meters Centerline goodness [0,1] 0.9986740005893331 Centerline is valid? [True, True] Translation: X:200.61, Y:-123.32, Z:-10.26 [[ 7.41781574e-01 6.68739331e-01 5.04757776e-02 2.00611435e+02] [-6.67135756e-01 7.43496651e-01 -4.62883643e-02 -1.23318772e+02] [-6.84834214e-02 6.61659656e-04 9.97652035e-01 -1.02600150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33864 meters Centerline goodness [0,1] 0.998967246975509 Centerline is valid? [True, True] Translation: X:200.64, Y:-123.34, Z:-10.26 [[ 7.41745883e-01 6.68890606e-01 4.89734877e-02 2.00635425e+02] [-6.67378636e-01 7.43360559e-01 -4.49537031e-02 -1.23340021e+02] [-6.64740690e-02 6.60364777e-04 9.97787934e-01 -1.02608928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36864 meters Centerline goodness [0,1] 0.9986744562816045 Centerline is valid? [True, True] Translation: X:200.66, Y:-123.36, Z:-10.26 [[ 7.42257801e-01 6.68261332e-01 4.98010984e-02 2.00659657e+02] [-6.66693572e-01 7.43926217e-01 -4.57544084e-02 -1.23361629e+02] [-6.76242446e-02 7.59494374e-04 9.97710572e-01 -1.02632043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39864 meters Centerline goodness [0,1] 0.9988696677806173 Centerline is valid? [True, True] Translation: X:200.68, Y:-123.38, Z:-10.26 [[ 7.42399879e-01 6.68156257e-01 4.90880495e-02 2.00683311e+02] [-6.66630232e-01 7.44020562e-01 -4.51391020e-02 -1.23383142e+02] [-6.66824916e-02 7.87686085e-04 9.97773935e-01 -1.02641087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42864 meters Centerline goodness [0,1] 0.9987234251485245 Centerline is valid? [True, True] Translation: X:200.71, Y:-123.41, Z:-10.26 [[ 7.42880190e-01 6.67572011e-01 4.97657925e-02 2.00707284e+02] [-6.65999435e-01 7.44544715e-01 -4.58030643e-02 -1.23405191e+02] [-6.76297015e-02 8.82199420e-04 9.97710101e-01 -1.02649062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45864 meters Centerline goodness [0,1] 0.9983797319192812 Centerline is valid? [True, True] Translation: X:200.73, Y:-123.43, Z:-10.27 [[ 7.42755512e-01 6.67703260e-01 4.98658717e-02 2.00731910e+02] [-6.66121737e-01 7.44426987e-01 -4.59379193e-02 -1.23427766e+02] [-6.77943991e-02 9.03901683e-04 9.97698904e-01 -1.02661306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48864 meters Centerline goodness [0,1] 0.998475759661717 Centerline is valid? [True, True] Translation: X:200.76, Y:-123.45, Z:-10.27 [[ 7.42889092e-01 6.67633424e-01 4.87996751e-02 2.00755865e+02] [-6.66115908e-01 7.44489598e-01 -4.49981858e-02 -1.23449799e+02] [-6.63731433e-02 9.22421488e-04 9.97794445e-01 -1.02665943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51864 meters Centerline goodness [0,1] 0.9991151312555304 Centerline is valid? [True, True] Translation: X:200.78, Y:-123.47, Z:-10.27 [[ 7.42351917e-01 6.68227282e-01 4.88459929e-02 2.00779699e+02] [-6.66705372e-01 7.43956643e-01 -4.50828120e-02 -1.23473426e+02] [-6.64648659e-02 9.01426066e-04 9.97788359e-01 -1.02675155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54864 meters Centerline goodness [0,1] 0.9995093228655545 Centerline is valid? [True, True] Translation: X:200.80, Y:-123.50, Z:-10.27 [[ 7.42024722e-01 6.68515322e-01 4.98655797e-02 2.00803595e+02] [-6.66926734e-01 7.43697791e-01 -4.60687311e-02 -1.23495597e+02] [-6.78825741e-02 9.27449204e-04 9.97692887e-01 -1.02689585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57864 meters Centerline goodness [0,1] 0.9994106958699602 Centerline is valid? [True, True] Translation: X:200.83, Y:-123.52, Z:-10.27 [[ 7.41367702e-01 6.69273030e-01 4.94726334e-02 2.00826167e+02] [-6.67708380e-01 7.43016040e-01 -4.57458724e-02 -1.23518525e+02] [-6.73754388e-02 8.81220430e-04 9.97727304e-01 -1.02694023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60864 meters Centerline goodness [0,1] 0.9996563573883162 Centerline is valid? [True, True] Translation: X:200.85, Y:-123.54, Z:-10.27 [[ 7.40798894e-01 6.69952315e-01 4.87944028e-02 2.00849629e+02] [-6.68429164e-01 7.42403659e-01 -4.51581631e-02 -1.23540826e+02] [-6.64789592e-02 8.37515414e-04 9.97787476e-01 -1.02718537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63864 meters Centerline goodness [0,1] 0.9994592202939875 Centerline is valid? [True, True] Translation: X:200.87, Y:-123.56, Z:-10.27 [[ 7.40572570e-01 6.70256573e-01 4.80457663e-02 2.00872888e+02] [-6.68777944e-01 7.42128994e-01 -4.45041359e-02 -1.23563330e+02] [-6.54853458e-02 8.26593525e-04 9.97853189e-01 -1.02727983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66864 meters Centerline goodness [0,1] 0.9996564248552077 Centerline is valid? [True, True] Translation: X:200.90, Y:-123.58, Z:-10.27 [[ 7.40835644e-01 6.69907715e-01 4.88487680e-02 2.00896341e+02] [-6.68375736e-01 7.42443829e-01 -4.52883689e-02 -1.23584924e+02] [-6.66064941e-02 9.01906664e-04 9.97778914e-01 -1.02737800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.92, Y:-123.61, Z:-10.28 [[ 7.40237386e-01 6.70566821e-01 4.88748570e-02 2.00918755e+02] [-6.69031816e-01 7.41848619e-01 -4.53547718e-02 -1.23608617e+02] [-6.66711503e-02 8.74463320e-04 9.97774620e-01 -1.02754851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72864 meters Centerline goodness [0,1] 0.9998037098832073 Centerline is valid? [True, True] Translation: X:200.94, Y:-123.63, Z:-10.28 [[ 7.39747905e-01 6.71147691e-01 4.83095568e-02 2.00941705e+02] [-6.69646443e-01 7.41323184e-01 -4.48729016e-02 -1.23631897e+02] [-6.59293388e-02 8.44312050e-04 9.97823937e-01 -1.02771427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75864 meters Centerline goodness [0,1] 0.9998033721673303 Centerline is valid? [True, True] Translation: X:200.96, Y:-123.65, Z:-10.28 [[ 7.39448642e-01 6.71521678e-01 4.76900564e-02 2.00964520e+02] [-6.70056969e-01 7.40984445e-01 -4.43363224e-02 -1.23654904e+02] [-6.51103916e-02 8.29378772e-04 9.97877722e-01 -1.02777119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78864000000002 meters Centerline goodness [0,1] 0.9994599371563236 Centerline is valid? [True, True] Translation: X:200.99, Y:-123.68, Z:-10.28 [[ 7.38962800e-01 6.72068406e-01 4.75188104e-02 2.00987105e+02] [-6.70612659e-01 7.40488624e-01 -4.42183102e-02 -1.23678796e+02] [-6.49048678e-02 8.08970528e-04 9.97891128e-01 -1.02793652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81864000000002 meters Centerline goodness [0,1] 0.999214569731481 Centerline is valid? [True, True] Translation: X:201.01, Y:-123.70, Z:-10.28 [[ 7.38201304e-01 6.72957646e-01 4.67636743e-02 2.01009984e+02] [-6.71546936e-01 7.39680636e-01 -4.35576465e-02 -1.23700972e+02] [-6.39026356e-02 7.50309214e-04 9.97955856e-01 -1.02799276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84864000000002 meters Centerline goodness [0,1] 0.9996566439397655 Centerline is valid? [True, True] Translation: X:201.03, Y:-123.72, Z:-10.28 [[ 7.36201403e-01 6.75208236e-01 4.58402962e-02 2.01032050e+02] [-6.73854730e-01 7.37626946e-01 -4.27351421e-02 -1.23724318e+02] [-6.26681576e-02 5.71971151e-04 9.98034255e-01 -1.02801300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87864000000002 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:201.06, Y:-123.75, Z:-10.28 [[ 7.35579436e-01 6.75917866e-01 4.53644325e-02 2.01056051e+02] [-6.74591244e-01 7.36976765e-01 -4.23308483e-02 -1.23746902e+02] [-6.20447094e-02 5.35252548e-04 9.98073228e-01 -1.02812248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90864000000002 meters Centerline goodness [0,1] 0.999754516889238 Centerline is valid? [True, True] Translation: X:201.08, Y:-123.77, Z:-10.28 [[ 7.35097028e-01 6.76367849e-01 4.64638782e-02 2.01078115e+02] [-6.74974230e-01 7.36563806e-01 -4.33998764e-02 -1.23770328e+02] [-6.35778920e-02 5.41199745e-04 9.97976733e-01 -1.02843240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93864 meters Centerline goodness [0,1] 0.9995572826995918 Centerline is valid? [True, True] Translation: X:201.10, Y:-123.79, Z:-10.29 [[ 7.35286168e-01 6.76181660e-01 4.61802342e-02 2.01101961e+02] [-6.74802105e-01 7.36734702e-01 -4.31751863e-02 -1.23793926e+02] [-6.32168502e-02 5.83597976e-04 9.97999644e-01 -1.02852977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96864 meters Centerline goodness [0,1] 0.9993612107513145 Centerline is valid? [True, True] Translation: X:201.13, Y:-123.82, Z:-10.29 [[ 7.35589529e-01 6.75840511e-01 4.63427323e-02 2.01125620e+02] [-6.74447714e-01 7.37047613e-01 -4.33716166e-02 -1.23816701e+02] [-6.34690958e-02 6.47957129e-04 9.97983594e-01 -1.02867462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99864 meters Centerline goodness [0,1] 0.9996563573883162 Centerline is valid? [True, True] Translation: X:201.15, Y:-123.84, Z:-10.29 [[ 7.36448506e-01 6.74945377e-01 4.57420745e-02 2.01148242e+02] [-6.73584026e-01 7.37867318e-01 -4.28530195e-02 -1.23840895e+02] [-6.26750293e-02 7.47911493e-04 9.98033708e-01 -1.02865005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02864 meters Centerline goodness [0,1] 0.9993127147766323 Centerline is valid? [True, True] Translation: X:201.17, Y:-123.86, Z:-10.29 [[ 7.36388538e-01 6.75053689e-01 4.51047476e-02 2.01171289e+02] [-6.73727594e-01 7.37768215e-01 -4.22988066e-02 -1.23864931e+02] [-6.18308146e-02 7.60043282e-04 9.98086355e-01 -1.02868060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05864 meters Centerline goodness [0,1] 0.9990185012514109 Centerline is valid? [True, True] Translation: X:201.19, Y:-123.89, Z:-10.29 [[ 7.35534110e-01 6.75984269e-01 4.51092160e-02 2.01192415e+02] [-6.74656964e-01 7.36915706e-01 -4.23464713e-02 -1.23891259e+02] [-6.18672383e-02 7.14027393e-04 9.98084132e-01 -1.02874240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08864 meters Centerline goodness [0,1] 0.999116174015516 Centerline is valid? [True, True] Translation: X:201.22, Y:-123.91, Z:-10.29 [[ 7.34227465e-01 6.77391765e-01 4.52816327e-02 2.01215309e+02] [-6.76054244e-01 7.35622185e-01 -4.25518504e-02 -1.23914638e+02] [-6.21344467e-02 6.29897282e-04 9.98067590e-01 -1.02894095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11864 meters Centerline goodness [0,1] 0.9993127485150459 Centerline is valid? [True, True] Translation: X:201.24, Y:-123.94, Z:-10.29 [[ 7.32827919e-01 6.78904732e-01 4.52946556e-02 2.01239043e+02] [-6.77566600e-01 7.34226177e-01 -4.26077841e-02 -1.23937835e+02] [-6.21831481e-02 5.34027990e-04 9.98064613e-01 -1.02911757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14864 meters Centerline goodness [0,1] 0.9995089132249668 Centerline is valid? [True, True] Translation: X:201.26, Y:-123.96, Z:-10.29 [[ 7.29811515e-01 6.82136381e-01 4.54434880e-02 2.01261045e+02] [-6.80793026e-01 7.31224913e-01 -4.27899895e-02 -1.23961287e+02] [-6.24180191e-02 2.91017353e-04 9.98050052e-01 -1.02920241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17864 meters Centerline goodness [0,1] 0.9994100294985251 Centerline is valid? [True, True] Translation: X:201.28, Y:-123.98, Z:-10.29 [[ 7.28984674e-01 6.82969476e-01 4.61956668e-02 2.01284698e+02] [-6.81580252e-01 7.30446870e-01 -4.35399832e-02 -1.23984230e+02] [-6.34799597e-02 2.53926269e-04 9.97983081e-01 -1.02931885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20864 meters Centerline goodness [0,1] 0.9996561041513142 Centerline is valid? [True, True] Translation: X:201.31, Y:-124.01, Z:-10.29 [[ 7.27742874e-01 6.84207436e-01 4.74393579e-02 2.01307719e+02] [-6.82741991e-01 7.29287427e-01 -4.47573779e-02 -1.24007218e+02] [-6.52202580e-02 1.83021136e-04 9.97870876e-01 -1.02942205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23864 meters Centerline goodness [0,1] 0.9991159135559922 Centerline is valid? [True, True] Translation: X:201.33, Y:-124.03, Z:-10.30 [[ 7.27222207e-01 6.84715633e-01 4.80870411e-02 2.01331991e+02] [-6.83208056e-01 7.28810313e-01 -4.54123274e-02 -1.24029081e+02] [-6.61408620e-02 1.71399049e-04 9.97810281e-01 -1.02961438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26864 meters Centerline goodness [0,1] 0.9996068602879749 Centerline is valid? [True, True] Translation: X:201.36, Y:-124.05, Z:-10.30 [[ 7.26375471e-01 6.85574911e-01 4.86386235e-02 2.01356602e+02] [-6.84031193e-01 7.28002077e-01 -4.59815513e-02 -1.24050948e+02] [-6.69328169e-02 1.29535360e-04 9.97757476e-01 -1.02984479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29864 meters Centerline goodness [0,1] 0.9998528618372652 Centerline is valid? [True, True] Translation: X:201.38, Y:-124.07, Z:-10.30 [[ 7.25146762e-01 6.86883629e-01 4.85082901e-02 2.01381747e+02] [-6.85347893e-01 7.26767417e-01 -4.59062905e-02 -1.24072195e+02] [-6.67865241e-02 4.37435413e-05 9.97767287e-01 -1.02996548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32864 meters Centerline goodness [0,1] 0.9994592202939875 Centerline is valid? [True, True] Translation: X:201.41, Y:-124.09, Z:-10.30 [[ 7.24489758e-01 6.87635275e-01 4.76688521e-02 2.01405864e+02] [-6.86150983e-01 7.26056285e-01 -4.51563956e-02 -1.24093515e+02] [-6.56614001e-02 7.31634549e-06 9.97841962e-01 -1.02996137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35864 meters Centerline goodness [0,1] 0.9994588744588745 Centerline is valid? [True, True] Translation: X:201.43, Y:-124.11, Z:-10.30 [[ 7.23719195e-01 6.88502978e-01 4.68420270e-02 2.01431830e+02] [-6.87069000e-01 7.25233512e-01 -4.44133116e-02 -1.24113632e+02] [-6.45501051e-02 -4.09384673e-05 9.97914466e-01 -1.02995260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38864 meters Centerline goodness [0,1] 0.9997046081134305 Centerline is valid? [True, True] Translation: X:201.46, Y:-124.13, Z:-10.30 [[ 7.23131591e-01 6.89086209e-01 4.73381364e-02 2.01457356e+02] [-6.87620035e-01 7.24679373e-01 -4.49276583e-02 -1.24134990e+02] [-6.52640007e-02 -6.20419673e-05 9.97868031e-01 -1.03027194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41864 meters Centerline goodness [0,1] 0.9995573480228211 Centerline is valid? [True, True] Translation: X:201.48, Y:-124.16, Z:-10.30 [[ 7.22240312e-01 6.90052241e-01 4.68704200e-02 2.01482150e+02] [-6.88614679e-01 7.23759552e-01 -4.45189177e-02 -1.24155038e+02] [-6.46432932e-02 -1.22302196e-04 9.97908428e-01 -1.03046622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44864 meters Centerline goodness [0,1] 0.9996069568635157 Centerline is valid? [True, True] Translation: X:201.51, Y:-124.18, Z:-10.31 [[ 7.20946269e-01 6.91417811e-01 4.66678351e-02 2.01507908e+02] [-6.89993819e-01 7.22455092e-01 -4.43527833e-02 -1.24176612e+02] [-6.43817195e-02 -2.24544126e-04 9.97925320e-01 -1.03058715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47864 meters Centerline goodness [0,1] 0.9996071691627793 Centerline is valid? [True, True] Translation: X:201.53, Y:-124.20, Z:-10.31 [[ 7.19880772e-01 6.92527144e-01 4.66672105e-02 2.01534038e+02] [-6.91102475e-01 7.21391759e-01 -4.43993026e-02 -1.24197463e+02] [-6.44130633e-02 -2.89620439e-04 9.97923280e-01 -1.03068915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:201.56, Y:-124.22, Z:-10.31 [[ 7.18368116e-01 6.94095087e-01 4.66825450e-02 2.01562288e+02] [-6.92669757e-01 7.19883222e-01 -4.44607096e-02 -1.24215501e+02] [-6.44659410e-02 -3.96430923e-04 9.97919829e-01 -1.03086151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53864000000002 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:201.59, Y:-124.24, Z:-10.31 [[ 7.17640356e-01 6.94799867e-01 4.73863289e-02 2.01587697e+02] [-6.93329726e-01 7.19203001e-01 -4.51766949e-02 -1.24235918e+02] [-6.54691516e-02 -4.33731026e-04 9.97854499e-01 -1.03098168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.61, Y:-124.26, Z:-10.31 [[ 7.17294018e-01 6.95196945e-01 4.68027673e-02 2.01612155e+02] [-6.93761040e-01 7.18819183e-01 -4.46609530e-02 -1.24256474e+02] [-6.46908851e-02 -4.34902074e-04 9.97905256e-01 -1.03116313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59864000000002 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:201.64, Y:-124.28, Z:-10.31 [[ 7.17252214e-01 6.95246217e-01 4.67114436e-02 2.01639359e+02] [-6.93813234e-01 7.18771544e-01 -4.46168681e-02 -1.24275519e+02] [-6.45945652e-02 -4.07470323e-04 9.97911507e-01 -1.03120589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62864000000002 meters Centerline goodness [0,1] 0.9997541910427216 Centerline is valid? [True, True] Translation: X:201.67, Y:-124.30, Z:-10.31 [[ 7.17755527e-01 6.94783053e-01 4.58640654e-02 2.01665197e+02] [-6.93397934e-01 7.19219300e-01 -4.38509181e-02 -1.24295101e+02] [-6.34531958e-02 -3.27809343e-04 9.97984762e-01 -1.03139399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65864000000002 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:201.69, Y:-124.31, Z:-10.32 [[ 7.18955716e-01 6.93506113e-01 4.63891072e-02 2.01692716e+02] [-6.92083640e-01 7.20450718e-01 -4.43959302e-02 -1.24313517e+02] [-6.42099145e-02 -1.86434383e-04 9.97936397e-01 -1.03168858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68864 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:201.72, Y:-124.34, Z:-10.32 [[ 7.18592964e-01 6.93883536e-01 4.63658263e-02 2.01716462e+02] [-6.92460280e-01 7.20087219e-01 -4.44202353e-02 -1.24335796e+02] [-6.42099089e-02 -1.86424503e-04 9.97936397e-01 -1.03182276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71864 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:201.74, Y:-124.36, Z:-10.32 [[ 7.19495610e-01 6.92906842e-01 4.69699475e-02 2.01741200e+02] [-6.91441028e-01 7.21027117e-01 -4.50466467e-02 -1.24357014e+02] [-6.50797356e-02 -6.60842342e-05 9.97880065e-01 -1.03205584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74864 meters Centerline goodness [0,1] 0.9998032948119007 Centerline is valid? [True, True] Translation: X:201.77, Y:-124.38, Z:-10.32 [[ 7.21709143e-01 6.90479128e-01 4.87287147e-02 2.01765797e+02] [-6.88892668e-01 7.23352291e-01 -4.67798473e-02 -1.24377142e+02] [-6.75485356e-02 1.92589216e-04 9.97715971e-01 -1.03238425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:201.79, Y:-124.40, Z:-10.32 [[ 7.22543608e-01 6.89582324e-01 4.90607182e-02 2.01790945e+02] [-6.87969127e-01 7.24207238e-01 -4.71418874e-02 -1.24398226e+02] [-6.80383395e-02 3.09809892e-04 9.97682659e-01 -1.03247194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80864 meters Centerline goodness [0,1] 0.9999018308545624 Centerline is valid? [True, True] Translation: X:201.82, Y:-124.42, Z:-10.33 [[ 7.24544709e-01 6.87518770e-01 4.85067620e-02 2.01815892e+02] [-6.85934013e-01 7.26166412e-01 -4.66569599e-02 -1.24419891e+02] [-6.73015170e-02 5.32615517e-04 9.97732540e-01 -1.03257858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:201.84, Y:-124.44, Z:-10.33 [[ 7.25368311e-01 6.86630019e-01 4.87855474e-02 2.01838697e+02] [-6.85021956e-01 7.27006735e-01 -4.69694228e-02 -1.24441932e+02] [-6.77180373e-02 6.50959804e-04 9.97704287e-01 -1.03274328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86864 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:201.86, Y:-124.46, Z:-10.33 [[ 7.26116716e-01 6.85789887e-01 4.94646012e-02 2.01862587e+02] [-6.84131942e-01 7.27799175e-01 -4.76638878e-02 -1.24464282e+02] [-6.86877082e-02 7.69231989e-04 9.97637914e-01 -1.03270073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89864 meters Centerline goodness [0,1] 0.9998528979111503 Centerline is valid? [True, True] Translation: X:201.89, Y:-124.49, Z:-10.33 [[ 7.26877895e-01 6.84907677e-01 5.04975226e-02 2.01887658e+02] [-6.83174490e-01 7.28629302e-01 -4.87027319e-02 -1.24485147e+02] [-7.01508496e-02 9.02320026e-04 9.97535986e-01 -1.03284667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:201.91, Y:-124.51, Z:-10.33 [[ 7.26960509e-01 6.84850621e-01 5.00803906e-02 2.01911370e+02] [-6.83143673e-01 7.28682904e-01 -4.83316349e-02 -1.24507113e+02] [-6.95926747e-02 9.23087867e-04 9.97575064e-01 -1.03294804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:201.94, Y:-124.53, Z:-10.33 [[ 7.26110687e-01 6.85791738e-01 4.95273854e-02 2.01935041e+02] [-6.84122713e-01 7.27797349e-01 -4.78239649e-02 -1.24528624e+02] [-6.88431798e-02 8.42682779e-04 9.97627138e-01 -1.03312430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98864 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:201.96, Y:-124.55, Z:-10.33 [[ 7.25353518e-01 6.86621665e-01 4.91219166e-02 2.01959794e+02] [-6.84978929e-01 7.27014489e-01 -4.74742012e-02 -1.24550101e+02] [-6.83091602e-02 7.88101005e-04 9.97663890e-01 -1.03311034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01864 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:201.98, Y:-124.57, Z:-10.33 [[ 7.24942728e-01 6.87113482e-01 4.83022231e-02 2.01984889e+02] [-6.85523541e-01 7.26549714e-01 -4.67224562e-02 -1.24570082e+02] [-6.71975960e-02 7.58793890e-04 9.97739399e-01 -1.03329383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04864 meters Centerline goodness [0,1] 0.9998037291462217 Centerline is valid? [True, True] Translation: X:202.01, Y:-124.59, Z:-10.33 [[ 7.24830763e-01 6.87180016e-01 4.90305124e-02 2.02008384e+02] [-6.85538978e-01 7.26486747e-01 -4.74690990e-02 -1.24591877e+02] [-6.82398337e-02 7.94735910e-04 9.97668629e-01 -1.03346713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07864 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:202.03, Y:-124.61, Z:-10.33 [[ 7.23975928e-01 6.88066968e-01 4.92209721e-02 2.02032291e+02] [-6.86412125e-01 7.25646809e-01 -4.76980407e-02 -1.24614557e+02] [-6.85364876e-02 7.46361192e-04 9.97648331e-01 -1.03348331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10864 meters Centerline goodness [0,1] 0.9999018645731109 Centerline is valid? [True, True] Translation: X:202.06, Y:-124.64, Z:-10.34 [[ 7.23434130e-01 6.88577943e-01 5.00347499e-02 2.02056527e+02] [-6.86865799e-01 7.25161957e-01 -4.85335991e-02 -1.24635177e+02] [-6.97024630e-02 7.43703542e-04 9.97567548e-01 -1.03368992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.08, Y:-124.66, Z:-10.34 [[ 7.22520519e-01 6.89556031e-01 4.97652429e-02 2.02080810e+02] [-6.87861653e-01 7.24232022e-01 -4.83148574e-02 -1.24656830e+02] [-6.93573839e-02 6.76873625e-04 9.97591647e-01 -1.03382113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:202.10, Y:-124.68, Z:-10.34 [[ 7.21447971e-01 6.90615729e-01 5.06235213e-02 2.02104278e+02] [-6.88861821e-01 7.23221636e-01 -4.91920409e-02 -1.24678822e+02] [-7.05848230e-02 6.16887004e-04 9.97505590e-01 -1.03416115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:202.13, Y:-124.70, Z:-10.34 [[ 7.21997818e-01 6.90149755e-01 4.91168759e-02 2.02127517e+02] [-6.88494898e-01 7.23666266e-01 -4.77693544e-02 -1.24701365e+02] [-6.85122344e-02 6.72651210e-04 9.97650050e-01 -1.03430738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22864 meters Centerline goodness [0,1] 0.9998529483848831 Centerline is valid? [True, True] Translation: X:202.15, Y:-124.72, Z:-10.34 [[ 7.22601106e-01 6.89485522e-01 4.95717392e-02 2.02151020e+02] [-6.87795321e-01 7.24299052e-01 -4.82543213e-02 -1.24722789e+02] [-6.91754196e-02 7.73415615e-04 9.97604212e-01 -1.03439188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25864 meters Centerline goodness [0,1] 0.9997547697287753 Centerline is valid? [True, True] Translation: X:202.18, Y:-124.74, Z:-10.34 [[ 7.23984428e-01 6.88099427e-01 4.86387245e-02 2.02176969e+02] [-6.86466247e-01 7.25615829e-01 -4.73894612e-02 -1.24743440e+02] [-6.79016895e-02 9.20389281e-04 9.97691592e-01 -1.03445163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28864000000002 meters Centerline goodness [0,1] 0.9997056514913658 Centerline is valid? [True, True] Translation: X:202.20, Y:-124.77, Z:-10.35 [[ 7.24198407e-01 6.87890077e-01 4.84139308e-02 2.02200927e+02] [-6.86268308e-01 7.25814233e-01 -4.72176765e-02 -1.24766582e+02] [-6.76200912e-02 9.70019753e-04 9.97710671e-01 -1.03466934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31864000000002 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:202.22, Y:-124.79, Z:-10.35 [[ 7.23888805e-01 6.88270422e-01 4.76321731e-02 2.02221728e+02] [-6.86698554e-01 7.25453597e-01 -4.64991851e-02 -1.24791926e+02] [-6.65589451e-02 9.51295097e-04 9.97782041e-01 -1.03473934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.24, Y:-124.81, Z:-10.35 [[ 7.24218519e-01 6.87774040e-01 4.97434112e-02 2.02244260e+02] [-6.86055335e-01 7.25924044e-01 -4.86041154e-02 -1.24814946e+02] [-6.95385871e-02 1.07326779e-03 9.97578685e-01 -1.03505359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37864000000002 meters Centerline goodness [0,1] 0.9998037484054558 Centerline is valid? [True, True] Translation: X:202.27, Y:-124.84, Z:-10.35 [[ 7.24677823e-01 6.87340104e-01 4.90472582e-02 2.02266895e+02] [-6.85665208e-01 7.26334841e-01 -4.79679207e-02 -1.24839235e+02] [-6.85950081e-02 1.13128986e-03 9.97643947e-01 -1.03509776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40864 meters Centerline goodness [0,1] 0.9998035942256702 Centerline is valid? [True, True] Translation: X:202.29, Y:-124.86, Z:-10.35 [[ 7.24122495e-01 6.87929502e-01 4.89858489e-02 2.02288974e+02] [-6.86256882e-01 7.25776668e-01 -4.79553986e-02 -1.24864164e+02] [-6.85427197e-02 1.10870686e-03 9.97647566e-01 -1.03528096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43864 meters Centerline goodness [0,1] 0.999754480726737 Centerline is valid? [True, True] Translation: X:202.31, Y:-124.89, Z:-10.35 [[ 7.23364077e-01 6.88756708e-01 4.85655034e-02 2.02309972e+02] [-6.87111512e-01 7.24991783e-01 -4.75887057e-02 -1.24888410e+02] [-6.79866312e-02 1.05404377e-03 9.97685675e-01 -1.03547335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46864 meters Centerline goodness [0,1] 0.9996069568635157 Centerline is valid? [True, True] Translation: X:202.33, Y:-124.91, Z:-10.35 [[ 7.22124911e-01 6.90170703e-01 4.69043006e-02 2.02330133e+02] [-6.88636638e-01 7.23646017e-01 -4.60002461e-02 -1.24913927e+02] [-6.56901325e-02 9.17903745e-04 9.97839648e-01 -1.03541608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49864 meters Centerline goodness [0,1] 0.999607091989588 Centerline is valid? [True, True] Translation: X:202.35, Y:-124.94, Z:-10.36 [[ 7.20881832e-01 6.91450068e-01 4.71824842e-02 2.02352744e+02] [-6.89897620e-01 7.22423769e-01 -4.63160064e-02 -1.24937811e+02] [-6.61109539e-02 8.37284004e-04 9.97811927e-01 -1.03559239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52864 meters Centerline goodness [0,1] 0.9997547336407339 Centerline is valid? [True, True] Translation: X:202.37, Y:-124.96, Z:-10.36 [[ 7.20496154e-01 6.91884386e-01 4.67042610e-02 2.02373209e+02] [-6.90361167e-01 7.22007839e-01 -4.58926949e-02 -1.24964301e+02] [-6.54732816e-02 8.22702069e-04 9.97853984e-01 -1.03564134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55864 meters Centerline goodness [0,1] 0.9996562561382832 Centerline is valid? [True, True] Translation: X:202.40, Y:-124.99, Z:-10.36 [[ 7.20719511e-01 6.91670130e-01 4.64307929e-02 2.02395124e+02] [-6.90161267e-01 7.22213039e-01 -4.56700349e-02 -1.24988548e+02] [-6.51215230e-02 8.70550337e-04 9.97876961e-01 -1.03577854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58864 meters Centerline goodness [0,1] 0.9995577830188679 Centerline is valid? [True, True] Translation: X:202.42, Y:-125.01, Z:-10.36 [[ 7.20760311e-01 6.91559860e-01 4.74292628e-02 2.02417073e+02] [-6.89982039e-01 7.22318552e-01 -4.66979116e-02 -1.25011849e+02] [-6.65534376e-02 9.32661868e-04 9.97782426e-01 -1.03586749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61864 meters Centerline goodness [0,1] 0.9993627450980392 Centerline is valid? [True, True] Translation: X:202.44, Y:-125.04, Z:-10.36 [[ 7.20606359e-01 6.91672415e-01 4.81221944e-02 2.02438524e+02] [-6.90045479e-01 7.22210728e-01 -4.74225734e-02 -1.25035859e+02] [-6.75552509e-02 9.66505289e-04 9.97715067e-01 -1.03600502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64864 meters Centerline goodness [0,1] 0.9996565597095476 Centerline is valid? [True, True] Translation: X:202.46, Y:-125.06, Z:-10.36 [[ 7.20523607e-01 6.91800452e-01 4.75170220e-02 2.02459199e+02] [-6.90211605e-01 7.22088074e-01 -4.68695417e-02 -1.25061929e+02] [-6.67358451e-02 9.73811232e-04 9.97770203e-01 -1.03621469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67864 meters Centerline goodness [0,1] 0.9998036327933235 Centerline is valid? [True, True] Translation: X:202.48, Y:-125.09, Z:-10.36 [[ 7.19970370e-01 6.92409698e-01 4.70263349e-02 2.02481384e+02] [-6.90851907e-01 7.21503934e-01 -4.64296942e-02 -1.25085078e+02] [-6.60780562e-02 9.39771009e-04 9.97814014e-01 -1.03641141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70864 meters Centerline goodness [0,1] 0.9997544566124834 Centerline is valid? [True, True] Translation: X:202.50, Y:-125.11, Z:-10.36 [[ 7.19906311e-01 6.92542968e-01 4.60341383e-02 2.02504175e+02] [-6.91048002e-01 7.21376019e-01 -4.54895353e-02 -1.25107434e+02] [-6.47113812e-02 9.36404276e-04 9.97903583e-01 -1.03647410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73864 meters Centerline goodness [0,1] 0.9996556643219047 Centerline is valid? [True, True] Translation: X:202.53, Y:-125.13, Z:-10.37 [[ 7.20764355e-01 6.91690537e-01 4.54196616e-02 2.02527369e+02] [-6.90230938e-01 7.22193286e-01 -4.49233850e-02 -1.25131149e+02] [-6.38748549e-02 1.02911901e-03 9.97957386e-01 -1.03653102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76864 meters Centerline goodness [0,1] 0.9994595922377795 Centerline is valid? [True, True] Translation: X:202.55, Y:-125.15, Z:-10.37 [[ 7.21800918e-01 6.90580981e-01 4.58404032e-02 2.02549830e+02] [-6.89089116e-01 7.23254132e-01 -4.53833665e-02 -1.25154734e+02] [-6.44951509e-02 1.16963265e-03 9.97917335e-01 -1.03666036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79864 meters Centerline goodness [0,1] 0.9994599371563236 Centerline is valid? [True, True] Translation: X:202.57, Y:-125.18, Z:-10.37 [[ 7.24094513e-01 6.88135793e-01 4.64356143e-02 2.02572010e+02] [-6.86597179e-01 7.25580505e-01 -4.60135253e-02 -1.25178429e+02] [-6.53563302e-02 1.43557934e-03 9.97860957e-01 -1.03671087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82864 meters Centerline goodness [0,1] 0.9990189345629353 Centerline is valid? [True, True] Translation: X:202.60, Y:-125.20, Z:-10.37 [[ 7.24125033e-01 6.88118293e-01 4.62185163e-02 2.02595348e+02] [-6.86591265e-01 7.25597051e-01 -4.58405395e-02 -1.25201485e+02] [-6.50797329e-02 1.46105258e-03 9.97878998e-01 -1.03681973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85864 meters Centerline goodness [0,1] 0.9990678049259151 Centerline is valid? [True, True] Translation: X:202.62, Y:-125.22, Z:-10.37 [[ 7.24929130e-01 6.87248852e-01 4.65485905e-02 2.02618347e+02] [-6.85695232e-01 7.26420341e-01 -4.62118696e-02 -1.25223983e+02] [-6.55728973e-02 1.58218385e-03 9.97846527e-01 -1.03704877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88864 meters Centerline goodness [0,1] 0.9991656441717791 Centerline is valid? [True, True] Translation: X:202.64, Y:-125.25, Z:-10.37 [[ 7.24138883e-01 6.88180855e-01 4.50554025e-02 2.02638367e+02] [-6.86724803e-01 7.25537683e-01 -4.47673451e-02 -1.25249694e+02] [-6.34974222e-02 1.47711287e-03 9.97980909e-01 -1.03719967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91864 meters Centerline goodness [0,1] 0.9993619005546557 Centerline is valid? [True, True] Translation: X:202.66, Y:-125.27, Z:-10.37 [[ 7.23647548e-01 6.88683775e-01 4.52646038e-02 2.02661311e+02] [-6.87212531e-01 7.25060342e-01 -4.50159720e-02 -1.25274032e+02] [-6.38213387e-02 1.46929480e-03 9.97960259e-01 -1.03727241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94864 meters Centerline goodness [0,1] 0.998920563269712 Centerline is valid? [True, True] Translation: X:202.68, Y:-125.30, Z:-10.37 [[ 7.22792073e-01 6.89604479e-01 4.49141585e-02 2.02683628e+02] [-6.88155058e-01 7.24184838e-01 -4.47094560e-02 -1.25296841e+02] [-6.33579937e-02 1.40773506e-03 9.97989871e-01 -1.03732523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97864 meters Centerline goodness [0,1] 0.9993121745111526 Centerline is valid? [True, True] Translation: X:202.71, Y:-125.32, Z:-10.37 [[ 7.22875718e-01 6.89564949e-01 4.41687471e-02 2.02705783e+02] [-6.88160737e-01 7.24222462e-01 -4.40070996e-02 -1.25320915e+02] [-6.23337522e-02 1.41646617e-03 9.98054356e-01 -1.03741779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00864 meters Centerline goodness [0,1] 0.999214955105245 Centerline is valid? [True, True] Translation: X:202.73, Y:-125.34, Z:-10.38 [[ 7.23043454e-01 6.89330583e-01 4.50722792e-02 2.02726813e+02] [-6.87865050e-01 7.24445377e-01 -4.49507430e-02 -1.25344974e+02] [-6.36383262e-02 1.49769491e-03 9.97971904e-01 -1.03768864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03864000000002 meters Centerline goodness [0,1] 0.9989199273405666 Centerline is valid? [True, True] Translation: X:202.75, Y:-125.37, Z:-10.38 [[ 7.23613586e-01 6.88766085e-01 4.45495054e-02 2.02748256e+02] [-6.87330773e-01 7.24981965e-01 -4.44697466e-02 -1.25370832e+02] [-6.29268413e-02 1.55866679e-03 9.98016925e-01 -1.03766277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06864000000002 meters Centerline goodness [0,1] 0.9985778039331077 Centerline is valid? [True, True] Translation: X:202.77, Y:-125.39, Z:-10.38 [[ 7.23814981e-01 6.88558181e-01 4.44916165e-02 2.02771327e+02] [-6.87123445e-01 7.25179323e-01 -4.44558348e-02 -1.25394641e+02] [-6.28748291e-02 1.60656649e-03 9.98020127e-01 -1.03774927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09864000000002 meters Centerline goodness [0,1] 0.9984791247608301 Centerline is valid? [True, True] Translation: X:202.79, Y:-125.42, Z:-10.38 [[ 7.24500472e-01 6.87810655e-01 4.48950846e-02 2.02791162e+02] [-6.86345605e-01 7.25888113e-01 -4.49016484e-02 -1.25420319e+02] [-6.34726404e-02 1.71772142e-03 9.97982101e-01 -1.03787587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12864000000002 meters Centerline goodness [0,1] 0.9981851179673321 Centerline is valid? [True, True] Translation: X:202.75, Y:-125.60, Z:-8.68 [[ 7.36538756e-01 -6.76286540e-01 -1.21316231e-02 2.02746151e+02] [-6.76137182e-01 -7.36634700e-01 1.44163358e-02 -1.25596695e+02] [-1.86861484e-02 -2.41554859e-03 -9.99822481e-01 -8.67770221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15864 meters Centerline goodness [0,1] 0.9987200315069168 Centerline is valid? [True, True] Translation: X:202.81, Y:-125.46, Z:-10.38 [[ 7.72347063e-01 6.33356740e-01 4.83658312e-02 2.02811619e+02] [-6.31968934e-01 7.73857797e-01 -4.19449233e-02 -1.25463097e+02] [-6.39943754e-02 1.83033553e-03 9.97948581e-01 -1.03808853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18864 meters Centerline goodness [0,1] 0.998919609094927 Centerline is valid? [True, True] Translation: X:202.83, Y:-125.49, Z:-10.38 [[ 7.73003532e-01 6.32529598e-01 4.87016038e-02 2.02832828e+02] [-6.31118420e-01 7.74533757e-01 -4.22729070e-02 -1.25488295e+02] [-6.44599011e-02 1.94062714e-03 9.97918411e-01 -1.03819912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21864 meters Centerline goodness [0,1] 0.9988697233279277 Centerline is valid? [True, True] Translation: X:202.85, Y:-125.51, Z:-10.38 [[ 7.73131697e-01 6.32295391e-01 4.96982724e-02 2.02854862e+02] [-6.30822822e-01 7.74724737e-01 -4.31757838e-02 -1.25511605e+02] [-6.58023301e-02 2.02976252e-03 9.97830614e-01 -1.03840090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24864 meters Centerline goodness [0,1] 0.9989198212795208 Centerline is valid? [True, True] Translation: X:202.87, Y:-125.54, Z:-10.38 [[ 7.73417386e-01 6.31922887e-01 4.99901154e-02 2.02874636e+02] [-6.30429687e-01 7.75028415e-01 -4.34668395e-02 -1.25538159e+02] [-6.62114506e-02 2.10275654e-03 9.97803399e-01 -1.03846840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27864 meters Centerline goodness [0,1] 0.9991657260636992 Centerline is valid? [True, True] Translation: X:202.90, Y:-125.56, Z:-10.39 [[ 7.73084542e-01 6.32353777e-01 4.96889481e-02 2.02897724e+02] [-6.30876840e-01 7.74676938e-01 -4.32441223e-02 -1.25561708e+02] [-6.58384663e-02 2.08375591e-03 9.97828119e-01 -1.03855369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30864 meters Centerline goodness [0,1] 0.9992628630399528 Centerline is valid? [True, True] Translation: X:202.92, Y:-125.59, Z:-10.39 [[ 7.71682428e-01 6.34064417e-01 4.96844567e-02 2.02917730e+02] [-6.32588582e-01 7.73277723e-01 -4.32810545e-02 -1.25588028e+02] [-6.58628602e-02 1.96940921e-03 9.97826741e-01 -1.03865651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33864 meters Centerline goodness [0,1] 0.9994603610675039 Centerline is valid? [True, True] Translation: X:202.94, Y:-125.61, Z:-10.39 [[ 7.70674749e-01 6.35220823e-01 5.05463966e-02 2.02940467e+02] [-6.33693011e-01 7.72328145e-01 -4.40727289e-02 -1.25612354e+02] [-6.70343198e-02 1.93484104e-03 9.97748794e-01 -1.03874090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36864 meters Centerline goodness [0,1] 0.9996073041429413 Centerline is valid? [True, True] Translation: X:202.96, Y:-125.64, Z:-10.39 [[ 7.69090967e-01 6.37147093e-01 5.04248706e-02 2.02962366e+02] [-6.35628590e-01 7.70740155e-01 -4.39989666e-02 -1.25636943e+02] [-6.68982862e-02 1.78771834e-03 9.97758199e-01 -1.03885487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39864 meters Centerline goodness [0,1] 0.9998526450218577 Centerline is valid? [True, True] Translation: X:202.98, Y:-125.66, Z:-10.39 [[ 7.65661026e-01 6.41337673e-01 4.94892069e-02 2.02983301e+02] [-6.39882271e-01 7.67257448e-01 -4.32051792e-02 -1.25661708e+02] [-6.56800716e-02 1.41325572e-03 9.97839732e-01 -1.03893713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42864 meters Centerline goodness [0,1] 0.9996074968109115 Centerline is valid? [True, True] Translation: X:203.01, Y:-125.68, Z:-10.39 [[ 7.64035581e-01 6.43291298e-01 4.92538002e-02 2.03007120e+02] [-6.41851868e-01 7.65620476e-01 -4.30286629e-02 -1.25684084e+02] [-6.53896824e-02 1.26178576e-03 9.97859007e-01 -1.03910975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45864 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:203.03, Y:-125.71, Z:-10.39 [[ 7.61686114e-01 6.46116769e-01 4.86557826e-02 2.03030207e+02] [-6.44716812e-01 7.63237893e-01 -4.25223554e-02 -1.25706867e+02] [-6.46103439e-02 1.01948658e-03 9.97910048e-01 -1.03921693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48864 meters Centerline goodness [0,1] 0.9998528546203649 Centerline is valid? [True, True] Translation: X:203.05, Y:-125.73, Z:-10.39 [[ 7.58598415e-01 6.49615161e-01 5.02850627e-02 2.03052783e+02] [-6.48125311e-01 7.60262816e-01 -4.39776310e-02 -1.25730746e+02] [-6.67983992e-02 7.70339246e-04 9.97766195e-01 -1.03937974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51864 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:203.08, Y:-125.75, Z:-10.39 [[ 7.57432371e-01 6.50947918e-01 5.06261924e-02 2.03077349e+02] [-6.49437601e-01 7.59122077e-01 -4.43223919e-02 -1.25753561e+02] [-6.72830291e-02 6.92661375e-04 9.97733689e-01 -1.03941371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54864 meters Centerline goodness [0,1] 0.9998037195151872 Centerline is valid? [True, True] Translation: X:203.10, Y:-125.78, Z:-10.39 [[ 7.55505853e-01 6.53247470e-01 4.97860301e-02 2.03101209e+02] [-6.51789058e-01 7.57144293e-01 -4.36296174e-02 -1.25775133e+02] [-6.61961457e-02 5.12441698e-04 9.97806498e-01 -1.03946119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57864 meters Centerline goodness [0,1] 0.9998036520714706 Centerline is valid? [True, True] Translation: X:203.13, Y:-125.80, Z:-10.40 [[ 7.54590444e-01 6.54327617e-01 4.94836430e-02 2.03126424e+02] [-6.52886461e-01 7.56211061e-01 -4.34062137e-02 -1.25797003e+02] [-6.58219626e-02 4.46713463e-04 9.97831283e-01 -1.03960446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60864 meters Centerline goodness [0,1] 0.9998527607361963 Centerline is valid? [True, True] Translation: X:203.15, Y:-125.82, Z:-10.40 [[ 7.52803561e-01 6.56441459e-01 4.86971195e-02 2.03151047e+02] [-6.55047462e-01 7.54376913e-01 -4.27585853e-02 -1.25817040e+02] [-6.48044908e-02 2.89890758e-04 9.97897938e-01 -1.03982068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63864 meters Centerline goodness [0,1] 0.9998527607361963 Centerline is valid? [True, True] Translation: X:203.18, Y:-125.84, Z:-10.40 [[ 7.52458282e-01 6.56838741e-01 4.86764975e-02 2.03175689e+02] [-6.55444056e-01 7.54031025e-01 -4.27820528e-02 -1.25838253e+02] [-6.48044989e-02 2.86989010e-04 9.97897938e-01 -1.03995453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:203.20, Y:-125.86, Z:-10.40 [[ 7.50929106e-01 6.58673837e-01 4.74789864e-02 2.03200544e+02] [-6.57348013e-01 7.52428569e-01 -4.17712543e-02 -1.25858115e+02] [-6.32381781e-02 1.57033258e-04 9.97998451e-01 -1.04005549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69864 meters Centerline goodness [0,1] 0.9998526450218577 Centerline is valid? [True, True] Translation: X:203.23, Y:-125.88, Z:-10.40 [[ 7.48999138e-01 6.60908741e-01 4.69033882e-02 2.03226938e+02] [-6.59616877e-01 7.50466280e-01 -4.13030215e-02 -1.25877312e+02] [-6.24969392e-02 -2.33898324e-06 9.98045156e-01 -1.04015986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72864 meters Centerline goodness [0,1] 0.9998035652899867 Centerline is valid? [True, True] Translation: X:203.25, Y:-125.90, Z:-10.40 [[ 7.47933183e-01 6.62062460e-01 4.76366803e-02 2.03252556e+02] [-6.60729524e-01 7.49448660e-01 -4.19904986e-02 -1.25897993e+02] [-6.35015790e-02 -6.88738866e-05 9.97981736e-01 -1.04030587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75864 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:203.28, Y:-125.92, Z:-10.40 [[ 7.47002146e-01 6.63034287e-01 4.87168227e-02 2.03278165e+02] [-6.61639313e-01 7.48589019e-01 -4.29872098e-02 -1.25918275e+02] [-6.49708726e-02 -1.21427126e-04 9.97887153e-01 -1.04044669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78864000000002 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:203.31, Y:-125.94, Z:-10.41 [[ 7.47562486e-01 6.62372463e-01 4.91228035e-02 2.03306519e+02] [-6.60949848e-01 7.49174692e-01 -4.33887108e-02 -1.25936259e+02] [-6.55410484e-02 -3.19369900e-05 9.97849873e-01 -1.04069312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81864000000002 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:203.33, Y:-125.96, Z:-10.41 [[ 7.47404745e-01 6.62547736e-01 4.91593801e-02 2.03332983e+02] [-6.61120303e-01 7.49019691e-01 -4.34677744e-02 -1.25956434e+02] [-6.56208192e-02 -1.22434187e-05 9.97844631e-01 -1.04081073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84864000000002 meters Centerline goodness [0,1] 0.9999018404907976 Centerline is valid? [True, True] Translation: X:203.36, Y:-125.98, Z:-10.41 [[ 7.49150215e-01 6.60616718e-01 4.85747597e-02 2.03359312e+02] [-6.59216047e-01 7.50723329e-01 -4.29963541e-02 -1.25976497e+02] [-6.48703156e-02 1.89466871e-04 9.97893685e-01 -1.04090149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87864000000002 meters Centerline goodness [0,1] 0.9997544927820878 Centerline is valid? [True, True] Translation: X:203.38, Y:-126.00, Z:-10.41 [[ 7.50187144e-01 6.59435220e-01 4.86255131e-02 2.03384813e+02] [-6.58026136e-01 7.51761321e-01 -4.30873561e-02 -1.25997327e+02] [-6.49681001e-02 3.26722111e-04 9.97887288e-01 -1.04102406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90864 meters Centerline goodness [0,1] 0.9998528618372652 Centerline is valid? [True, True] Translation: X:203.41, Y:-126.02, Z:-10.41 [[ 7.52137277e-01 6.57134398e-01 4.96376756e-02 2.03410277e+02] [-6.55657950e-01 7.53773213e-01 -4.40294832e-02 -1.26016585e+02] [-6.63488382e-02 5.70878958e-04 9.97796325e-01 -1.04113732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:203.43, Y:-126.04, Z:-10.41 [[ 7.52819542e-01 6.56347366e-01 4.97078713e-02 2.03434838e+02] [-6.54862184e-01 7.54458535e-01 -4.41343175e-02 -1.26038370e+02] [-6.64699708e-02 6.73371540e-04 9.97788199e-01 -1.04132267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:203.46, Y:-126.06, Z:-10.41 [[ 7.54469924e-01 6.54440085e-01 4.98328164e-02 2.03457025e+02] [-6.52940323e-01 7.56113355e-01 -4.42891439e-02 -1.26061813e+02] [-6.66638491e-02 8.76971800e-04 9.97775106e-01 -1.04149423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:203.48, Y:-126.08, Z:-10.42 [[ 7.54773133e-01 6.54137446e-01 4.92109638e-02 2.03480795e+02] [-6.52671542e-01 7.56375137e-01 -4.37779580e-02 -1.26084360e+02] [-6.58587511e-02 9.23830903e-04 9.97828528e-01 -1.04172980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:203.50, Y:-126.11, Z:-10.42 [[ 7.54775240e-01 6.54161024e-01 4.88640123e-02 2.03504652e+02] [-6.52712877e-01 7.56354715e-01 -4.35137515e-02 -1.26107050e+02] [-6.54235263e-02 9.48932255e-04 9.97857135e-01 -1.04180348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:-126.13, Z:-10.42 [[ 7.54189313e-01 6.54824255e-01 4.90272872e-02 2.03527752e+02] [-6.53364864e-01 7.55780612e-01 -4.37037979e-02 -1.26130715e+02] [-6.56721800e-02 9.28230432e-04 9.97840821e-01 -1.04198986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08864 meters Centerline goodness [0,1] 0.9998524856173477 Centerline is valid? [True, True] Translation: X:203.55, Y:-126.15, Z:-10.42 [[ 7.53908267e-01 6.55161955e-01 4.88378702e-02 2.03551356e+02] [-6.53711620e-01 7.55487888e-01 -4.35794584e-02 -1.26154172e+02] [-6.54480226e-02 9.29030693e-04 9.97855547e-01 -1.04206710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:203.57, Y:-126.18, Z:-10.42 [[ 7.53011142e-01 6.56203241e-01 4.86983270e-02 2.03572131e+02] [-6.54760590e-01 7.54583695e-01 -4.34973204e-02 -1.26178786e+02] [-6.52900461e-02 8.68221537e-04 9.97865951e-01 -1.04206100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.60, Y:-126.20, Z:-10.42 [[ 7.52312699e-01 6.56992734e-01 4.88482401e-02 2.03595582e+02] [-6.55540107e-01 7.53896447e-01 -4.36728184e-02 -1.26201927e+02] [-6.55192390e-02 8.33635373e-04 9.97850958e-01 -1.04225102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:203.62, Y:-126.23, Z:-10.42 [[ 7.51676917e-01 6.57828031e-01 4.73718736e-02 2.03617639e+02] [-6.56461013e-01 7.53167771e-01 -4.23939575e-02 -1.26225983e+02] [-6.35669020e-02 7.68771166e-04 9.97977283e-01 -1.04238328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20864 meters Centerline goodness [0,1] 0.9999019030802433 Centerline is valid? [True, True] Translation: X:203.64, Y:-126.25, Z:-10.43 [[ 7.51478168e-01 6.58016753e-01 4.79011137e-02 2.03641155e+02] [-6.56616717e-01 7.53002872e-01 -4.29087620e-02 -1.26249384e+02] [-6.43043604e-02 7.92325800e-04 9.97930018e-01 -1.04257139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23864 meters Centerline goodness [0,1] 0.9998028876952644 Centerline is valid? [True, True] Translation: X:203.66, Y:-126.27, Z:-10.43 [[ 7.51592077e-01 6.57864972e-01 4.81978005e-02 2.03664452e+02] [-6.56444280e-01 7.53135423e-01 -4.32196905e-02 -1.26272446e+02] [-6.47321913e-02 8.44406505e-04 9.97902315e-01 -1.04265074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26864 meters Centerline goodness [0,1] 0.9999018790168277 Centerline is valid? [True, True] Translation: X:203.69, Y:-126.30, Z:-10.43 [[ 7.51539086e-01 6.57877121e-01 4.88538082e-02 2.03686387e+02] [-6.56414609e-01 7.53124761e-01 -4.38515214e-02 -1.26295933e+02] [-6.56419253e-02 8.87778974e-04 9.97842848e-01 -1.04276024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:203.71, Y:-126.32, Z:-10.43 [[ 7.50201259e-01 6.59379344e-01 4.91624923e-02 2.03709714e+02] [-6.57898683e-01 7.51809983e-01 -4.41709391e-02 -1.26318597e+02] [-6.60862574e-02 7.93155166e-04 9.97813599e-01 -1.04291581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:203.73, Y:-126.34, Z:-10.43 [[ 7.47627577e-01 6.62391393e-01 4.78607115e-02 2.03730774e+02] [-6.60991632e-01 7.49157757e-01 -4.30432096e-02 -1.26343380e+02] [-6.43666749e-02 5.44760719e-04 9.97926167e-01 -1.04291401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.75, Y:-126.37, Z:-10.43 [[ 7.46066728e-01 6.64096719e-01 4.85796842e-02 2.03754534e+02] [-6.62655372e-01 7.47646546e-01 -4.37321425e-02 -1.26366569e+02] [-6.53628055e-02 4.35507751e-04 9.97861470e-01 -1.04298703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:203.78, Y:-126.39, Z:-10.43 [[ 7.44693284e-01 6.65672136e-01 4.80886622e-02 2.03777693e+02] [-6.64260286e-01 7.46244263e-01 -4.33332730e-02 -1.26388395e+02] [-6.47316407e-02 3.26608874e-04 9.97902655e-01 -1.04300945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41864 meters Centerline goodness [0,1] 0.9997546855068198 Centerline is valid? [True, True] Translation: X:203.80, Y:-126.41, Z:-10.43 [[ 7.43685192e-01 6.66759776e-01 4.86182665e-02 2.03801747e+02] [-6.65316121e-01 7.45272655e-01 -4.38534963e-02 -1.26411062e+02] [-6.54736119e-02 2.66679355e-04 9.97854265e-01 -1.04322230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44864 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:203.82, Y:-126.44, Z:-10.43 [[ 7.43036152e-01 6.67543887e-01 4.77748358e-02 2.03823437e+02] [-6.66149372e-01 7.44570420e-01 -4.31265956e-02 -1.26435748e+02] [-6.43606249e-02 2.19442763e-04 9.97926682e-01 -1.04341042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47864 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:203.85, Y:-126.46, Z:-10.43 [[ 7.42644572e-01 6.67987131e-01 4.76679363e-02 2.03845854e+02] [-6.66598107e-01 7.44172798e-01 -4.30559115e-02 -1.26459832e+02] [-6.42339763e-02 1.99882931e-04 9.97934846e-01 -1.04345735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50864 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:203.87, Y:-126.48, Z:-10.44 [[ 7.42213539e-01 6.68526875e-01 4.68068321e-02 2.03870011e+02] [-6.67185998e-01 7.43687961e-01 -4.23209159e-02 -1.26481293e+02] [-6.31023472e-02 1.82293815e-04 9.98007044e-01 -1.04352063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53864000000002 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:203.89, Y:-126.50, Z:-10.44 [[ 7.41225803e-01 6.69575306e-01 4.74680780e-02 2.03894151e+02] [-6.68195642e-01 7.42744165e-01 -4.29615002e-02 -1.26503319e+02] [-6.40225976e-02 1.26209648e-04 9.97948441e-01 -1.04368905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56864000000002 meters Centerline goodness [0,1] 0.9998037291462217 Centerline is valid? [True, True] Translation: X:203.92, Y:-126.53, Z:-10.44 [[ 7.40402382e-01 6.70474302e-01 4.76290123e-02 2.03917288e+02] [-6.69084118e-01 7.41932749e-01 -4.31536760e-02 -1.26527255e+02] [-6.42709548e-02 8.32688991e-05 9.97932481e-01 -1.04380870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59864000000002 meters Centerline goodness [0,1] 0.9996559858462748 Centerline is valid? [True, True] Translation: X:203.94, Y:-126.55, Z:-10.44 [[ 7.39325395e-01 6.71683769e-01 4.73167398e-02 2.03941613e+02] [-6.70311320e-01 7.40837981e-01 -4.29164439e-02 -1.26550263e+02] [-6.38803167e-02 1.22705198e-05 9.97957567e-01 -1.04380855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62864000000002 meters Centerline goodness [0,1] 0.9996074390303744 Centerline is valid? [True, True] Translation: X:203.97, Y:-126.57, Z:-10.44 [[ 7.37846553e-01 6.73384764e-01 4.62106446e-02 2.03965448e+02] [-6.72076468e-01 7.39292195e-01 -4.19555854e-02 -1.26572134e+02] [-6.24154208e-02 -1.00302758e-04 9.98050252e-01 -1.04382848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65864 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:203.99, Y:-126.59, Z:-10.44 [[ 7.37254024e-01 6.74034622e-01 4.61934255e-02 2.03989466e+02] [-6.72725983e-01 7.38699745e-01 -4.19814060e-02 -1.26594426e+02] [-6.24199928e-02 -1.24557096e-04 9.98049963e-01 -1.04389210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68864 meters Centerline goodness [0,1] 0.9997544566124834 Centerline is valid? [True, True] Translation: X:204.01, Y:-126.62, Z:-10.44 [[ 7.36352158e-01 6.74977226e-01 4.68107211e-02 2.04013315e+02] [-6.73632307e-01 7.37838542e-01 -4.25887324e-02 -1.26616916e+02] [-6.32851786e-02 -1.72909063e-04 9.97995469e-01 -1.04413801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71864 meters Centerline goodness [0,1] 0.9997056803688806 Centerline is valid? [True, True] Translation: X:204.04, Y:-126.64, Z:-10.44 [[ 7.35303029e-01 6.76098243e-01 4.71234774e-02 2.04037081e+02] [-6.74734595e-01 7.36811448e-01 -4.29198770e-02 -1.26639388e+02] [-6.37391711e-02 -2.36724890e-04 9.97966564e-01 -1.04431936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74864 meters Centerline goodness [0,1] 0.9997054925636872 Centerline is valid? [True, True] Translation: X:204.06, Y:-126.66, Z:-10.44 [[ 7.34665748e-01 6.76756301e-01 4.76145823e-02 2.04062157e+02] [-6.75362418e-01 7.36207064e-01 -4.34138650e-02 -1.26660796e+02] [-6.44347985e-02 -2.62419857e-04 9.97921885e-01 -1.04442901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77864 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:204.09, Y:-126.68, Z:-10.44 [[ 7.32165503e-01 6.79475000e-01 4.74067582e-02 2.04087180e+02] [-6.78095979e-01 7.33698513e-01 -4.32704980e-02 -1.26682851e+02] [-6.41834896e-02 -4.65166179e-04 9.97938006e-01 -1.04447148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80864 meters Centerline goodness [0,1] 0.9999018260357353 Centerline is valid? [True, True] Translation: X:204.11, Y:-126.70, Z:-10.45 [[ 7.31191661e-01 6.80505011e-01 4.76621902e-02 2.04112197e+02] [-6.79110230e-01 7.32743240e-01 -4.35504368e-02 -1.26704725e+02] [-6.45604381e-02 -5.24164696e-04 9.97913661e-01 -1.04457965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:-126.73, Z:-10.45 [[ 7.30378623e-01 6.81326368e-01 4.83885113e-02 2.04136699e+02] [-6.79887495e-01 7.31979544e-01 -4.42599263e-02 -1.26725626e+02] [-6.55748553e-02 -5.72239680e-04 9.97847489e-01 -1.04478994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:204.16, Y:-126.75, Z:-10.45 [[ 7.28307759e-01 6.83475831e-01 4.92807903e-02 2.04162676e+02] [-6.81985388e-01 7.29972759e-01 -4.51187610e-02 -1.26745522e+02] [-6.68112171e-02 -7.48435146e-04 9.97765354e-01 -1.04490597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.19, Y:-126.77, Z:-10.45 [[ 7.26345625e-01 6.85651753e-01 4.79969502e-02 2.04188779e+02] [-6.84239997e-01 7.27929171e-01 -4.39857825e-02 -1.26765296e+02] [-6.50973090e-02 -8.92552379e-04 9.97878522e-01 -1.04499961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.21, Y:-126.79, Z:-10.45 [[ 7.25591178e-01 6.86523266e-01 4.69387609e-02 2.04214099e+02] [-6.85172199e-01 7.27107257e-01 -4.30592040e-02 -1.26785557e+02] [-6.36906590e-02 -9.17755466e-04 9.97969267e-01 -1.04514092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.24, Y:-126.80, Z:-10.45 [[ 7.25126040e-01 6.87068422e-01 4.61433528e-02 2.04240280e+02] [-6.85761449e-01 7.26592138e-01 -4.23686175e-02 -1.26804890e+02] [-6.26375366e-02 -9.20744658e-04 9.98035917e-01 -1.04528614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98864 meters Centerline goodness [0,1] 0.9999018019345018 Centerline is valid? [True, True] Translation: X:204.27, Y:-126.82, Z:-10.45 [[ 7.23994145e-01 6.88246082e-01 4.63660286e-02 2.04268401e+02] [-6.86926219e-01 7.25476627e-01 -4.26149315e-02 -1.26822905e+02] [-6.29670297e-02 -9.97079777e-04 9.98015110e-01 -1.04545861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01864 meters Centerline goodness [0,1] 0.9998527101335428 Centerline is valid? [True, True] Translation: X:204.29, Y:-126.84, Z:-10.46 [[ 7.23572108e-01 6.88661580e-01 4.67828216e-02 2.04294246e+02] [-6.87315783e-01 7.25082209e-01 -4.30442232e-02 -1.26842867e+02] [-6.35642944e-02 -1.00897238e-03 9.97977235e-01 -1.04564267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:204.32, Y:-126.86, Z:-10.46 [[ 7.22749251e-01 6.89502062e-01 4.71213990e-02 2.04322608e+02] [-6.88135494e-01 7.24282948e-01 -4.34022167e-02 -1.26861049e+02] [-6.40551437e-02 -1.05698758e-03 9.97945801e-01 -1.04574701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.35, Y:-126.88, Z:-10.46 [[ 7.22215013e-01 6.90012725e-01 4.78321424e-02 2.04348203e+02] [-6.88602744e-01 7.23796422e-01 -4.41021714e-02 -1.26880112e+02] [-6.50517930e-02 -1.08609418e-03 9.97881298e-01 -1.04585898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10864 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:204.37, Y:-126.90, Z:-10.46 [[ 7.21542396e-01 6.90694196e-01 4.81466333e-02 2.04374165e+02] [-6.89264225e-01 7.23146089e-01 -4.44360443e-02 -1.26900337e+02] [-6.55087675e-02 -1.12326195e-03 9.97851362e-01 -1.04603999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13864 meters Centerline goodness [0,1] 0.9999018260357353 Centerline is valid? [True, True] Translation: X:204.40, Y:-126.92, Z:-10.46 [[ 7.22220217e-01 6.89926576e-01 4.89824129e-02 2.04402847e+02] [-6.88441455e-01 7.23878612e-01 -4.52561511e-02 -1.26918263e+02] [-6.66807425e-02 -1.03661626e-03 9.97773824e-01 -1.04620434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:-126.94, Z:-10.46 [[ 7.22797690e-01 6.89327898e-01 4.88932352e-02 2.04429051e+02] [-6.87843767e-01 7.24448862e-01 -4.52194523e-02 -1.26937165e+02] [-6.65916786e-02 -9.46391478e-04 9.97779862e-01 -1.04628613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19864 meters Centerline goodness [0,1] 0.9997547336407339 Centerline is valid? [True, True] Translation: X:204.46, Y:-126.95, Z:-10.47 [[ 7.24553366e-01 6.87481329e-01 4.89064661e-02 2.04457184e+02] [-6.85989366e-01 7.26201670e-01 -4.52738708e-02 -1.26954324e+02] [-6.66408982e-02 -7.45980268e-04 9.97776746e-01 -1.04650294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22864 meters Centerline goodness [0,1] 0.9996560703581782 Centerline is valid? [True, True] Translation: X:204.48, Y:-126.97, Z:-10.47 [[ 7.25303206e-01 6.86749045e-01 4.80729430e-02 2.04482356e+02] [-6.85303258e-01 7.26894314e-01 -4.45432593e-02 -1.26974099e+02] [-6.55339897e-02 -6.37175700e-04 9.97850134e-01 -1.04664435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25864 meters Centerline goodness [0,1] 0.9995089132249668 Centerline is valid? [True, True] Translation: X:204.51, Y:-126.99, Z:-10.47 [[ 7.27262541e-01 6.84633943e-01 4.86370270e-02 2.04510497e+02] [-6.83146301e-01 7.28886952e-01 -4.51103401e-02 -1.26992450e+02] [-6.63349644e-02 -4.19144530e-04 9.97797323e-01 -1.04682527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28864000000002 meters Centerline goodness [0,1] 0.9998033721673303 Centerline is valid? [True, True] Translation: X:204.54, Y:-127.01, Z:-10.47 [[ 7.28090793e-01 6.83613360e-01 5.05625445e-02 2.04536220e+02] [-6.81999644e-01 7.29844286e-01 -4.69446942e-02 -1.27011691e+02] [-6.89948043e-02 -3.03637721e-04 9.97616973e-01 -1.04704415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31864000000002 meters Centerline goodness [0,1] 0.9994597514856834 Centerline is valid? [True, True] Translation: X:204.56, Y:-127.03, Z:-10.47 [[ 7.29481015e-01 6.82141963e-01 5.03963352e-02 2.04562242e+02] [-6.80532186e-01 7.31219752e-01 -4.68360812e-02 -1.27032363e+02] [-6.87996520e-02 -1.30296065e-04 9.97630488e-01 -1.04708737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34864000000002 meters Centerline goodness [0,1] 0.999558325563135 Centerline is valid? [True, True] Translation: X:204.59, Y:-127.05, Z:-10.47 [[ 7.32859528e-01 6.78465461e-01 5.10051967e-02 2.04587387e+02] [-6.76804225e-01 7.34632258e-01 -4.74498314e-02 -1.27051938e+02] [-6.96631346e-02 2.53528430e-04 9.97570541e-01 -1.04726384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37864000000002 meters Centerline goodness [0,1] 0.9988227792220533 Centerline is valid? [True, True] Translation: X:204.61, Y:-127.07, Z:-10.47 [[ 7.35454451e-01 6.75743903e-01 4.97687396e-02 2.04612012e+02] [-6.74153237e-01 7.37136280e-01 -4.63413150e-02 -1.27073347e+02] [-6.80012047e-02 5.30169501e-04 9.97685098e-01 -1.04738530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40864 meters Centerline goodness [0,1] 0.9988713318284425 Centerline is valid? [True, True] Translation: X:204.64, Y:-127.10, Z:-10.48 [[ 7.35615542e-01 6.75562679e-01 4.98481770e-02 2.04636778e+02] [-6.73963480e-01 7.37302333e-01 -4.64596304e-02 -1.27095317e+02] [-6.81395696e-02 5.80575403e-04 9.97675630e-01 -1.04751399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43864 meters Centerline goodness [0,1] 0.998282377189969 Centerline is valid? [True, True] Translation: X:204.66, Y:-127.12, Z:-10.48 [[ 7.35746668e-01 6.75423382e-01 4.98005578e-02 2.04661545e+02] [-6.73823662e-01 7.37429902e-01 -4.64630220e-02 -1.27117142e+02] [-6.81066319e-02 6.28219404e-04 9.97677850e-01 -1.04764050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46864 meters Centerline goodness [0,1] 0.9986260366063104 Centerline is valid? [True, True] Translation: X:204.69, Y:-127.14, Z:-10.48 [[ 7.35591170e-01 6.75609174e-01 4.95769555e-02 2.04685277e+02] [-6.74020983e-01 7.37259676e-01 -4.63021061e-02 -1.27139525e+02] [-6.78332178e-02 6.43512102e-04 9.97696467e-01 -1.04784166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49864 meters Centerline goodness [0,1] 0.9986260366063104 Centerline is valid? [True, True] Translation: X:204.71, Y:-127.16, Z:-10.48 [[ 7.35244501e-01 6.75988175e-01 4.95531146e-02 2.04709270e+02] [-6.74399124e-01 7.36912188e-01 -4.63276122e-02 -1.27161495e+02] [-6.78332121e-02 6.43545017e-04 9.97696467e-01 -1.04797552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52864 meters Centerline goodness [0,1] 0.9983814802099171 Centerline is valid? [True, True] Translation: X:204.73, Y:-127.18, Z:-10.48 [[ 7.34183192e-01 6.77180095e-01 4.90118297e-02 2.04732093e+02] [-6.75625255e-01 7.35817100e-01 -4.58662206e-02 -1.27184010e+02] [-6.71234340e-02 5.60578364e-04 9.97744522e-01 -1.04808363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55864 meters Centerline goodness [0,1] 0.9986250920697275 Centerline is valid? [True, True] Translation: X:204.76, Y:-127.21, Z:-10.48 [[ 7.32515557e-01 6.78943293e-01 4.95677781e-02 2.04756096e+02] [-6.77353923e-01 7.34190585e-01 -4.64311079e-02 -1.27207133e+02] [-6.79162853e-02 4.36579876e-04 9.97690928e-01 -1.04820556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58864 meters Centerline goodness [0,1] 0.9991649064203959 Centerline is valid? [True, True] Translation: X:204.78, Y:-127.23, Z:-10.48 [[ 7.31514131e-01 6.79967563e-01 5.03109238e-02 2.04779825e+02] [-6.78329122e-01 7.33242092e-01 -4.71766502e-02 -1.27229696e+02] [-6.89686790e-02 3.83021546e-04 9.97618752e-01 -1.04839114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61864 meters Centerline goodness [0,1] 0.9982339089481946 Centerline is valid? [True, True] Translation: X:204.80, Y:-127.25, Z:-10.48 [[ 7.30740284e-01 6.80811845e-01 5.01385030e-02 2.04803561e+02] [-6.79183242e-01 7.32458270e-01 -4.70638606e-02 -1.27252982e+02] [-6.87659949e-02 3.38227840e-04 9.97632760e-01 -1.04841702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64864 meters Centerline goodness [0,1] 0.9983785377358491 Centerline is valid? [True, True] Translation: X:204.83, Y:-127.28, Z:-10.49 [[ 7.31201492e-01 6.80164205e-01 5.21635059e-02 2.04825885e+02] [-6.78396024e-01 7.33059650e-01 -4.90141302e-02 -1.27275678e+02] [-7.15766183e-02 4.51690161e-04 9.97435002e-01 -1.04851456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67864 meters Centerline goodness [0,1] 0.9978896741264233 Centerline is valid? [True, True] Translation: X:204.85, Y:-127.30, Z:-10.48 [[ 7.31529894e-01 6.79914555e-01 5.07957784e-02 2.04849517e+02] [-6.78234413e-01 7.33291178e-01 -4.77716255e-02 -1.27297819e+02] [-6.97287197e-02 4.94927190e-04 9.97565868e-01 -1.04844335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70864 meters Centerline goodness [0,1] 0.9981852959929374 Centerline is valid? [True, True] Translation: X:204.87, Y:-127.32, Z:-10.49 [[ 7.31089725e-01 6.80363042e-01 5.11267600e-02 2.04873191e+02] [-6.78658742e-01 7.32875086e-01 -4.81292012e-02 -1.27321149e+02] [-7.02148584e-02 4.89141857e-04 9.97531771e-01 -1.04856731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73864 meters Centerline goodness [0,1] 0.9981849399067942 Centerline is valid? [True, True] Translation: X:204.90, Y:-127.34, Z:-10.49 [[ 7.30140117e-01 6.81394168e-01 5.09646697e-02 2.04896071e+02] [-6.79699693e-01 7.31916530e-01 -4.80262359e-02 -1.27344937e+02] [-7.00266813e-02 4.25211106e-04 9.97545028e-01 -1.04875262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76864 meters Centerline goodness [0,1] 0.9976955136062761 Centerline is valid? [True, True] Translation: X:204.92, Y:-127.37, Z:-10.49 [[ 7.29292108e-01 6.82432135e-01 4.91874175e-02 2.04918943e+02] [-6.80853247e-01 7.30948877e-01 -4.63960748e-02 -1.27367500e+02] [-6.76156599e-02 3.46878309e-04 9.97711382e-01 -1.04883543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79864 meters Centerline goodness [0,1] 0.9978405967805261 Centerline is valid? [True, True] Translation: X:204.94, Y:-127.39, Z:-10.49 [[ 7.27841947e-01 6.84062591e-01 4.80049104e-02 2.04941970e+02] [-6.82559640e-01 7.29423281e-01 -4.53212420e-02 -1.27390275e+02] [-6.60184654e-02 2.20486655e-04 9.97818377e-01 -1.04887079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82864 meters Centerline goodness [0,1] 0.9981304732854472 Centerline is valid? [True, True] Translation: X:204.96, Y:-127.41, Z:-10.49 [[ 7.27055948e-01 6.84939869e-01 4.74027797e-02 2.04964104e+02] [-6.83473632e-01 7.28599579e-01 -4.47933808e-02 -1.27413697e+02] [-6.52184178e-02 1.68743929e-04 9.97870998e-01 -1.04899205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85864 meters Centerline goodness [0,1] 0.9981352438904701 Centerline is valid? [True, True] Translation: X:204.99, Y:-127.44, Z:-10.49 [[ 7.27326601e-01 6.84597500e-01 4.81900338e-02 2.04987294e+02] [-6.83078538e-01 7.28921264e-01 -4.55796206e-02 -1.27435414e+02] [-6.63304347e-02 2.33692662e-04 9.97797684e-01 -1.04906429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88864 meters Centerline goodness [0,1] 0.998233562315996 Centerline is valid? [True, True] Translation: X:205.01, Y:-127.46, Z:-10.49 [[ 7.26681172e-01 6.85208644e-01 4.92299522e-02 2.05011126e+02] [-6.83621798e-01 7.28346805e-01 -4.66065257e-02 -1.27456795e+02] [-6.77916727e-02 2.13416298e-04 9.97699476e-01 -1.04914731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91864 meters Centerline goodness [0,1] 0.9976927985862255 Centerline is valid? [True, True] Translation: X:205.04, Y:-127.48, Z:-10.49 [[ 7.25902560e-01 6.86029440e-01 4.92857085e-02 2.05036328e+02] [-6.84437811e-01 7.27573761e-01 -4.67044470e-02 -1.27478922e+02] [-6.78996140e-02 1.69875183e-04 9.97692144e-01 -1.04914037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94864 meters Centerline goodness [0,1] 0.9982327818958323 Centerline is valid? [True, True] Translation: X:205.06, Y:-127.50, Z:-10.49 [[ 7.24835385e-01 6.87151820e-01 4.93562618e-02 2.05060162e+02] [-6.85554876e-01 7.26513844e-01 -4.68203616e-02 -1.27501581e+02] [-6.80307042e-02 1.00628842e-04 9.97683223e-01 -1.04927679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97864 meters Centerline goodness [0,1] 0.9988721067085131 Centerline is valid? [True, True] Translation: X:205.08, Y:-127.52, Z:-10.49 [[ 7.23646290e-01 6.88436739e-01 4.88968636e-02 2.05083837e+02] [-6.86869067e-01 7.25296392e-01 -4.64330487e-02 -1.27524344e+02] [-6.74309354e-02 1.53603618e-05 9.97723944e-01 -1.04940910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00864 meters Centerline goodness [0,1] 0.9987242394504416 Centerline is valid? [True, True] Translation: X:205.11, Y:-127.55, Z:-10.50 [[ 7.22720294e-01 6.89288383e-01 5.05658103e-02 2.05107167e+02] [-6.87610376e-01 7.24487076e-01 -4.80671069e-02 -1.27546465e+02] [-6.97663745e-02 -3.05021825e-05 9.97563357e-01 -1.04958452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03864000000002 meters Centerline goodness [0,1] 0.9984266679777767 Centerline is valid? [True, True] Translation: X:205.13, Y:-127.57, Z:-10.50 [[ 7.21448136e-01 6.90649804e-01 5.01541084e-02 2.05130895e+02] [-6.88999099e-01 7.23189347e-01 -4.77222214e-02 -1.27570063e+02] [-6.92302598e-02 -1.27027840e-04 9.97600699e-01 -1.04956111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06864000000002 meters Centerline goodness [0,1] 0.9987694428037015 Centerline is valid? [True, True] Translation: X:205.15, Y:-127.59, Z:-10.50 [[ 7.21156565e-01 6.91033580e-01 4.90489465e-02 2.05153797e+02] [-6.89452641e-01 7.22822644e-01 -4.67170375e-02 -1.27592611e+02] [-6.77367309e-02 -1.26627436e-04 9.97703222e-01 -1.04970207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09864000000002 meters Centerline goodness [0,1] 0.9986237404767756 Centerline is valid? [True, True] Translation: X:205.18, Y:-127.62, Z:-10.50 [[ 7.20098844e-01 6.92138235e-01 4.90134445e-02 2.05176700e+02] [-6.90559040e-01 7.21764937e-01 -4.67288760e-02 -1.27616339e+02] [-6.77190274e-02 -1.97267571e-04 9.97704412e-01 -1.04979900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12864000000002 meters Centerline goodness [0,1] 0.9983806860002944 Centerline is valid? [True, True] Translation: X:205.20, Y:-127.64, Z:-10.50 [[ 7.19552810e-01 6.92646125e-01 4.98507722e-02 2.05199847e+02] [-6.91010330e-01 7.21277547e-01 -4.75754676e-02 -1.27638153e+02] [-6.89092060e-02 -2.14337111e-04 9.97622912e-01 -1.04995554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15864 meters Centerline goodness [0,1] 0.9992636591232634 Centerline is valid? [True, True] Translation: X:205.22, Y:-127.66, Z:-10.50 [[ 7.18462708e-01 6.93741450e-01 5.03402298e-02 2.05223548e+02] [-6.92072718e-01 7.20224075e-01 -4.80898608e-02 -1.27661664e+02] [-6.96181752e-02 -2.88328078e-04 9.97573670e-01 -1.05013275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18864 meters Centerline goodness [0,1] 0.9995082612116444 Centerline is valid? [True, True] Translation: X:205.25, Y:-127.69, Z:-10.50 [[ 7.18061265e-01 6.94111026e-01 5.09696354e-02 2.05246209e+02] [-6.92397713e-01 7.19867903e-01 -4.87402200e-02 -1.27685165e+02] [-7.05225287e-02 -2.92794904e-04 9.97510144e-01 -1.05027686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21864 meters Centerline goodness [0,1] 0.9989704368289455 Centerline is valid? [True, True] Translation: X:205.27, Y:-127.71, Z:-10.50 [[ 7.16442831e-01 6.95818984e-01 5.04540407e-02 2.05269527e+02] [-6.94141134e-01 7.18217072e-01 -4.82941335e-02 -1.27708969e+02] [-6.98409283e-02 -4.22239242e-04 9.97558052e-01 -1.05040231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24864 meters Centerline goodness [0,1] 0.9992636591232634 Centerline is valid? [True, True] Translation: X:205.29, Y:-127.73, Z:-10.50 [[ 7.14168713e-01 6.98251451e-01 4.90709850e-02 2.05292926e+02] [-6.96667741e-01 7.15852312e-01 -4.70056014e-02 -1.27731642e+02] [-6.79493074e-02 -6.16242487e-04 9.97688585e-01 -1.05039206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27864 meters Centerline goodness [0,1] 0.9996563911250737 Centerline is valid? [True, True] Translation: X:205.32, Y:-127.75, Z:-10.50 [[ 7.12519742e-01 7.00022851e-01 4.77872842e-02 2.05316725e+02] [-6.98523304e-01 7.14120054e-01 -4.58011196e-02 -1.27753203e+02] [-6.61876883e-02 -7.46329763e-04 9.97806912e-01 -1.05042950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30864 meters Centerline goodness [0,1] 0.9995083579154376 Centerline is valid? [True, True] Translation: X:205.34, Y:-127.78, Z:-10.51 [[ 7.10550982e-01 7.02032887e-01 4.76143599e-02 2.05340349e+02] [-7.00545802e-01 7.12143958e-01 -4.56788975e-02 -1.27775512e+02] [-6.59763670e-02 -8.98854456e-04 9.97820781e-01 -1.05064231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33864 meters Centerline goodness [0,1] 0.9996071305799735 Centerline is valid? [True, True] Translation: X:205.37, Y:-127.80, Z:-10.51 [[ 7.08231025e-01 7.04459087e-01 4.63272074e-02 2.05365579e+02] [-7.03053686e-01 7.09743803e-01 -4.44887412e-02 -1.27797014e+02] [-6.42209464e-02 -1.06220715e-03 9.97935139e-01 -1.05079049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36864 meters Centerline goodness [0,1] 0.9994582348305753 Centerline is valid? [True, True] Translation: X:205.39, Y:-127.82, Z:-10.51 [[ 7.07421706e-01 7.05248699e-01 4.66776348e-02 2.05390802e+02] [-7.03820614e-01 7.08959126e-01 -4.48720538e-02 -1.27817704e+02] [-6.47384927e-02 -1.10921673e-03 9.97901647e-01 -1.05091737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39864 meters Centerline goodness [0,1] 0.9995092506257055 Centerline is valid? [True, True] Translation: X:205.42, Y:-127.84, Z:-10.51 [[ 7.07192468e-01 7.05372322e-01 4.82566143e-02 2.05417150e+02] [-7.03843148e-01 7.08836101e-01 -4.64349495e-02 -1.27835978e+02] [-6.69599585e-02 -1.12664082e-03 9.97755027e-01 -1.05104558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42864 meters Centerline goodness [0,1] 0.9993115656963021 Centerline is valid? [True, True] Translation: X:205.44, Y:-127.86, Z:-10.51 [[ 7.06606312e-01 7.05951405e-01 4.83749196e-02 2.05441733e+02] [-7.04413104e-01 7.08259333e-01 -4.65928653e-02 -1.27857516e+02] [-6.71542871e-02 -1.15311459e-03 9.97741937e-01 -1.05116729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45864 meters Centerline goodness [0,1] 0.9992618836728668 Centerline is valid? [True, True] Translation: X:205.47, Y:-127.88, Z:-10.51 [[ 7.05784459e-01 7.06720570e-01 4.91358650e-02 2.05466619e+02] [-7.05132540e-01 7.07491735e-01 -4.73660910e-02 -1.27877221e+02] [-6.82378092e-02 -1.21704631e-03 9.97668342e-01 -1.05138936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48864 meters Centerline goodness [0,1] 0.9989218857198863 Centerline is valid? [True, True] Translation: X:205.49, Y:-127.90, Z:-10.52 [[ 7.04833547e-01 7.07696941e-01 4.87309968e-02 2.05492561e+02] [-7.06135030e-01 7.06514975e-01 -4.70096767e-02 -1.27897532e+02] [-6.76977833e-02 -1.27666673e-03 9.97705057e-01 -1.05154302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51864 meters Centerline goodness [0,1] 0.999215609373468 Centerline is valid? [True, True] Translation: X:205.52, Y:-127.92, Z:-10.52 [[ 7.04065837e-01 7.08461680e-01 4.87169897e-02 2.05518962e+02] [-7.06899125e-01 7.05748056e-01 -4.70458004e-02 -1.27917114e+02] [-6.77120676e-02 -1.31465660e-03 9.97704038e-01 -1.05173453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54864 meters Centerline goodness [0,1] 0.9992148780607488 Centerline is valid? [True, True] Translation: X:205.55, Y:-127.94, Z:-10.52 [[ 7.02711914e-01 7.09881383e-01 4.75855819e-02 2.05546635e+02] [-7.08390716e-01 7.04319890e-01 -4.60009350e-02 -1.27935636e+02] [-6.61706791e-02 -1.38377936e-03 9.97807359e-01 -1.05190676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57864 meters Centerline goodness [0,1] 0.9989689709347996 Centerline is valid? [True, True] Translation: X:205.57, Y:-127.96, Z:-10.52 [[ 7.01889247e-01 7.10713479e-01 4.73057671e-02 2.05573783e+02] [-7.09239019e-01 7.03480160e-01 -4.57785874e-02 -1.27955254e+02] [-6.58141277e-02 -1.41959766e-03 9.97830890e-01 -1.05206603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60864 meters Centerline goodness [0,1] 0.9989692745656229 Centerline is valid? [True, True] Translation: X:205.60, Y:-127.98, Z:-10.52 [[ 7.02116813e-01 7.10469417e-01 4.75939980e-02 2.05599747e+02] [-7.08973097e-01 7.03726743e-01 -4.61066029e-02 -1.27976418e+02] [-6.62505004e-02 -1.37064303e-03 9.97802081e-01 -1.05219243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63864 meters Centerline goodness [0,1] 0.9990671641791045 Centerline is valid? [True, True] Translation: X:205.63, Y:-128.00, Z:-10.52 [[ 7.02565746e-01 7.09985276e-01 4.81900563e-02 2.05625210e+02] [-7.08446693e-01 7.04215309e-01 -4.67341535e-02 -1.27997326e+02] [-6.71167363e-02 -1.30627058e-03 9.97744275e-01 -1.05238254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66864 meters Centerline goodness [0,1] 0.999263695268015 Centerline is valid? [True, True] Translation: X:205.65, Y:-128.02, Z:-10.53 [[ 7.05464583e-01 7.06957689e-01 5.03045501e-02 2.05650747e+02] [-7.05269500e-01 7.07255100e-01 -4.88380669e-02 -1.28018101e+02] [-7.01045965e-02 -1.02473837e-03 9.97539120e-01 -1.05273549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69864 meters Centerline goodness [0,1] 0.9991645370552389 Centerline is valid? [True, True] Translation: X:205.68, Y:-128.04, Z:-10.53 [[ 7.07041802e-01 7.05345772e-01 5.07861493e-02 2.05675437e+02] [-7.03617170e-01 7.08862923e-01 -4.93582226e-02 -1.28040246e+02] [-7.08150318e-02 -8.35680028e-04 9.97489114e-01 -1.05296361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72864 meters Centerline goodness [0,1] 0.9998035942256702 Centerline is valid? [True, True] Translation: X:205.70, Y:-128.06, Z:-10.53 [[ 7.10959649e-01 7.01402545e-01 5.07035193e-02 2.05700011e+02] [-6.99666011e-01 7.12765252e-01 -4.93271507e-02 -1.28060731e+02] [-7.07378958e-02 -4.05915385e-04 9.97494855e-01 -1.05321100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75864 meters Centerline goodness [0,1] 0.9996563236449332 Centerline is valid? [True, True] Translation: X:205.72, Y:-128.08, Z:-10.53 [[ 7.11998833e-01 7.00317900e-01 5.11126300e-02 2.05723180e+02] [-6.98546916e-01 7.13831051e-01 -4.97738609e-02 -1.28083546e+02] [-7.13433081e-02 -2.65639140e-04 9.97451784e-01 -1.05341799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78864000000002 meters Centerline goodness [0,1] 0.9995085270555856 Centerline is valid? [True, True] Translation: X:205.75, Y:-128.11, Z:-10.54 [[ 7.14890097e-01 6.97435567e-01 5.01575463e-02 2.05745026e+02] [-6.95719755e-01 7.16647491e-01 -4.88916773e-02 -1.28106604e+02] [-7.00440744e-02 5.65801451e-05 9.97543896e-01 -1.05368678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81864000000002 meters Centerline goodness [0,1] 0.9993125460348637 Centerline is valid? [True, True] Translation: X:205.77, Y:-128.13, Z:-10.54 [[ 7.15576041e-01 6.96704122e-01 5.05400520e-02 2.05768117e+02] [-6.94956794e-01 7.17358586e-01 -4.93124087e-02 -1.28129674e+02] [-7.06114986e-02 1.63625640e-04 9.97503879e-01 -1.05383465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84864000000002 meters Centerline goodness [0,1] 0.9990674846625767 Centerline is valid? [True, True] Translation: X:205.79, Y:-128.15, Z:-10.54 [[ 7.16296480e-01 6.95939334e-01 5.08703829e-02 2.05791410e+02] [-6.94163459e-01 7.18100527e-01 -4.96862689e-02 -1.28152516e+02] [-7.11086777e-02 2.77738610e-04 9.97468535e-01 -1.05402140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87864000000002 meters Centerline goodness [0,1] 0.9978384751424642 Centerline is valid? [True, True] Translation: X:205.81, Y:-128.18, Z:-10.54 [[ 7.16745363e-01 6.95328571e-01 5.28607829e-02 2.05811864e+02] [-6.93405338e-01 7.18691886e-01 -5.16818179e-02 -1.28177735e+02] [-7.39264603e-02 3.88754313e-04 9.97263620e-01 -1.05414760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90864 meters Centerline goodness [0,1] 0.9969540653402112 Centerline is valid? [True, True] Translation: X:205.83, Y:-128.20, Z:-10.54 [[ 7.15947801e-01 6.96125134e-01 5.31840481e-02 2.05832765e+02] [-6.94176732e-01 7.17920385e-01 -5.20479207e-02 -1.28203680e+02] [-7.44137781e-02 3.44465667e-04 9.97227392e-01 -1.05425385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93864 meters Centerline goodness [0,1] 0.996607502827081 Centerline is valid? [True, True] Translation: X:205.86, Y:-128.23, Z:-10.54 [[ 7.15229413e-01 6.96856238e-01 5.32754233e-02 2.05855514e+02] [-6.94899121e-01 7.17210770e-01 -5.21912116e-02 -1.28226965e+02] [-7.45794788e-02 3.07644800e-04 9.97215025e-01 -1.05439110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96864 meters Centerline goodness [0,1] 0.996173093906388 Centerline is valid? [True, True] Translation: X:205.88, Y:-128.25, Z:-10.55 [[ 7.14399808e-01 6.97734989e-01 5.29036907e-02 2.05877458e+02] [-6.95803795e-01 7.16355933e-01 -5.18773180e-02 -1.28250454e+02] [-7.40944926e-02 2.50557283e-04 9.97251194e-01 -1.05459886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99864 meters Centerline goodness [0,1] 0.9953865030674847 Centerline is valid? [True, True] Translation: X:205.90, Y:-128.28, Z:-10.55 [[ 7.12621510e-01 6.99636459e-01 5.17630139e-02 2.05897167e+02] [-6.97789460e-01 7.14498998e-01 -5.08040412e-02 -1.28275933e+02] [-7.25289810e-02 8.43670093e-05 9.97366302e-01 -1.05476410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02864 meters Centerline goodness [0,1] 0.9948916940910654 Centerline is valid? [True, True] Translation: X:205.92, Y:-128.30, Z:-10.55 [[ 7.10317211e-01 7.02061171e-01 5.05922122e-02 2.05918296e+02] [-7.00299847e-01 7.12116631e-01 -4.96993790e-02 -1.28300713e+02] [-7.09195599e-02 -1.27394179e-04 9.97482030e-01 -1.05489208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05864 meters Centerline goodness [0,1] 0.9944512644242574 Centerline is valid? [True, True] Translation: X:205.94, Y:-128.32, Z:-10.55 [[ 7.08837769e-01 7.03579415e-01 5.02496160e-02 2.05941585e+02] [-7.01842339e-01 7.10616596e-01 -4.94103608e-02 -1.28324188e+02] [-7.04723238e-02 -2.43378163e-04 9.97513705e-01 -1.05497394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08864 meters Centerline goodness [0,1] 0.9945390140706485 Centerline is valid? [True, True] Translation: X:205.97, Y:-128.35, Z:-10.55 [[ 7.07022463e-01 7.05413246e-01 5.01137708e-02 2.05965680e+02] [-7.03686531e-01 7.08796164e-01 -4.93281308e-02 -1.28347495e+02] [-7.03171653e-02 -3.88289017e-04 9.97524609e-01 -1.05503908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11864 meters Centerline goodness [0,1] 0.9943042325444368 Centerline is valid? [True, True] Translation: X:205.99, Y:-128.37, Z:-10.55 [[ 7.05631485e-01 7.06860644e-01 4.93177168e-02 2.05989244e+02] [-7.05189438e-01 7.07352657e-01 -4.85806044e-02 -1.28370163e+02] [-6.92247353e-02 -4.98328940e-04 9.97600966e-01 -1.05504643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14864 meters Centerline goodness [0,1] 0.993817771453805 Centerline is valid? [True, True] Translation: X:206.01, Y:-128.39, Z:-10.55 [[ 7.01979382e-01 7.10525810e-01 4.87649613e-02 2.06013281e+02] [-7.08898650e-01 7.03670653e-01 -4.80657435e-02 -1.28392350e+02] [-6.84664235e-02 -8.28254291e-04 9.97653077e-01 -1.05506936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17864 meters Centerline goodness [0,1] 0.9933941335962534 Centerline is valid? [True, True] Translation: X:206.04, Y:-128.41, Z:-10.55 [[ 7.00395875e-01 7.12096503e-01 4.86229257e-02 2.06036761e+02] [-7.10480077e-01 7.02080951e-01 -4.79624632e-02 -1.28414677e+02] [-6.82911322e-02 -9.52908659e-04 9.97664980e-01 -1.05506970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20864 meters Centerline goodness [0,1] 0.9930739758325965 Centerline is valid? [True, True] Translation: X:206.06, Y:-128.44, Z:-10.55 [[ 6.97147715e-01 7.15347108e-01 4.75770712e-02 2.06060733e+02] [-7.13805313e-01 6.98768212e-01 -4.69570075e-02 -1.28435691e+02] [-6.68359045e-02 -1.22479566e-03 9.97763229e-01 -1.05516841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23864 meters Centerline goodness [0,1] 0.9926448955575169 Centerline is valid? [True, True] Translation: X:206.08, Y:-128.46, Z:-10.55 [[ 6.95206704e-01 7.17193198e-01 4.81825222e-02 2.06084814e+02] [-7.15613338e-01 6.96873006e-01 -4.75979516e-02 -1.28456310e+02] [-6.77140262e-02 -1.38964045e-03 9.97703804e-01 -1.05535815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26864 meters Centerline goodness [0,1] 0.9926817288801572 Centerline is valid? [True, True] Translation: X:206.11, Y:-128.48, Z:-10.55 [[ 6.93807553e-01 7.18565722e-01 4.78997199e-02 2.06111009e+02] [-7.17004645e-01 6.95457477e-01 -4.73628135e-02 -1.28476751e+02] [-6.73455126e-02 -1.48364390e-03 9.97728611e-01 -1.05541993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29864 meters Centerline goodness [0,1] 0.9925435369143979 Centerline is valid? [True, True] Translation: X:206.14, Y:-128.49, Z:-10.56 [[ 6.92724064e-01 7.19574446e-01 4.84353951e-02 2.06139113e+02] [-7.17977370e-01 6.94413540e-01 -4.79409065e-02 -1.28494521e+02] [-6.81312454e-02 -1.56569806e-03 9.97675139e-01 -1.05552957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32864 meters Centerline goodness [0,1] 0.9922495830471892 Centerline is valid? [True, True] Translation: X:206.16, Y:-128.51, Z:-10.56 [[ 6.92979728e-01 7.19329830e-01 4.84116960e-02 2.06164802e+02] [-7.17730712e-01 6.94667053e-01 -4.79615443e-02 -1.28514552e+02] [-6.81301797e-02 -1.51018315e-03 9.97675297e-01 -1.05570608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35864 meters Centerline goodness [0,1] 0.9920510304219823 Centerline is valid? [True, True] Translation: X:206.19, Y:-128.53, Z:-10.56 [[ 6.94286214e-01 7.18046661e-01 4.87406031e-02 2.06193517e+02] [-7.16419487e-01 6.95993633e-01 -4.83319954e-02 -1.28530699e+02] [-6.86277774e-02 -1.36247979e-03 9.97641404e-01 -1.05587044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38864 meters Centerline goodness [0,1] 0.9915345998621912 Centerline is valid? [True, True] Translation: X:206.22, Y:-128.55, Z:-10.56 [[ 6.94849551e-01 7.17518513e-01 4.84900483e-02 2.06219551e+02] [-7.15903739e-01 6.96538271e-01 -4.81276745e-02 -1.28549588e+02] [-6.83076719e-02 -1.27271392e-03 9.97663491e-01 -1.05595116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41864 meters Centerline goodness [0,1] 0.9916094210009814 Centerline is valid? [True, True] Translation: X:206.25, Y:-128.57, Z:-10.56 [[ 6.96044224e-01 7.16350850e-01 4.86199335e-02 2.06245785e+02] [-7.14721501e-01 6.97739337e-01 -4.83010793e-02 -1.28569073e+02] [-6.85245594e-02 -1.13002455e-03 9.97648790e-01 -1.05606916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44864 meters Centerline goodness [0,1] 0.9916094210009814 Centerline is valid? [True, True] Translation: X:206.27, Y:-128.59, Z:-10.56 [[ 6.95669567e-01 7.16716293e-01 4.85963823e-02 2.06269095e+02] [-7.15086180e-01 6.97363945e-01 -4.83247675e-02 -1.28591799e+02] [-6.85245131e-02 -1.13253135e-03 9.97648790e-01 -1.05620306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47864 meters Centerline goodness [0,1] 0.9909697683549273 Centerline is valid? [True, True] Translation: X:206.30, Y:-128.61, Z:-10.56 [[ 6.98488793e-01 7.13974639e-01 4.85141308e-02 2.06296889e+02] [-7.12340121e-01 7.00171072e-01 -4.82910248e-02 -1.28609207e+02] [-6.84467579e-02 -8.27822209e-04 9.97654427e-01 -1.05640809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50864 meters Centerline goodness [0,1] 0.9904934581271132 Centerline is valid? [True, True] Translation: X:206.32, Y:-128.63, Z:-10.57 [[ 6.99944445e-01 7.12569472e-01 4.81925395e-02 2.06322230e+02] [-7.10950250e-01 7.01601253e-01 -4.80148339e-02 -1.28629848e+02] [-6.80258510e-02 -6.54781715e-04 9.97683344e-01 -1.05660001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53864000000002 meters Centerline goodness [0,1] 0.9905387518996029 Centerline is valid? [True, True] Translation: X:206.35, Y:-128.65, Z:-10.57 [[ 7.01923049e-01 7.10591666e-01 4.86160167e-02 2.06350630e+02] [-7.08935829e-01 7.03604502e-01 -4.84839677e-02 -1.28647628e+02] [-6.86587516e-02 -4.33621644e-04 9.97640109e-01 -1.05672595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56864000000002 meters Centerline goodness [0,1] 0.9901907891510128 Centerline is valid? [True, True] Translation: X:206.38, Y:-128.67, Z:-10.57 [[ 7.02749195e-01 7.09839488e-01 4.76599529e-02 2.06375999e+02] [-7.08243327e-01 7.04363400e-01 -4.75772009e-02 -1.28668240e+02] [-6.73421024e-02 -3.20003969e-04 9.97729893e-01 -1.05686773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59864000000002 meters Centerline goodness [0,1] 0.9904191028349629 Centerline is valid? [True, True] Translation: X:206.40, Y:-128.69, Z:-10.57 [[ 7.03329138e-01 7.09278870e-01 4.74511115e-02 2.06400821e+02] [-7.07692339e-01 7.04927961e-01 -4.74143878e-02 -1.28689572e+02] [-6.70796386e-02 -2.32867588e-04 9.97747597e-01 -1.05702873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62864000000002 meters Centerline goodness [0,1] 0.9894576836324409 Centerline is valid? [True, True] Translation: X:206.43, Y:-128.71, Z:-10.57 [[ 7.05330459e-01 7.07306517e-01 4.71851080e-02 2.06425750e+02] [-7.05730028e-01 7.06906988e-01 -4.71978502e-02 -1.28711591e+02] [-6.67388297e-02 -9.86624490e-06 9.97770479e-01 -1.05723045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65864 meters Centerline goodness [0,1] 0.9891042944785277 Centerline is valid? [True, True] Translation: X:206.45, Y:-128.72, Z:-10.57 [[ 6.57709757e-01 7.51940268e-01 4.47628124e-02 2.06450296e+02] [-7.50212679e-01 6.59231240e-01 -5.09422089e-02 -1.28715047e+02] [-6.78145425e-02 -7.64415591e-05 9.97697941e-01 -1.05720111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68864 meters Centerline goodness [0,1] 0.98869167609027 Centerline is valid? [True, True] Translation: X:206.33, Y:-128.94, Z:-8.89 [[ 7.06574086e-01 -7.07597148e-01 -7.70312627e-03 2.06332568e+02] [-7.07504790e-01 -7.06610205e-01 1.17893985e-02 -1.28937401e+02] [-1.37852524e-02 -2.88008476e-03 -9.99900831e-01 -8.88960938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71864 meters Centerline goodness [0,1] 0.9886201991465149 Centerline is valid? [True, True] Translation: X:206.47, Y:-128.75, Z:-10.57 [[ 7.10515078e-01 7.02010209e-01 4.84766988e-02 2.06468373e+02] [-7.00354719e-01 7.12166824e-01 -4.81838320e-02 -1.28749097e+02] [-6.83490386e-02 2.84454328e-04 9.97661430e-01 -1.05737181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74864 meters Centerline goodness [0,1] 0.9884234278426371 Centerline is valid? [True, True] Translation: X:206.49, Y:-128.77, Z:-10.58 [[ 7.11542694e-01 7.00956334e-01 4.86540121e-02 2.06491690e+02] [-6.99282792e-01 7.13204066e-01 -4.84100905e-02 -1.28771979e+02] [-6.86335988e-02 4.22932783e-04 9.97641845e-01 -1.05760370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77864 meters Centerline goodness [0,1] 0.987679167484783 Centerline is valid? [True, True] Translation: X:206.52, Y:-128.79, Z:-10.58 [[ 7.13895421e-01 6.98556749e-01 4.87010919e-02 2.06515788e+02] [-6.96871125e-01 7.15554327e-01 -4.85040201e-02 -1.28793556e+02] [-6.87310876e-02 6.88413169e-04 9.97634985e-01 -1.05772226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80864 meters Centerline goodness [0,1] 0.987792322400353 Centerline is valid? [True, True] Translation: X:206.54, Y:-128.82, Z:-10.58 [[ 7.15359921e-01 6.97091030e-01 4.82107801e-02 2.06540791e+02] [-6.95432818e-01 7.16982125e-01 -4.80606642e-02 -1.28815100e+02] [-6.80689255e-02 8.53314300e-04 9.97680256e-01 -1.05784362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83864 meters Centerline goodness [0,1] 0.9866509619159796 Centerline is valid? [True, True] Translation: X:206.57, Y:-128.84, Z:-10.58 [[ 7.15485032e-01 6.96976301e-01 4.80125514e-02 2.06565320e+02] [-6.95328153e-01 7.17093602e-01 -4.79116501e-02 -1.28837921e+02] [-6.78227781e-02 8.95589837e-04 9.97696982e-01 -1.05798737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86864 meters Centerline goodness [0,1] 0.9878474784747847 Centerline is valid? [True, True] Translation: X:206.59, Y:-128.86, Z:-10.58 [[ 7.14811504e-01 6.97655709e-01 4.81770288e-02 2.06589490e+02] [-6.95994440e-01 7.16432660e-01 -4.81246526e-02 -1.28860828e+02] [-6.80900356e-02 8.69111103e-04 9.97678802e-01 -1.05801322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89864 meters Centerline goodness [0,1] 0.9877905266254781 Centerline is valid? [True, True] Translation: X:206.61, Y:-128.88, Z:-10.58 [[ 7.14263691e-01 6.98133633e-01 4.93640581e-02 2.06613607e+02] [-6.96387164e-01 7.15966940e-01 -4.93584813e-02 -1.28882095e+02] [-6.98018495e-02 8.78474660e-04 9.97560489e-01 -1.05813552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92864 meters Centerline goodness [0,1] 0.9871952116960212 Centerline is valid? [True, True] Translation: X:206.50, Y:-129.12, Z:-8.90 [[ 7.46933986e-01 -6.64858475e-01 -7.26833707e-03 2.06501009e+02] [-6.64786349e-01 -7.46964214e-01 1.01771077e-02 -1.29122223e+02] [-1.21955240e-02 -2.76973636e-03 -9.99921796e-01 -8.89974896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95864 meters Centerline goodness [0,1] 0.9878496888932439 Centerline is valid? [True, True] Translation: X:206.63, Y:-128.91, Z:-10.58 [[ 7.61916679e-01 6.45471890e-01 5.33761493e-02 2.06632907e+02] [-6.43810144e-01 7.63783485e-01 -4.62956431e-02 -1.28913122e+02] [-7.06503576e-02 9.09316287e-04 9.97500727e-01 -1.05827635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98864 meters Centerline goodness [0,1] 0.986904061212478 Centerline is valid? [True, True] Translation: X:206.66, Y:-128.93, Z:-10.58 [[ 7.61983862e-01 6.45388981e-01 5.34196379e-02 2.06658823e+02] [-6.43721349e-01 7.63853494e-01 -4.63752461e-02 -1.28933889e+02] [-7.07348499e-02 9.49827709e-04 9.97494701e-01 -1.05849917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01864 meters Centerline goodness [0,1] 0.9876440303996078 Centerline is valid? [True, True] Translation: X:206.68, Y:-128.95, Z:-10.59 [[ 7.63561344e-01 6.43535192e-01 5.32590803e-02 2.06684310e+02] [-6.41869954e-01 7.65415657e-01 -4.62799438e-02 -1.28954384e+02] [-7.05481065e-02 1.15217270e-03 9.97507713e-01 -1.05860217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04864 meters Centerline goodness [0,1] 0.9878986820831904 Centerline is valid? [True, True] Translation: X:206.71, Y:-128.98, Z:-10.59 [[ 7.64041595e-01 6.42964750e-01 5.32613467e-02 2.06709254e+02] [-6.41294934e-01 7.65894769e-01 -4.63250431e-02 -1.28975947e+02] [-7.05779566e-02 1.23802798e-03 9.97505498e-01 -1.05882827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07864 meters Centerline goodness [0,1] 0.988338478122397 Centerline is valid? [True, True] Translation: X:206.73, Y:-129.00, Z:-10.59 [[ 7.66109353e-01 6.40551593e-01 5.26318925e-02 2.06733574e+02] [-6.38912341e-01 7.67913717e-01 -4.58207745e-02 -1.28997248e+02] [-6.97673223e-02 1.47655826e-03 9.97562199e-01 -1.05896843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10864 meters Centerline goodness [0,1] 0.989321577271614 Centerline is valid? [True, True] Translation: X:206.76, Y:-129.02, Z:-10.59 [[ 7.66861270e-01 6.39654708e-01 5.25894169e-02 2.06758400e+02] [-6.38013219e-01 7.68660741e-01 -4.58235490e-02 -1.29018347e+02] [-6.97346690e-02 1.58756176e-03 9.97564312e-01 -1.05913521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13864 meters Centerline goodness [0,1] 0.9891645420670719 Centerline is valid? [True, True] Translation: X:206.78, Y:-129.04, Z:-10.59 [[ 7.67005730e-01 6.39474641e-01 5.26725069e-02 2.06782888e+02] [-6.37824567e-01 7.68810443e-01 -4.59382815e-02 -1.29040533e+02] [-6.98715394e-02 1.63910625e-03 9.97554651e-01 -1.05924062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16864 meters Centerline goodness [0,1] 0.9908792232628844 Centerline is valid? [True, True] Translation: X:206.81, Y:-129.06, Z:-10.59 [[ 7.67689661e-01 6.38560644e-01 5.37855695e-02 2.06805069e+02] [-6.36834581e-01 7.69569417e-01 -4.69534652e-02 -1.29064428e+02] [-7.13743644e-02 1.79317917e-03 9.97447986e-01 -1.05947749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19864 meters Centerline goodness [0,1] 0.99141862403766 Centerline is valid? [True, True] Translation: X:206.83, Y:-129.09, Z:-10.60 [[ 7.67336924e-01 6.38949899e-01 5.41947612e-02 2.06829273e+02] [-6.37195281e-01 7.69246237e-01 -4.73539902e-02 -1.29087024e+02] [-7.19459434e-02 1.80381909e-03 9.97406902e-01 -1.05953630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22864 meters Centerline goodness [0,1] 0.9921875 Centerline is valid? [True, True] Translation: X:206.85, Y:-129.11, Z:-10.60 [[ 7.65918919e-01 6.40616533e-01 5.45771726e-02 2.06852054e+02] [-6.38838015e-01 7.67859095e-01 -4.77325939e-02 -1.29109659e+02] [-7.24858672e-02 1.69332408e-03 9.97368002e-01 -1.05966205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25864 meters Centerline goodness [0,1] 0.9928949431595453 Centerline is valid? [True, True] Translation: X:206.88, Y:-129.13, Z:-10.60 [[ 7.65089796e-01 6.41677707e-01 5.37338298e-02 2.06875467e+02] [-6.39953523e-01 7.66972727e-01 -4.70353576e-02 -1.29132361e+02] [-7.13939224e-02 1.59911843e-03 9.97446916e-01 -1.05991538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28864000000002 meters Centerline goodness [0,1] 0.9938562862479111 Centerline is valid? [True, True] Translation: X:206.90, Y:-129.16, Z:-10.60 [[ 7.63126513e-01 6.44106416e-01 5.25818444e-02 2.06896014e+02] [-6.42459168e-01 7.64934678e-01 -4.60559981e-02 -1.29157581e+02] [-6.98866401e-02 1.36486524e-03 9.97554006e-01 -1.06003193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31864000000002 meters Centerline goodness [0,1] 0.9930303327770688 Centerline is valid? [True, True] Translation: X:206.92, Y:-129.18, Z:-10.60 [[ 7.61751557e-01 6.45887085e-01 5.06402930e-02 2.06920066e+02] [-6.44361716e-01 7.63432049e-01 -4.43788834e-02 -1.29178954e+02] [-6.73241703e-02 1.17501736e-03 9.97730462e-01 -1.06009838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34864000000002 meters Centerline goodness [0,1] 0.9929795277136826 Centerline is valid? [True, True] Translation: X:206.94, Y:-129.20, Z:-10.60 [[ 7.60781912e-01 6.47092027e-01 4.98276140e-02 2.06944292e+02] [-6.45615322e-01 7.62411137e-01 -4.37048530e-02 -1.29200105e+02] [-6.62701898e-02 1.08039061e-03 9.97801130e-01 -1.06013956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37864000000002 meters Centerline goodness [0,1] 0.9948491537895512 Centerline is valid? [True, True] Translation: X:206.97, Y:-129.22, Z:-10.60 [[ 7.59406390e-01 6.48621464e-01 5.09129778e-02 2.06967344e+02] [-6.47080219e-01 7.61110502e-01 -4.46989246e-02 -1.29223281e+02] [-6.77430840e-02 9.99868199e-04 9.97702298e-01 -1.06037351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40864 meters Centerline goodness [0,1] 0.9956801335231457 Centerline is valid? [True, True] Translation: X:206.99, Y:-129.25, Z:-10.60 [[ 7.59142113e-01 6.48864243e-01 5.17537154e-02 2.06990934e+02] [-6.47269135e-01 7.60903501e-01 -4.54810866e-02 -1.29245013e+02] [-6.88906341e-02 1.02802560e-03 9.97623688e-01 -1.06048450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43864 meters Centerline goodness [0,1] 0.9954791154791155 Centerline is valid? [True, True] Translation: X:207.01, Y:-129.27, Z:-10.60 [[ 7.59990608e-01 6.47841119e-01 5.21167952e-02 2.07014801e+02] [-6.46219031e-01 7.61774612e-01 -4.58301736e-02 -1.29266926e+02] [-6.93919224e-02 1.15163659e-03 9.97588811e-01 -1.06045852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46864 meters Centerline goodness [0,1] 0.9950468343877201 Centerline is valid? [True, True] Translation: X:207.04, Y:-129.29, Z:-10.61 [[ 7.60288332e-01 6.47493660e-01 5.20923493e-02 2.07039546e+02] [-6.45870347e-01 7.62069886e-01 -4.58364853e-02 -1.29289532e+02] [-6.93768443e-02 1.20404128e-03 9.97589797e-01 -1.06055334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49864 meters Centerline goodness [0,1] 0.9948974585418506 Centerline is valid? [True, True] Translation: X:207.06, Y:-129.31, Z:-10.61 [[ 7.60627208e-01 6.47152339e-01 5.13819003e-02 2.07063362e+02] [-6.45569107e-01 7.62359678e-01 -4.52575986e-02 -1.29311975e+02] [-6.84600498e-02 1.25359341e-03 9.97653071e-01 -1.06071486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52864 meters Centerline goodness [0,1] 0.9962216006673537 Centerline is valid? [True, True] Translation: X:207.08, Y:-129.34, Z:-10.61 [[ 7.61327109e-01 6.46432783e-01 5.00568772e-02 2.07084742e+02] [-6.44926311e-01 7.62969814e-01 -4.41261319e-02 -1.29337013e+02] [-6.67164645e-02 1.31142331e-03 9.97771113e-01 -1.06102110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55864 meters Centerline goodness [0,1] 0.9963648867711352 Centerline is valid? [True, True] Translation: X:207.11, Y:-129.36, Z:-10.61 [[ 7.61384536e-01 6.46364166e-01 5.00694786e-02 2.07108965e+02] [-6.44854762e-01 7.63027894e-01 -4.41675243e-02 -1.29359667e+02] [-6.67527138e-02 1.34092832e-03 9.97768649e-01 -1.06107071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58864 meters Centerline goodness [0,1] 0.9954308735383708 Centerline is valid? [True, True] Translation: X:207.13, Y:-129.38, Z:-10.61 [[ 7.60827274e-01 6.47021777e-01 5.00467656e-02 2.07133236e+02] [-6.45512193e-01 7.62470384e-01 -4.41918747e-02 -1.29381715e+02] [-6.67522819e-02 1.31658614e-03 9.97768710e-01 -1.06125944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61864 meters Centerline goodness [0,1] 0.9957201889020071 Centerline is valid? [True, True] Translation: X:207.16, Y:-129.41, Z:-10.61 [[ 7.59159149e-01 6.49070131e-01 4.88400658e-02 2.07155241e+02] [-6.47634115e-01 7.60727721e-01 -4.31669750e-02 -1.29405221e+02] [-6.51723861e-02 1.14011125e-03 9.97873369e-01 -1.06136735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64864 meters Centerline goodness [0,1] 0.9948387731026347 Centerline is valid? [True, True] Translation: X:207.18, Y:-129.43, Z:-10.62 [[ 7.58273904e-01 6.50079352e-01 4.91683107e-02 2.07178598e+02] [-6.48623399e-01 7.59865544e-01 -4.34976018e-02 -1.29428555e+02] [-6.56381980e-02 1.09137955e-03 9.97842891e-01 -1.06152646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67864 meters Centerline goodness [0,1] 0.9955333038825896 Centerline is valid? [True, True] Translation: X:207.20, Y:-129.45, Z:-10.62 [[ 7.58029667e-01 6.50304421e-01 4.99518104e-02 2.07200767e+02] [-6.48799256e-01 7.59672891e-01 -4.42337399e-02 -1.29451827e+02] [-6.67124328e-02 1.12178977e-03 9.97771614e-01 -1.06157518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70864 meters Centerline goodness [0,1] 0.9951337003539127 Centerline is valid? [True, True] Translation: X:207.23, Y:-129.47, Z:-10.62 [[ 7.58674066e-01 6.49646845e-01 4.87097286e-02 2.07225453e+02] [-6.48211756e-01 7.60235216e-01 -4.31733249e-02 -1.29474467e+02] [-6.50782653e-02 1.18026329e-03 9.97879465e-01 -1.06157072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73864 meters Centerline goodness [0,1] 0.995387634936212 Centerline is valid? [True, True] Translation: X:207.25, Y:-129.50, Z:-10.62 [[ 7.58772744e-01 6.49462773e-01 4.96188478e-02 2.07248314e+02] [-6.47970308e-01 7.60392360e-01 -4.40220262e-02 -1.29496586e+02] [-6.63204600e-02 1.25117351e-03 9.97797590e-01 -1.06179639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76864 meters Centerline goodness [0,1] 0.9955330846259572 Centerline is valid? [True, True] Translation: X:207.27, Y:-129.52, Z:-10.62 [[ 7.60100645e-01 6.47900123e-01 4.97236330e-02 2.07269157e+02] [-6.46395476e-01 7.61723976e-01 -4.41528351e-02 -1.29520922e+02] [-6.64823107e-02 1.41946703e-03 9.97786594e-01 -1.06189891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79864 meters Centerline goodness [0,1] 0.9957749938590027 Centerline is valid? [True, True] Translation: X:207.29, Y:-129.54, Z:-10.62 [[ 7.60447199e-01 6.47418019e-01 5.06948311e-02 2.07292690e+02] [-6.45850294e-01 7.62133584e-01 -4.50532716e-02 -1.29543176e+02] [-6.78045332e-02 1.51936269e-03 9.97697468e-01 -1.06205815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82864 meters Centerline goodness [0,1] 0.9962169598113393 Centerline is valid? [True, True] Translation: X:207.32, Y:-129.57, Z:-10.62 [[ 7.60754272e-01 6.47138079e-01 4.96512284e-02 2.07316496e+02] [-6.45631031e-01 7.62371251e-01 -4.41661273e-02 -1.29566245e+02] [-6.64342519e-02 1.54319619e-03 9.97789611e-01 -1.06214880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85864 meters Centerline goodness [0,1] 0.9957789339354078 Centerline is valid? [True, True] Translation: X:207.34, Y:-129.59, Z:-10.62 [[ 7.60478718e-01 6.47535274e-01 4.86845821e-02 2.07340012e+02] [-6.46085134e-01 7.62033994e-01 -4.33381003e-02 -1.29588905e+02] [-6.51622552e-02 1.50331817e-03 9.97873549e-01 -1.06233949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88864 meters Centerline goodness [0,1] 0.9961125873437654 Centerline is valid? [True, True] Translation: X:207.36, Y:-129.61, Z:-10.63 [[ 7.60079138e-01 6.48020248e-01 4.84712528e-02 2.07364017e+02] [-6.46582201e-01 7.61621682e-01 -4.31725710e-02 -1.29612100e+02] [-6.48934572e-02 1.47392125e-03 9.97891110e-01 -1.06254936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91864 meters Centerline goodness [0,1] 0.9959744722631321 Centerline is valid? [True, True] Translation: X:207.39, Y:-129.64, Z:-10.63 [[ 7.59825624e-01 6.48227299e-01 4.96627609e-02 2.07386507e+02] [-6.46715199e-01 7.61445365e-01 -4.42764974e-02 -1.29635476e+02] [-6.65167134e-02 1.52475502e-03 9.97784146e-01 -1.06269735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94864 meters Centerline goodness [0,1] 0.9975408223490065 Centerline is valid? [True, True] Translation: X:207.41, Y:-129.66, Z:-10.63 [[ 7.59222487e-01 6.48926681e-01 4.97531601e-02 2.07409846e+02] [-6.47407841e-01 7.60849473e-01 -4.43978284e-02 -1.29658755e+02] [-6.66656011e-02 1.49724379e-03 9.97774251e-01 -1.06283748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97864 meters Centerline goodness [0,1] 0.9964170020614509 Centerline is valid? [True, True] Translation: X:207.43, Y:-129.68, Z:-10.63 [[ 7.58407194e-01 6.49899782e-01 4.94853564e-02 2.07431276e+02] [-6.48397006e-01 7.60018569e-01 -4.41938515e-02 -1.29683695e+02] [-6.63313643e-02 1.43077797e-03 9.97796624e-01 -1.06294939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00864 meters Centerline goodness [0,1] 0.9965137975056466 Centerline is valid? [True, True] Translation: X:207.45, Y:-129.71, Z:-10.63 [[ 7.57445685e-01 6.51054602e-01 4.90299891e-02 2.07454371e+02] [-6.49579984e-01 7.59029719e-01 -4.38147322e-02 -1.29706256e+02] [-6.57410019e-02 1.33838031e-03 9.97835823e-01 -1.06303533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03864000000002 meters Centerline goodness [0,1] 0.9966116676487919 Centerline is valid? [True, True] Translation: X:207.48, Y:-129.73, Z:-10.63 [[ 7.56641681e-01 6.52024819e-01 4.85489619e-02 2.07477010e+02] [-6.50578528e-01 7.58196558e-01 -4.34230159e-02 -1.29728718e+02] [-6.51225399e-02 1.27075159e-03 9.97876465e-01 -1.06312499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06864000000002 meters Centerline goodness [0,1] 0.9967066456940621 Centerline is valid? [True, True] Translation: X:207.50, Y:-129.75, Z:-10.63 [[ 7.54638149e-01 6.54253725e-01 4.97325589e-02 2.07498680e+02] [-6.52737985e-01 7.56274270e-01 -4.45236164e-02 -1.29754211e+02] [-6.67411965e-02 1.13688915e-03 9.97769673e-01 -1.06325993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09864000000002 meters Centerline goodness [0,1] 0.9971035837015219 Centerline is valid? [True, True] Translation: X:207.52, Y:-129.78, Z:-10.63 [[ 7.53020178e-01 6.56113230e-01 4.97598299e-02 2.07521638e+02] [-6.54596994e-01 7.54661791e-01 -4.45909964e-02 -1.29777362e+02] [-6.68085851e-02 1.00528499e-03 9.97765304e-01 -1.06334666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12864000000002 meters Centerline goodness [0,1] 0.9966617574864998 Centerline is valid? [True, True] Translation: X:207.54, Y:-129.80, Z:-10.63 [[ 7.50207437e-01 6.59384634e-01 4.89969966e-02 2.07542787e+02] [-6.57919599e-01 7.51805412e-01 -4.39365760e-02 -1.29802605e+02] [-6.58073103e-02 7.25461753e-04 9.97832086e-01 -1.06344653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15864 meters Centerline goodness [0,1] 0.9963206436420722 Centerline is valid? [True, True] Translation: X:207.57, Y:-129.83, Z:-10.64 [[ 7.49063688e-01 6.60749318e-01 4.81033302e-02 2.07565612e+02] [-6.59339214e-01 7.50606403e-01 -4.31489018e-02 -1.29826120e+02] [-6.46172751e-02 6.04863618e-04 9.97909937e-01 -1.06353890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18864 meters Centerline goodness [0,1] 0.9967121405437236 Centerline is valid? [True, True] Translation: X:207.59, Y:-129.85, Z:-10.64 [[ 7.46434257e-01 6.63740599e-01 4.77945284e-02 2.07588004e+02] [-6.62353194e-01 7.47962757e-01 -4.28947492e-02 -1.29849407e+02] [-6.42195138e-02 3.61251684e-04 9.97935731e-01 -1.06361731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21864 meters Centerline goodness [0,1] 0.9970090708506987 Centerline is valid? [True, True] Translation: X:207.61, Y:-129.87, Z:-10.64 [[ 7.45464695e-01 6.64812631e-01 4.80266011e-02 2.07612185e+02] [-6.63411253e-01 7.47010090e-01 -4.31443506e-02 -1.29871363e+02] [-6.45592649e-02 3.01202589e-04 9.97913829e-01 -1.06375584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24864 meters Centerline goodness [0,1] 0.9988713318284425 Centerline is valid? [True, True] Translation: X:207.64, Y:-129.89, Z:-10.64 [[ 7.44516272e-01 6.65895313e-01 4.77383745e-02 2.07636379e+02] [-6.64510079e-01 7.46045156e-01 -4.29299431e-02 -1.29893195e+02] [-6.42018310e-02 2.39410181e-04 9.97936906e-01 -1.06388312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27864 meters Centerline goodness [0,1] 0.999361963190184 Centerline is valid? [True, True] Translation: X:207.66, Y:-129.91, Z:-10.64 [[ 7.44350450e-01 6.66077515e-01 4.77823383e-02 2.07660969e+02] [-6.64687203e-01 7.45882483e-01 -4.30144691e-02 -1.29914959e+02] [-6.42909798e-02 2.57530706e-04 9.97931162e-01 -1.06410785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30864 meters Centerline goodness [0,1] 0.999361963190184 Centerline is valid? [True, True] Translation: X:207.69, Y:-129.94, Z:-10.64 [[ 7.44003313e-01 6.66466848e-01 4.77599248e-02 2.07685355e+02] [-6.65075740e-01 7.45534623e-01 -4.30393457e-02 -1.29936479e+02] [-6.42909746e-02 2.57448514e-04 9.97931162e-01 -1.06424127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33864 meters Centerline goodness [0,1] 0.9983789359925332 Centerline is valid? [True, True] Translation: X:207.71, Y:-129.96, Z:-10.64 [[ 7.45201055e-01 6.65178311e-01 4.70446887e-02 2.07710244e+02] [-6.63823232e-01 7.46684443e-01 -4.24388821e-02 -1.29957948e+02] [-6.33569611e-02 3.96142385e-04 9.97990851e-01 -1.06443118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36864 meters Centerline goodness [0,1] 0.9984296020022575 Centerline is valid? [True, True] Translation: X:207.73, Y:-129.98, Z:-10.65 [[ 7.45734116e-01 6.64529936e-01 4.77555437e-02 2.07733482e+02] [-6.63129835e-01 7.47261486e-01 -4.31172068e-02 -1.29979421e+02] [-6.43385532e-02 4.85846340e-04 9.97928011e-01 -1.06463217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39864 meters Centerline goodness [0,1] 0.9983774215753761 Centerline is valid? [True, True] Translation: X:207.76, Y:-130.00, Z:-10.65 [[ 7.46387567e-01 6.63824799e-01 4.73522643e-02 2.07758381e+02] [-6.62444962e-01 7.47887905e-01 -4.27826304e-02 -1.30001546e+02] [-6.38143568e-02 5.64154488e-04 9.97961627e-01 -1.06471344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42864 meters Centerline goodness [0,1] 0.9986747165365926 Centerline is valid? [True, True] Translation: X:207.78, Y:-130.02, Z:-10.65 [[ 7.46167006e-01 6.63940783e-01 4.91674204e-02 2.07783106e+02] [-6.62450345e-01 7.47784906e-01 -4.44665530e-02 -1.30021384e+02] [-6.62898129e-02 6.08500121e-04 9.97800226e-01 -1.06498872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45864 meters Centerline goodness [0,1] 0.9987730061349693 Centerline is valid? [True, True] Translation: X:207.81, Y:-130.04, Z:-10.65 [[ 7.45391819e-01 6.64778550e-01 4.96035796e-02 2.07808022e+02] [-6.63260593e-01 7.47040263e-01 -4.49024638e-02 -1.30042569e+02] [-6.69060659e-02 5.69829597e-04 9.97759116e-01 -1.06511407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48864 meters Centerline goodness [0,1] 0.9986259017519753 Centerline is valid? [True, True] Translation: X:207.83, Y:-130.07, Z:-10.65 [[ 7.43917201e-01 6.66435321e-01 4.95092124e-02 2.07831525e+02] [-6.64923678e-01 7.45562711e-01 -4.48636347e-02 -1.30065108e+02] [-6.68109334e-02 4.54981930e-04 9.97765550e-01 -1.06522033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51864 meters Centerline goodness [0,1] 0.9986745864218742 Centerline is valid? [True, True] Translation: X:207.86, Y:-130.09, Z:-10.65 [[ 7.43103074e-01 6.67423702e-01 4.84089239e-02 2.07855010e+02] [-6.65977845e-01 7.44678085e-01 -4.39096741e-02 -1.30087220e+02] [-6.53554220e-02 3.90142982e-04 9.97861973e-01 -1.06532327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54864 meters Centerline goodness [0,1] 0.9983778203804748 Centerline is valid? [True, True] Translation: X:207.88, Y:-130.11, Z:-10.65 [[ 7.41527901e-01 6.69193374e-01 4.81310739e-02 2.07879110e+02] [-6.67765210e-01 7.43088258e-01 -4.36974178e-02 -1.30108632e+02] [-6.50076583e-02 2.62597764e-04 9.97884731e-01 -1.06535387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57864 meters Centerline goodness [0,1] 0.9991655213037502 Centerline is valid? [True, True] Translation: X:207.90, Y:-130.13, Z:-10.66 [[ 7.39391895e-01 6.71520869e-01 4.85731099e-02 2.07903575e+02] [-6.70068491e-01 7.40985637e-01 -4.41418576e-02 -1.30130041e+02] [-6.56341554e-02 9.08213150e-05 9.97843750e-01 -1.06559055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60864 meters Centerline goodness [0,1] 0.9992141453831042 Centerline is valid? [True, True] Translation: X:207.93, Y:-130.15, Z:-10.66 [[ 7.38006136e-01 6.73042318e-01 4.85899317e-02 2.07927231e+02] [-6.71589132e-01 7.39603974e-01 -4.42040711e-02 -1.30152421e+02] [-6.56885171e-02 -9.59434502e-06 9.97840177e-01 -1.06568548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63864 meters Centerline goodness [0,1] 0.9996072463056606 Centerline is valid? [True, True] Translation: X:207.95, Y:-130.18, Z:-10.66 [[ 7.36167251e-01 6.75020993e-01 4.90350580e-02 2.07951549e+02] [-6.73542247e-01 7.37798506e-01 -4.46565448e-02 -1.30175209e+02] [-6.63220977e-02 -1.52497296e-04 9.97798254e-01 -1.06573739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66864 meters Centerline goodness [0,1] 0.9992630803242447 Centerline is valid? [True, True] Translation: X:207.98, Y:-130.20, Z:-10.66 [[ 7.35951354e-01 6.75358990e-01 4.76008378e-02 2.07976520e+02] [-6.73964093e-01 7.37489127e-01 -4.33842023e-02 -1.30196350e+02] [-6.44050113e-02 -1.52593011e-04 9.97923830e-01 -1.06580993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69864 meters Centerline goodness [0,1] 0.9990647304947083 Centerline is valid? [True, True] Translation: X:208.00, Y:-130.22, Z:-10.66 [[ 7.33908455e-01 6.77660791e-01 4.64137036e-02 2.08001447e+02] [-6.76337833e-01 7.35374560e-01 -4.23248389e-02 -1.30216367e+02] [-6.28133407e-02 -3.28786651e-04 9.98025238e-01 -1.06592991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72864 meters Centerline goodness [0,1] 0.9992630441190921 Centerline is valid? [True, True] Translation: X:208.03, Y:-130.24, Z:-10.66 [[ 7.32776473e-01 6.78846428e-01 4.69698555e-02 2.08026237e+02] [-6.77491293e-01 7.34280167e-01 -4.28740498e-02 -1.30238099e+02] [-6.35939289e-02 -4.04573199e-04 9.97975776e-01 -1.06617659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75864 meters Centerline goodness [0,1] 0.9993126135415132 Centerline is valid? [True, True] Translation: X:208.05, Y:-130.26, Z:-10.66 [[ 7.31675348e-01 6.80025494e-01 4.70798526e-02 2.08051154e+02] [-6.78663501e-01 7.33188313e-01 -4.30203535e-02 -1.30259760e+02] [-6.37733348e-02 -4.74445465e-04 9.97964296e-01 -1.06632012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78864000000002 meters Centerline goodness [0,1] 0.9988703894700653 Centerline is valid? [True, True] Translation: X:208.08, Y:-130.28, Z:-10.66 [[ 7.31078758e-01 6.80708008e-01 4.64807319e-02 2.08078227e+02] [-6.79379038e-01 7.32554683e-01 -4.25177460e-02 -1.30279569e+02] [-6.29918479e-02 -4.94213998e-04 9.98013919e-01 -1.06633078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81864000000002 meters Centerline goodness [0,1] 0.9989205103042198 Centerline is valid? [True, True] Translation: X:208.10, Y:-130.30, Z:-10.66 [[ 7.31021892e-01 6.80835329e-01 4.54999685e-02 2.08102778e+02] [-6.79559565e-01 7.32436372e-01 -4.16624307e-02 -1.30299914e+02] [-6.16910866e-02 -4.63789869e-04 9.98095183e-01 -1.06642439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84864000000002 meters Centerline goodness [0,1] 0.9983782189895812 Centerline is valid? [True, True] Translation: X:208.13, Y:-130.32, Z:-10.67 [[ 7.32172716e-01 6.79650849e-01 4.46971713e-02 2.08128160e+02] [-6.78415253e-01 7.33535694e-01 -4.09649716e-02 -1.30319960e+02] [-6.06288483e-02 -3.29808265e-04 9.98160325e-01 -1.06665501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87864000000002 meters Centerline goodness [0,1] 0.9981332285321282 Centerline is valid? [True, True] Translation: X:208.15, Y:-130.34, Z:-10.67 [[ 7.33098580e-01 6.78620753e-01 4.51701862e-02 2.08153866e+02] [-6.77354390e-01 7.34488820e-01 -4.14391566e-02 -1.30340931e+02] [-6.12984684e-02 -2.17237084e-04 9.98119457e-01 -1.06686500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90864 meters Centerline goodness [0,1] 0.9975939111220231 Centerline is valid? [True, True] Translation: X:208.18, Y:-130.36, Z:-10.67 [[ 7.33723892e-01 6.77898448e-01 4.58578763e-02 2.08178611e+02] [-6.76589015e-01 7.35155547e-01 -4.21144411e-02 -1.30362044e+02] [-6.22619864e-02 -1.26563746e-04 9.98059832e-01 -1.06701805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93864 meters Centerline goodness [0,1] 0.9980852317360566 Centerline is valid? [True, True] Translation: X:208.20, Y:-130.38, Z:-10.67 [[ 7.34609993e-01 6.76914498e-01 4.62052057e-02 2.08203114e+02] [-6.75580442e-01 7.36061657e-01 -4.24771000e-02 -1.30383661e+02] [-6.27632451e-02 -1.12311446e-05 9.98028444e-01 -1.06712680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96864 meters Centerline goodness [0,1] 0.9981811925478051 Centerline is valid? [True, True] Translation: X:208.23, Y:-130.40, Z:-10.67 [[ 7.36283078e-01 6.75024005e-01 4.72209897e-02 2.08227166e+02] [-6.73623820e-01 7.37795743e-01 -4.34556209e-02 -1.30404895e+02] [-6.41730324e-02 1.86454813e-04 9.97938769e-01 -1.06736121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99864 meters Centerline goodness [0,1] 0.9980355564286416 Centerline is valid? [True, True] Translation: X:208.25, Y:-130.43, Z:-10.67 [[ 7.36022555e-01 6.75442176e-01 4.52621816e-02 2.08251591e+02] [-6.74154336e-01 7.37412936e-01 -4.16904489e-02 -1.30425926e+02] [-6.15364057e-02 1.71414771e-04 9.98104825e-01 -1.06740301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02864 meters Centerline goodness [0,1] 0.9976912118681535 Centerline is valid? [True, True] Translation: X:208.28, Y:-130.45, Z:-10.68 [[ 7.34687260e-01 6.76902260e-01 4.51437883e-02 2.08275435e+02] [-6.75621436e-01 7.36072907e-01 -4.16215098e-02 -1.30448724e+02] [-6.14028135e-02 7.86819322e-05 9.98113064e-01 -1.06757367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05864 meters Centerline goodness [0,1] 0.9981814607293817 Centerline is valid? [True, True] Translation: X:208.30, Y:-130.47, Z:-10.68 [[ 7.33620478e-01 6.78132011e-01 4.40223865e-02 2.08298396e+02] [-6.76914324e-01 7.34940117e-01 -4.06204622e-02 -1.30471959e+02] [-5.98998536e-02 6.18860055e-07 9.98204392e-01 -1.06773310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08864 meters Centerline goodness [0,1] 0.997645096403866 Centerline is valid? [True, True] Translation: X:208.32, Y:-130.49, Z:-10.68 [[ 7.32163622e-01 6.79737673e-01 4.35100864e-02 2.08321890e+02] [-6.78549698e-01 7.33455304e-01 -4.01699304e-02 -1.30494711e+02] [-5.92177187e-02 -1.12794284e-04 9.98245085e-01 -1.06771300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11864 meters Centerline goodness [0,1] 0.9983779001179709 Centerline is valid? [True, True] Translation: X:208.35, Y:-130.52, Z:-10.68 [[ 7.29534416e-01 6.82580564e-01 4.31660701e-02 2.08345053e+02] [-6.81414031e-01 7.30810288e-01 -3.98903752e-02 -1.30518127e+02] [-5.87746029e-02 -3.12564196e-04 9.98271230e-01 -1.06774421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14864 meters Centerline goodness [0,1] 0.9985747985059956 Centerline is valid? [True, True] Translation: X:208.37, Y:-130.54, Z:-10.68 [[ 7.27622871e-01 6.84691773e-01 4.19777712e-02 2.08368827e+02] [-6.83590319e-01 7.28832612e-01 -3.88239452e-02 -1.30540858e+02] [-5.71772045e-02 -4.46407577e-04 9.98363946e-01 -1.06782232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17864 meters Centerline goodness [0,1] 0.9986726316306966 Centerline is valid? [True, True] Translation: X:208.39, Y:-130.56, Z:-10.68 [[ 7.24538945e-01 6.88024101e-01 4.08185585e-02 2.08392354e+02] [-6.86986143e-01 7.25687532e-01 -3.77842015e-02 -1.30563150e+02] [-5.56179602e-02 -6.65658552e-04 9.98451901e-01 -1.06800836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20864 meters Centerline goodness [0,1] 0.9984778552489443 Centerline is valid? [True, True] Translation: X:208.42, Y:-130.58, Z:-10.68 [[ 7.22948366e-01 6.89665051e-01 4.13252660e-02 2.08416251e+02] [-6.88602731e-01 7.24128094e-01 -3.82724656e-02 -1.30584385e+02] [-5.63199681e-02 -7.87674572e-04 9.98412460e-01 -1.06809678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23864 meters Centerline goodness [0,1] 0.9988205229015137 Centerline is valid? [True, True] Translation: X:208.44, Y:-130.61, Z:-10.68 [[ 7.21558805e-01 6.91101262e-01 4.16165489e-02 2.08440600e+02] [-6.90024211e-01 7.22757409e-01 -3.85787032e-02 -1.30605319e+02] [-5.67404595e-02 -8.79623307e-04 9.98388575e-01 -1.06828221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26864 meters Centerline goodness [0,1] 0.9983280059011557 Centerline is valid? [True, True] Translation: X:208.47, Y:-130.63, Z:-10.68 [[ 7.19422127e-01 6.93331146e-01 4.15177668e-02 2.08466032e+02] [-6.92260867e-01 7.20618392e-01 -3.85230481e-02 -1.30625917e+02] [-5.66276954e-02 -1.02679206e-03 9.98394837e-01 -1.06828212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29864 meters Centerline goodness [0,1] 0.9982795910342116 Centerline is valid? [True, True] Translation: X:208.49, Y:-130.65, Z:-10.68 [[ 7.18476636e-01 6.94296775e-01 4.17529829e-02 2.08491191e+02] [-6.93213791e-01 7.19688000e-01 -3.87791440e-02 -1.30647050e+02] [-5.69733554e-02 -1.08183466e-03 9.98375113e-01 -1.06841532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32864 meters Centerline goodness [0,1] 0.9985762678580196 Centerline is valid? [True, True] Translation: X:208.52, Y:-130.67, Z:-10.69 [[ 7.18872503e-01 6.93944485e-01 4.07845049e-02 2.08518051e+02] [-6.92908720e-01 7.20027806e-01 -3.79138914e-02 -1.30666119e+02] [-5.56761135e-02 -1.00468506e-03 9.98448377e-01 -1.06855792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35864 meters Centerline goodness [0,1] 0.9986750417116498 Centerline is valid? [True, True] Translation: X:208.54, Y:-130.69, Z:-10.69 [[ 7.19538097e-01 6.93212379e-01 4.14912515e-02 2.08544040e+02] [-6.92137686e-01 7.20732754e-01 -3.85969037e-02 -1.30686709e+02] [-5.66599554e-02 -9.45716181e-04 9.98393086e-01 -1.06882435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38864 meters Centerline goodness [0,1] 0.9984289852226422 Centerline is valid? [True, True] Translation: X:208.57, Y:-130.71, Z:-10.69 [[ 7.19790363e-01 6.92924874e-01 4.19160055e-02 2.08570504e+02] [-6.91825142e-01 7.21009226e-01 -3.90341926e-02 -1.30707503e+02] [-5.72695897e-02 -9.02110768e-04 9.98358343e-01 -1.06889050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41864 meters Centerline goodness [0,1] 0.9984282135664817 Centerline is valid? [True, True] Translation: X:208.60, Y:-130.73, Z:-10.69 [[ 7.20826522e-01 6.91733288e-01 4.37513836e-02 2.08598005e+02] [-6.90530176e-01 7.22152616e-01 -4.07881794e-02 -1.30726497e+02] [-5.98097176e-02 -8.10449117e-04 9.98209467e-01 -1.06893399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44864 meters Centerline goodness [0,1] 0.9984287538053619 Centerline is valid? [True, True] Translation: X:208.62, Y:-130.75, Z:-10.69 [[ 7.20690177e-01 6.91832360e-01 4.44258359e-02 2.08623469e+02] [-6.90589343e-01 7.22057717e-01 -4.14609838e-02 -1.30746878e+02] [-6.07620679e-02 -7.99485112e-04 9.98151958e-01 -1.06910873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47864 meters Centerline goodness [0,1] 0.9987718608764001 Centerline is valid? [True, True] Translation: X:208.65, Y:-130.77, Z:-10.69 [[ 7.21868448e-01 6.90693845e-01 4.29878655e-02 2.08649616e+02] [-6.89525767e-01 7.23147002e-01 -4.01575678e-02 -1.30765441e+02] [-5.88231309e-02 -6.52759778e-04 9.98268207e-01 -1.06931464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50864 meters Centerline goodness [0,1] 0.9985774551162563 Centerline is valid? [True, True] Translation: X:208.68, Y:-130.79, Z:-10.69 [[ 7.21895557e-01 6.90654875e-01 4.31584076e-02 2.08675008e+02] [-6.89475111e-01 7.23184246e-01 -4.03561252e-02 -1.30787047e+02] [-5.90836350e-02 -6.23740414e-04 9.98252841e-01 -1.06944845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53864000000002 meters Centerline goodness [0,1] 0.9987211018199705 Centerline is valid? [True, True] Translation: X:208.70, Y:-130.81, Z:-10.69 [[ 7.22602679e-01 6.89978802e-01 4.21262536e-02 2.08701570e+02] [-6.88851401e-01 7.23829383e-01 -3.94305845e-02 -1.30806341e+02] [-5.76984876e-02 -5.26082803e-04 9.98333916e-01 -1.06949326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56864000000002 meters Centerline goodness [0,1] 0.9989700328608564 Centerline is valid? [True, True] Translation: X:208.73, Y:-130.83, Z:-10.70 [[ 7.23084198e-01 6.89403318e-01 4.32701620e-02 2.08727282e+02] [-6.88210410e-01 7.24377560e-01 -4.05411233e-02 -1.30826824e+02] [-5.92931193e-02 -4.64330306e-04 9.98240507e-01 -1.06963839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59864000000002 meters Centerline goodness [0,1] 0.9994117647058823 Centerline is valid? [True, True] Translation: X:208.75, Y:-130.85, Z:-10.70 [[ 7.23077615e-01 6.89424427e-01 4.30432624e-02 2.08751911e+02] [-6.88241528e-01 7.24357489e-01 -4.03711129e-02 -1.30849091e+02] [-5.90115408e-02 -4.32712703e-04 9.98257207e-01 -1.06985544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62864000000002 meters Centerline goodness [0,1] 0.9993128497104152 Centerline is valid? [True, True] Translation: X:208.77, Y:-130.87, Z:-10.70 [[ 7.23910776e-01 6.88600577e-01 4.22188871e-02 2.08774738e+02] [-6.87458877e-01 7.25140771e-01 -3.96378057e-02 -1.30871429e+02] [-5.79092521e-02 -3.29514030e-04 9.98321797e-01 -1.07004748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65864 meters Centerline goodness [0,1] 0.9992636229749632 Centerline is valid? [True, True] Translation: X:208.80, Y:-130.89, Z:-10.70 [[ 7.23721089e-01 6.88798246e-01 4.22464515e-02 2.08799880e+02] [-6.87653175e-01 7.24953016e-01 -3.97018245e-02 -1.30893233e+02] [-5.79732395e-02 -3.17858868e-04 9.98318087e-01 -1.07012540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68864 meters Centerline goodness [0,1] 0.999166094378495 Centerline is valid? [True, True] Translation: X:208.83, Y:-130.91, Z:-10.70 [[ 7.23716715e-01 6.88818940e-01 4.19831450e-02 2.08826680e+02] [-6.87685748e-01 7.24933366e-01 -3.94959060e-02 -1.30913099e+02] [-5.76405108e-02 -2.87363143e-04 9.98337362e-01 -1.07026831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71864 meters Centerline goodness [0,1] 0.9992144540455616 Centerline is valid? [True, True] Translation: X:208.85, Y:-130.94, Z:-10.70 [[ 7.23556965e-01 6.88971434e-01 4.22336583e-02 2.08851002e+02] [-6.87822464e-01 7.24788445e-01 -3.97739517e-02 -1.30935082e+02] [-5.80135840e-02 -2.70539169e-04 9.98315757e-01 -1.07039289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74864 meters Centerline goodness [0,1] 0.9996566439397655 Centerline is valid? [True, True] Translation: X:208.88, Y:-130.96, Z:-10.70 [[ 7.23277074e-01 6.89246374e-01 4.25406886e-02 2.08875212e+02] [-6.88078610e-01 7.24526995e-01 -4.01056008e-02 -1.30957393e+02] [-5.84645172e-02 -2.63876294e-04 9.98289452e-01 -1.07048922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77864 meters Centerline goodness [0,1] 0.9996538081107814 Centerline is valid? [True, True] Translation: X:208.90, Y:-130.98, Z:-10.71 [[ 7.21961997e-01 6.90579691e-01 4.32500322e-02 2.08899179e+02] [-6.89372516e-01 7.23256227e-01 -4.08162256e-02 -1.30979580e+02] [-5.94677116e-02 -3.47619832e-04 9.98230169e-01 -1.07064358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80864 meters Centerline goodness [0,1] 0.9995087202161631 Centerline is valid? [True, True] Translation: X:208.92, Y:-131.00, Z:-10.71 [[ 7.21128717e-01 6.91540215e-01 4.17792365e-02 2.08923596e+02] [-6.90413384e-01 7.22337859e-01 -3.94636260e-02 -1.31001129e+02] [-5.74694086e-02 -3.86590016e-04 9.98347193e-01 -1.07068790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83864 meters Centerline goodness [0,1] 0.9993625263570833 Centerline is valid? [True, True] Translation: X:208.95, Y:-131.02, Z:-10.71 [[ 7.20496478e-01 6.92177076e-01 4.21392992e-02 2.08948833e+02] [-6.91029570e-01 7.21727597e-01 -3.98423014e-02 -1.31022290e+02] [-5.79910228e-02 -4.13263937e-04 9.98317019e-01 -1.07084705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86864 meters Centerline goodness [0,1] 0.9991660534706892 Centerline is valid? [True, True] Translation: X:208.97, Y:-131.04, Z:-10.71 [[ 7.20531748e-01 6.92147521e-01 4.20215352e-02 2.08973806e+02] [-6.91003943e-01 7.21755960e-01 -3.97729193e-02 -1.31044228e+02] [-5.78580210e-02 -3.79395479e-04 9.98324750e-01 -1.07094476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89864 meters Centerline goodness [0,1] 0.9993124447500246 Centerline is valid? [True, True] Translation: X:209.00, Y:-131.07, Z:-10.71 [[ 7.20002820e-01 6.92642814e-01 4.29170261e-02 2.08998691e+02] [-6.91448234e-01 7.21280649e-01 -4.06640436e-02 -1.31065888e+02] [-5.91208780e-02 -3.96675826e-04 9.98250752e-01 -1.07107717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92864 meters Centerline goodness [0,1] 0.999754986034204 Centerline is valid? [True, True] Translation: X:209.02, Y:-131.09, Z:-10.71 [[ 7.19971654e-01 6.92683066e-01 4.27900502e-02 2.09022992e+02] [-6.91493100e-01 7.21242009e-01 -4.05864167e-02 -1.31087613e+02] [-5.89755053e-02 -3.67954887e-04 9.98259362e-01 -1.07120873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95864 meters Centerline goodness [0,1] 0.9993623387452788 Centerline is valid? [True, True] Translation: X:209.05, Y:-131.11, Z:-10.71 [[ 7.20388246e-01 6.92295920e-01 4.20372979e-02 2.09047200e+02] [-6.91144506e-01 7.21613656e-01 -3.99124578e-02 -1.31109483e+02] [-5.79659199e-02 -3.01382039e-04 9.98318517e-01 -1.07132371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98864 meters Centerline goodness [0,1] 0.9985284740275666 Centerline is valid? [True, True] Translation: X:209.07, Y:-131.13, Z:-10.72 [[ 7.21562486e-01 6.91025292e-01 4.27974921e-02 2.09073237e+02] [-6.89827243e-01 7.22830558e-01 -4.06738079e-02 -1.31130389e+02] [-5.90419651e-02 -1.74182022e-04 9.98255486e-01 -1.07154296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01864 meters Centerline goodness [0,1] 0.9984791993720565 Centerline is valid? [True, True] Translation: X:209.10, Y:-131.15, Z:-10.72 [[ 7.22308832e-01 6.90262370e-01 4.25183719e-02 2.09098902e+02] [-6.89076085e-01 7.23559158e-01 -4.04511268e-02 -1.31151887e+02] [-5.86864480e-02 -8.01871170e-05 9.98276462e-01 -1.07167499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04864 meters Centerline goodness [0,1] 0.998871830087801 Centerline is valid? [True, True] Translation: X:209.12, Y:-131.17, Z:-10.72 [[ 7.22972636e-01 6.89528589e-01 4.31380750e-02 2.09123438e+02] [-6.88303530e-01 7.24258466e-01 -4.10843673e-02 -1.31173460e+02] [-5.95719619e-02 1.07840195e-05 9.98224014e-01 -1.07191862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07864 meters Centerline goodness [0,1] 0.9983308787432499 Centerline is valid? [True, True] Translation: X:209.15, Y:-131.20, Z:-10.72 [[ 7.25814610e-01 6.86550985e-01 4.29056785e-02 2.09147960e+02] [-6.85331343e-01 7.27081608e-01 -4.09058217e-02 -1.31195475e+02] [-5.92798619e-02 2.85436784e-04 9.98241362e-01 -1.07211176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10864 meters Centerline goodness [0,1] 0.9978890525282278 Centerline is valid? [True, True] Translation: X:209.17, Y:-131.22, Z:-10.72 [[ 7.26801315e-01 6.85454783e-01 4.37217152e-02 2.09171337e+02] [-6.84183727e-01 7.28115080e-01 -4.17259826e-02 -1.31217891e+02] [-6.04357145e-02 4.12813037e-04 9.98172006e-01 -1.07230117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13864 meters Centerline goodness [0,1] 0.9978882231607897 Centerline is valid? [True, True] Translation: X:209.19, Y:-131.24, Z:-10.72 [[ 7.28740328e-01 6.83405115e-01 4.35314023e-02 2.09194573e+02] [-6.82139197e-01 7.30039094e-01 -4.15816973e-02 -1.31239738e+02] [-6.01967702e-02 6.07783941e-04 9.98186345e-01 -1.07240410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16864 meters Centerline goodness [0,1] 0.9970985984755348 Centerline is valid? [True, True] Translation: X:209.22, Y:-131.26, Z:-10.72 [[ 7.28943539e-01 6.83203256e-01 4.32969760e-02 2.09218840e+02] [-6.81948274e-01 7.30227971e-01 -4.13964048e-02 -1.31262703e+02] [-5.98988215e-02 6.49343761e-04 9.98204242e-01 -1.07241137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19864 meters Centerline goodness [0,1] 0.9975448072673705 Centerline is valid? [True, True] Translation: X:209.24, Y:-131.29, Z:-10.73 [[ 7.28343189e-01 6.83776191e-01 4.43431928e-02 2.09241346e+02] [-6.82458222e-01 7.29691510e-01 -4.24390718e-02 -1.31285098e+02] [-6.13756782e-02 6.47832350e-04 9.98114526e-01 -1.07260066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22864 meters Centerline goodness [0,1] 0.9978880157170923 Centerline is valid? [True, True] Translation: X:209.26, Y:-131.31, Z:-10.73 [[ 7.28106919e-01 6.84035173e-01 4.42289083e-02 2.09264760e+02] [-6.82722031e-01 7.29448733e-01 -4.23694859e-02 -1.31307932e+02] [-6.12449398e-02 6.53465712e-04 9.98122553e-01 -1.07283058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25864 meters Centerline goodness [0,1] 0.9978880157170923 Centerline is valid? [True, True] Translation: X:209.29, Y:-131.33, Z:-10.73 [[ 7.27756638e-01 6.84409236e-01 4.42071792e-02 2.09288483e+02] [-6.83095407e-01 7.29097779e-01 -4.23921492e-02 -1.31330216e+02] [-6.12449346e-02 6.53446887e-04 9.98122553e-01 -1.07296399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28864000000002 meters Centerline goodness [0,1] 0.9981857409041875 Centerline is valid? [True, True] Translation: X:209.31, Y:-131.35, Z:-10.73 [[ 7.27032324e-01 6.85101098e-01 4.53925695e-02 2.09311156e+02] [-6.83714394e-01 7.28447714e-01 -4.35724196e-02 -1.31353261e+02] [-6.29176260e-02 6.43004318e-04 9.98018516e-01 -1.07312199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31864000000002 meters Centerline goodness [0,1] 0.9982333022525396 Centerline is valid? [True, True] Translation: X:209.33, Y:-131.38, Z:-10.73 [[ 7.27015271e-01 6.85152542e-01 4.48864099e-02 2.09333716e+02] [-6.83794208e-01 7.28399312e-01 -4.31268365e-02 -1.31377660e+02] [-6.22436918e-02 6.60801649e-04 9.98060763e-01 -1.07325561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34864000000002 meters Centerline goodness [0,1] 0.9977870666338825 Centerline is valid? [True, True] Translation: X:209.36, Y:-131.40, Z:-10.73 [[ 7.27127615e-01 6.85036578e-01 4.48365839e-02 2.09356671e+02] [-6.83678290e-01 7.28508335e-01 -4.31230936e-02 -1.31401468e+02] [-6.22047216e-02 7.02193159e-04 9.98063164e-01 -1.07333600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37864000000002 meters Centerline goodness [0,1] 0.9982338223028995 Centerline is valid? [True, True] Translation: X:209.38, Y:-131.42, Z:-10.73 [[ 7.27051997e-01 6.85176050e-01 4.39223656e-02 2.09379246e+02] [-6.83870393e-01 7.28377157e-01 -4.22847829e-02 -1.31424822e+02] [-6.09645683e-02 7.06030393e-04 9.98139681e-01 -1.07346258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40864 meters Centerline goodness [0,1] 0.9974982831354852 Centerline is valid? [True, True] Translation: X:209.40, Y:-131.45, Z:-10.74 [[ 7.26655366e-01 6.85562341e-01 4.44550938e-02 2.09402807e+02] [-6.84222994e-01 7.28013579e-01 -4.28383514e-02 -1.31448533e+02] [-6.17322723e-02 7.11520571e-04 9.98092491e-01 -1.07354520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43864 meters Centerline goodness [0,1] 0.9982323480310321 Centerline is valid? [True, True] Translation: X:209.43, Y:-131.47, Z:-10.74 [[ 7.26052517e-01 6.86214996e-01 4.42348429e-02 2.09425085e+02] [-6.84887418e-01 7.27398453e-01 -4.26698407e-02 -1.31473027e+02] [-6.14570409e-02 6.84657897e-04 9.98109495e-01 -1.07369148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46864 meters Centerline goodness [0,1] 0.9981332285321282 Centerline is valid? [True, True] Translation: X:209.45, Y:-131.50, Z:-10.74 [[ 7.25693575e-01 6.86503401e-01 4.56280191e-02 2.09446998e+02] [-6.85088559e-01 7.27126242e-01 -4.40578482e-02 -1.31496288e+02] [-6.34231927e-02 7.13263504e-04 9.97986468e-01 -1.07390914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49864 meters Centerline goodness [0,1] 0.997839430395286 Centerline is valid? [True, True] Translation: X:209.47, Y:-131.52, Z:-10.74 [[ 7.25220157e-01 6.86998715e-01 4.56999900e-02 2.09469602e+02] [-6.85577730e-01 7.26658292e-01 -4.41690198e-02 -1.31521073e+02] [-6.35523366e-02 7.01368098e-04 9.97978261e-01 -1.07400339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52864 meters Centerline goodness [0,1] 0.9980348808646524 Centerline is valid? [True, True] Translation: X:209.49, Y:-131.54, Z:-10.74 [[ 7.24589214e-01 6.87700922e-01 4.51432595e-02 2.09492268e+02] [-6.86313058e-01 7.25993803e-01 -4.36736035e-02 -1.31544184e+02] [-6.28081040e-02 6.63013594e-04 9.98025402e-01 -1.07408389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55864 meters Centerline goodness [0,1] 0.9979862475442043 Centerline is valid? [True, True] Translation: X:209.51, Y:-131.57, Z:-10.74 [[ 7.23423775e-01 6.89033195e-01 4.34890521e-02 2.09513461e+02] [-6.87745914e-01 7.24729574e-01 -4.21022897e-02 -1.31569127e+02] [-6.05276774e-02 5.48379481e-04 9.98166369e-01 -1.07423520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58864 meters Centerline goodness [0,1] 0.9982339955849889 Centerline is valid? [True, True] Translation: X:209.54, Y:-131.59, Z:-10.74 [[ 7.21710871e-01 6.90821416e-01 4.35796919e-02 2.09536253e+02] [-6.89530586e-01 7.23025309e-01 -4.22134258e-02 -1.31593081e+02] [-6.06711588e-02 4.16357820e-04 9.98157722e-01 -1.07440151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61864 meters Centerline goodness [0,1] 0.9982822085889571 Centerline is valid? [True, True] Translation: X:209.56, Y:-131.62, Z:-10.75 [[ 7.20148106e-01 6.92412109e-01 4.41834290e-02 2.09559677e+02] [-6.91085457e-01 7.21502161e-01 -4.28429971e-02 -1.31616464e+02] [-6.15434495e-02 3.18778036e-04 9.98104354e-01 -1.07452279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64864 meters Centerline goodness [0,1] 0.9986247544204322 Centerline is valid? [True, True] Translation: X:209.58, Y:-131.64, Z:-10.75 [[ 7.16624836e-01 6.96079523e-01 4.38422338e-02 2.09582484e+02] [-6.94777542e-01 7.17964690e-01 -4.25543223e-02 -1.31639161e+02] [-6.10983682e-02 3.48848037e-05 9.98131749e-01 -1.07460355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67864 meters Centerline goodness [0,1] 0.9984292936729986 Centerline is valid? [True, True] Translation: X:209.61, Y:-131.66, Z:-10.75 [[ 7.14852497e-01 6.97926020e-01 4.34186242e-02 2.09605737e+02] [-6.96650056e-01 7.16169855e-01 -4.21833916e-02 -1.31661926e+02] [-6.05359964e-02 -9.26840791e-05 9.98166011e-01 -1.07476797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70864 meters Centerline goodness [0,1] 0.9982337356491021 Centerline is valid? [True, True] Translation: X:209.63, Y:-131.68, Z:-10.75 [[ 7.13732042e-01 6.99046922e-01 4.38174966e-02 2.09629429e+02] [-6.97746727e-01 7.15075784e-01 -4.26160498e-02 -1.31684588e+02] [-6.11234492e-02 -1.57074564e-04 9.98130202e-01 -1.07492705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73864 meters Centerline goodness [0,1] 0.9984285994892949 Centerline is valid? [True, True] Translation: X:209.65, Y:-131.71, Z:-10.75 [[ 7.12028385e-01 7.00870071e-01 4.23877556e-02 2.09652831e+02] [-6.99654538e-01 7.13288908e-01 -4.12608910e-02 -1.31706088e+02] [-5.91532395e-02 -2.77859980e-04 9.98248875e-01 -1.07495920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76864 meters Centerline goodness [0,1] 0.998822663723326 Centerline is valid? [True, True] Translation: X:209.68, Y:-131.73, Z:-10.75 [[ 7.11400430e-01 7.01493522e-01 4.26176747e-02 2.09677269e+02] [-7.00264188e-01 7.12675762e-01 -4.15129515e-02 -1.31728718e+02] [-5.94936503e-02 -3.11299803e-04 9.98228635e-01 -1.07513026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79864 meters Centerline goodness [0,1] 0.9988212180746562 Centerline is valid? [True, True] Translation: X:209.70, Y:-131.75, Z:-10.75 [[ 7.11012631e-01 7.01825234e-01 4.36162742e-02 2.09701525e+02] [-7.00535491e-01 7.12349100e-01 -4.25298195e-02 -1.31749398e+02] [-6.09185142e-02 -3.15509151e-04 9.98142693e-01 -1.07526358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82864 meters Centerline goodness [0,1] 0.9984288309520303 Centerline is valid? [True, True] Translation: X:209.73, Y:-131.77, Z:-10.75 [[ 7.11372662e-01 7.01474720e-01 4.33837889e-02 2.09726920e+02] [-7.00195573e-01 7.12694291e-01 -4.23439219e-02 -1.31770910e+02] [-6.06225695e-02 -2.54828512e-04 9.98160728e-01 -1.07529580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85864 meters Centerline goodness [0,1] 0.9983806860002944 Centerline is valid? [True, True] Translation: X:209.75, Y:-131.79, Z:-10.76 [[ 7.11806380e-01 7.01020685e-01 4.36082254e-02 2.09752220e+02] [-6.99724634e-01 7.13140916e-01 -4.26083386e-02 -1.31792427e+02] [-6.09681365e-02 -1.84862346e-04 9.98139696e-01 -1.07551253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88864 meters Centerline goodness [0,1] 0.9983309606793972 Centerline is valid? [True, True] Translation: X:209.78, Y:-131.81, Z:-10.76 [[ 7.12271223e-01 7.00611957e-01 4.25745291e-02 2.09778345e+02] [-6.99373462e-01 7.13542481e-01 -4.16399780e-02 -1.31811956e+02] [-5.95522016e-02 -1.16537822e-04 9.98225186e-01 -1.07565229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91864 meters Centerline goodness [0,1] 0.9977422204770786 Centerline is valid? [True, True] Translation: X:209.80, Y:-131.83, Z:-10.76 [[ 7.12309374e-01 7.00568257e-01 4.26552942e-02 2.09803363e+02] [-6.99322569e-01 7.13585391e-01 -4.17592274e-02 -1.31834243e+02] [-5.96933840e-02 -8.43207838e-05 9.98216756e-01 -1.07585103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94864 meters Centerline goodness [0,1] 0.9977902180318209 Centerline is valid? [True, True] Translation: X:209.83, Y:-131.86, Z:-10.76 [[ 7.12332031e-01 7.00577009e-01 4.21299450e-02 2.09828335e+02] [-6.99359306e-01 7.13576802e-01 -4.12881280e-02 -1.31855372e+02] [-5.89884647e-02 -5.31130263e-05 9.98258663e-01 -1.07591823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97864 meters Centerline goodness [0,1] 0.9980370988320738 Centerline is valid? [True, True] Translation: X:209.85, Y:-131.87, Z:-10.76 [[ 7.13071740e-01 6.99691222e-01 4.42819133e-02 2.09854539e+02] [-6.98341298e-01 7.14445373e-01 -4.34423849e-02 -1.31874633e+02] [-6.20332635e-02 5.36481237e-05 9.98074081e-01 -1.07604940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00864 meters Centerline goodness [0,1] 0.9980380616048656 Centerline is valid? [True, True] Translation: X:209.88, Y:-131.90, Z:-10.76 [[ 7.14127962e-01 6.98573394e-01 4.49050909e-02 2.09878012e+02] [-6.97180378e-01 7.15538385e-01 -4.40946772e-02 -1.31896541e+02] [-6.29346845e-02 1.82293734e-04 9.98017631e-01 -1.07625595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03864000000002 meters Centerline goodness [0,1] 0.9977905435262925 Centerline is valid? [True, True] Translation: X:209.90, Y:-131.92, Z:-10.76 [[ 7.17097606e-01 6.95494648e-01 4.53675850e-02 2.09899997e+02] [-6.94064033e-01 7.18531111e-01 -4.45887933e-02 -1.31919365e+02] [-6.36092883e-02 4.86507935e-04 9.97974760e-01 -1.07643655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06864000000002 meters Centerline goodness [0,1] 0.9971048628490112 Centerline is valid? [True, True] Translation: X:209.92, Y:-131.94, Z:-10.76 [[ 7.19123688e-01 6.93426433e-01 4.49544561e-02 2.09924161e+02] [-6.92015217e-01 7.20527101e-01 -4.42225768e-02 -1.31942462e+02] [-6.30560076e-02 6.92334863e-04 9.98009750e-01 -1.07645579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09864000000002 meters Centerline goodness [0,1] 0.9970546364930538 Centerline is valid? [True, True] Translation: X:209.95, Y:-131.96, Z:-10.77 [[ 7.20236152e-01 6.92261375e-01 4.51007121e-02 2.09946802e+02] [-6.90835979e-01 7.21646385e-01 -4.44088459e-02 -1.31964645e+02] [-6.32892945e-02 8.27661680e-04 9.97994880e-01 -1.07660959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12864000000002 meters Centerline goodness [0,1] 0.9970105366331782 Centerline is valid? [True, True] Translation: X:209.97, Y:-131.99, Z:-10.77 [[ 7.23047132e-01 6.89175503e-01 4.73283367e-02 2.09968970e+02] [-6.87597066e-01 7.24593505e-01 -4.66318351e-02 -1.31987873e+02] [-6.64313238e-02 1.17418913e-03 9.97790309e-01 -1.07682830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15864 meters Centerline goodness [0,1] 0.9972034147777451 Centerline is valid? [True, True] Translation: X:209.99, Y:-132.01, Z:-10.77 [[ 7.23122982e-01 6.89068095e-01 4.77316776e-02 2.09990732e+02] [-6.87460812e-01 7.24695587e-01 -4.70525053e-02 -1.32011468e+02] [-6.70133163e-02 1.21109014e-03 9.97751346e-01 -1.07692122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18864 meters Centerline goodness [0,1] 0.9979887171940152 Centerline is valid? [True, True] Translation: X:210.01, Y:-132.04, Z:-10.77 [[ 7.21829412e-01 6.90370142e-01 4.84909019e-02 2.10011959e+02] [-6.88711144e-01 7.23455436e-01 -4.78455039e-02 -1.32036697e+02] [-6.81121139e-02 1.14006736e-03 9.97677022e-01 -1.07711000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21864 meters Centerline goodness [0,1] 0.9974492298636319 Centerline is valid? [True, True] Translation: X:210.03, Y:-132.06, Z:-10.77 [[ 7.21272046e-01 6.90970261e-01 4.82362255e-02 2.10033807e+02] [-6.89327438e-01 7.22882340e-01 -4.76319912e-02 -1.32060413e+02] [-6.77814050e-02 1.10507004e-03 9.97699584e-01 -1.07711131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24864 meters Centerline goodness [0,1] 0.9974968096593698 Centerline is valid? [True, True] Translation: X:210.06, Y:-132.08, Z:-10.77 [[ 7.20256941e-01 6.92146177e-01 4.65145974e-02 2.10055619e+02] [-6.90619879e-01 7.21756693e-01 -4.59506195e-02 -1.32084717e+02] [-6.53767676e-02 9.72347003e-04 9.97860177e-01 -1.07717379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27864 meters Centerline goodness [0,1] 0.9984288309520303 Centerline is valid? [True, True] Translation: X:210.08, Y:-132.11, Z:-10.77 [[ 7.17738601e-01 6.94781767e-01 4.61475535e-02 2.10077200e+02] [-6.93283341e-01 7.19220232e-01 -4.56121408e-02 -1.32108985e+02] [-6.48807380e-02 7.44264074e-04 9.97892748e-01 -1.07733656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30864 meters Centerline goodness [0,1] 0.9977413335952077 Centerline is valid? [True, True] Translation: X:210.10, Y:-132.13, Z:-10.77 [[ 7.16781325e-01 6.95812745e-01 4.54879682e-02 2.10099602e+02] [-6.94356410e-01 7.18222928e-01 -4.50000133e-02 -1.32131879e+02] [-6.39820845e-02 6.70306824e-04 9.97950822e-01 -1.07742108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33864 meters Centerline goodness [0,1] 0.9982295662437297 Centerline is valid? [True, True] Translation: X:210.12, Y:-132.16, Z:-10.78 [[ 7.15070052e-01 6.97567706e-01 4.55424716e-02 2.10122344e+02] [-6.96108701e-01 7.16518667e-01 -4.50963018e-02 -1.32155730e+02] [-6.40897548e-02 5.44504147e-04 9.97943990e-01 -1.07750510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36864 meters Centerline goodness [0,1] 0.9979389537736775 Centerline is valid? [True, True] Translation: X:210.14, Y:-132.18, Z:-10.78 [[ 7.14367214e-01 6.98355876e-01 4.44809287e-02 2.10144816e+02] [-6.96963011e-01 7.15750534e-01 -4.40878119e-02 -1.32178589e+02] [-6.26262310e-02 4.93325394e-04 9.98036929e-01 -1.07760576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39864 meters Centerline goodness [0,1] 0.9975960359122799 Centerline is valid? [True, True] Translation: X:210.17, Y:-132.20, Z:-10.78 [[ 7.13601468e-01 6.99177178e-01 4.38659164e-02 2.10167868e+02] [-6.97821743e-01 7.14948304e-01 -4.35171046e-02 -1.32201622e+02] [-6.17880289e-02 4.43279523e-04 9.98089196e-01 -1.07772907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42864 meters Centerline goodness [0,1] 0.9980882352941176 Centerline is valid? [True, True] Translation: X:210.19, Y:-132.22, Z:-10.78 [[ 7.12046467e-01 7.00812020e-01 4.30388340e-02 2.10190331e+02] [-6.99507931e-01 7.13345924e-01 -4.27346061e-02 -1.32224874e+02] [-6.06505024e-02 3.23019556e-04 9.98159011e-01 -1.07792147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45864 meters Centerline goodness [0,1] 0.9980353634577603 Centerline is valid? [True, True] Translation: X:210.21, Y:-132.25, Z:-10.78 [[ 7.11573433e-01 7.01264447e-01 4.34905078e-02 2.10214128e+02] [-6.99931129e-01 7.12901167e-01 -4.32242974e-02 -1.32247291e+02] [-6.13160968e-02 3.16901399e-04 9.98118348e-01 -1.07808659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48864 meters Centerline goodness [0,1] 0.9974984058468632 Centerline is valid? [True, True] Translation: X:210.24, Y:-132.27, Z:-10.78 [[ 7.11480534e-01 7.01382072e-01 4.31119326e-02 2.10238157e+02] [-7.00069409e-01 7.12785435e-01 -4.28922564e-02 -1.32270445e+02] [-6.08134173e-02 3.35660355e-04 9.98149095e-01 -1.07818802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51864 meters Centerline goodness [0,1] 0.9975927290591993 Centerline is valid? [True, True] Translation: X:210.26, Y:-132.29, Z:-10.78 [[ 7.11545960e-01 7.01340766e-01 4.27021877e-02 2.10260884e+02] [-7.00050240e-01 7.12826063e-01 -4.25284102e-02 -1.32293885e+02] [-6.02661401e-02 3.67241770e-04 9.98182277e-01 -1.07828431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54864 meters Centerline goodness [0,1] 0.9968531812370931 Centerline is valid? [True, True] Translation: X:210.28, Y:-132.32, Z:-10.78 [[ 7.11877546e-01 7.01044101e-01 4.20419640e-02 2.10283776e+02] [-6.99790142e-01 7.13117798e-01 -4.19137665e-02 -1.32317346e+02] [-5.93642716e-02 4.16917326e-04 9.98236299e-01 -1.07840143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57864 meters Centerline goodness [0,1] 0.9970056940899273 Centerline is valid? [True, True] Translation: X:210.30, Y:-132.34, Z:-10.79 [[ 7.12950044e-01 6.99860609e-01 4.35587251e-02 2.10304850e+02] [-6.98509514e-01 7.14279223e-01 -4.34701223e-02 -1.32341211e+02] [-6.15361185e-02 5.65841756e-04 9.98104697e-01 -1.07858098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60864 meters Centerline goodness [0,1] 0.9969044811320755 Centerline is valid? [True, True] Translation: X:210.33, Y:-132.36, Z:-10.79 [[ 7.14122311e-01 6.98636935e-01 4.39972403e-02 2.10327425e+02] [-6.97253675e-01 7.15476019e-01 -4.39474543e-02 -1.32364306e+02] [-6.21822851e-02 7.06620110e-04 9.98064559e-01 -1.07875295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63864 meters Centerline goodness [0,1] 0.9964110127826942 Centerline is valid? [True, True] Translation: X:210.35, Y:-132.39, Z:-10.79 [[ 7.15639313e-01 6.97102494e-01 4.36862224e-02 2.10348741e+02] [-6.95733465e-01 7.16970968e-01 -4.36758100e-02 -1.32388774e+02] [-6.17682693e-02 8.62159794e-04 9.98090145e-01 -1.07882979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66864 meters Centerline goodness [0,1] 0.9963150395519088 Centerline is valid? [True, True] Translation: X:210.31, Y:-132.54, Z:-9.11 [[ 7.46107557e-01 -6.65687420e-01 -1.35562821e-02 2.10313551e+02] [-6.65509240e-01 -7.46226045e-01 1.56250156e-02 -1.32542032e+02] [-2.05174271e-02 -2.63611125e-03 -9.99786020e-01 -9.11440248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69864 meters Centerline goodness [0,1] 0.9965632364493323 Centerline is valid? [True, True] Translation: X:210.37, Y:-132.43, Z:-10.79 [[ 7.62125368e-01 6.45803170e-01 4.58605284e-02 2.10365470e+02] [-6.44578760e-01 7.63503583e-01 -3.97555202e-02 -1.32426750e+02] [-6.06889187e-02 7.37967993e-04 9.98156456e-01 -1.07889014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72864 meters Centerline goodness [0,1] 0.9967548431507522 Centerline is valid? [True, True] Translation: X:210.39, Y:-132.45, Z:-10.79 [[ 7.60120936e-01 6.48203785e-01 4.52550156e-02 2.10388456e+02] [-6.47013644e-01 7.61466698e-01 -3.92659175e-02 -1.32449053e+02] [-5.99125036e-02 5.66233377e-04 9.98203472e-01 -1.07891059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75864 meters Centerline goodness [0,1] 0.9967100417382765 Centerline is valid? [True, True] Translation: X:210.41, Y:-132.47, Z:-10.79 [[ 7.56939734e-01 6.51876360e-01 4.58197524e-02 2.10411402e+02] [-6.50661101e-01 7.58325207e-01 -3.97871010e-02 -1.32472405e+02] [-6.06825438e-02 3.03307162e-04 9.98157070e-01 -1.07908405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78864000000002 meters Centerline goodness [0,1] 0.9973453937665913 Centerline is valid? [True, True] Translation: X:210.43, Y:-132.49, Z:-10.79 [[ 7.55596494e-01 6.53492164e-01 4.49658667e-02 2.10434798e+02] [-6.52323201e-01 7.56933257e-01 -3.90702684e-02 -1.32493941e+02] [-5.95682742e-02 1.89079720e-04 9.98224216e-01 -1.07910993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81864000000002 meters Centerline goodness [0,1] 0.9976435935198822 Centerline is valid? [True, True] Translation: X:210.46, Y:-132.52, Z:-10.79 [[ 7.53222329e-01 6.56174798e-01 4.57248136e-02 2.10458439e+02] [-6.54968570e-01 7.54608928e-01 -3.97685572e-02 -1.32516521e+02] [-6.05994776e-02 6.24951721e-06 9.98162163e-01 -1.07926512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84864000000002 meters Centerline goodness [0,1] 0.9978882231607897 Centerline is valid? [True, True] Translation: X:210.48, Y:-132.54, Z:-10.79 [[ 7.53173058e-01 6.56185083e-01 4.63840697e-02 2.10483693e+02] [-6.54941141e-01 7.54599984e-01 -4.03852142e-02 -1.32538305e+02] [-6.15015934e-02 3.82197182e-05 9.98106985e-01 -1.07934929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87864000000002 meters Centerline goodness [0,1] 0.998084949668549 Centerline is valid? [True, True] Translation: X:210.51, Y:-132.56, Z:-10.79 [[ 7.52464930e-01 6.57015047e-01 4.61276283e-02 2.10508228e+02] [-6.55783781e-01 7.53877462e-01 -4.02045265e-02 -1.32559985e+02] [-6.11895583e-02 2.74566172e-06 9.98126163e-01 -1.07945120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90864 meters Centerline goodness [0,1] 0.9982822085889571 Centerline is valid? [True, True] Translation: X:210.53, Y:-132.58, Z:-10.80 [[ 7.51750091e-01 6.57823408e-01 4.62619129e-02 2.10533679e+02] [-6.56583832e-01 7.53172200e-01 -4.03646902e-02 -1.32580320e+02] [-6.13960248e-02 -3.06645055e-05 9.98113484e-01 -1.07966872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93864 meters Centerline goodness [0,1] 0.9987730663525717 Centerline is valid? [True, True] Translation: X:210.56, Y:-132.60, Z:-10.80 [[ 7.51342838e-01 6.58297814e-01 4.61294619e-02 2.10559753e+02] [-6.57063588e-01 7.52757588e-01 -4.02921246e-02 -1.32601178e+02] [-6.12485201e-02 -3.67904977e-05 9.98122546e-01 -1.07989238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96864 meters Centerline goodness [0,1] 0.998822548201933 Centerline is valid? [True, True] Translation: X:210.58, Y:-132.62, Z:-10.80 [[ 7.50028256e-01 6.59822948e-01 4.57306476e-02 2.10584759e+02] [-6.58610246e-01 7.51421094e-01 -3.99860358e-02 -1.32622458e+02] [-6.07466772e-02 -1.28016362e-04 9.98153207e-01 -1.08001818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99864 meters Centerline goodness [0,1] 0.9988691120070804 Centerline is valid? [True, True] Translation: X:210.61, Y:-132.64, Z:-10.80 [[ 7.49242740e-01 6.60812199e-01 4.43007327e-02 2.10609224e+02] [-6.59673657e-01 7.50551269e-01 -3.87744595e-02 -1.32643358e+02] [-5.88726070e-02 -1.72544112e-04 9.98265489e-01 -1.08014831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02864 meters Centerline goodness [0,1] 0.9992636229749632 Centerline is valid? [True, True] Translation: X:210.63, Y:-132.66, Z:-10.80 [[ 7.48239037e-01 6.61970685e-01 4.39676669e-02 2.10634270e+02] [-6.60849024e-01 7.49529691e-01 -3.85202412e-02 -1.32664538e+02] [-5.84543422e-02 -2.33641572e-04 9.98290056e-01 -1.08026007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05864 meters Centerline goodness [0,1] 0.998821970254749 Centerline is valid? [True, True] Translation: X:210.66, Y:-132.69, Z:-10.80 [[ 7.47233007e-01 6.63098342e-01 4.40842618e-02 2.10658793e+02] [-6.61970251e-01 7.48532233e-01 -3.86637253e-02 -1.32686023e+02] [-5.86363431e-02 -2.91658089e-04 9.98279367e-01 -1.08041247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08864 meters Centerline goodness [0,1] 0.9991166511262698 Centerline is valid? [True, True] Translation: X:210.68, Y:-132.71, Z:-10.81 [[ 7.46838548e-01 6.63571191e-01 4.36515378e-02 2.10683476e+02] [-6.62463606e-01 7.48113084e-01 -3.83247088e-02 -1.32707917e+02] [-5.80874593e-02 -2.95185289e-04 9.98311454e-01 -1.08052109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11864 meters Centerline goodness [0,1] 0.9991166511262698 Centerline is valid? [True, True] Translation: X:210.71, Y:-132.73, Z:-10.81 [[ 7.46488695e-01 6.63966071e-01 4.36312512e-02 2.10708125e+02] [-6.62857810e-01 7.47762643e-01 -3.83477942e-02 -1.32729139e+02] [-5.80874539e-02 -2.95120789e-04 9.98311455e-01 -1.08065415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14864 meters Centerline goodness [0,1] 0.9994608107445714 Centerline is valid? [True, True] Translation: X:210.73, Y:-132.75, Z:-10.81 [[ 7.46110111e-01 6.64405637e-01 4.34148801e-02 2.10732935e+02] [-6.63306746e-01 7.47372104e-01 -3.81981462e-02 -1.32750785e+02] [-5.78261339e-02 -2.97359785e-04 9.98326625e-01 -1.08074462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17864 meters Centerline goodness [0,1] 0.9991151747529863 Centerline is valid? [True, True] Translation: X:210.76, Y:-132.77, Z:-10.81 [[ 7.45641864e-01 6.64921405e-01 4.35630107e-02 2.10759671e+02] [-6.63813492e-01 7.46913269e-01 -3.83694859e-02 -1.32770922e+02] [-5.80504832e-02 -3.07819188e-04 9.98313601e-01 -1.08085168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20864 meters Centerline goodness [0,1] 0.99881994296391 Centerline is valid? [True, True] Translation: X:210.78, Y:-132.79, Z:-10.81 [[ 7.45314832e-01 6.65378840e-01 4.21521154e-02 2.10784833e+02] [-6.64340209e-01 7.46505798e-01 -3.71642369e-02 -1.32791660e+02] [-5.61950954e-02 -3.04288176e-04 9.98419761e-01 -1.08101491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23864 meters Centerline goodness [0,1] 0.9982330421124963 Centerline is valid? [True, True] Translation: X:210.81, Y:-132.81, Z:-10.81 [[ 7.45298350e-01 6.65347512e-01 4.29308624e-02 2.10810522e+02] [-6.64267926e-01 7.46533730e-01 -3.78881524e-02 -1.32813144e+02] [-5.72581248e-02 -2.79617464e-04 9.98359369e-01 -1.08116601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26864 meters Centerline goodness [0,1] 0.9987730061349693 Centerline is valid? [True, True] Translation: X:210.83, Y:-132.83, Z:-10.81 [[ 7.45982453e-01 6.64634022e-01 4.20927197e-02 2.10834873e+02] [-6.63592950e-01 7.47169044e-01 -3.71862360e-02 -1.32834389e+02] [-5.61656147e-02 -1.92152568e-04 9.98421447e-01 -1.08117124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29864 meters Centerline goodness [0,1] 0.9991645370552389 Centerline is valid? [True, True] Translation: X:210.86, Y:-132.85, Z:-10.81 [[ 7.46214388e-01 6.64250745e-01 4.39890420e-02 2.10860307e+02] [-6.63110818e-01 7.47509818e-01 -3.88987815e-02 -1.32854906e+02] [-5.87207854e-02 -1.42779206e-04 9.98274436e-01 -1.08129860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32864 meters Centerline goodness [0,1] 0.9986756915832843 Centerline is valid? [True, True] Translation: X:210.89, Y:-132.87, Z:-10.81 [[ 7.46030173e-01 6.64416397e-01 4.46075397e-02 2.10886834e+02] [-6.63242145e-01 7.47362586e-01 -3.94844626e-02 -1.32874847e+02] [-5.95721306e-02 -1.28999817e-04 9.98223995e-01 -1.08137394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35864 meters Centerline goodness [0,1] 0.9983794136423906 Centerline is valid? [True, True] Translation: X:210.91, Y:-132.90, Z:-10.82 [[ 7.45878474e-01 6.64590672e-01 4.45481871e-02 2.10912087e+02] [-6.63417345e-01 7.47207619e-01 -3.94740462e-02 -1.32895996e+02] [-5.95208278e-02 -1.11198639e-04 9.98227058e-01 -1.08163963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38864 meters Centerline goodness [0,1] 0.9982831354851368 Centerline is valid? [True, True] Translation: X:210.94, Y:-132.92, Z:-10.82 [[ 7.46243440e-01 6.64194027e-01 4.43511319e-02 2.10937350e+02] [-6.63027879e-01 7.47560227e-01 -3.93413200e-02 -1.32917488e+02] [-5.92854119e-02 -4.78349109e-05 9.98241072e-01 -1.08181290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41864 meters Centerline goodness [0,1] 0.9981864523085971 Centerline is valid? [True, True] Translation: X:210.96, Y:-132.94, Z:-10.82 [[ 7.46484158e-01 6.63833325e-01 4.56806061e-02 2.10962901e+02] [-6.62592897e-01 7.47880549e-01 -4.05627592e-02 -1.32937090e+02] [-6.10905481e-02 1.18120611e-05 9.98132228e-01 -1.08178471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44864 meters Centerline goodness [0,1] 0.9977922778786243 Centerline is valid? [True, True] Translation: X:210.99, Y:-132.96, Z:-10.82 [[ 7.46089835e-01 6.64358474e-01 4.44721975e-02 2.10987773e+02] [-6.63181659e-01 7.47414087e-01 -3.95255552e-02 -1.32957448e+02] [-5.94982844e-02 -3.53076823e-06 9.98228408e-01 -1.08177843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47864 meters Centerline goodness [0,1] 0.9978920535320359 Centerline is valid? [True, True] Translation: X:211.01, Y:-132.98, Z:-10.82 [[ 7.45369164e-01 6.65042277e-01 4.62988022e-02 2.11013279e+02] [-6.63765607e-01 7.46805710e-01 -4.11879930e-02 -1.32976874e+02] [-6.19679665e-02 -3.12926151e-05 9.98078138e-01 -1.08194549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50864 meters Centerline goodness [0,1] 0.998235121090303 Centerline is valid? [True, True] Translation: X:211.04, Y:-133.00, Z:-10.82 [[ 7.45032822e-01 6.65428204e-01 4.61670873e-02 2.11038595e+02] [-6.64157074e-01 7.46461857e-01 -4.11105373e-02 -1.32998416e+02] [-6.18180807e-02 -3.34980228e-05 9.98087433e-01 -1.08219531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53864000000002 meters Centerline goodness [0,1] 0.9975976859342061 Centerline is valid? [True, True] Translation: X:211.06, Y:-133.02, Z:-10.82 [[ 7.45855950e-01 6.64559340e-01 4.53848570e-02 2.11063551e+02] [-6.63326889e-01 7.47235491e-01 -4.04544051e-02 -1.33018153e+02] [-6.07975286e-02 6.81627440e-05 9.98150117e-01 -1.08236454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56864000000002 meters Centerline goodness [0,1] 0.9970565149136578 Centerline is valid? [True, True] Translation: X:211.09, Y:-133.04, Z:-10.82 [[ 7.46266542e-01 6.64116616e-01 4.51150562e-02 2.11088742e+02] [-6.62895635e-01 7.47628987e-01 -4.02526290e-02 -1.33039766e+02] [-6.04617635e-02 1.32616461e-04 9.98170505e-01 -1.08239800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59864000000002 meters Centerline goodness [0,1] 0.9969096438732463 Centerline is valid? [True, True] Translation: X:211.11, Y:-133.06, Z:-10.83 [[ 7.47261322e-01 6.62967309e-01 4.55506781e-02 2.11113839e+02] [-6.61717826e-01 7.48648302e-01 -4.06846329e-02 -1.33061143e+02] [-6.10740194e-02 2.60356903e-04 9.98133206e-01 -1.08262086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62864000000002 meters Centerline goodness [0,1] 0.9963191990577149 Centerline is valid? [True, True] Translation: X:211.14, Y:-133.08, Z:-10.83 [[ 7.48847001e-01 6.61141317e-01 4.60470270e-02 2.11138583e+02] [-6.59858389e-01 7.50261262e-01 -4.11697145e-02 -1.33082029e+02] [-6.17662998e-02 4.45300146e-04 9.98090540e-01 -1.08266744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65864 meters Centerline goodness [0,1] 0.9959297763828953 Centerline is valid? [True, True] Translation: X:211.16, Y:-133.10, Z:-10.83 [[ 7.52542251e-01 6.56897382e-01 4.65401944e-02 2.11162027e+02] [-6.55576267e-01 7.53979534e-01 -4.16487715e-02 -1.33104394e+02] [-6.24493231e-02 8.31813351e-04 9.98047790e-01 -1.08288488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68864 meters Centerline goodness [0,1] 0.9949457775160705 Centerline is valid? [True, True] Translation: X:211.19, Y:-133.13, Z:-10.83 [[ 7.54640935e-01 6.54546787e-01 4.56679610e-02 2.11185416e+02] [-6.53268226e-01 7.56020788e-01 -4.09046816e-02 -1.33127087e+02] [-6.12999558e-02 1.03491931e-03 9.98118853e-01 -1.08304553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71864 meters Centerline goodness [0,1] 0.9956383239402107 Centerline is valid? [True, True] Translation: X:211.21, Y:-133.15, Z:-10.83 [[ 7.57977404e-01 6.50695138e-01 4.54542901e-02 2.11206180e+02] [-6.49419425e-01 7.59337848e-01 -4.07485365e-02 -1.33151566e+02] [-6.10300374e-02 1.36757099e-03 9.98134993e-01 -1.08315338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74864 meters Centerline goodness [0,1] 0.9951403887688985 Centerline is valid? [True, True] Translation: X:211.23, Y:-133.18, Z:-10.83 [[ 7.58477096e-01 6.50067625e-01 4.60931347e-02 2.11227554e+02] [-6.48752925e-01 7.59874960e-01 -4.13483669e-02 -1.33175604e+02] [-6.19042535e-02 1.45873325e-03 9.98081027e-01 -1.08328145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77864 meters Centerline goodness [0,1] 0.9951944294610896 Centerline is valid? [True, True] Translation: X:211.25, Y:-133.20, Z:-10.83 [[ 7.58370612e-01 6.50227819e-01 4.55828700e-02 2.11250037e+02] [-6.48941014e-01 7.59737909e-01 -4.09129592e-02 -1.33199536e+02] [-6.12337786e-02 1.44659203e-03 9.98122403e-01 -1.08335112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80864 meters Centerline goodness [0,1] 0.9946988661463702 Centerline is valid? [True, True] Translation: X:211.27, Y:-133.23, Z:-10.83 [[ 7.56934220e-01 6.51948199e-01 4.48790852e-02 2.11268728e+02] [-6.50701529e-01 7.58262364e-01 -4.03200747e-02 -1.33226612e+02] [-6.03167213e-02 1.31675496e-03 9.98178421e-01 -1.08334606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83864 meters Centerline goodness [0,1] 0.9955875864097662 Centerline is valid? [True, True] Translation: X:211.29, Y:-133.25, Z:-10.83 [[ 7.55769532e-01 6.53321224e-01 4.45397947e-02 2.11290175e+02] [-6.52093626e-01 7.57079836e-01 -4.00502775e-02 -1.33250494e+02] [-5.98858768e-02 1.22466328e-03 9.98204479e-01 -1.08340491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86864 meters Centerline goodness [0,1] 0.995879323031641 Centerline is valid? [True, True] Translation: X:211.31, Y:-133.28, Z:-10.83 [[ 7.53355309e-01 6.56159551e-01 4.37083698e-02 2.11308244e+02] [-6.54980126e-01 7.54621514e-01 -3.93370647e-02 -1.33278721e+02] [-5.87946670e-02 1.00667298e-03 9.98269590e-01 -1.08349271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89864 meters Centerline goodness [0,1] 0.9957783123067105 Centerline is valid? [True, True] Translation: X:211.33, Y:-133.30, Z:-10.84 [[ 7.52052320e-01 6.57663272e-01 4.35468643e-02 2.11328758e+02] [-6.56493018e-01 7.53311482e-01 -3.92266399e-02 -1.33304374e+02] [-5.86022732e-02 9.12273208e-04 9.98280993e-01 -1.08358195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92864 meters Centerline goodness [0,1] 0.9951934866839963 Centerline is valid? [True, True] Translation: X:211.35, Y:-133.33, Z:-10.84 [[ 7.51102624e-01 6.58780365e-01 4.30497211e-02 2.11349387e+02] [-6.57636515e-01 7.52334847e-01 -3.88135529e-02 -1.33329446e+02] [-5.79574119e-02 8.41892943e-04 9.98318701e-01 -1.08366412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95864 meters Centerline goodness [0,1] 0.9952436991271942 Centerline is valid? [True, True] Translation: X:211.37, Y:-133.36, Z:-10.84 [[ 7.50296997e-01 6.59716953e-01 4.27546175e-02 2.11370533e+02] [-6.58588158e-01 7.51513749e-01 -3.85839851e-02 -1.33355885e+02] [-5.75851920e-02 7.91763399e-04 9.98340282e-01 -1.08368537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98864 meters Centerline goodness [0,1] 0.9959746698738403 Centerline is valid? [True, True] Translation: X:211.39, Y:-133.38, Z:-10.84 [[ 7.49720646e-01 6.60366934e-01 4.28306607e-02 2.11393713e+02] [-6.59232826e-01 7.50942684e-01 -3.86932314e-02 -1.33379343e+02] [-5.77151019e-02 7.73736986e-04 9.98332794e-01 -1.08389505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01864 meters Centerline goodness [0,1] 0.9967618486900206 Centerline is valid? [True, True] Translation: X:211.41, Y:-133.41, Z:-10.84 [[ 7.48407949e-01 6.61840662e-01 4.30404579e-02 2.11414341e+02] [-6.60695476e-01 7.49644220e-01 -3.89233946e-02 -1.33405836e+02] [-5.80261158e-02 6.93942088e-04 9.98314824e-01 -1.08408049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04864 meters Centerline goodness [0,1] 0.9963177533385703 Centerline is valid? [True, True] Translation: X:211.44, Y:-133.43, Z:-10.84 [[ 7.46832991e-01 6.63673470e-01 4.21664369e-02 2.11436582e+02] [-6.62575115e-01 7.48022193e-01 -3.81708627e-02 -1.33429105e+02] [-5.68744195e-02 5.68827716e-04 9.98381178e-01 -1.08413252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07864 meters Centerline goodness [0,1] 0.9969555610115394 Centerline is valid? [True, True] Translation: X:211.46, Y:-133.45, Z:-10.84 [[ 7.44268475e-01 6.66559845e-01 4.19810708e-02 2.11459821e+02] [-6.65473736e-01 7.45451429e-01 -3.80377788e-02 -1.33452118e+02] [-5.66493052e-02 3.73019615e-04 9.98394069e-01 -1.08410581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10864 meters Centerline goodness [0,1] 0.9974454706229121 Centerline is valid? [True, True] Translation: X:211.48, Y:-133.48, Z:-10.84 [[ 7.38764106e-01 6.72641222e-01 4.22064168e-02 2.11482754e+02] [-6.71551599e-01 7.39968770e-01 -3.82709879e-02 -1.33475332e+02] [-5.69740745e-02 -7.05545102e-05 9.98375656e-01 -1.08412368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13864 meters Centerline goodness [0,1] 0.9979848618893149 Centerline is valid? [True, True] Translation: X:211.51, Y:-133.50, Z:-10.84 [[ 7.36510921e-01 6.75187950e-01 4.09010309e-02 2.11506063e+02] [-6.74167980e-01 7.37645694e-01 -3.70994049e-02 -1.33497171e+02] [-5.52195405e-02 -2.50048511e-04 9.98474206e-01 -1.08420161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16864 meters Centerline goodness [0,1] 0.9982809430255403 Centerline is valid? [True, True] Translation: X:211.53, Y:-133.52, Z:-10.84 [[ 7.33578069e-01 6.78430035e-01 3.99487579e-02 2.11530351e+02] [-6.77460819e-01 7.34664868e-01 -3.62542506e-02 -1.33519009e+02] [-5.39449215e-02 -4.68395083e-04 9.98543803e-01 -1.08437853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19864 meters Centerline goodness [0,1] 0.9986265083881095 Centerline is valid? [True, True] Translation: X:211.56, Y:-133.54, Z:-10.84 [[ 7.28955077e-01 6.83473527e-01 3.85802195e-02 2.11555221e+02] [-6.82574750e-01 7.29974877e-01 -3.50483870e-02 -1.33539087e+02] [-5.21172357e-02 -7.85183969e-04 9.98640665e-01 -1.08443319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22864 meters Centerline goodness [0,1] 0.9985757784107652 Centerline is valid? [True, True] Translation: X:211.58, Y:-133.56, Z:-10.84 [[ 7.27340401e-01 6.85225234e-01 3.79778988e-02 2.11581070e+02] [-6.84354995e-01 7.28330707e-01 -3.45343675e-02 -1.33559667e+02] [-5.13242899e-02 -8.72124013e-04 9.98681659e-01 -1.08439609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25864 meters Centerline goodness [0,1] 0.998822548201933 Centerline is valid? [True, True] Translation: X:211.61, Y:-133.58, Z:-10.84 [[ 7.25489255e-01 6.87183316e-01 3.80056755e-02 2.11607520e+02] [-6.86312769e-01 7.26483390e-01 -3.45928731e-02 -1.33577656e+02] [-5.13821372e-02 -9.87022611e-04 9.98678578e-01 -1.08439415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28864000000002 meters Centerline goodness [0,1] 0.9986747165365926 Centerline is valid? [True, True] Translation: X:211.63, Y:-133.60, Z:-10.85 [[ 7.25092154e-01 6.87555534e-01 3.88427039e-02 2.11634250e+02] [-6.86645528e-01 7.26131083e-01 -3.53775271e-02 -1.33597446e+02] [-5.25289091e-02 -1.01920161e-03 9.98618884e-01 -1.08453199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31864000000002 meters Centerline goodness [0,1] 0.998773788503041 Centerline is valid? [True, True] Translation: X:211.66, Y:-133.62, Z:-10.85 [[ 7.25247538e-01 6.87390415e-01 3.88642108e-02 2.11660869e+02] [-6.86477162e-01 7.26287448e-01 -3.54351371e-02 -1.33617071e+02] [-5.25843621e-02 -9.80147200e-04 9.98616004e-01 -1.08468215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34864000000002 meters Centerline goodness [0,1] 0.9990194155716807 Centerline is valid? [True, True] Translation: X:211.69, Y:-133.63, Z:-10.85 [[ 7.25996405e-01 6.86525652e-01 4.01466041e-02 2.11690174e+02] [-6.85547568e-01 7.27105003e-01 -3.66448715e-02 -1.33633784e+02] [-5.43484410e-02 -9.18361867e-04 9.98521609e-01 -1.08488405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37864000000002 meters Centerline goodness [0,1] 0.9989692239729053 Centerline is valid? [True, True] Translation: X:211.72, Y:-133.65, Z:-10.85 [[ 7.26627420e-01 6.85869203e-01 3.99503321e-02 2.11715829e+02] [-6.84897611e-01 7.27724354e-01 -3.65037926e-02 -1.33652947e+02] [-5.41096568e-02 -8.37230343e-04 9.98534648e-01 -1.08503864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40864 meters Centerline goodness [0,1] 0.998773788503041 Centerline is valid? [True, True] Translation: X:211.74, Y:-133.67, Z:-10.85 [[ 7.27795705e-01 6.84610860e-01 4.02664009e-02 2.11741580e+02] [-6.83619985e-01 7.28908394e-01 -3.68275584e-02 -1.33671820e+02] [-5.45630640e-02 -7.23977601e-04 9.98510064e-01 -1.08518568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43864 meters Centerline goodness [0,1] 0.9985286183726519 Centerline is valid? [True, True] Translation: X:211.77, Y:-133.69, Z:-10.85 [[ 7.30809178e-01 6.81479207e-01 3.87818886e-02 2.11768833e+02] [-6.80553962e-01 7.31837338e-01 -3.55023338e-02 -1.33689752e+02] [-5.25761364e-02 -4.47736543e-04 9.98616818e-01 -1.08541387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46864 meters Centerline goodness [0,1] 0.9980371951518721 Centerline is valid? [True, True] Translation: X:211.79, Y:-133.71, Z:-10.86 [[ 7.32471208e-01 6.79732573e-01 3.80730603e-02 2.11794873e+02] [-6.78837049e-01 7.33459979e-01 -3.48815066e-02 -1.33709694e+02] [-5.16351623e-02 -2.95704594e-04 9.98665971e-01 -1.08553240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49864 meters Centerline goodness [0,1] 0.9978410206084396 Centerline is valid? [True, True] Translation: X:211.82, Y:-133.73, Z:-10.86 [[ 7.35556605e-01 6.76296492e-01 3.97433798e-02 2.11822725e+02] [-6.75314533e-01 7.36629523e-01 -3.64311443e-02 -1.33727541e+02] [-5.39144019e-02 -4.21131573e-05 9.98545560e-01 -1.08565825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52864 meters Centerline goodness [0,1] 0.9969570552147239 Centerline is valid? [True, True] Translation: X:211.85, Y:-133.75, Z:-10.86 [[ 7.36656811e-01 6.75102173e-01 3.96711279e-02 2.11848794e+02] [-6.74119918e-01 7.37724238e-01 -3.64044679e-02 -1.33748135e+02] [-5.38430880e-02 7.45017516e-05 9.98549406e-01 -1.08572353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55864 meters Centerline goodness [0,1] 0.9964171779141104 Centerline is valid? [True, True] Translation: X:211.87, Y:-133.77, Z:-10.86 [[ 7.37723803e-01 6.73934811e-01 3.96920633e-02 2.11874614e+02] [-6.72947721e-01 7.38790792e-01 -3.64627281e-02 -1.33768861e+02] [-5.38976326e-02 1.88738939e-04 9.98546448e-01 -1.08589046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58864 meters Centerline goodness [0,1] 0.9955860716037274 Centerline is valid? [True, True] Translation: X:211.90, Y:-133.79, Z:-10.86 [[ 7.39770659e-01 6.71652223e-01 4.02822990e-02 2.11901586e+02] [-6.70630032e-01 7.40866480e-01 -3.70434863e-02 -1.33787608e+02] [-5.47241450e-02 3.89164848e-04 9.98501435e-01 -1.08605090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61864 meters Centerline goodness [0,1] 0.9946471541521387 Centerline is valid? [True, True] Translation: X:211.93, Y:-133.81, Z:-10.86 [[ 7.41225649e-01 6.70071786e-01 3.98539682e-02 2.11927611e+02] [-6.69067058e-01 7.42296117e-01 -3.66844243e-02 -1.33808596e+02] [-5.41646435e-02 5.26459013e-04 9.98531879e-01 -1.08611619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64864 meters Centerline goodness [0,1] 0.9943078659404289 Centerline is valid? [True, True] Translation: X:211.95, Y:-133.83, Z:-10.86 [[ 7.44429515e-01 6.66409582e-01 4.15086368e-02 2.11954113e+02] [-6.65311671e-01 7.45585365e-01 -3.82471450e-02 -1.33827310e+02] [-5.64364960e-02 8.56123112e-04 9.98405824e-01 -1.08627568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67864 meters Centerline goodness [0,1] 0.9934278287311786 Centerline is valid? [True, True] Translation: X:211.98, Y:-133.85, Z:-10.86 [[ 7.45407238e-01 6.65287182e-01 4.19644465e-02 2.11978444e+02] [-6.64161208e-01 7.46586907e-01 -3.87024707e-02 -1.33848422e+02] [-5.70783639e-02 9.77944337e-04 9.98369222e-01 -1.08634954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70864 meters Centerline goodness [0,1] 0.992738334723517 Centerline is valid? [True, True] Translation: X:212.00, Y:-133.87, Z:-10.86 [[ 7.46841893e-01 6.63643088e-01 4.24857581e-02 2.12003295e+02] [-6.62484227e-01 7.48048490e-01 -3.92186786e-02 -1.33869574e+02] [-5.78086121e-02 1.14400752e-03 9.98327028e-01 -1.08646901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73864 meters Centerline goodness [0,1] 0.9923974887188542 Centerline is valid? [True, True] Translation: X:212.03, Y:-133.89, Z:-10.86 [[ 7.49008134e-01 6.61255928e-01 4.15621511e-02 2.12027677e+02] [-6.60141356e-01 7.50159211e-01 -3.83998393e-02 -1.33891102e+02] [-5.65703519e-02 1.32489718e-03 9.98397736e-01 -1.08649385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76864 meters Centerline goodness [0,1] 0.9915075352216386 Centerline is valid? [True, True] Translation: X:212.05, Y:-133.91, Z:-10.87 [[ 7.49653160e-01 6.60552800e-01 4.11112874e-02 2.12051168e+02] [-6.59459366e-01 7.50778310e-01 -3.80167560e-02 -1.33912420e+02] [-5.59775375e-02 1.38815776e-03 9.98431063e-01 -1.08664683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79864 meters Centerline goodness [0,1] 0.9915549663671626 Centerline is valid? [True, True] Translation: X:212.07, Y:-133.94, Z:-10.87 [[ 7.50211750e-01 6.59938469e-01 4.07866161e-02 2.12073747e+02] [-6.58859497e-01 7.51318256e-01 -3.77497255e-02 -1.33935467e+02] [-5.55562253e-02 1.44763824e-03 9.98454511e-01 -1.08681566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82864 meters Centerline goodness [0,1] 0.9902855460700618 Centerline is valid? [True, True] Translation: X:212.10, Y:-133.96, Z:-10.87 [[ 7.49854317e-01 6.60367600e-01 4.04120734e-02 2.12097366e+02] [-6.59307127e-01 7.50941138e-01 -3.74368779e-02 -1.33959009e+02] [-5.50691896e-02 1.42823654e-03 9.98481519e-01 -1.08689164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85864 meters Centerline goodness [0,1] 0.991712842642083 Centerline is valid? [True, True] Translation: X:212.12, Y:-133.98, Z:-10.87 [[ 7.49218867e-01 6.61077074e-01 4.05979241e-02 2.12121240e+02] [-6.60005743e-01 7.50316674e-01 -3.76471448e-02 -1.33982518e+02] [-5.53489637e-02 1.41108811e-03 9.98466074e-01 -1.08701425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88864 meters Centerline goodness [0,1] 0.9904096788471942 Centerline is valid? [True, True] Translation: X:212.14, Y:-134.01, Z:-10.87 [[ 7.48727519e-01 6.61673880e-01 3.99346795e-02 2.12143763e+02] [-6.60636194e-01 7.49790501e-01 -3.70678204e-02 -1.34006091e+02] [-5.44694519e-02 1.37140256e-03 9.98514496e-01 -1.08714200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91864 meters Centerline goodness [0,1] 0.9902888812595027 Centerline is valid? [True, True] Translation: X:212.17, Y:-134.03, Z:-10.87 [[ 7.47908597e-01 6.62649505e-01 3.90942950e-02 2.12165890e+02] [-6.61654722e-01 7.48928536e-01 -3.63190925e-02 -1.34029249e+02] [-5.33456618e-02 1.29643663e-03 9.98575265e-01 -1.08725146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94864 meters Centerline goodness [0,1] 0.9921514765034828 Centerline is valid? [True, True] Translation: X:212.19, Y:-134.05, Z:-10.87 [[ 7.47050964e-01 6.63654454e-01 3.84398554e-02 2.12186677e+02] [-6.62692418e-01 7.48038274e-01 -3.57421314e-02 -1.34053505e+02] [-5.24749078e-02 1.22739299e-03 9.98621489e-01 -1.08739900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97864 meters Centerline goodness [0,1] 0.99007955996464 Centerline is valid? [True, True] Translation: X:212.21, Y:-134.08, Z:-10.87 [[ 7.46420059e-01 6.64376681e-01 3.82193778e-02 2.12209817e+02] [-6.63424912e-01 7.47396949e-01 -3.55694612e-02 -1.34077058e+02] [-5.21965669e-02 1.19407193e-03 9.98636116e-01 -1.08746022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00864 meters Centerline goodness [0,1] 0.9912254901960784 Centerline is valid? [True, True] Translation: X:212.23, Y:-134.10, Z:-10.88 [[ 7.45582229e-01 6.65347242e-01 3.76853867e-02 2.12231860e+02] [-6.64421377e-01 7.46533159e-01 -3.51066361e-02 -1.34100564e+02] [-5.14914943e-02 1.13590750e-03 9.98672787e-01 -1.08753132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03864000000002 meters Centerline goodness [0,1] 0.9915383480100359 Centerline is valid? [True, True] Translation: X:212.25, Y:-134.13, Z:-10.88 [[ 7.44752409e-01 6.66287098e-01 3.74880363e-02 2.12252585e+02] [-6.65370521e-01 7.45694521e-01 -3.49535470e-02 -1.34125174e+02] [-5.12437206e-02 1.08830409e-03 9.98685585e-01 -1.08758280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06864000000002 meters Centerline goodness [0,1] 0.9915383480100359 Centerline is valid? [True, True] Translation: X:212.28, Y:-134.15, Z:-10.88 [[ 7.44412669e-01 6.66667552e-01 3.74720324e-02 2.12276577e+02] [-6.65750594e-01 7.45354410e-01 -3.49706972e-02 -1.34147128e+02] [-5.12437737e-02 1.08560224e-03 9.98685585e-01 -1.08771588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09864000000002 meters Centerline goodness [0,1] 0.9917586460632818 Centerline is valid? [True, True] Translation: X:212.30, Y:-134.17, Z:-10.88 [[ 7.44150815e-01 6.66960634e-01 3.74576693e-02 2.12299415e+02] [-6.66042914e-01 7.45092156e-01 -3.49930840e-02 -1.34170738e+02] [-5.12484251e-02 1.09171672e-03 9.98685339e-01 -1.08792289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12864000000002 meters Centerline goodness [0,1] 0.9918443549179522 Centerline is valid? [True, True] Translation: X:212.32, Y:-134.19, Z:-10.88 [[ 7.43882534e-01 6.67230858e-01 3.79704828e-02 2.12322311e+02] [-6.66286262e-01 7.44850145e-01 -3.55088439e-02 -1.34194851e+02] [-5.19749160e-02 1.11519776e-03 9.98647768e-01 -1.08809699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15864 meters Centerline goodness [0,1] 0.9927394034536892 Centerline is valid? [True, True] Translation: X:212.34, Y:-134.22, Z:-10.88 [[ 7.43745672e-01 6.67342994e-01 3.86743351e-02 2.12343479e+02] [-6.66361196e-01 7.44749617e-01 -3.62044714e-02 -1.34220826e+02] [-5.29634966e-02 1.15584272e-03 9.98595780e-01 -1.08818085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18864 meters Centerline goodness [0,1] 0.991664623682275 Centerline is valid? [True, True] Translation: X:212.36, Y:-134.25, Z:-10.88 [[ 7.43636143e-01 6.67376453e-01 4.01740785e-02 2.12363992e+02] [-6.66314952e-01 7.44719522e-01 -3.76459632e-02 -1.34245263e+02] [-5.50424499e-02 1.22630970e-03 9.98483262e-01 -1.08833798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21864 meters Centerline goodness [0,1] 0.9919331037875061 Centerline is valid? [True, True] Translation: X:212.39, Y:-134.27, Z:-10.88 [[ 7.43374024e-01 6.67715541e-01 3.93829553e-02 2.12386971e+02] [-6.66694227e-01 7.44415552e-01 -3.69363377e-02 -1.34268962e+02] [-5.39802511e-02 1.20112505e-03 9.98541281e-01 -1.08842161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24864 meters Centerline goodness [0,1] 0.99234205488194 Centerline is valid? [True, True] Translation: X:212.41, Y:-134.29, Z:-10.88 [[ 7.43019141e-01 6.68122108e-01 3.91842404e-02 2.12409934e+02] [-6.67109635e-01 7.44050686e-01 -3.67873776e-02 -1.34292359e+02] [-5.37335212e-02 1.19354141e-03 9.98554597e-01 -1.08849470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27864 meters Centerline goodness [0,1] 0.9923963698798136 Centerline is valid? [True, True] Translation: X:212.43, Y:-134.32, Z:-10.89 [[ 7.42623564e-01 6.68610982e-01 3.83353317e-02 2.12431996e+02] [-6.67640735e-01 7.43611465e-01 -3.60255086e-02 -1.34316022e+02] [-5.25936428e-02 1.15916256e-03 9.98615324e-01 -1.08864889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30864 meters Centerline goodness [0,1] 0.9937680946071937 Centerline is valid? [True, True] Translation: X:212.45, Y:-134.34, Z:-10.89 [[ 7.40842829e-01 6.70555212e-01 3.88279646e-02 2.12452600e+02] [-6.69560758e-01 7.41858872e-01 -3.65212891e-02 -1.34341199e+02] [-5.32944108e-02 1.05885376e-03 9.98578282e-01 -1.08874349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33864 meters Centerline goodness [0,1] 0.9935642348317367 Centerline is valid? [True, True] Translation: X:212.48, Y:-134.37, Z:-10.89 [[ 7.40191526e-01 6.71246503e-01 3.93018585e-02 2.12476040e+02] [-6.70226717e-01 7.41233455e-01 -3.70015198e-02 -1.34365028e+02] [-5.39689932e-02 1.04705579e-03 9.98542063e-01 -1.08886098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36864 meters Centerline goodness [0,1] 0.9947972906645725 Centerline is valid? [True, True] Translation: X:212.50, Y:-134.39, Z:-10.89 [[ 7.39065462e-01 6.72456035e-01 3.98136245e-02 2.12498805e+02] [-6.71409118e-01 7.40136394e-01 -3.75221968e-02 -1.34389433e+02] [-5.46995401e-02 1.00012919e-03 9.98502359e-01 -1.08906514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39864 meters Centerline goodness [0,1] 0.9946993865030674 Centerline is valid? [True, True] Translation: X:212.52, Y:-134.42, Z:-10.89 [[ 7.37510908e-01 6.74213319e-01 3.89109317e-02 2.12518515e+02] [-6.73213871e-01 7.38536141e-01 -3.67076672e-02 -1.34415187e+02] [-5.34859275e-02 8.76926001e-04 9.98568218e-01 -1.08908526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42864 meters Centerline goodness [0,1] 0.9953919309770087 Centerline is valid? [True, True] Translation: X:212.54, Y:-134.44, Z:-10.89 [[ 7.35664979e-01 6.76243191e-01 3.86288119e-02 2.12540200e+02] [-6.75259240e-01 7.36678075e-01 -3.64742819e-02 -1.34439188e+02] [-5.31224836e-02 7.48389640e-04 9.98587724e-01 -1.08921471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45864 meters Centerline goodness [0,1] 0.9962199312714777 Centerline is valid? [True, True] Translation: X:212.56, Y:-134.46, Z:-10.89 [[ 7.33333247e-01 6.78734244e-01 3.92705373e-02 2.12560747e+02] [-6.77719020e-01 7.34383730e-01 -3.71142416e-02 -1.34464685e+02] [-5.40303503e-02 6.02717268e-04 9.98539112e-01 -1.08940461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48864 meters Centerline goodness [0,1] 0.9962184461251351 Centerline is valid? [True, True] Translation: X:212.58, Y:-134.49, Z:-10.90 [[ 7.32124482e-01 6.79982718e-01 4.02149960e-02 2.12582466e+02] [-6.78917880e-01 7.33227932e-01 -3.80435436e-02 -1.34489187e+02] [-5.53557105e-02 5.49929781e-04 9.98466546e-01 -1.08954505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51864 meters Centerline goodness [0,1] 0.9966138293173676 Centerline is valid? [True, True] Translation: X:212.60, Y:-134.51, Z:-10.90 [[ 7.31184309e-01 6.80921014e-01 4.14255819e-02 2.12603979e+02] [-6.79790137e-01 7.32356674e-01 -3.92309941e-02 -1.34514291e+02] [-5.70515096e-02 5.24385304e-04 9.98371098e-01 -1.08973455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54864 meters Centerline goodness [0,1] 0.9965659340659341 Centerline is valid? [True, True] Translation: X:212.63, Y:-134.54, Z:-10.90 [[ 7.30188649e-01 6.81953737e-01 4.19956875e-02 2.12626095e+02] [-6.80790740e-01 7.31395152e-01 -3.98133127e-02 -1.34538973e+02] [-5.78662797e-02 4.80953889e-04 9.98324227e-01 -1.08983138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57864 meters Centerline goodness [0,1] 0.9971988795518207 Centerline is valid? [True, True] Translation: X:212.65, Y:-134.57, Z:-10.90 [[ 7.28880429e-01 6.83402410e-01 4.11639018e-02 2.12645212e+02] [-6.82285141e-01 7.30041777e-01 -3.90639287e-02 -1.34565276e+02] [-5.67477511e-02 3.87414540e-04 9.98388473e-01 -1.09000125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60864 meters Centerline goodness [0,1] 0.9977439921530162 Centerline is valid? [True, True] Translation: X:212.67, Y:-134.59, Z:-10.90 [[ 7.27455480e-01 6.84919348e-01 4.11583754e-02 2.12666460e+02] [-6.83802659e-01 7.28618830e-01 -3.90963439e-02 -1.34590605e+02] [-5.67666097e-02 2.96643026e-04 9.98387432e-01 -1.09022289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63864 meters Centerline goodness [0,1] 0.9978414442700158 Centerline is valid? [True, True] Translation: X:212.69, Y:-134.62, Z:-10.90 [[ 7.25259685e-01 6.87234673e-01 4.13145737e-02 2.12685970e+02] [-6.86110836e-01 7.26435463e-01 -3.92866099e-02 -1.34618618e+02] [-5.70114920e-02 1.46617558e-04 9.98373511e-01 -1.09041436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66864 meters Centerline goodness [0,1] 0.9984282135664817 Centerline is valid? [True, True] Translation: X:212.71, Y:-134.64, Z:-10.90 [[ 7.24031033e-01 6.88557904e-01 4.08298405e-02 2.12707207e+02] [-6.87460520e-01 7.25181362e-01 -3.88590474e-02 -1.34642883e+02] [-5.63657435e-02 6.62528246e-05 9.98410186e-01 -1.09049531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69864 meters Centerline goodness [0,1] 0.9991655213037502 Centerline is valid? [True, True] Translation: X:212.73, Y:-134.67, Z:-10.91 [[ 7.22374486e-01 6.90293442e-01 4.08664426e-02 2.12729475e+02] [-6.89195648e-01 7.23529517e-01 -3.89152644e-02 -1.34667230e+02] [-5.64310293e-02 -5.35802694e-05 9.98406498e-01 -1.09054652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72864 meters Centerline goodness [0,1] 0.9984789755164123 Centerline is valid? [True, True] Translation: X:212.75, Y:-134.69, Z:-10.91 [[ 7.19365618e-01 6.93413210e-01 4.11245524e-02 2.12750897e+02] [-6.92304101e-01 7.20540109e-01 -3.92043833e-02 -1.34693115e+02] [-5.68167267e-02 -2.68410920e-04 9.98384589e-01 -1.09076364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75864 meters Centerline goodness [0,1] 0.9990673931183429 Centerline is valid? [True, True] Translation: X:212.77, Y:-134.72, Z:-10.91 [[ 7.17369908e-01 6.95457248e-01 4.14684446e-02 2.12774152e+02] [-6.94330403e-01 7.18567363e-01 -3.95757013e-02 -1.34717077e+02] [-5.73210791e-02 -4.02384685e-04 9.98355714e-01 -1.09091735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78864000000002 meters Centerline goodness [0,1] 0.999362025813417 Centerline is valid? [True, True] Translation: X:212.80, Y:-134.74, Z:-10.91 [[ 7.15005600e-01 6.97916041e-01 4.09901360e-02 2.12796795e+02] [-6.96816693e-01 7.16179366e-01 -3.91613707e-02 -1.34740677e+02] [-5.66876384e-02 -5.62011588e-04 9.98391805e-01 -1.09104020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81864000000002 meters Centerline goodness [0,1] 0.9997546855068198 Centerline is valid? [True, True] Translation: X:212.82, Y:-134.76, Z:-10.91 [[ 7.11363867e-01 7.01621285e-01 4.10977040e-02 2.12818118e+02] [-7.00519963e-01 7.12549566e-01 -3.93051745e-02 -1.34764778e+02] [-5.68614981e-02 -8.29481175e-04 9.98381732e-01 -1.09128348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84864000000002 meters Centerline goodness [0,1] 0.999754577136406 Centerline is valid? [True, True] Translation: X:212.84, Y:-134.79, Z:-10.91 [[ 7.09676493e-01 7.03341675e-01 4.08627265e-02 2.12841500e+02] [-7.02253709e-01 7.10851329e-01 -3.91167014e-02 -1.34786982e+02] [-5.65597297e-02 -9.35797801e-04 9.98398779e-01 -1.09133452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87864000000002 meters Centerline goodness [0,1] 0.9998036038690038 Centerline is valid? [True, True] Translation: X:212.87, Y:-134.81, Z:-10.91 [[ 7.06281904e-01 7.06723025e-01 4.13332557e-02 2.12867926e+02] [-7.05613488e-01 7.07489322e-01 -3.96038517e-02 -1.34806096e+02] [-5.72317909e-02 -1.19381898e-03 9.98360204e-01 -1.09148624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.89, Y:-134.83, Z:-10.92 [[ 7.04718989e-01 7.08308862e-01 4.08619969e-02 2.12893095e+02] [-7.07225150e-01 7.05901489e-01 -3.91876918e-02 -1.34826820e+02] [-5.66015338e-02 -1.28232132e-03 9.98396025e-01 -1.09156504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:212.92, Y:-134.85, Z:-10.92 [[ 7.03993822e-01 7.09000398e-01 4.13658536e-02 2.12917694e+02] [-7.07888886e-01 7.05206828e-01 -3.97071215e-02 -1.34848234e+02] [-5.73238473e-02 -1.32885983e-03 9.98354752e-01 -1.09178482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96864 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:212.94, Y:-134.87, Z:-10.92 [[ 7.03262603e-01 7.09704974e-01 4.17200428e-02 2.12943146e+02] [-7.08573362e-01 7.04497672e-01 -4.00851735e-02 -1.34868671e+02] [-5.78403200e-02 -1.37130750e-03 9.98324905e-01 -1.09195693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99864 meters Centerline goodness [0,1] 0.9999015796466709 Centerline is valid? [True, True] Translation: X:212.97, Y:-134.89, Z:-10.92 [[ 7.02621470e-01 7.10399842e-01 4.06833366e-02 2.12968777e+02] [-7.09322718e-01 7.03796989e-01 -3.91290093e-02 -1.34888958e+02] [-5.64300519e-02 -1.36473282e-03 9.98405622e-01 -1.09201588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02864 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:213.00, Y:-134.91, Z:-10.92 [[ 7.03056446e-01 7.09839994e-01 4.28814254e-02 2.12996065e+02] [-7.08639636e-01 7.04361647e-01 -4.12860270e-02 -1.34906176e+02] [-5.95105046e-02 -1.36107029e-03 9.98226751e-01 -1.09233667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:213.02, Y:-134.93, Z:-10.92 [[ 7.03154996e-01 7.09707715e-01 4.34512511e-02 2.13021498e+02] [-7.08472518e-01 7.04494972e-01 -4.18751114e-02 -1.34927292e+02] [-6.03302776e-02 -1.33932353e-03 9.98177571e-01 -1.09248915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.05, Y:-134.95, Z:-10.93 [[ 7.04042152e-01 7.08808541e-01 4.37618558e-02 2.13045894e+02] [-7.07551282e-01 7.05399824e-01 -4.22169752e-02 -1.34947642e+02] [-6.07933580e-02 -1.24122712e-03 9.98149602e-01 -1.09264172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:213.07, Y:-134.97, Z:-10.93 [[ 7.06506454e-01 7.06382549e-01 4.32703721e-02 2.13073408e+02] [-7.05146552e-01 7.07829575e-01 -4.17807723e-02 -1.34965848e+02] [-6.01412575e-02 -9.93568343e-04 9.98189382e-01 -1.09285368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:-134.99, Z:-10.93 [[ 7.07918583e-01 7.05023285e-01 4.23491186e-02 2.13098374e+02] [-7.03834776e-01 7.09183668e-01 -4.09284054e-02 -1.34986332e+02] [-5.88887820e-02 -8.32803627e-04 9.98264202e-01 -1.09305516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:213.12, Y:-135.01, Z:-10.93 [[ 7.09643189e-01 7.03257444e-01 4.28428643e-02 2.13122364e+02] [-7.02035498e-01 7.10934964e-01 -4.14443771e-02 -1.35007847e+02] [-5.96045569e-02 -6.66491688e-04 9.98221845e-01 -1.09317861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:213.15, Y:-135.03, Z:-10.93 [[ 7.12566518e-01 7.00163527e-01 4.49443256e-02 2.13146200e+02] [-6.98809710e-01 7.13982408e-01 -4.35213806e-02 -1.35030402e+02] [-6.25615412e-02 -3.95652528e-04 9.98041030e-01 -1.09336873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23864 meters Centerline goodness [0,1] 0.9998037676609105 Centerline is valid? [True, True] Translation: X:213.17, Y:-135.05, Z:-10.94 [[ 7.12667768e-01 6.99991524e-01 4.60056469e-02 2.13170300e+02] [-6.98569584e-01 7.14151063e-01 -4.45959181e-02 -1.35052312e+02] [-6.40717463e-02 -3.56072229e-04 9.97945231e-01 -1.09362108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26864 meters Centerline goodness [0,1] 0.999901748870112 Centerline is valid? [True, True] Translation: X:213.19, Y:-135.07, Z:-10.94 [[ 7.14750750e-01 6.97885519e-01 4.56855307e-02 2.13194875e+02] [-6.96476357e-01 7.16209315e-01 -4.43272053e-02 -1.35072540e+02] [-6.36557174e-02 -1.35988798e-04 9.97971909e-01 -1.09383022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29864 meters Centerline goodness [0,1] 0.9998035459947939 Centerline is valid? [True, True] Translation: X:213.22, Y:-135.10, Z:-10.94 [[ 7.15341019e-01 6.97350647e-01 4.46015891e-02 2.13217924e+02] [-6.96004088e-01 7.16730125e-01 -4.33155531e-02 -1.35095372e+02] [-6.21734315e-02 -5.74964425e-05 9.98065359e-01 -1.09401399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32864 meters Centerline goodness [0,1] 0.9997057669674382 Centerline is valid? [True, True] Translation: X:213.24, Y:-135.12, Z:-10.94 [[ 7.16446327e-01 6.96202558e-01 4.47957538e-02 2.13242056e+02] [-6.94839296e-01 7.17845383e-01 -4.35472036e-02 -1.35118416e+02] [-6.24740995e-02 7.33839835e-05 9.98046583e-01 -1.09419409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.27, Y:-135.14, Z:-10.94 [[ 7.18751411e-01 6.93753692e-01 4.58500120e-02 2.13266088e+02] [-6.92317471e-01 7.20212266e-01 -4.46185112e-02 -1.35139951e+02] [-6.39759979e-02 3.26853563e-04 9.97951384e-01 -1.09438145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38864 meters Centerline goodness [0,1] 0.9998527245949926 Centerline is valid? [True, True] Translation: X:213.29, Y:-135.16, Z:-10.95 [[ 7.19360664e-01 6.93064327e-01 4.67126819e-02 2.13288856e+02] [-6.91569243e-01 7.20875618e-01 -4.55008212e-02 -1.35162413e+02] [-6.52090294e-02 4.26446902e-04 9.97871535e-01 -1.09455636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41864 meters Centerline goodness [0,1] 0.9998526522593321 Centerline is valid? [True, True] Translation: X:213.31, Y:-135.19, Z:-10.95 [[ 7.20559102e-01 6.91772577e-01 4.73844151e-02 2.13309085e+02] [-6.90228490e-01 7.22115201e-01 -4.61981453e-02 -1.35187644e+02] [-6.61756165e-02 5.82420826e-04 9.97807821e-01 -1.09466691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44864 meters Centerline goodness [0,1] 0.9996074197664148 Centerline is valid? [True, True] Translation: X:213.33, Y:-135.21, Z:-10.95 [[ 7.20938103e-01 6.91383714e-01 4.72949438e-02 2.13331756e+02] [-6.89841668e-01 7.22487466e-01 -4.61555466e-02 -1.35211783e+02] [-6.60811973e-02 6.49269310e-04 9.97814038e-01 -1.09480271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47864 meters Centerline goodness [0,1] 0.9995587370072563 Centerline is valid? [True, True] Translation: X:213.35, Y:-135.23, Z:-10.95 [[ 7.20646178e-01 6.91605248e-01 4.84898624e-02 2.13354330e+02] [-6.89981450e-01 7.22275376e-01 -4.73696161e-02 -1.35234699e+02] [-6.77841087e-02 6.79627210e-04 9.97699781e-01 -1.09497806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:213.38, Y:-135.26, Z:-10.95 [[ 7.20775885e-01 6.91388592e-01 4.96380682e-02 2.13375977e+02] [-6.89683245e-01 7.22482701e-01 -4.85362508e-02 -1.35258308e+02] [-6.94200557e-02 7.49215181e-04 9.97587237e-01 -1.09526325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53864000000002 meters Centerline goodness [0,1] 0.9998034494619429 Centerline is valid? [True, True] Translation: X:213.40, Y:-135.28, Z:-10.95 [[ 7.20225829e-01 6.91994659e-01 4.91746520e-02 2.13397681e+02] [-6.90319447e-01 7.21902264e-01 -4.81267355e-02 -1.35282566e+02] [-6.88027366e-02 7.15899384e-04 9.97630027e-01 -1.09532338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56864000000002 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:213.42, Y:-135.31, Z:-10.96 [[ 7.17827254e-01 6.94446745e-01 4.96764678e-02 2.13417840e+02] [-6.92739673e-01 7.19543917e-01 -4.86651507e-02 -1.35308540e+02] [-6.95397557e-02 5.20311399e-04 9.97579045e-01 -1.09550369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59864000000002 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:213.44, Y:-135.33, Z:-10.96 [[ 7.16770014e-01 6.95648695e-01 4.81003164e-02 2.13439743e+02] [-6.94048681e-01 7.18382015e-01 -4.71562213e-02 -1.35332193e+02] [-6.73585661e-02 4.16204212e-04 9.97728746e-01 -1.09553789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62864000000002 meters Centerline goodness [0,1] 0.9998530420299794 Centerline is valid? [True, True] Translation: X:213.46, Y:-135.36, Z:-10.96 [[ 7.15115995e-01 6.97362663e-01 4.79002075e-02 2.13462060e+02] [-6.95777838e-01 7.16718383e-01 -4.69889314e-02 -1.35356759e+02] [-6.70992857e-02 2.74633621e-04 9.97746266e-01 -1.09574358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65864 meters Centerline goodness [0,1] 0.9998035073930344 Centerline is valid? [True, True] Translation: X:213.48, Y:-135.38, Z:-10.96 [[ 7.13220169e-01 6.99261319e-01 4.84829755e-02 2.13482240e+02] [-6.97638546e-01 7.14866135e-01 -4.76116395e-02 -1.35383654e+02] [-6.79518152e-02 1.33989002e-04 9.97688595e-01 -1.09600469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68864 meters Centerline goodness [0,1] 0.9999019944136815 Centerline is valid? [True, True] Translation: X:213.50, Y:-135.41, Z:-10.96 [[ 7.11358388e-01 7.01217967e-01 4.75668645e-02 2.13503873e+02] [-6.99657234e-01 7.12946957e-01 -4.67588707e-02 -1.35408169e+02] [-6.67008115e-02 -1.81859488e-05 9.97773021e-01 -1.09600003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71864 meters Centerline goodness [0,1] 0.9999019751997256 Centerline is valid? [True, True] Translation: X:213.53, Y:-135.43, Z:-10.96 [[ 7.10019719e-01 7.02526158e-01 4.82596642e-02 2.13525959e+02] [-7.00919529e-01 7.11657913e-01 -4.74850443e-02 -1.35431531e+02] [-6.77038577e-02 -1.10823297e-04 9.97705455e-01 -1.09620419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74864 meters Centerline goodness [0,1] 0.9998040080356705 Centerline is valid? [True, True] Translation: X:213.55, Y:-135.46, Z:-10.96 [[ 7.07402674e-01 7.05171792e-01 4.81061318e-02 2.13548375e+02] [-7.03578280e-01 7.09036413e-01 -4.73810994e-02 -1.35455860e+02] [-6.75208140e-02 -3.28913004e-04 9.97717812e-01 -1.09634057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:213.57, Y:-135.48, Z:-10.96 [[ 7.06474054e-01 7.06190851e-01 4.67856027e-02 2.13570301e+02] [-7.04682890e-01 7.08021423e-01 -4.61268706e-02 -1.35479482e+02] [-6.56995830e-02 -3.81576433e-04 9.97839375e-01 -1.09641978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80864 meters Centerline goodness [0,1] 0.9995589532490444 Centerline is valid? [True, True] Translation: X:213.59, Y:-135.51, Z:-10.97 [[ 7.04701347e-01 7.07977609e-01 4.65157710e-02 2.13591012e+02] [-7.06487919e-01 7.06234694e-01 -4.59061791e-02 -1.35505633e+02] [-6.53515982e-02 -5.12684000e-04 9.97862168e-01 -1.09652054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83864 meters Centerline goodness [0,1] 0.9999509875998628 Centerline is valid? [True, True] Translation: X:213.61, Y:-135.53, Z:-10.97 [[ 7.03485820e-01 7.09179176e-01 4.66111167e-02 2.13613353e+02] [-7.07682732e-01 7.05028047e-01 -4.60500175e-02 -1.35530129e+02] [-6.55198581e-02 -5.90348025e-04 9.97851091e-01 -1.09670287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86864 meters Centerline goodness [0,1] 0.9999020376175548 Centerline is valid? [True, True] Translation: X:213.64, Y:-135.55, Z:-10.97 [[ 7.01733461e-01 7.10918906e-01 4.65237518e-02 2.13636008e+02] [-7.09428648e-01 7.03273628e-01 -4.60130094e-02 -1.35554572e+02] [-6.54304461e-02 -7.16414015e-04 9.97856875e-01 -1.09684870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.66, Y:-135.58, Z:-10.97 [[ 6.99402121e-01 7.13189972e-01 4.68693593e-02 2.13657122e+02] [-7.11679450e-01 7.00970220e-01 -4.64016331e-02 -1.35579233e+02] [-6.59472045e-02 -9.02559242e-04 9.97822706e-01 -1.09689778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.68, Y:-135.60, Z:-10.97 [[ 6.99029063e-01 7.13557102e-01 4.68468855e-02 2.13680417e+02] [-7.12045884e-01 7.00596490e-01 -4.64243156e-02 -1.35601861e+02] [-6.59471637e-02 -9.05186166e-04 9.97822706e-01 -1.09703085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:213.70, Y:-135.62, Z:-10.97 [[ 6.97803069e-01 7.14779281e-01 4.64914699e-02 2.13704061e+02] [-7.13290479e-01 6.99349427e-01 -4.61201818e-02 -1.35624913e+02] [-6.54795332e-02 -9.79118468e-04 9.97853432e-01 -1.09708817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.73, Y:-135.65, Z:-10.97 [[ 6.94351730e-01 7.18113090e-01 4.67895863e-02 2.13728386e+02] [-7.16609559e-01 6.95925270e-01 -4.64624465e-02 -1.35645696e+02] [-6.59273465e-02 -1.26858467e-03 9.97823620e-01 -1.09723358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:213.75, Y:-135.67, Z:-10.97 [[ 6.92271487e-01 7.20118091e-01 4.67987481e-02 2.13752052e+02] [-7.18615733e-01 6.93850048e-01 -4.65138542e-02 -1.35667224e+02] [-6.59667815e-02 -1.43010169e-03 9.97820795e-01 -1.09732152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:-135.69, Z:-10.98 [[ 6.89827822e-01 7.22430687e-01 4.72385327e-02 2.13775545e+02] [-7.20902486e-01 6.91441409e-01 -4.69934342e-02 -1.35689214e+02] [-6.66121766e-02 -1.63699732e-03 9.97777600e-01 -1.09754427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.80, Y:-135.71, Z:-10.98 [[ 6.86632711e-01 7.25565397e-01 4.57206161e-02 2.13800702e+02] [-7.24138245e-01 6.88150733e-01 -4.55233056e-02 -1.35709724e+02] [-6.44928108e-02 -1.85025599e-03 9.97916456e-01 -1.09768149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.82, Y:-135.73, Z:-10.98 [[ 6.85134312e-01 7.27025336e-01 4.50015057e-02 2.13824834e+02] [-7.25643398e-01 6.86607923e-01 -4.48466082e-02 -1.35730559e+02] [-6.35030107e-02 -1.92909546e-03 9.97979782e-01 -1.09780653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.85, Y:-135.75, Z:-10.98 [[ 6.84447053e-01 7.27646487e-01 4.54183042e-02 2.13849262e+02] [-7.26237590e-01 6.85949473e-01 -4.53021308e-02 -1.35751851e+02] [-6.41185981e-02 -1.97756987e-03 9.97940326e-01 -1.09797279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.88, Y:-135.77, Z:-10.98 [[ 6.84135385e-01 7.27894299e-01 4.61374566e-02 2.13875370e+02] [-7.26438142e-01 6.85686428e-01 -4.60624512e-02 -1.35772783e+02] [-6.51644234e-02 -2.00305546e-03 9.97872530e-01 -1.09805505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:213.90, Y:-135.79, Z:-10.98 [[ 6.84244139e-01 7.27799363e-01 4.60222297e-02 2.13899325e+02] [-7.26347391e-01 6.85787322e-01 -4.59914778e-02 -1.35794375e+02] [-6.50340299e-02 -1.95872731e-03 9.97881124e-01 -1.09816516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:213.93, Y:-135.81, Z:-10.98 [[ 6.84845866e-01 7.27254581e-01 4.56827620e-02 2.13925316e+02] [-7.25820591e-01 6.86365266e-01 -4.56857871e-02 -1.35814523e+02] [-6.45802590e-02 -1.86976686e-03 9.97910765e-01 -1.09822922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25864 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:214.05, Y:-135.84, Z:-9.33 [[ 7.75782361e-01 -6.30893364e-01 -1.16315311e-02 2.14050199e+02] [-6.30746765e-01 -7.75861332e-01 1.40610217e-02 -1.35841950e+02] [-1.78954605e-02 -3.57174203e-03 -9.99833484e-01 -9.32621976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28864000000002 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:213.98, Y:-135.88, Z:-10.99 [[ 7.38268656e-01 6.72731731e-01 4.89020423e-02 2.13976245e+02] [-6.71417086e-01 7.39884369e-01 -4.20739638e-02 -1.35875109e+02] [-6.44863472e-02 -1.77177805e-03 9.97917017e-01 -1.09859327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31864000000002 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:214.00, Y:-135.89, Z:-10.99 [[ 7.38243659e-01 6.72795553e-01 4.83988008e-02 2.14001184e+02] [-6.71505373e-01 7.39826436e-01 -4.16818671e-02 -1.35894955e+02] [-6.38500872e-02 -1.72868071e-03 9.97958004e-01 -1.09860692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34864000000002 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:214.03, Y:-135.91, Z:-10.99 [[ 7.37489420e-01 6.73471955e-01 5.04468103e-02 2.14026878e+02] [-6.72069036e-01 7.39210501e-01 -4.34861530e-02 -1.35913754e+02] [-6.65775164e-02 -1.83316138e-03 9.97779572e-01 -1.09881459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.05, Y:-135.93, Z:-10.99 [[ 7.35966401e-01 6.75116490e-01 5.07068245e-02 2.14052932e+02] [-6.73700337e-01 7.37708527e-01 -4.37491143e-02 -1.35932033e+02] [-6.69426052e-02 -1.96332658e-03 9.97754896e-01 -1.09887169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:214.08, Y:-135.95, Z:-10.99 [[ 7.35600311e-01 6.75546435e-01 5.02911248e-02 2.14079345e+02] [-6.74151810e-01 7.37314848e-01 -4.34298456e-02 -1.35952410e+02] [-6.64192703e-02 -1.95684492e-03 9.97789883e-01 -1.09896411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43864 meters Centerline goodness [0,1] 0.9995592987954167 Centerline is valid? [True, True] Translation: X:214.11, Y:-135.97, Z:-10.99 [[ 7.35598314e-01 6.75531264e-01 5.05235795e-02 2.14106005e+02] [-6.74120653e-01 7.37328815e-01 -4.36756604e-02 -1.35972532e+02] [-6.67567651e-02 -1.93124621e-03 9.97767410e-01 -1.09912085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46864 meters Centerline goodness [0,1] 0.9997550220480157 Centerline is valid? [True, True] Translation: X:214.13, Y:-135.99, Z:-10.99 [[ 7.35875774e-01 6.75252143e-01 5.02134338e-02 2.14131842e+02] [-6.73855347e-01 7.37584621e-01 -4.34499512e-02 -1.35992216e+02] [-6.63763292e-02 -1.86282433e-03 9.97792921e-01 -1.09921982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49864 meters Centerline goodness [0,1] 0.999509033778476 Centerline is valid? [True, True] Translation: X:214.16, Y:-136.01, Z:-10.99 [[ 7.37158059e-01 6.73780195e-01 5.11687980e-02 2.14158311e+02] [-6.72323398e-01 7.38929797e-01 -4.43170746e-02 -1.36010280e+02] [-6.76701166e-02 -1.73329149e-03 9.97706245e-01 -1.09945065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52864 meters Centerline goodness [0,1] 0.9999019896108987 Centerline is valid? [True, True] Translation: X:214.18, Y:-136.03, Z:-11.00 [[ 7.37690130e-01 6.73175594e-01 5.14576809e-02 2.14184223e+02] [-6.71698050e-01 7.39480813e-01 -4.46078061e-02 -1.36029228e+02] [-6.80808541e-02 -1.65728566e-03 9.97678431e-01 -1.09954031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55864 meters Centerline goodness [0,1] 0.9990694940986337 Centerline is valid? [True, True] Translation: X:214.21, Y:-136.05, Z:-11.00 [[ 7.38446121e-01 6.72473053e-01 4.97726790e-02 2.14212992e+02] [-6.71086652e-01 7.40120063e-01 -4.31856146e-02 -1.36045618e+02] [-6.58789205e-02 -1.51153092e-03 9.97826479e-01 -1.09961255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58864 meters Centerline goodness [0,1] 0.9994605198626778 Centerline is valid? [True, True] Translation: X:214.24, Y:-136.06, Z:-11.00 [[ 7.38275779e-01 6.72665773e-01 4.96953861e-02 2.14239736e+02] [-6.71281369e-01 7.39944945e-01 -4.31601981e-02 -1.36064671e+02] [-6.58042377e-02 -1.49545789e-03 9.97831432e-01 -1.09977244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61864 meters Centerline goodness [0,1] 0.9990669809467688 Centerline is valid? [True, True] Translation: X:214.27, Y:-136.08, Z:-11.00 [[ 7.38752167e-01 6.72137378e-01 4.97652618e-02 2.14267177e+02] [-6.70744993e-01 7.40425104e-01 -4.32645221e-02 -1.36082311e+02] [-6.59271516e-02 -1.41804072e-03 9.97823431e-01 -1.09984199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64864 meters Centerline goodness [0,1] 0.9992650301337646 Centerline is valid? [True, True] Translation: X:214.29, Y:-136.10, Z:-11.00 [[ 7.39003802e-01 6.71884520e-01 4.94426134e-02 2.14293393e+02] [-6.70506975e-01 7.40654677e-01 -4.30237836e-02 -1.36100857e+02] [-6.55269170e-02 -1.35687747e-03 9.97849880e-01 -1.09994087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67864 meters Centerline goodness [0,1] 0.9994113029827315 Centerline is valid? [True, True] Translation: X:214.32, Y:-136.12, Z:-11.00 [[ 7.39086363e-01 6.71748959e-01 5.00468211e-02 2.14319506e+02] [-6.70335151e-01 7.40777662e-01 -4.35802817e-02 -1.36119186e+02] [-6.63485760e-02 -1.33855139e-03 9.97795608e-01 -1.10005613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70864 meters Centerline goodness [0,1] 0.9991673605328892 Centerline is valid? [True, True] Translation: X:214.35, Y:-136.14, Z:-11.00 [[ 7.38950093e-01 6.71889433e-01 5.01732091e-02 2.14347888e+02] [-6.70466983e-01 7.40650261e-01 -4.37174534e-02 -1.36136310e+02] [-6.65340954e-02 -1.33446394e-03 9.97783260e-01 -1.10028216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73864 meters Centerline goodness [0,1] 0.9993139272762913 Centerline is valid? [True, True] Translation: X:214.37, Y:-136.16, Z:-11.00 [[ 7.38963830e-01 6.71852631e-01 5.04628635e-02 2.14374859e+02] [-6.70410435e-01 7.40683700e-01 -4.40171047e-02 -1.36155384e+02] [-6.69500280e-02 -1.30378200e-03 9.97755478e-01 -1.10035036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76864 meters Centerline goodness [0,1] 0.99955854220827 Centerline is valid? [True, True] Translation: X:214.40, Y:-136.17, Z:-11.00 [[ 7.39381274e-01 6.71359386e-01 5.09107657e-02 2.14403933e+02] [-6.69887065e-01 7.41130926e-01 -4.44552650e-02 -1.36171833e+02] [-6.75770023e-02 -1.23507293e-03 9.97713297e-01 -1.10033970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79864 meters Centerline goodness [0,1] 0.9992648860573389 Centerline is valid? [True, True] Translation: X:214.43, Y:-136.19, Z:-11.00 [[ 7.39997723e-01 6.70686090e-01 5.08285198e-02 2.14430058e+02] [-6.69213897e-01 7.41740435e-01 -4.44284501e-02 -1.36190530e+02] [-6.74991119e-02 -1.13819997e-03 9.97718685e-01 -1.10044054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82864 meters Centerline goodness [0,1] 0.9991185112634672 Centerline is valid? [True, True] Translation: X:214.46, Y:-136.21, Z:-11.01 [[ 7.40499796e-01 6.70077360e-01 5.15401161e-02 2.14456857e+02] [-6.68559042e-01 7.42290508e-01 -4.50955540e-02 -1.36209556e+02] [-6.84752488e-02 -1.06436207e-03 9.97652248e-01 -1.10067807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85864 meters Centerline goodness [0,1] 0.9985787100568516 Centerline is valid? [True, True] Translation: X:214.49, Y:-136.23, Z:-11.01 [[ 7.42208044e-01 6.68239536e-01 5.08246154e-02 2.14485543e+02] [-6.66755768e-01 7.43945699e-01 -4.45145253e-02 -1.36225137e+02] [-6.75571197e-02 -8.48566678e-04 9.97715047e-01 -1.10084432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88864 meters Centerline goodness [0,1] 0.9984818805093046 Centerline is valid? [True, True] Translation: X:214.51, Y:-136.24, Z:-11.01 [[ 7.42505485e-01 6.67918064e-01 5.07056769e-02 2.14512454e+02] [-6.66437510e-01 7.44234402e-01 -4.44544710e-02 -1.36244537e+02] [-6.74288533e-02 -7.84476505e-04 9.97723777e-01 -1.10102868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91864 meters Centerline goodness [0,1] 0.9981857409041875 Centerline is valid? [True, True] Translation: X:214.54, Y:-136.26, Z:-11.01 [[ 7.44598982e-01 6.65614100e-01 5.03013476e-02 2.14541000e+02] [-6.64148825e-01 7.46295907e-01 -4.41447327e-02 -1.36260909e+02] [-6.69230463e-02 -5.37457855e-04 9.97757995e-01 -1.10103203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94864 meters Centerline goodness [0,1] 0.9983337417299681 Centerline is valid? [True, True] Translation: X:214.57, Y:-136.28, Z:-11.01 [[ 7.45396723e-01 6.64663304e-01 5.10530927e-02 2.14568247e+02] [-6.63148593e-01 7.47142899e-01 -4.48489954e-02 -1.36279981e+02] [-6.79534371e-02 -4.25492394e-04 9.97688403e-01 -1.10125207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97864 meters Centerline goodness [0,1] 0.9980891719745223 Centerline is valid? [True, True] Translation: X:214.60, Y:-136.30, Z:-11.02 [[ 7.46220052e-01 6.63721570e-01 5.12768215e-02 2.14595266e+02] [-6.62188013e-01 7.47979669e-01 -4.50937990e-02 -1.36299466e+02] [-6.82837471e-02 -3.04999521e-04 9.97665894e-01 -1.10155096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00864 meters Centerline goodness [0,1] 0.997843982751862 Centerline is valid? [True, True] Translation: X:214.62, Y:-136.32, Z:-11.02 [[ 7.48285252e-01 6.61410740e-01 5.10393523e-02 2.14623036e+02] [-6.59882735e-01 7.50023886e-01 -4.49326884e-02 -1.36317411e+02] [-6.79996960e-02 -5.75193725e-05 9.97685340e-01 -1.10174890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03864000000002 meters Centerline goodness [0,1] 0.9981879621920761 Centerline is valid? [True, True] Translation: X:214.65, Y:-136.34, Z:-11.02 [[ 7.49302599e-01 6.60282188e-01 5.07252148e-02 2.14649461e+02] [-6.58767175e-01 7.51017594e-01 -4.47032823e-02 -1.36337330e+02] [-6.76123098e-02 8.01791789e-05 9.97711666e-01 -1.10188363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06864000000002 meters Centerline goodness [0,1] 0.9983806860002944 Centerline is valid? [True, True] Translation: X:214.68, Y:-136.36, Z:-11.02 [[ 7.50676013e-01 6.58657459e-01 5.15351845e-02 2.14675313e+02] [-6.57086611e-01 7.52442876e-01 -4.54632177e-02 -1.36356968e+02] [-6.87219699e-02 2.65067257e-04 9.97635816e-01 -1.10198528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09864000000002 meters Centerline goodness [0,1] 0.9984816574423274 Centerline is valid? [True, True] Translation: X:214.70, Y:-136.38, Z:-11.02 [[ 7.54859313e-01 6.53775067e-01 5.25887782e-02 2.14701949e+02] [-6.52124316e-01 7.56688567e-01 -4.64358636e-02 -1.36375445e+02] [-7.01519371e-02 7.58123063e-04 9.97536030e-01 -1.10221490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12864000000002 meters Centerline goodness [0,1] 0.9982848181907282 Centerline is valid? [True, True] Translation: X:214.73, Y:-136.40, Z:-11.02 [[ 7.55958328e-01 6.52483249e-01 5.28452119e-02 2.14726538e+02] [-6.50810187e-01 7.57802595e-01 -4.67046786e-02 -1.36395710e+02] [-7.05202591e-02 9.14588508e-04 9.97509928e-01 -1.10234651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15864 meters Centerline goodness [0,1] 0.9983338233852789 Centerline is valid? [True, True] Translation: X:214.75, Y:-136.42, Z:-11.02 [[ 7.59493988e-01 6.48455837e-01 5.17098542e-02 2.14751215e+02] [-6.46841830e-01 7.61251178e-01 -4.57415583e-02 -1.36416044e+02] [-6.90255679e-02 1.29234179e-03 9.97614054e-01 -1.10233615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18864 meters Centerline goodness [0,1] 0.9986285266457681 Centerline is valid? [True, True] Translation: X:214.78, Y:-136.44, Z:-11.03 [[ 7.60681974e-01 6.47033074e-01 5.20685578e-02 2.14775640e+02] [-6.45390375e-01 7.62460531e-01 -4.60999192e-02 -1.36437010e+02] [-6.95283927e-02 1.46283146e-03 9.97578901e-01 -1.10257744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21864 meters Centerline goodness [0,1] 0.9991183817407063 Centerline is valid? [True, True] Translation: X:214.80, Y:-136.46, Z:-11.03 [[ 7.61119508e-01 6.46494022e-01 5.23696019e-02 2.14799839e+02] [-6.44828093e-01 7.62917473e-01 -4.64075459e-02 -1.36458495e+02] [-6.99558854e-02 1.55229797e-03 9.97548878e-01 -1.10267038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24864 meters Centerline goodness [0,1] 0.9995591260899382 Centerline is valid? [True, True] Translation: X:214.82, Y:-136.48, Z:-11.03 [[ 7.61889222e-01 6.45545920e-01 5.28703962e-02 2.14823224e+02] [-6.43842732e-01 7.63719595e-01 -4.68925965e-02 -1.36480146e+02] [-7.06494819e-02 1.68674353e-03 9.97499777e-01 -1.10282152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27864 meters Centerline goodness [0,1] 0.9997060552616108 Centerline is valid? [True, True] Translation: X:214.85, Y:-136.50, Z:-11.03 [[ 7.61413133e-01 6.46083459e-01 5.31620628e-02 2.14847255e+02] [-6.44359590e-01 7.63264923e-01 -4.71950776e-02 -1.36502861e+02] [-7.10686968e-02 1.67946694e-03 9.97470009e-01 -1.10302466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30864 meters Centerline goodness [0,1] 0.9997549019607843 Centerline is valid? [True, True] Translation: X:214.87, Y:-136.53, Z:-11.03 [[ 7.61842746e-01 6.45609061e-01 5.27690326e-02 2.14869129e+02] [-6.43906198e-01 7.63666085e-01 -4.68926255e-02 -1.36527324e+02] [-7.05722245e-02 1.74649934e-03 9.97505143e-01 -1.10310879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33864 meters Centerline goodness [0,1] 0.9999019559782343 Centerline is valid? [True, True] Translation: X:214.89, Y:-136.55, Z:-11.03 [[ 7.61628367e-01 6.45814376e-01 5.33481304e-02 2.14892188e+02] [-6.44071174e-01 7.63492384e-01 -4.74521001e-02 -1.36549409e+02] [-7.13761397e-02 1.78087258e-03 9.97447881e-01 -1.10325548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.92, Y:-136.57, Z:-11.03 [[ 7.61770851e-01 6.45651893e-01 5.32804305e-02 2.14916881e+02] [-6.43909593e-01 7.63629684e-01 -4.74356597e-02 -1.36572047e+02] [-7.13134418e-02 1.82732252e-03 9.97452282e-01 -1.10331499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.94, Y:-136.59, Z:-11.03 [[ 7.61587991e-01 6.45838927e-01 5.36265982e-02 2.14941600e+02] [-6.44070903e-01 7.63471432e-01 -4.77916850e-02 -1.36594467e+02] [-7.18081062e-02 1.85824184e-03 9.97416735e-01 -1.10343952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42864 meters Centerline goodness [0,1] 0.9995578264714552 Centerline is valid? [True, True] Translation: X:214.96, Y:-136.62, Z:-11.04 [[ 7.61519443e-01 6.45964809e-01 5.30810980e-02 2.14964457e+02] [-6.44229583e-01 7.63364915e-01 -4.73524162e-02 -1.36618308e+02] [-7.11082424e-02 1.86337196e-03 9.97466864e-01 -1.10354900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45864 meters Centerline goodness [0,1] 0.999804132797963 Centerline is valid? [True, True] Translation: X:214.99, Y:-136.64, Z:-11.04 [[ 7.60854453e-01 6.46698058e-01 5.36854043e-02 2.14988407e+02] [-6.44921397e-01 7.62743857e-01 -4.79395471e-02 -1.36641360e+02] [-7.19506244e-02 1.85215193e-03 9.97406475e-01 -1.10375750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48864 meters Centerline goodness [0,1] 0.9996080544804272 Centerline is valid? [True, True] Translation: X:215.01, Y:-136.66, Z:-11.04 [[ 7.60634248e-01 6.47028357e-01 5.28189848e-02 2.15012304e+02] [-6.45306312e-01 7.62463752e-01 -4.72100655e-02 -1.36663369e+02] [-7.08188124e-02 1.82516839e-03 9.97487526e-01 -1.10384079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:215.04, Y:-136.69, Z:-11.04 [[ 7.61027168e-01 6.46553994e-01 5.29677536e-02 2.15036112e+02] [-6.44818127e-01 7.62865846e-01 -4.73844258e-02 -1.36685439e+02] [-7.10438799e-02 1.90626773e-03 9.97471370e-01 -1.10407640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54864 meters Centerline goodness [0,1] 0.9997060120535058 Centerline is valid? [True, True] Translation: X:215.06, Y:-136.71, Z:-11.04 [[ 7.61556148e-01 6.45947303e-01 5.27666030e-02 2.15059081e+02] [-6.44220257e-01 7.63379417e-01 -4.72453772e-02 -1.36708038e+02] [-7.07989626e-02 1.98669291e-03 9.97488626e-01 -1.10414209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57864 meters Centerline goodness [0,1] 0.999607535321821 Centerline is valid? [True, True] Translation: X:215.08, Y:-136.73, Z:-11.04 [[ 7.64893593e-01 6.42001840e-01 5.26443665e-02 2.15080333e+02] [-6.40270654e-01 7.66699410e-01 -4.71752520e-02 -1.36731868e+02] [-7.06490033e-02 2.37740506e-03 9.97498404e-01 -1.10433937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60864 meters Centerline goodness [0,1] 0.9993139608957711 Centerline is valid? [True, True] Translation: X:215.10, Y:-136.75, Z:-11.04 [[ 7.65987308e-01 6.40672881e-01 5.29311137e-02 2.15103497e+02] [-6.38916817e-01 7.67809735e-01 -4.74711734e-02 -1.36754668e+02] [-7.10545178e-02 2.54373761e-03 9.97469190e-01 -1.10440876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63864 meters Centerline goodness [0,1] 0.9995101161024837 Centerline is valid? [True, True] Translation: X:215.13, Y:-136.78, Z:-11.05 [[ 7.66553800e-01 6.39965296e-01 5.32887615e-02 2.15126342e+02] [-6.38180755e-01 7.68399214e-01 -4.78327495e-02 -1.36777996e+02] [-7.15583422e-02 2.65851382e-03 9.97432873e-01 -1.10451464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66864 meters Centerline goodness [0,1] 0.9995591044922354 Centerline is valid? [True, True] Translation: X:215.15, Y:-136.80, Z:-11.05 [[ 7.67530008e-01 6.38851718e-01 5.25943776e-02 2.15147171e+02] [-6.37108016e-01 7.69324952e-01 -4.72492786e-02 -1.36802904e+02] [-7.06474498e-02 2.75693961e-03 9.97497537e-01 -1.10454344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69864 meters Centerline goodness [0,1] 0.9993138600274456 Centerline is valid? [True, True] Translation: X:215.17, Y:-136.83, Z:-11.05 [[ 7.67102726e-01 6.39583305e-01 4.98658567e-02 2.15167339e+02] [-6.38015108e-01 7.68717471e-01 -4.48349310e-02 -1.36828451e+02] [-6.70084286e-02 2.57782786e-03 9.97749079e-01 -1.10467890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72864 meters Centerline goodness [0,1] 0.9994115339348765 Centerline is valid? [True, True] Translation: X:215.19, Y:-136.85, Z:-11.05 [[ 7.66198358e-01 6.40792731e-01 4.82156917e-02 2.15188171e+02] [-6.39326758e-01 7.67710122e-01 -4.33873858e-02 -1.36852867e+02] [-6.48179959e-02 2.41776184e-03 9.97894174e-01 -1.10475969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75864 meters Centerline goodness [0,1] 0.9995098759986276 Centerline is valid? [True, True] Translation: X:215.21, Y:-136.88, Z:-11.05 [[ 7.65517683e-01 6.41612031e-01 4.81318949e-02 2.15209642e+02] [-6.40150376e-01 7.67025666e-01 -4.33488652e-02 -1.36877702e+02] [-6.47315521e-02 2.37267220e-03 9.97899893e-01 -1.10483075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78864000000002 meters Centerline goodness [0,1] 0.9997058102476097 Centerline is valid? [True, True] Translation: X:215.23, Y:-136.90, Z:-11.05 [[ 7.64124976e-01 6.43253537e-01 4.83519186e-02 2.15231130e+02] [-6.41779302e-01 7.65649869e-01 -4.35844609e-02 -1.36902302e+02] [-6.50564988e-02 2.27271460e-03 9.97878994e-01 -1.10494742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81864000000002 meters Centerline goodness [0,1] 0.999803854263718 Centerline is valid? [True, True] Translation: X:215.25, Y:-136.93, Z:-11.05 [[ 7.61545881e-01 6.46269437e-01 4.88230093e-02 2.15250260e+02] [-6.44770558e-01 7.63106534e-01 -4.40380021e-02 -1.36929663e+02] [-6.57175722e-02 2.05732023e-03 9.97836143e-01 -1.10507700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84864000000002 meters Centerline goodness [0,1] 0.9998040656380113 Centerline is valid? [True, True] Translation: X:215.27, Y:-136.95, Z:-11.05 [[ 7.59202643e-01 6.49047812e-01 4.84591078e-02 2.15270997e+02] [-6.47575358e-01 7.60745438e-01 -4.37325315e-02 -1.36954180e+02] [-6.52495491e-02 1.82092945e-03 9.97867316e-01 -1.10509392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87864000000002 meters Centerline goodness [0,1] 0.9998040656380113 Centerline is valid? [True, True] Translation: X:215.30, Y:-136.98, Z:-11.05 [[ 7.58879195e-01 6.49427462e-01 4.84390213e-02 2.15295341e+02] [-6.47954361e-01 7.60421374e-01 -4.37547722e-02 -1.36975733e+02] [-6.52496178e-02 1.81831122e-03 9.97867316e-01 -1.10522667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90864 meters Centerline goodness [0,1] 0.9996553930980161 Centerline is valid? [True, True] Translation: X:215.31, Y:-137.00, Z:-11.05 [[ 7.53824851e-01 6.55336850e-01 4.77672112e-02 2.15313663e+02] [-6.53914081e-01 7.55335611e-01 -4.31797353e-02 -1.37002604e+02] [-6.43775474e-02 1.31430552e-03 9.97924749e-01 -1.10530847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93864 meters Centerline goodness [0,1] 0.999803854263718 Centerline is valid? [True, True] Translation: X:215.34, Y:-137.03, Z:-11.05 [[ 7.51583610e-01 6.57928949e-01 4.74507673e-02 2.15336398e+02] [-6.56528714e-01 7.53079202e-01 -4.29157843e-02 -1.37025512e+02] [-6.39697228e-02 1.10200887e-03 9.97951231e-01 -1.10536490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96864 meters Centerline goodness [0,1] 0.9998527101335428 Centerline is valid? [True, True] Translation: X:215.36, Y:-137.05, Z:-11.06 [[ 7.49352335e-01 6.60475470e-01 4.73627685e-02 2.15358655e+02] [-6.59083027e-01 7.50847069e-01 -4.28747329e-02 -1.37048213e+02] [-6.38799053e-02 9.12284360e-04 9.97957176e-01 -1.10551797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:215.38, Y:-137.07, Z:-11.06 [[ 7.45790084e-01 6.64441259e-01 4.81140709e-02 2.15379686e+02] [-6.63009840e-01 7.47340242e-01 -4.35948805e-02 -1.37072923e+02] [-6.49238187e-02 6.12527056e-04 9.97890035e-01 -1.10568018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02864 meters Centerline goodness [0,1] 0.9999020472132432 Centerline is valid? [True, True] Translation: X:215.40, Y:-137.10, Z:-11.06 [[ 7.43622439e-01 6.66908625e-01 4.75242553e-02 2.15402109e+02] [-6.65514612e-01 7.45139388e-01 -4.30998041e-02 -1.37095644e+02] [-6.41558256e-02 4.21895139e-04 9.97939804e-01 -1.10579832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:215.43, Y:-137.12, Z:-11.06 [[ 7.40154695e-01 6.70859752e-01 4.60241314e-02 2.15426106e+02] [-6.69558210e-01 7.41584238e-01 -4.17686530e-02 -1.37117368e+02] [-6.21516787e-02 9.94295594e-05 9.98066711e-01 -1.10579507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.45, Y:-137.14, Z:-11.06 [[ 7.39018116e-01 6.72112546e-01 4.60103193e-02 2.15451208e+02] [-6.70812670e-01 7.40449002e-01 -4.17808136e-02 -1.37138448e+02] [-6.21497040e-02 1.24729954e-05 9.98066839e-01 -1.10595098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.47, Y:-137.16, Z:-11.06 [[ 7.37470584e-01 6.73747257e-01 4.69230404e-02 2.15474734e+02] [-6.72396111e-01 7.38961855e-01 -4.26479412e-02 -1.37159606e+02] [-6.34082704e-02 -9.92677852e-05 9.97987666e-01 -1.10612313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.50, Y:-137.18, Z:-11.06 [[ 7.36173651e-01 6.75082062e-01 4.80891428e-02 2.15499612e+02] [-6.73663727e-01 7.37742618e-01 -4.37379923e-02 -1.37179766e+02] [-6.50041441e-02 -1.97153697e-04 9.97884975e-01 -1.10609520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.52, Y:-137.20, Z:-11.06 [[ 7.35282758e-01 6.75936529e-01 4.96897838e-02 2.15524922e+02] [-6.74421109e-01 7.36959800e-01 -4.52373834e-02 -1.37199763e+02] [-6.71969730e-02 -2.49571017e-04 9.97739698e-01 -1.10620467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.55, Y:-137.22, Z:-11.06 [[ 7.33618854e-01 6.77790876e-01 4.90194366e-02 2.15551826e+02] [-6.76317309e-01 7.35254638e-01 -4.46711850e-02 -1.37219380e+02] [-6.63194897e-02 -3.81069841e-04 9.97798366e-01 -1.10624466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.58, Y:-137.24, Z:-11.06 [[ 7.32360511e-01 6.79173207e-01 4.87015140e-02 2.15576839e+02] [-6.77718605e-01 7.33977885e-01 -4.44292324e-02 -1.37241033e+02] [-6.59209785e-02 -4.67706804e-04 9.97824737e-01 -1.10644870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.60, Y:-137.26, Z:-11.07 [[ 7.31134999e-01 6.80504020e-01 4.85375279e-02 2.15603517e+02] [-6.79058994e-01 7.32744141e-01 -4.43272691e-02 -1.37260859e+02] [-6.57304740e-02 -5.50627008e-04 9.97837262e-01 -1.10652722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29864 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:215.63, Y:-137.28, Z:-11.07 [[ 7.30603938e-01 6.81096546e-01 4.82222019e-02 2.15629771e+02] [-6.79668462e-01 7.32193401e-01 -4.40863505e-02 -1.37280788e+02] [-6.53350390e-02 -5.65448454e-04 9.97863224e-01 -1.10667804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.66, Y:-137.30, Z:-11.07 [[ 7.29764318e-01 6.81976700e-01 4.84955768e-02 2.15655420e+02] [-6.80531216e-01 7.31373642e-01 -4.43831157e-02 -1.37300901e+02] [-6.57366374e-02 -6.13539704e-04 9.97836819e-01 -1.10679263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.68, Y:-137.32, Z:-11.07 [[ 7.29257264e-01 6.82456718e-01 4.93626417e-02 2.15681074e+02] [-6.80957105e-01 7.30925731e-01 -4.52216526e-02 -1.37320958e+02] [-6.69422456e-02 -6.35622897e-04 9.97756650e-01 -1.10695517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.71, Y:-137.34, Z:-11.07 [[ 7.29169468e-01 6.82581521e-01 4.89321396e-02 2.15706366e+02] [-6.81105312e-01 7.30809206e-01 -4.48715683e-02 -1.37342600e+02] [-6.63885615e-02 -6.08962681e-04 9.97793660e-01 -1.10706438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.73, Y:-137.36, Z:-11.07 [[ 7.29167550e-01 6.82648789e-01 4.80136916e-02 2.15732178e+02] [-6.81225216e-01 7.30746399e-01 -4.40670680e-02 -1.37362721e+02] [-6.51681628e-02 -5.75861431e-04 9.97874130e-01 -1.10722295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.76, Y:-137.38, Z:-11.07 [[ 7.28761806e-01 6.83101709e-01 4.77313958e-02 2.15757788e+02] [-6.81693765e-01 7.30323016e-01 -4.38395198e-02 -1.37383386e+02] [-6.48061878e-02 -5.89627327e-04 9.97897695e-01 -1.10718481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.78, Y:-137.40, Z:-11.07 [[ 7.27525373e-01 6.84392975e-01 4.80945723e-02 2.15782859e+02] [-6.82963346e-01 7.29113022e-01 -4.42184335e-02 -1.37404287e+02] [-6.53291641e-02 -6.76797690e-04 9.97863539e-01 -1.10734078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.81, Y:-137.42, Z:-11.07 [[ 7.26516416e-01 6.85518720e-01 4.73073050e-02 2.15809195e+02] [-6.84135203e-01 7.28054630e-01 -4.35371030e-02 -1.37424437e+02] [-6.42878016e-02 -7.34172727e-04 9.97931130e-01 -1.10744885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.83, Y:-137.45, Z:-11.08 [[ 7.25552047e-01 6.86565593e-01 4.69245565e-02 2.15834591e+02] [-6.85203641e-01 7.27067444e-01 -4.32308160e-02 -1.37445948e+02] [-6.37981082e-02 -7.86669903e-04 9.97962516e-01 -1.10761132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56864000000002 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:215.86, Y:-137.47, Z:-11.08 [[ 7.25048003e-01 6.87104210e-01 4.68315885e-02 2.15860967e+02] [-6.85745841e-01 7.26558439e-01 -4.31911579e-02 -1.37466505e+02] [-6.37027122e-02 -7.98904257e-04 9.97968600e-01 -1.10764409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.89, Y:-137.49, Z:-11.08 [[ 7.24704226e-01 6.87452988e-01 4.70337581e-02 2.15886616e+02] [-6.86080598e-01 7.26228443e-01 -4.34242041e-02 -1.37487232e+02] [-6.40093517e-02 -7.99244647e-04 9.97948979e-01 -1.10793296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62864000000002 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:215.91, Y:-137.51, Z:-11.08 [[ 7.24546411e-01 6.87562676e-01 4.78546357e-02 2.15911996e+02] [-6.86139007e-01 7.26124608e-01 -4.42302700e-02 -1.37508100e+02] [-6.51595114e-02 -7.88048904e-04 9.97874550e-01 -1.10802690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.94, Y:-137.53, Z:-11.08 [[ 7.24637758e-01 6.87427677e-01 4.84077455e-02 2.15938230e+02] [-6.85967365e-01 7.26252454e-01 -4.47900296e-02 -1.37528347e+02] [-6.59461500e-02 -7.49587071e-04 9.97822902e-01 -1.10815697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.96, Y:-137.55, Z:-11.08 [[ 7.24416900e-01 6.87614352e-01 4.90577028e-02 2.15964230e+02] [-6.86111658e-01 7.26075722e-01 -4.54404972e-02 -1.37549528e+02] [-6.68651450e-02 -7.41197674e-04 9.97761747e-01 -1.10829881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.99, Y:-137.57, Z:-11.08 [[ 7.25376482e-01 6.86563593e-01 4.95922718e-02 2.15991460e+02] [-6.85022111e-01 7.27069498e-01 -4.59853554e-02 -1.37568615e+02] [-6.76288990e-02 -6.15107381e-04 9.97710356e-01 -1.10846694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.02, Y:-137.59, Z:-11.09 [[ 7.26239019e-01 6.85696653e-01 4.89590326e-02 2.16016161e+02] [-6.84189285e-01 7.27887255e-01 -4.54441028e-02 -1.37589367e+02] [-6.67975250e-02 -4.93964906e-04 9.97766429e-01 -1.10860117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.04, Y:-137.61, Z:-11.09 [[ 7.27018402e-01 6.84874279e-01 4.89026010e-02 2.16040933e+02] [-6.83365525e-01 7.28661151e-01 -4.54366129e-02 -1.37610596e+02] [-6.67517930e-02 -3.85097914e-04 9.97769537e-01 -1.10876671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.07, Y:-137.63, Z:-11.09 [[ 7.29395060e-01 6.82365622e-01 4.85798772e-02 2.16067501e+02] [-6.80868116e-01 7.31011042e-01 -4.51825680e-02 -1.37629911e+02] [-6.63434577e-02 -1.20547558e-04 9.97796839e-01 -1.10897344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.09, Y:-137.65, Z:-11.09 [[ 7.30595709e-01 6.81040768e-01 4.91261851e-02 2.16092418e+02] [-6.79503313e-01 7.32245500e-01 -4.57359352e-02 -1.37651758e+02] [-6.71204643e-02 3.30725019e-05 9.97744878e-01 -1.10917819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.12, Y:-137.67, Z:-11.09 [[ 7.31478734e-01 6.80004512e-01 5.03261825e-02 2.16115881e+02] [-6.78385177e-01 7.33207908e-01 -4.69011220e-02 -1.37673520e+02] [-6.87925296e-02 1.66637152e-04 9.97630974e-01 -1.10936886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:216.14, Y:-137.70, Z:-11.10 [[ 7.33906685e-01 6.77318691e-01 5.11895331e-02 2.16138866e+02] [-6.75633676e-01 7.35689595e-01 -4.77488745e-02 -1.37695297e+02] [-7.00008121e-02 4.57845788e-04 9.97546829e-01 -1.10951488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.16, Y:-137.72, Z:-11.10 [[ 7.34943473e-01 6.76131431e-01 5.20036499e-02 2.16163013e+02] [-6.74386281e-01 7.36780777e-01 -4.85513234e-02 -1.37717217e+02] [-7.11423653e-02 6.11930231e-04 9.97465984e-01 -1.10964252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.19, Y:-137.74, Z:-11.10 [[ 7.37345330e-01 6.73625479e-01 5.05032492e-02 2.16186245e+02] [-6.71970715e-01 7.39072372e-01 -4.71952040e-02 -1.37741314e+02] [-6.91174481e-02 8.62458739e-04 9.97608157e-01 -1.10976625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.21, Y:-137.77, Z:-11.10 [[ 7.38002434e-01 6.72949068e-01 4.99195238e-02 2.16209561e+02] [-6.71327550e-01 7.39688210e-01 -4.66976784e-02 -1.37765188e+02] [-6.83500424e-02 9.50648707e-04 9.97660948e-01 -1.10992985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01864 meters Centerline goodness [0,1] 0.999951057165231 Centerline is valid? [True, True] Translation: X:216.23, Y:-137.79, Z:-11.10 [[ 7.37944356e-01 6.73086637e-01 4.89132507e-02 2.16232499e+02] [-6.71527244e-01 7.39563029e-01 -4.58005109e-02 -1.37788165e+02] [-6.70021437e-02 9.51648125e-04 9.97752378e-01 -1.11006780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.26, Y:-137.81, Z:-11.10 [[ 7.36688570e-01 6.74390622e-01 4.98722290e-02 2.16255151e+02] [-6.72769302e-01 7.38374234e-01 -4.67435309e-02 -1.37812349e+02] [-6.83477678e-02 8.82920298e-04 9.97661166e-01 -1.11031919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:216.28, Y:-137.84, Z:-11.10 [[ 7.35521775e-01 6.75707419e-01 4.92666434e-02 2.16277655e+02] [-6.74125896e-01 7.37169506e-01 -4.62103498e-02 -1.37836098e+02] [-6.75425433e-02 7.76798404e-04 9.97716093e-01 -1.11040308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.30, Y:-137.86, Z:-11.11 [[ 7.34426968e-01 6.76909378e-01 4.90991104e-02 2.16299426e+02] [-6.75339560e-01 7.36066049e-01 -4.60787345e-02 -1.37860183e+02] [-6.73313157e-02 6.82893624e-04 9.97730438e-01 -1.11051533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.32, Y:-137.88, Z:-11.11 [[ 7.33938967e-01 6.77385195e-01 4.98286119e-02 2.16322997e+02] [-6.75766474e-01 7.35628190e-01 -4.68063914e-02 -1.37882566e+02] [-6.83612881e-02 6.80529165e-04 9.97660399e-01 -1.11074138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.35, Y:-137.91, Z:-11.11 [[ 7.33327385e-01 6.78035467e-01 4.99885152e-02 2.16346788e+02] [-6.76404711e-01 7.35028895e-01 -4.70020241e-02 -1.37905016e+02] [-6.86120424e-02 6.55404252e-04 9.97643202e-01 -1.11085093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.37, Y:-137.93, Z:-11.11 [[ 7.32013976e-01 6.79417271e-01 5.04748593e-02 2.16368470e+02] [-6.77754416e-01 7.33751899e-01 -4.75089629e-02 -1.37929505e+02] [-6.93144338e-02 5.67666034e-04 9.97594701e-01 -1.11107431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22864 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:216.39, Y:-137.95, Z:-11.11 [[ 7.31631108e-01 6.79810618e-01 5.07291372e-02 2.16390887e+02] [-6.78128406e-01 7.33387482e-01 -4.77981786e-02 -1.37953885e+02] [-6.96978235e-02 5.69765416e-04 9.97567987e-01 -1.11120828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.41, Y:-137.98, Z:-11.11 [[ 7.32018045e-01 6.79458951e-01 4.98509381e-02 2.16414513e+02] [-6.77830588e-01 7.33713256e-01 -4.70165138e-02 -1.37976195e+02] [-6.85220853e-02 6.26445866e-04 9.97649403e-01 -1.11130748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28864000000002 meters Centerline goodness [0,1] 0.9999510260051913 Centerline is valid? [True, True] Translation: X:216.44, Y:-138.00, Z:-11.11 [[ 7.32202081e-01 6.79289922e-01 4.94501140e-02 2.16438781e+02] [-6.77684241e-01 7.33869711e-01 -4.66831541e-02 -1.37999138e+02] [-6.80013370e-02 6.69939627e-04 9.97685005e-01 -1.11148256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.46, Y:-138.02, Z:-11.12 [[ 7.32210005e-01 6.79326664e-01 4.88240955e-02 2.16461471e+02] [-6.77758449e-01 7.33835680e-01 -4.61376156e-02 -1.38021361e+02] [-6.71713758e-02 6.91480467e-04 9.97741213e-01 -1.11164627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.48, Y:-138.05, Z:-11.12 [[ 7.33125797e-01 6.78355853e-01 4.85788350e-02 2.16483487e+02] [-6.76798290e-01 7.34733069e-01 -4.59498867e-02 -1.38045622e+02] [-6.68628510e-02 8.08974866e-04 9.97761848e-01 -1.11186721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37864000000002 meters Centerline goodness [0,1] 0.9999510020089176 Centerline is valid? [True, True] Translation: X:216.50, Y:-138.07, Z:-11.12 [[ 7.31814597e-01 6.79842838e-01 4.75511510e-02 2.16504686e+02] [-6.78350799e-01 7.33357511e-01 -4.50217172e-02 -1.38069507e+02] [-6.54796857e-02 6.91188563e-04 9.97853663e-01 -1.11199589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.53, Y:-138.09, Z:-11.12 [[ 7.30621293e-01 6.81157890e-01 4.70792398e-02 2.16527407e+02] [-6.79695446e-01 7.32136307e-01 -4.46153414e-02 -1.38092715e+02] [-6.48585126e-02 5.97373582e-04 9.97894291e-01 -1.11216770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.55, Y:-138.12, Z:-11.12 [[ 7.29086930e-01 6.82758903e-01 4.76710546e-02 2.16550410e+02] [-6.81259938e-01 7.30643577e-01 -4.52201176e-02 -1.38116775e+02] [-6.57049878e-02 4.93016943e-04 9.97838971e-01 -1.11233848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.57, Y:-138.14, Z:-11.13 [[ 7.28233640e-01 6.83580811e-01 4.89187058e-02 2.16572848e+02] [-6.82000937e-01 7.29874687e-01 -4.64506554e-02 -1.38139983e+02] [-6.74573018e-02 4.64326723e-04 9.97722054e-01 -1.11256449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.59, Y:-138.16, Z:-11.13 [[ 7.26230674e-01 6.85580874e-01 5.06741909e-02 2.16594272e+02] [-6.83887119e-01 7.27996402e-01 -4.81627113e-02 -1.38163777e+02] [-6.99100624e-02 3.21811861e-04 9.97553247e-01 -1.11262139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.62, Y:-138.19, Z:-11.13 [[ 7.25420515e-01 6.86523392e-01 4.95046229e-02 2.16617330e+02] [-6.84906279e-01 7.27107672e-01 -4.70937620e-02 -1.38186755e+02] [-6.83261603e-02 2.56754047e-04 9.97663004e-01 -1.11274706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.64, Y:-138.21, Z:-11.13 [[ 7.25089125e-01 6.86923729e-01 4.88011411e-02 2.16640470e+02] [-6.85350343e-01 7.26729475e-01 -4.64669499e-02 -1.38209662e+02] [-6.73844781e-02 2.46801244e-04 9.97727052e-01 -1.11292403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.66, Y:-138.23, Z:-11.13 [[ 7.25339379e-01 6.86683368e-01 4.84637753e-02 2.16664140e+02] [-6.85128134e-01 7.26956575e-01 -4.61906669e-02 -1.38233294e+02] [-6.69494228e-02 3.00013685e-04 9.97756325e-01 -1.11311726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.69, Y:-138.26, Z:-11.13 [[ 7.26403792e-01 6.85526274e-01 4.89005000e-02 2.16686178e+02] [-6.83937056e-01 7.28047753e-01 -4.66537554e-02 -1.38256207e+02] [-6.75842742e-02 4.44600773e-04 9.97713470e-01 -1.11322701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.71, Y:-138.28, Z:-11.13 [[ 7.26937496e-01 6.84996202e-01 4.83950393e-02 2.16710466e+02] [-6.83435543e-01 7.28546451e-01 -4.62160972e-02 -1.38278809e+02] [-6.69158851e-02 5.21324020e-04 9.97758484e-01 -1.11332612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.73, Y:-138.30, Z:-11.13 [[ 7.29453557e-01 6.82331503e-01 4.81791227e-02 2.16733894e+02] [-6.80775863e-01 7.31042465e-01 -4.60558220e-02 -1.38300612e+02] [-6.66463229e-02 7.96399311e-04 9.97776344e-01 -1.11338325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.76, Y:-138.32, Z:-11.14 [[ 7.30319406e-01 6.81287920e-01 4.98029638e-02 2.16756676e+02] [-6.79620040e-01 7.32014931e-01 -4.76523028e-02 -1.38323551e+02] [-6.89214514e-02 9.54309253e-04 9.97621633e-01 -1.11352190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.78, Y:-138.35, Z:-11.14 [[ 7.29967217e-01 6.81666927e-01 4.97801374e-02 2.16780374e+02] [-6.79998302e-01 7.31662009e-01 -4.76761412e-02 -1.38345794e+02] [-6.89214840e-02 9.51611192e-04 9.97621633e-01 -1.11365462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76864 meters Centerline goodness [0,1] 0.9999016715830875 Centerline is valid? [True, True] Translation: X:216.80, Y:-138.37, Z:-11.14 [[ 7.30420538e-01 6.81211923e-01 4.93574167e-02 2.16803030e+02] [-6.79567171e-01 7.32085564e-01 -4.73200637e-02 -1.38369264e+02] [-6.83688437e-02 1.02186634e-03 9.97659590e-01 -1.11375837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.82, Y:-138.39, Z:-11.14 [[ 7.30380870e-01 6.81155491e-01 5.07048509e-02 2.16824602e+02] [-6.79416635e-01 7.32137979e-01 -4.86519876e-02 -1.38392367e+02] [-7.02625156e-02 1.08476183e-03 9.97527946e-01 -1.11403222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:216.85, Y:-138.41, Z:-11.14 [[ 7.29627267e-01 6.82004260e-01 5.01422009e-02 2.16847243e+02] [-6.80303631e-01 7.31347496e-01 -4.81436435e-02 -1.38414702e+02] [-6.95055430e-02 1.01499369e-03 9.97581049e-01 -1.11406846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85864 meters Centerline goodness [0,1] 0.999951021207817 Centerline is valid? [True, True] Translation: X:216.87, Y:-138.44, Z:-11.14 [[ 7.27330409e-01 6.84578810e-01 4.83976107e-02 2.16869995e+02] [-6.82998238e-01 7.28938453e-01 -4.64988069e-02 -1.38438280e+02] [-6.71109774e-02 7.64513492e-04 9.97745224e-01 -1.11415291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88864 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:216.89, Y:-138.46, Z:-11.14 [[ 7.25708037e-01 6.86235472e-01 4.92820662e-02 2.16893677e+02] [-6.84598331e-01 7.27379174e-01 -4.73778642e-02 -1.38461019e+02] [-6.83591196e-02 6.44076604e-04 9.97660572e-01 -1.11435824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:216.92, Y:-138.48, Z:-11.14 [[ 7.24438613e-01 6.87585782e-01 4.91374391e-02 2.16917652e+02] [-6.85957975e-01 7.26102946e-01 -4.72881386e-02 -1.38484033e+02] [-6.81934910e-02 5.51135318e-04 9.97671962e-01 -1.11435766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94864 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:216.94, Y:-138.51, Z:-11.15 [[ 7.23500053e-01 6.88481120e-01 5.04125012e-02 2.16941095e+02] [-6.86766368e-01 7.25254081e-01 -4.85641235e-02 -1.38506220e+02] [-6.99973544e-02 5.14535578e-04 9.97547044e-01 -1.11452844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.97, Y:-138.53, Z:-11.15 [[ 7.22580083e-01 6.89416656e-01 5.08202525e-02 2.16965269e+02] [-6.87672923e-01 7.24364867e-01 -4.90050052e-02 -1.38528425e+02] [-7.05972722e-02 4.62329127e-04 9.97504793e-01 -1.11471027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.99, Y:-138.55, Z:-11.15 [[ 7.22051910e-01 6.90064265e-01 4.95212074e-02 2.16988637e+02] [-6.88406908e-01 7.23747975e-01 -4.77995518e-02 -1.38550367e+02] [-6.88256361e-02 4.23016408e-04 9.97628615e-01 -1.11503283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03864000000002 meters Centerline goodness [0,1] 0.9999019607843137 Centerline is valid? [True, True] Translation: X:217.01, Y:-138.57, Z:-11.15 [[ 7.22422270e-01 6.89800294e-01 4.77662857e-02 2.17012138e+02] [-6.88255112e-01 7.23999545e-01 -4.61471541e-02 -1.38572399e+02] [-6.64150896e-02 4.62341530e-04 9.97791973e-01 -1.11502798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06864000000002 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:217.04, Y:-138.59, Z:-11.15 [[ 7.22341677e-01 6.89891017e-01 4.76748046e-02 2.17036313e+02] [-6.88348980e-01 7.23913081e-01 -4.61034961e-02 -1.38594591e+02] [-6.63188025e-02 4.85573569e-04 9.97798367e-01 -1.11515780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.06, Y:-138.62, Z:-11.15 [[ 7.22857109e-01 6.89221438e-01 4.95117031e-02 2.17060622e+02] [-6.87553178e-01 7.24550512e-01 -4.79289327e-02 -1.38615950e+02] [-6.89073778e-02 6.03840956e-04 9.97622879e-01 -1.11523753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.08, Y:-138.64, Z:-11.15 [[ 7.22735891e-01 6.89386326e-01 4.89829003e-02 2.17083968e+02] [-6.87750982e-01 7.24393620e-01 -4.74601884e-02 -1.38638658e+02] [-6.82013055e-02 6.13143782e-04 9.97671392e-01 -1.11540645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:217.11, Y:-138.66, Z:-11.16 [[ 7.24123966e-01 6.87974716e-01 4.83246602e-02 2.17106194e+02] [-6.86376907e-01 7.25734249e-01 -4.68672745e-02 -1.38662676e+02] [-6.73143609e-02 7.68785859e-04 9.97731520e-01 -1.11558724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.13, Y:-138.69, Z:-11.16 [[ 7.24335582e-01 6.87741130e-01 4.84778565e-02 2.17130020e+02] [-6.86129303e-01 7.25955544e-01 -4.70651488e-02 -1.38685352e+02] [-6.75614073e-02 8.28884078e-04 9.97714773e-01 -1.11568639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:217.15, Y:-138.71, Z:-11.16 [[ 7.22794787e-01 6.89332156e-01 4.88761250e-02 2.17154318e+02] [-6.87693923e-01 7.24445069e-01 -4.75016983e-02 -1.38708214e+02] [-6.81525158e-02 7.22165708e-04 9.97674653e-01 -1.11580200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.18, Y:-138.73, Z:-11.16 [[ 7.21051443e-01 6.91098127e-01 4.96809467e-02 2.17177197e+02] [-6.89406067e-01 7.22760692e-01 -4.83348441e-02 -1.38732153e+02] [-6.93115556e-02 6.01562958e-04 9.97594881e-01 -1.11589779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:217.20, Y:-138.76, Z:-11.16 [[ 7.19785283e-01 6.92345610e-01 5.06626307e-02 2.17199778e+02] [-6.90585509e-01 7.21565852e-01 -4.93393982e-02 -1.38755142e+02] [-7.07163400e-02 5.26894129e-04 9.97496327e-01 -1.11604248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.22, Y:-138.78, Z:-11.16 [[ 7.17671161e-01 6.94420451e-01 5.22335371e-02 2.17223096e+02] [-6.92551336e-01 7.19569387e-01 -5.09170287e-02 -1.38777765e+02] [-7.29434803e-02 3.67277211e-04 9.97336008e-01 -1.11633672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33864 meters Centerline goodness [0,1] 0.999951045185294 Centerline is valid? [True, True] Translation: X:217.25, Y:-138.80, Z:-11.16 [[ 7.17095023e-01 6.95054110e-01 5.17156791e-02 2.17246523e+02] [-6.93220221e-01 7.18957351e-01 -5.04584177e-02 -1.38800098e+02] [-7.22526983e-02 3.33125717e-04 9.97386303e-01 -1.11646536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:217.27, Y:-138.82, Z:-11.17 [[ 7.16840439e-01 6.95448082e-01 4.99174288e-02 2.17269068e+02] [-6.93737552e-01 7.18576277e-01 -4.87477471e-02 -1.38822878e+02] [-6.97710074e-02 3.14761608e-04 9.97562984e-01 -1.11663271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.29, Y:-138.85, Z:-11.17 [[ 7.16268474e-01 6.96033328e-01 4.99707884e-02 2.17292622e+02] [-6.94317208e-01 7.18009416e-01 -4.88476492e-02 -1.38846098e+02] [-6.98790884e-02 2.92452854e-04 9.97555426e-01 -1.11687164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.32, Y:-138.87, Z:-11.17 [[ 7.15956855e-01 6.96256527e-01 5.13091624e-02 2.17315632e+02] [-6.94444019e-01 7.17792971e-01 -5.02071169e-02 -1.38868594e+02] [-7.17863890e-02 3.14788532e-04 9.97419979e-01 -1.11698328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.34, Y:-138.89, Z:-11.17 [[ 7.15340424e-01 6.96884598e-01 5.13802980e-02 2.17339672e+02] [-6.95065105e-01 7.17183222e-01 -5.03261933e-02 -1.38891776e+02] [-7.19206367e-02 2.87708228e-04 9.97410316e-01 -1.11705667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48864 meters Centerline goodness [0,1] 0.9999020376175548 Centerline is valid? [True, True] Translation: X:217.36, Y:-138.91, Z:-11.17 [[ 7.14838584e-01 6.97392989e-01 5.14666637e-02 2.17363361e+02] [-6.95564817e-01 7.16688875e-01 -5.04642667e-02 -1.38914687e+02] [-7.20790111e-02 2.75404410e-04 9.97398887e-01 -1.11726831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51864 meters Centerline goodness [0,1] 0.9998530132288094 Centerline is valid? [True, True] Translation: X:217.39, Y:-138.94, Z:-11.18 [[ 7.15191098e-01 6.97117369e-01 5.02898261e-02 2.17385335e+02] [-6.95367830e-01 7.16956947e-01 -4.93590554e-02 -1.38937865e+02] [-7.04646951e-02 3.31229805e-04 9.97514219e-01 -1.11756811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:217.41, Y:-138.96, Z:-11.18 [[ 7.14747485e-01 6.97559392e-01 5.04670961e-02 2.17408718e+02] [-6.95795149e-01 7.16526895e-01 -4.95814427e-02 -1.38960799e+02] [-7.07470326e-02 3.23450828e-04 9.97494237e-01 -1.11771959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57864 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:217.43, Y:-138.98, Z:-11.18 [[ 7.13678586e-01 6.98579298e-01 5.14765986e-02 2.17431668e+02] [-6.96742739e-01 7.15532596e-01 -5.06227236e-02 -1.38982550e+02] [-7.21971709e-02 2.62407491e-04 9.97390345e-01 -1.11785865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:217.46, Y:-139.00, Z:-11.18 [[ 7.10907013e-01 7.01293782e-01 5.28984977e-02 2.17456403e+02] [-6.99358201e-01 7.12872381e-01 -5.20679939e-02 -1.39002605e+02] [-7.42248384e-02 2.05038043e-05 9.97241532e-01 -1.11806586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63864 meters Centerline goodness [0,1] 0.9998041615667075 Centerline is valid? [True, True] Translation: X:217.48, Y:-139.02, Z:-11.18 [[ 7.09277435e-01 7.03016036e-01 5.19034901e-02 2.17480188e+02] [-7.01153843e-01 7.11173985e-01 -5.11356186e-02 -1.39024681e+02] [-7.28615719e-02 -1.22991097e-04 9.97342056e-01 -1.11819657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.50, Y:-139.04, Z:-11.18 [[ 7.06335725e-01 7.05910748e-01 5.27243666e-02 2.17504986e+02] [-7.03993519e-01 7.08300685e-01 -5.19929258e-02 -1.39044784e+02] [-7.40470702e-02 -3.93151482e-04 9.97254670e-01 -1.11836918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.53, Y:-139.07, Z:-11.18 [[ 7.04553354e-01 7.07735987e-01 5.20993602e-02 2.17531140e+02] [-7.05865281e-01 7.06476807e-01 -5.14269049e-02 -1.39065469e+02] [-7.32036610e-02 -5.42131189e-04 9.97316865e-01 -1.11839008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.56, Y:-139.08, Z:-11.19 [[ 7.01634890e-01 7.10452401e-01 5.44597733e-02 2.17558852e+02] [-7.08413276e-01 7.03744761e-01 -5.37953663e-02 -1.39083010e+02] [-7.65448273e-02 -8.35320440e-04 9.97065791e-01 -1.11859166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.58, Y:-139.10, Z:-11.19 [[ 7.00700410e-01 7.11448204e-01 5.34825980e-02 2.17584385e+02] [-7.09482341e-01 7.02737954e-01 -5.28599666e-02 -1.39103230e+02] [-7.51913798e-02 -9.05958522e-04 9.97168710e-01 -1.11865007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.61, Y:-139.12, Z:-11.19 [[ 6.99788364e-01 7.12392976e-01 5.28440522e-02 2.17609508e+02] [-7.10472940e-01 7.01780111e-01 -5.22769317e-02 -1.39123550e+02] [-7.43266237e-02 -9.61480591e-04 9.97233487e-01 -1.11884633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.64, Y:-139.14, Z:-11.19 [[ 7.00303418e-01 7.11920597e-01 5.23849714e-02 2.17638620e+02] [-7.10028952e-01 7.02259430e-01 -5.18708009e-02 -1.39139213e+02] [-7.37157317e-02 -8.69547177e-04 9.97278915e-01 -1.11898460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.67, Y:-139.16, Z:-11.19 [[ 7.01485295e-01 7.10777663e-01 5.20912112e-02 2.17665057e+02] [-7.08900532e-01 7.03416383e-01 -5.16277917e-02 -1.39157689e+02] [-7.33376925e-02 -7.11350642e-04 9.97306912e-01 -1.11920824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.69, Y:-139.17, Z:-11.19 [[ 7.05319363e-01 7.06845610e-01 5.37947899e-02 2.17694057e+02] [-7.04828197e-01 7.07367802e-01 -5.33667041e-02 -1.39173737e+02] [-7.57747228e-02 -2.75515044e-04 9.97124925e-01 -1.11943828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90864 meters Centerline goodness [0,1] 0.9999510020089176 Centerline is valid? [True, True] Translation: X:217.72, Y:-139.19, Z:-11.20 [[ 7.07656435e-01 7.04475324e-01 5.41930589e-02 2.17719959e+02] [-7.02416833e-01 7.09728482e-01 -5.38152001e-02 -1.39194665e+02] [-7.63738380e-02 1.65558835e-05 9.97079253e-01 -1.11958088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.75, Y:-139.22, Z:-11.20 [[ 7.09635701e-01 7.02461860e-01 5.44472882e-02 2.17745583e+02] [-7.00373655e-01 7.11721335e-01 -5.41247155e-02 -1.39216324e+02] [-7.67718450e-02 2.75384194e-04 9.97048649e-01 -1.11970051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96864 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:217.77, Y:-139.24, Z:-11.20 [[ 7.12797785e-01 6.99190747e-01 5.52414440e-02 2.17770499e+02] [-6.97027111e-01 7.14934852e-01 -5.49669265e-02 -1.39236238e+02] [-7.79264000e-02 6.75519293e-04 9.96958886e-01 -1.11989683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99864 meters Centerline goodness [0,1] 0.9999019800039208 Centerline is valid? [True, True] Translation: X:217.79, Y:-139.26, Z:-11.20 [[ 7.13275249e-01 6.98701700e-01 5.52662041e-02 2.17794876e+02] [-6.96530642e-01 7.15412711e-01 -5.50428640e-02 -1.39258174e+02] [-7.79966876e-02 7.66107845e-04 9.96953324e-01 -1.12001870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02864 meters Centerline goodness [0,1] 0.9998531858666928 Centerline is valid? [True, True] Translation: X:217.82, Y:-139.28, Z:-11.20 [[ 7.13179892e-01 6.98866631e-01 5.44047275e-02 2.17819319e+02] [-6.96759334e-01 7.15251588e-01 -5.42364831e-02 -1.39279415e+02] [-7.68171360e-02 7.73367411e-04 9.97044898e-01 -1.12014786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05864 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:217.84, Y:-139.30, Z:-11.20 [[ 7.12174934e-01 6.99960328e-01 5.35014213e-02 2.17842484e+02] [-6.97922039e-01 7.14181405e-01 -5.33830365e-02 -1.39301801e+02] [-7.55757280e-02 6.78239443e-04 9.97139834e-01 -1.12017133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08864 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:217.86, Y:-139.32, Z:-11.20 [[ 7.11279202e-01 7.00951799e-01 5.24258686e-02 2.17864986e+02] [-6.98993984e-01 7.13208400e-01 -5.23563564e-02 -1.39324315e+02] [-7.40898521e-02 5.94620643e-04 9.97251393e-01 -1.12034681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11864 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:217.89, Y:-139.35, Z:-11.21 [[ 7.10088772e-01 7.02122455e-01 5.28960635e-02 2.17887354e+02] [-7.00128715e-01 7.12056033e-01 -5.28771018e-02 -1.39348776e+02] [-7.47911617e-02 5.13383338e-04 9.97199087e-01 -1.12052972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:217.92, Y:-139.47, Z:-9.54 [[ 7.52249339e-01 -6.58871929e-01 -2.95169592e-03 2.17915540e+02] [-6.58846399e-01 -7.52249344e-01 6.50742924e-03 -1.39465425e+02] [-6.50797377e-03 -2.95049512e-03 -9.99974470e-01 -9.53587264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17864 meters Centerline goodness [0,1] 0.9999019511716835 Centerline is valid? [True, True] Translation: X:217.92, Y:-139.40, Z:-11.21 [[ 7.61397293e-01 6.45668552e-01 5.81917765e-02 2.17923570e+02] [-6.43712307e-01 7.63617380e-01 -5.02291006e-02 -1.39400903e+02] [-7.68676026e-02 7.85538524e-04 9.97040999e-01 -1.12086846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20864 meters Centerline goodness [0,1] 0.9997056948055133 Centerline is valid? [True, True] Translation: X:217.95, Y:-139.42, Z:-11.21 [[ 7.62531393e-01 6.44267680e-01 5.88645153e-02 2.17947369e+02] [-6.42258105e-01 7.64799457e-01 -5.08558333e-02 -1.39422591e+02] [-7.77843191e-02 9.72957303e-04 9.96969735e-01 -1.12090132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23864 meters Centerline goodness [0,1] 0.9998038157830202 Centerline is valid? [True, True] Translation: X:217.97, Y:-139.44, Z:-11.21 [[ 7.63607584e-01 6.42895372e-01 5.99082476e-02 2.17970694e+02] [-6.40805967e-01 7.65953117e-01 -5.18028429e-02 -1.39443944e+02] [-7.91907170e-02 1.16748114e-03 9.96858800e-01 -1.12112410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26864 meters Centerline goodness [0,1] 0.9998040080356705 Centerline is valid? [True, True] Translation: X:217.99, Y:-139.47, Z:-11.21 [[ 7.64123785e-01 6.42321638e-01 5.94790357e-02 2.17993603e+02] [-6.40256625e-01 7.66434172e-01 -5.14792577e-02 -1.39468195e+02] [-7.86530066e-02 1.25467850e-03 9.96901264e-01 -1.12132219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29864 meters Centerline goodness [0,1] 0.9999018645731109 Centerline is valid? [True, True] Translation: X:218.02, Y:-139.49, Z:-11.21 [[ 7.63319039e-01 6.43403815e-01 5.80996945e-02 2.18016743e+02] [-6.41433048e-01 7.65526094e-01 -5.03333298e-02 -1.39490611e+02] [-7.68614887e-02 1.15332479e-03 9.97041113e-01 -1.12140274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:218.04, Y:-139.51, Z:-11.22 [[ 7.60854402e-01 6.46481037e-01 5.62392000e-02 2.18038907e+02] [-6.44639797e-01 7.62929583e-01 -4.87645720e-02 -1.39514031e+02] [-7.44319204e-02 8.48712815e-04 9.97225736e-01 -1.12153122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.06, Y:-139.54, Z:-11.22 [[ 7.58799852e-01 6.48934625e-01 5.57372200e-02 2.18062409e+02] [-6.47129528e-01 7.60843905e-01 -4.83727881e-02 -1.39536210e+02] [-7.37981012e-02 6.36063622e-04 9.97273000e-01 -1.12171380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:218.08, Y:-139.56, Z:-11.22 [[ 7.53791980e-01 6.54733982e-01 5.58664721e-02 2.18083376e+02] [-6.52933014e-01 7.55859380e-01 -4.85291369e-02 -1.39560628e+02] [-7.40008720e-02 1.03810198e-04 9.97258171e-01 -1.12175795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.11, Y:-139.58, Z:-11.22 [[ 7.50435798e-01 6.58532827e-01 5.63970702e-02 2.18106330e+02] [-6.56704715e-01 7.52551965e-01 -4.90352679e-02 -1.39583034e+02] [-7.47330596e-02 -2.38401560e-04 9.97203546e-01 -1.12175934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.13, Y:-139.61, Z:-11.22 [[ 7.46816818e-01 6.62663645e-01 5.60493899e-02 2.18131067e+02] [-6.60866032e-01 7.48916899e-01 -4.87807981e-02 -1.39605126e+02] [-7.43015967e-02 -6.10817547e-04 9.97235629e-01 -1.12188797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:218.16, Y:-139.63, Z:-11.22 [[ 7.40616922e-01 6.69500736e-01 5.70555779e-02 2.18156021e+02] [-6.67655349e-01 7.42810270e-01 -4.96914220e-02 -1.39625147e+02] [-7.56499128e-02 -1.29115382e-03 9.97133604e-01 -1.12216748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.18, Y:-139.65, Z:-11.22 [[ 7.37463237e-01 6.72908675e-01 5.78090839e-02 2.18180800e+02] [-6.71022335e-01 7.39723749e-01 -5.03765883e-02 -1.39645558e+02] [-7.66615956e-02 -1.64030464e-03 9.97055820e-01 -1.12248047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.21, Y:-139.66, Z:-11.23 [[ 7.34331329e-01 6.76420402e-01 5.66827982e-02 2.18206389e+02] [-6.74613956e-01 7.36513205e-01 -4.94399644e-02 -1.39664840e+02] [-7.51898300e-02 -1.93369190e-03 9.97167363e-01 -1.12263549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.23, Y:-139.68, Z:-11.23 [[ 7.33375314e-01 6.77392280e-01 5.74486570e-02 2.18232958e+02] [-6.75536073e-01 7.35619189e-01 -5.01539973e-02 -1.39683729e+02] [-7.62342650e-02 -2.02693661e-03 9.97087874e-01 -1.12282598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.26, Y:-139.70, Z:-11.23 [[ 7.32683645e-01 6.78265310e-01 5.59539590e-02 2.18259823e+02] [-6.76504808e-01 7.34814268e-01 -4.88798059e-02 -1.39702616e+02] [-7.42692441e-02 -2.03968798e-03 9.97236140e-01 -1.12281907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.29, Y:-139.72, Z:-11.23 [[ 7.31907979e-01 6.79198372e-01 5.47748362e-02 2.18287714e+02] [-6.77511968e-01 7.33951832e-01 -4.78773584e-02 -1.39720173e+02] [-7.27203152e-02 -2.06878647e-03 9.97350227e-01 -1.12298110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.31, Y:-139.74, Z:-11.23 [[ 7.31558924e-01 6.79576168e-01 5.47519208e-02 2.18312405e+02] [-6.77888862e-01 7.33602032e-01 -4.79035553e-02 -1.39741357e+02] [-7.27202349e-02 -2.07144388e-03 9.97350228e-01 -1.12311352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:-139.76, Z:-11.23 [[ 7.31908149e-01 6.79292843e-01 5.35881912e-02 2.18338662e+02] [-6.77672579e-01 7.33864679e-01 -4.69308891e-02 -1.39760211e+02] [-7.12062979e-02 -1.96614755e-03 9.97459672e-01 -1.12329451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:-139.78, Z:-11.23 [[ 7.32984751e-01 6.78159351e-01 5.32282761e-02 2.18367992e+02] [-6.76554821e-01 7.34912655e-01 -4.66579361e-02 -1.39775767e+02] [-7.07596493e-02 -1.81229110e-03 9.97491748e-01 -1.12332687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.40, Y:-139.79, Z:-11.24 [[ 7.33780436e-01 6.77170841e-01 5.48263020e-02 2.18395204e+02] [-6.75462158e-01 7.35823788e-01 -4.81064112e-02 -1.39794952e+02] [-7.29187562e-02 -1.73354891e-03 9.97336377e-01 -1.12357629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.42, Y:-139.81, Z:-11.24 [[ 7.34839522e-01 6.75995394e-01 5.51462163e-02 2.18421744e+02] [-6.74259828e-01 7.36904131e-01 -4.84353845e-02 -1.39814080e+02] [-7.33795713e-02 -1.59064356e-03 9.97302817e-01 -1.12368400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.45, Y:-139.83, Z:-11.24 [[ 7.38982127e-01 6.71480686e-01 5.49463718e-02 2.18449881e+02] [-6.69742575e-01 7.41021224e-01 -4.82952226e-02 -1.39831323e+02] [-7.31457369e-02 -1.11061825e-03 9.97320644e-01 -1.12389409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.48, Y:-139.85, Z:-11.24 [[ 7.41099499e-01 6.69158119e-01 5.47626141e-02 2.18476011e+02] [-6.67423763e-01 7.43119551e-01 -4.81544697e-02 -1.39851058e+02] [-7.29181235e-02 -8.62616644e-04 9.97337557e-01 -1.12411856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.50, Y:-139.87, Z:-11.25 [[ 7.45939471e-01 6.63636091e-01 5.62267198e-02 2.18503626e+02] [-6.61789339e-01 7.48055510e-01 -4.94755058e-02 -1.39870215e+02] [-7.48944388e-02 -3.04511120e-04 9.97191421e-01 -1.12451228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.53, Y:-139.89, Z:-11.25 [[ 7.48372601e-01 6.60915502e-01 5.59387918e-02 2.18528193e+02] [-6.59076326e-01 7.50460325e-01 -4.92716738e-02 -1.39890888e+02] [-7.45442569e-02 5.63734995e-06 9.97217706e-01 -1.12461279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:218.55, Y:-139.91, Z:-11.25 [[ 7.50823176e-01 6.58149755e-01 5.57086918e-02 2.18553234e+02] [-6.56314484e-01 7.52886977e-01 -4.91171854e-02 -1.39912295e+02] [-7.42688121e-02 3.15899844e-04 9.97238208e-01 -1.12473964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95864 meters Centerline goodness [0,1] 0.9998037291462217 Centerline is valid? [True, True] Translation: X:218.58, Y:-139.94, Z:-11.25 [[ 7.54153810e-01 6.54428715e-01 5.45443629e-02 2.18577312e+02] [-6.52656059e-01 7.56123374e-01 -4.81405369e-02 -1.39935588e+02] [-7.27468175e-02 7.06660425e-04 9.97350190e-01 -1.12485914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98864 meters Centerline goodness [0,1] 0.9999510619555643 Centerline is valid? [True, True] Translation: X:218.60, Y:-139.96, Z:-11.25 [[ 7.55103717e-01 6.53279251e-01 5.51778617e-02 2.18600771e+02] [-6.51458509e-01 7.57116553e-01 -4.87476770e-02 -1.39956964e+02] [-7.36219184e-02 8.63464603e-04 9.97285850e-01 -1.12507239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.63, Y:-139.98, Z:-11.25 [[ 7.55382896e-01 6.52993336e-01 5.47392312e-02 2.18625063e+02] [-6.51197333e-01 7.57363095e-01 -4.84063519e-02 -1.39979255e+02] [-7.30664988e-02 9.19288952e-04 9.97326647e-01 -1.12531994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.65, Y:-140.00, Z:-11.25 [[ 7.56328475e-01 6.51896068e-01 5.47608864e-02 2.18646250e+02] [-6.50092323e-01 7.58307583e-01 -4.84724808e-02 -1.40003415e+02] [-7.31246151e-02 1.06148563e-03 9.97322247e-01 -1.12545935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.67, Y:-140.03, Z:-11.26 [[ 7.56634129e-01 6.51545668e-01 5.47086645e-02 2.18669030e+02] [-6.49741076e-01 7.58608573e-01 -4.84723319e-02 -1.40026834e+02] [-7.30843998e-02 1.12935404e-03 9.97325120e-01 -1.12568393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.69, Y:-140.05, Z:-11.26 [[ 7.57095051e-01 6.51078904e-01 5.38826851e-02 2.18691949e+02] [-6.49323783e-01 7.59009114e-01 -4.77890027e-02 -1.40050751e+02] [-7.20118606e-02 1.19350851e-03 9.97403062e-01 -1.12581148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.71, Y:-140.08, Z:-11.26 [[ 7.56958614e-01 6.51192526e-01 5.44238177e-02 2.18712285e+02] [-6.49398811e-01 7.58911577e-01 -4.83156587e-02 -1.40076327e+02] [-7.27656611e-02 1.23019149e-03 9.97348307e-01 -1.12603626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:218.73, Y:-140.10, Z:-11.26 [[ 7.56910736e-01 6.51334667e-01 5.33787320e-02 2.18734778e+02] [-6.49606634e-01 7.58789596e-01 -4.74296274e-02 -1.40100028e+02] [-7.13957871e-02 1.22481574e-03 9.97447313e-01 -1.12615729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.75, Y:-140.13, Z:-11.26 [[ 7.56391753e-01 6.51875793e-01 5.41245454e-02 2.18754040e+02] [-6.50097295e-01 7.58324769e-01 -4.81357690e-02 -1.40126426e+02] [-7.24225259e-02 1.22327816e-03 9.97373291e-01 -1.12626298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.78, Y:-140.15, Z:-11.26 [[ 7.55597942e-01 6.52789373e-01 5.42013342e-02 2.18776370e+02] [-6.51004815e-01 7.57538553e-01 -4.82500892e-02 -1.40150854e+02] [-7.25567458e-02 1.17233851e-03 9.97363597e-01 -1.12636234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:218.80, Y:-140.17, Z:-11.27 [[ 7.54474872e-01 6.54088590e-01 5.41828835e-02 2.18798243e+02] [-6.52305179e-01 7.56417176e-01 -4.82805216e-02 -1.40174679e+02] [-7.25646020e-02 1.08266480e-03 9.97363127e-01 -1.12650345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.82, Y:-140.20, Z:-11.27 [[ 7.51763138e-01 6.57247712e-01 5.36435420e-02 2.18817375e+02] [-6.55505444e-01 7.53674210e-01 -4.78309404e-02 -1.40202327e+02] [-7.18665302e-02 7.93904071e-04 9.97413942e-01 -1.12670043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31864000000002 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:218.84, Y:-140.23, Z:-11.27 [[ 7.49450156e-01 6.60007421e-01 5.21024798e-02 2.18838183e+02] [-6.58368736e-01 7.51258890e-01 -4.64831975e-02 -1.40226757e+02] [-6.98217064e-02 5.34195805e-04 9.97559344e-01 -1.12679642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34864000000002 meters Centerline goodness [0,1] 0.9999019607843137 Centerline is valid? [True, True] Translation: X:218.86, Y:-140.25, Z:-11.27 [[ 7.45222530e-01 6.64645938e-01 5.37508825e-02 2.18856314e+02] [-6.62910514e-01 7.47158456e-01 -4.79988795e-02 -1.40254033e+02] [-7.20626867e-02 1.37821330e-04 9.97400095e-01 -1.12694246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37864000000002 meters Centerline goodness [0,1] 0.9997043169722057 Centerline is valid? [True, True] Translation: X:218.88, Y:-140.28, Z:-11.27 [[ 7.43177353e-01 6.66926613e-01 5.38174229e-02 2.18878777e+02] [-6.65189363e-01 7.45123407e-01 -4.81063426e-02 -1.40279078e+02] [-7.21840216e-02 -4.72329292e-05 9.97391330e-01 -1.12713079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:218.90, Y:-140.31, Z:-11.27 [[ 7.38482528e-01 6.72102335e-01 5.40556001e-02 2.18898143e+02] [-6.70359816e-01 7.40458091e-01 -4.83687192e-02 -1.40305963e+02] [-7.25346355e-02 -5.17248133e-04 9.97365760e-01 -1.12720651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43864 meters Centerline goodness [0,1] 0.999509298787968 Centerline is valid? [True, True] Translation: X:218.92, Y:-140.33, Z:-11.27 [[ 7.36090026e-01 6.74728993e-01 5.39653577e-02 2.18920948e+02] [-6.72995821e-01 7.38065201e-01 -4.83361566e-02 -1.40329368e+02] [-7.24437589e-02 -7.38697471e-04 9.97372225e-01 -1.12730867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46864 meters Centerline goodness [0,1] 0.9992641648270787 Centerline is valid? [True, True] Translation: X:218.94, Y:-140.35, Z:-11.27 [[ 7.33325428e-01 6.77663914e-01 5.48218619e-02 2.18944081e+02] [-6.75879658e-01 7.35371066e-01 -4.91536612e-02 -1.40352234e+02] [-7.36240735e-02 -1.00735165e-03 9.97285556e-01 -1.12741803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49864 meters Centerline goodness [0,1] 0.9995097077858404 Centerline is valid? [True, True] Translation: X:218.97, Y:-140.38, Z:-11.28 [[ 7.28492741e-01 6.82881572e-01 5.45076615e-02 2.18965228e+02] [-6.81129584e-01 7.30527560e-01 -4.89078123e-02 -1.40376064e+02] [-7.32175927e-02 -1.49779461e-03 9.97314865e-01 -1.12758299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52864 meters Centerline goodness [0,1] 0.9990683991174307 Centerline is valid? [True, True] Translation: X:218.99, Y:-140.40, Z:-11.28 [[ 7.26075475e-01 6.85431603e-01 5.47532761e-02 2.18988558e+02] [-6.83668536e-01 7.28134943e-01 -4.91613341e-02 -1.40398705e+02] [-7.35645056e-02 -1.73825310e-03 9.97288946e-01 -1.12776524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55864 meters Centerline goodness [0,1] 0.9987724036336852 Centerline is valid? [True, True] Translation: X:219.01, Y:-140.42, Z:-11.28 [[ 7.22300132e-01 6.89389596e-01 5.49954858e-02 2.19011974e+02] [-6.87619039e-01 7.24387671e-01 -4.94222651e-02 -1.40419890e+02] [-7.39092473e-02 -2.11823446e-03 9.97262722e-01 -1.12795267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58864 meters Centerline goodness [0,1] 0.9990181157641514 Centerline is valid? [True, True] Translation: X:219.04, Y:-140.44, Z:-11.28 [[ 7.20417340e-01 6.91475830e-01 5.34792737e-02 2.19037645e+02] [-6.89804257e-01 7.22396136e-01 -4.81031178e-02 -1.40440208e+02] [-7.18953640e-02 -2.23591047e-03 9.97409674e-01 -1.12790804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61864 meters Centerline goodness [0,1] 0.9988212759687638 Centerline is valid? [True, True] Translation: X:219.06, Y:-140.46, Z:-11.28 [[ 7.18685532e-01 6.93223781e-01 5.41469709e-02 2.19062528e+02] [-6.91511644e-01 7.20718389e-01 -4.87508862e-02 -1.40461069e+02] [-7.28199913e-02 -2.40670424e-03 9.97342196e-01 -1.12804734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64864 meters Centerline goodness [0,1] 0.9986754966887417 Centerline is valid? [True, True] Translation: X:219.09, Y:-140.48, Z:-11.28 [[ 7.17265297e-01 6.94806703e-01 5.26700881e-02 2.19089233e+02] [-6.93187912e-01 7.19192303e-01 -4.74652486e-02 -1.40480536e+02] [-7.08590948e-02 -2.46509277e-03 9.97483289e-01 -1.12824922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67864 meters Centerline goodness [0,1] 0.9984794977437709 Centerline is valid? [True, True] Translation: X:219.12, Y:-140.50, Z:-11.28 [[ 7.16211781e-01 6.95929776e-01 5.21769263e-02 2.19116044e+02] [-6.94340842e-01 7.18105429e-01 -4.70679206e-02 -1.40500803e+02] [-7.02245015e-02 -2.51797164e-03 9.97528034e-01 -1.12831452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70864 meters Centerline goodness [0,1] 0.9982828827944856 Centerline is valid? [True, True] Translation: X:219.14, Y:-140.52, Z:-11.28 [[ 7.15451691e-01 6.96663699e-01 5.28068891e-02 2.19142031e+02] [-6.95034851e-01 7.17393190e-01 -4.76819234e-02 -1.40520003e+02] [-7.11015678e-02 -2.58851554e-03 9.97465722e-01 -1.12841597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73864 meters Centerline goodness [0,1] 0.9981313926042487 Centerline is valid? [True, True] Translation: X:219.17, Y:-140.54, Z:-11.28 [[ 7.14516905e-01 6.97661793e-01 5.22839754e-02 2.19168588e+02] [-6.96064623e-01 7.16422437e-01 -4.72539062e-02 -1.40539533e+02] [-7.04246580e-02 -2.62931078e-03 9.97513636e-01 -1.12843494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76864 meters Centerline goodness [0,1] 0.998381638958364 Centerline is valid? [True, True] Translation: X:219.20, Y:-140.56, Z:-11.29 [[ 7.14224860e-01 6.97955651e-01 5.23522513e-02 2.19196415e+02] [-6.96351669e-01 7.16136165e-01 -4.73639657e-02 -1.40557766e+02] [-7.05492881e-02 -2.62705582e-03 9.97504835e-01 -1.12864118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79864 meters Centerline goodness [0,1] 0.9981868078016269 Centerline is valid? [True, True] Translation: X:219.22, Y:-140.57, Z:-11.29 [[ 7.14260860e-01 6.98007447e-01 5.11568995e-02 2.19224228e+02] [-6.96473050e-01 7.16085995e-01 -4.63264420e-02 -1.40574631e+02] [-6.89689408e-02 -2.54023746e-03 9.97615573e-01 -1.12888376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82864 meters Centerline goodness [0,1] 0.9981835141636801 Centerline is valid? [True, True] Translation: X:219.25, Y:-140.59, Z:-11.29 [[ 7.15337590e-01 6.96958349e-01 5.04102332e-02 2.19250415e+02] [-6.95463868e-01 7.17107652e-01 -4.56795774e-02 -1.40593832e+02] [-6.79863268e-02 -2.38217699e-03 9.97683409e-01 -1.12896859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85864 meters Centerline goodness [0,1] 0.9979912792121896 Centerline is valid? [True, True] Translation: X:219.28, Y:-140.61, Z:-11.29 [[ 7.16842673e-01 6.95384407e-01 5.07652401e-02 2.19276629e+02] [-6.93863832e-01 7.18634482e-01 -4.60159071e-02 -1.40613422e+02] [-6.84803963e-02 -2.23799823e-03 9.97649952e-01 -1.12917970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88864 meters Centerline goodness [0,1] 0.9983285812604463 Centerline is valid? [True, True] Translation: X:219.30, Y:-140.63, Z:-11.29 [[ 7.18159067e-01 6.94030168e-01 5.06920182e-02 2.19302845e+02] [-6.92508866e-01 7.19942893e-01 -4.59749998e-02 -1.40632839e+02] [-6.84033951e-02 -2.08730904e-03 9.97655561e-01 -1.12937735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91864 meters Centerline goodness [0,1] 0.9980835380835381 Centerline is valid? [True, True] Translation: X:219.33, Y:-140.65, Z:-11.29 [[ 7.21079967e-01 6.90960534e-01 5.11587852e-02 2.19330209e+02] [-6.89401177e-01 7.22890267e-01 -4.64293039e-02 -1.40651304e+02] [-6.90630045e-02 -1.78968583e-03 9.97610695e-01 -1.12941409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94864 meters Centerline goodness [0,1] 0.9975963896791916 Centerline is valid? [True, True] Translation: X:219.36, Y:-140.67, Z:-11.29 [[ 7.21798201e-01 6.90230196e-01 5.08884414e-02 2.19355177e+02] [-6.88683684e-01 7.23587876e-01 -4.62100604e-02 -1.40671407e+02] [-6.87178383e-02 -1.69170077e-03 9.97634701e-01 -1.12949546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97864 meters Centerline goodness [0,1] 0.9979410755429188 Centerline is valid? [True, True] Translation: X:219.38, Y:-140.69, Z:-11.30 [[ 7.23648457e-01 6.88242633e-01 5.15265881e-02 2.19380992e+02] [-6.86648999e-01 7.25479053e-01 -4.68326278e-02 -1.40690438e+02] [-6.96136714e-02 -1.49032137e-03 9.97572912e-01 -1.12966748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00864 meters Centerline goodness [0,1] 0.9980411361410382 Centerline is valid? [True, True] Translation: X:219.41, Y:-140.71, Z:-11.30 [[ 7.25275447e-01 6.86569150e-01 5.09738025e-02 2.19406412e+02] [-6.85002522e-01 7.27063376e-01 -4.63723129e-02 -1.40710286e+02] [-6.88989844e-02 -1.28448328e-03 9.97622815e-01 -1.12978644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03864000000002 meters Centerline goodness [0,1] 0.998628996719385 Centerline is valid? [True, True] Translation: X:219.43, Y:-140.73, Z:-11.30 [[ 7.28393726e-01 6.83252375e-01 5.10761340e-02 2.19431704e+02] [-6.81668291e-01 7.30181695e-01 -4.65084187e-02 -1.40729960e+02] [-6.90718456e-02 -9.40540635e-04 9.97611245e-01 -1.12995885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06864000000002 meters Centerline goodness [0,1] 0.9984771822960161 Centerline is valid? [True, True] Translation: X:219.46, Y:-140.75, Z:-11.30 [[ 7.30130992e-01 6.81385347e-01 5.12127393e-02 2.19455670e+02] [-6.79785143e-01 7.31924498e-01 -4.66764258e-02 -1.40751342e+02] [-6.92884911e-02 -7.33754257e-04 9.97596395e-01 -1.13002705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09864000000002 meters Centerline goodness [0,1] 0.9988232409904388 Centerline is valid? [True, True] Translation: X:219.48, Y:-140.77, Z:-11.30 [[ 7.30783694e-01 6.80736491e-01 5.05274452e-02 2.19478775e+02] [-6.79174391e-01 7.32528109e-01 -4.60946300e-02 -1.40773237e+02] [-6.83910706e-02 -6.31742827e-04 9.97658390e-01 -1.13016446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12864000000002 meters Centerline goodness [0,1] 0.9984809878479027 Centerline is valid? [True, True] Translation: X:219.50, Y:-140.79, Z:-11.30 [[ 7.31720353e-01 6.79739031e-01 5.04001443e-02 2.19502704e+02] [-6.78179499e-01 7.33453880e-01 -4.60214338e-02 -1.40794183e+02] [-6.82487462e-02 -5.05524799e-04 9.97668208e-01 -1.13027978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15864 meters Centerline goodness [0,1] 0.998529195469922 Centerline is valid? [True, True] Translation: X:219.53, Y:-140.81, Z:-11.30 [[ 7.32375835e-01 6.78996215e-01 5.08898369e-02 2.19529160e+02] [-6.77401208e-01 7.34141658e-01 -4.65148238e-02 -1.40814656e+02] [-6.89437386e-02 -4.06504027e-04 9.97620467e-01 -1.13046699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18864 meters Centerline goodness [0,1] 0.9984808389689307 Centerline is valid? [True, True] Translation: X:219.55, Y:-140.84, Z:-11.31 [[ 7.32193427e-01 6.79298608e-01 4.94589386e-02 2.19553601e+02] [-6.77789794e-01 7.33861874e-01 -4.52520274e-02 -1.40835068e+02] [-6.70356686e-02 -3.89526708e-04 9.97750504e-01 -1.13053493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21864 meters Centerline goodness [0,1] 0.9987736682036692 Centerline is valid? [True, True] Translation: X:219.58, Y:-140.86, Z:-11.31 [[ 7.32320020e-01 6.79164481e-01 4.94266820e-02 2.19579804e+02] [-6.77654347e-01 7.33986028e-01 -4.52669462e-02 -1.40855496e+02] [-6.70221960e-02 -3.44315041e-04 9.97751425e-01 -1.13061044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24864 meters Centerline goodness [0,1] 0.9987749901999216 Centerline is valid? [True, True] Translation: X:219.61, Y:-140.88, Z:-11.31 [[ 7.32427570e-01 6.79018916e-01 4.98313815e-02 2.19605160e+02] [-6.77480273e-01 7.34120714e-01 -4.56865021e-02 -1.40876112e+02] [-6.76042485e-02 -2.97724225e-04 9.97712171e-01 -1.13073669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27864 meters Centerline goodness [0,1] 0.9986758864204797 Centerline is valid? [True, True] Translation: X:219.63, Y:-140.90, Z:-11.31 [[ 7.32366173e-01 6.79110497e-01 4.94845588e-02 2.19630787e+02] [-6.77590201e-01 7.34036008e-01 -4.54165044e-02 -1.40896526e+02] [-6.71662729e-02 -2.68740648e-04 9.97741760e-01 -1.13087235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30864 meters Centerline goodness [0,1] 0.9985799627852316 Centerline is valid? [True, True] Translation: X:219.66, Y:-140.92, Z:-11.31 [[ 7.33490885e-01 6.77901486e-01 4.94034163e-02 2.19655329e+02] [-6.76380200e-01 7.35152747e-01 -4.53901280e-02 -1.40917948e+02] [-6.70890924e-02 -1.22247492e-04 9.97746981e-01 -1.13120837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33864 meters Centerline goodness [0,1] 0.9984772570979468 Centerline is valid? [True, True] Translation: X:219.68, Y:-140.94, Z:-11.31 [[ 7.34578346e-01 6.76788953e-01 4.84908983e-02 2.19679034e+02] [-6.75318043e-01 7.36177094e-01 -4.45962806e-02 -1.40939761e+02] [-6.58801587e-02 1.26835418e-05 9.97827542e-01 -1.13127291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36864 meters Centerline goodness [0,1] 0.9984789755164123 Centerline is valid? [True, True] Translation: X:219.70, Y:-140.96, Z:-11.31 [[ 7.35395361e-01 6.75853896e-01 4.91444231e-02 2.19703126e+02] [-6.74338104e-01 7.37035613e-01 -4.52396615e-02 -1.40960868e+02] [-6.67965915e-02 1.29080135e-04 9.97766605e-01 -1.13147312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39864 meters Centerline goodness [0,1] 0.9986261040235525 Centerline is valid? [True, True] Translation: X:219.73, Y:-140.98, Z:-11.32 [[ 7.36466442e-01 6.74769434e-01 4.79936596e-02 2.19728171e+02] [-6.73318944e-01 7.38028555e-01 -4.42204978e-02 -1.40980856e+02] [-6.52593315e-02 2.51872421e-04 9.97868306e-01 -1.13151416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42864 meters Centerline goodness [0,1] 0.9984806155957457 Centerline is valid? [True, True] Translation: X:219.75, Y:-141.00, Z:-11.32 [[ 7.36287647e-01 6.74990219e-01 4.76309274e-02 2.19752641e+02] [-6.73559312e-01 7.37826630e-01 -4.39285592e-02 -1.41002351e+02] [-6.47947145e-02 2.61800799e-04 9.97898580e-01 -1.13164446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45864 meters Centerline goodness [0,1] 0.9985748685439088 Centerline is valid? [True, True] Translation: X:219.78, Y:-141.03, Z:-11.32 [[ 7.34824786e-01 6.76594443e-01 4.74604362e-02 2.19775573e+02] [-6.75174889e-01 7.36355850e-01 -4.38055986e-02 -1.41025286e+02] [-6.45863944e-02 1.45344885e-04 9.97912109e-01 -1.13173722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48864 meters Centerline goodness [0,1] 0.9985768268145458 Centerline is valid? [True, True] Translation: X:219.80, Y:-141.05, Z:-11.32 [[ 7.32723924e-01 6.78850805e-01 4.77203996e-02 2.19799497e+02] [-6.77418664e-01 7.34276231e-01 -4.40723274e-02 -1.41048682e+02] [-6.49584901e-02 -3.38406788e-05 9.97887966e-01 -1.13184194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51864 meters Centerline goodness [0,1] 0.9985764076383093 Centerline is valid? [True, True] Translation: X:219.82, Y:-141.07, Z:-11.32 [[ 7.30613927e-01 6.81092402e-01 4.81293068e-02 2.19823384e+02] [-6.79637288e-01 7.32197446e-01 -4.44978193e-02 -1.41071283e+02] [-6.55472821e-02 -1.99745041e-04 9.97849445e-01 -1.13194265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54864 meters Centerline goodness [0,1] 0.9986273836952791 Centerline is valid? [True, True] Translation: X:219.85, Y:-141.09, Z:-11.32 [[ 7.28339090e-01 6.83520582e-01 4.81848923e-02 2.19847928e+02] [-6.82064261e-01 7.29931139e-01 -4.45968193e-02 -1.41093912e+02] [-6.56544972e-02 -3.83586174e-04 9.97842342e-01 -1.13201364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57864 meters Centerline goodness [0,1] 0.9986273836952791 Centerline is valid? [True, True] Translation: X:219.87, Y:-141.12, Z:-11.32 [[ 7.27975475e-01 6.83909505e-01 4.81611572e-02 2.19872004e+02] [-6.82452340e-01 7.29566749e-01 -4.46224419e-02 -1.41115767e+02] [-6.56544911e-02 -3.83651083e-04 9.97842343e-01 -1.13214597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60864 meters Centerline goodness [0,1] 0.9991653983995287 Centerline is valid? [True, True] Translation: X:219.90, Y:-141.14, Z:-11.32 [[ 7.24086975e-01 6.88044970e-01 4.78766374e-02 2.19896960e+02] [-6.86611030e-01 7.25667693e-01 -4.44037473e-02 -1.41136720e+02] [-6.52943040e-02 -7.20452329e-04 9.97865790e-01 -1.13232804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63864 meters Centerline goodness [0,1] 0.9995589316344033 Centerline is valid? [True, True] Translation: X:219.92, Y:-141.16, Z:-11.32 [[ 7.21034596e-01 6.91223945e-01 4.81515190e-02 2.19921270e+02] [-6.89777789e-01 7.22639945e-01 -4.47002428e-02 -1.41157697e+02] [-6.56940892e-02 -9.83426758e-04 9.97839326e-01 -1.13245943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.95, Y:-141.18, Z:-11.33 [[ 7.17105430e-01 6.95298957e-01 4.81576869e-02 2.19947299e+02] [-6.93858825e-01 7.18719418e-01 -4.47473814e-02 -1.41176611e+02] [-6.57246723e-02 -1.32604584e-03 9.97836915e-01 -1.13264340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.97, Y:-141.20, Z:-11.33 [[ 7.15396310e-01 6.97047970e-01 4.82933463e-02 2.19972091e+02] [-6.95600916e-01 7.17023008e-01 -4.49151654e-02 -1.41197013e+02] [-6.59354653e-02 -1.46075232e-03 9.97822820e-01 -1.13277049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.00, Y:-141.22, Z:-11.33 [[ 7.15262619e-01 6.97248569e-01 4.73689634e-02 2.19998316e+02] [-6.95854256e-01 7.16828021e-01 -4.40958417e-02 -1.41215794e+02] [-6.47011628e-02 -1.42178759e-03 9.97903672e-01 -1.13285161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.02, Y:-141.24, Z:-11.33 [[ 7.15341027e-01 6.97110522e-01 4.82092772e-02 2.20024470e+02] [-6.95663004e-01 7.16962309e-01 -4.49225114e-02 -1.41236220e+02] [-6.58801900e-02 -1.40249516e-03 9.97826555e-01 -1.13298082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.05, Y:-141.26, Z:-11.33 [[ 7.15698085e-01 6.96734996e-01 4.83383474e-02 2.20050777e+02] [-6.95275675e-01 7.17327371e-01 -4.50907812e-02 -1.41256839e+02] [-6.60907449e-02 -1.33709136e-03 9.97812721e-01 -1.13302114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.08, Y:-141.27, Z:-11.33 [[ 7.17006031e-01 6.95427121e-01 4.77856717e-02 2.20079261e+02] [-6.93995168e-01 7.18595679e-01 -4.46201420e-02 -1.41273707e+02] [-6.53686341e-02 -1.17011428e-03 9.97860498e-01 -1.13321337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.11, Y:-141.29, Z:-11.33 [[ 7.17294792e-01 6.95106765e-01 4.81120213e-02 2.20106267e+02] [-6.93651523e-01 7.18905653e-01 -4.49691612e-02 -1.41293520e+02] [-6.58463723e-02 -1.11683172e-03 9.97829148e-01 -1.13342801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.13, Y:-141.31, Z:-11.34 [[ 7.19403307e-01 6.93039989e-01 4.64161179e-02 2.20134701e+02] [-6.91679181e-01 7.20898617e-01 -4.34176758e-02 -1.41310786e+02] [-6.35515008e-02 -8.70242797e-04 9.97978181e-01 -1.13356999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.16, Y:-141.33, Z:-11.34 [[ 7.20115377e-01 6.92304809e-01 4.63453865e-02 2.20160409e+02] [-6.90945115e-01 7.21604762e-01 -4.33752903e-02 -1.41330510e+02] [-6.34719736e-02 -7.86904825e-04 9.97983311e-01 -1.13364561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.19, Y:-141.35, Z:-11.34 [[ 7.21439040e-01 6.90864402e-01 4.72449992e-02 2.20186660e+02] [-6.89445410e-01 7.22984071e-01 -4.42612721e-02 -1.41350417e+02] [-6.47359191e-02 -6.41038162e-04 9.97902225e-01 -1.13379432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.21, Y:-141.37, Z:-11.34 [[ 7.23563007e-01 6.88564300e-01 4.83299029e-02 2.20214051e+02] [-6.87070919e-01 7.25175177e-01 -4.53267548e-02 -1.41369650e+02] [-6.62580311e-02 -4.09307797e-04 9.97802438e-01 -1.13387953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.24, Y:-141.39, Z:-11.34 [[ 7.24605532e-01 6.87382765e-01 4.95152140e-02 2.20239050e+02] [-6.85809146e-01 7.26295297e-01 -4.64860952e-02 -1.41390541e+02] [-6.79164078e-02 -2.73904808e-04 9.97690977e-01 -1.13403286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.26, Y:-141.41, Z:-11.34 [[ 7.25243191e-01 6.86697252e-01 4.96910309e-02 2.20264668e+02] [-6.85107695e-01 7.26943501e-01 -4.66968227e-02 -1.41412173e+02] [-6.81891518e-02 -1.77154897e-04 9.97672395e-01 -1.13421937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.29, Y:-141.43, Z:-11.34 [[ 7.27460952e-01 6.84419919e-01 4.86820072e-02 2.20290419e+02] [-6.82886190e-01 7.29088039e-01 -4.57939110e-02 -1.41432129e+02] [-6.68357341e-02 6.90117018e-05 9.97763990e-01 -1.13437567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.32, Y:-141.45, Z:-11.35 [[ 7.28789207e-01 6.82997608e-01 4.87909658e-02 2.20315421e+02] [-6.81450822e-01 7.30420573e-01 -4.59408830e-02 -1.41453703e+02] [-6.70154384e-02 2.32575913e-04 9.97751912e-01 -1.13462241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.34, Y:-141.48, Z:-11.35 [[ 7.29573028e-01 6.82211094e-01 4.80751556e-02 2.20339737e+02] [-6.80704617e-01 7.31155190e-01 -4.53134916e-02 -1.41476249e+02] [-6.60637662e-02 3.34520923e-04 9.97815347e-01 -1.13470447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.36, Y:-141.50, Z:-11.35 [[ 7.30284720e-01 6.81468358e-01 4.78027800e-02 2.20364172e+02] [-6.79974269e-01 7.31847450e-01 -4.51032597e-02 -1.41498592e+02] [-6.57207870e-02 4.33560997e-04 9.97837958e-01 -1.13477670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17864 meters Centerline goodness [0,1] 0.9998040176384125 Centerline is valid? [True, True] Translation: X:220.39, Y:-141.52, Z:-11.35 [[ 7.30036046e-01 6.81751162e-01 4.75681019e-02 2.20388532e+02] [-6.80269293e-01 7.31584007e-01 -4.49280522e-02 -1.41521407e+02] [-6.54298144e-02 4.39978521e-04 9.97857077e-01 -1.13494947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:220.41, Y:-141.54, Z:-11.35 [[ 7.29520837e-01 6.82205059e-01 4.89449207e-02 2.20410188e+02] [-6.80634057e-01 7.31160762e-01 -4.62733155e-02 -1.41544636e+02] [-6.73544955e-02 4.43767885e-04 9.97729009e-01 -1.13515193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23864 meters Centerline goodness [0,1] 0.9998527101335428 Centerline is valid? [True, True] Translation: X:220.43, Y:-141.57, Z:-11.35 [[ 7.28995811e-01 6.82770280e-01 4.88861134e-02 2.20433826e+02] [-6.81201466e-01 7.30632990e-01 -4.62600941e-02 -1.41568091e+02] [-6.73028246e-02 4.22122678e-04 9.97732505e-01 -1.13526905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.46, Y:-141.59, Z:-11.35 [[ 7.27812567e-01 6.84054489e-01 4.85625647e-02 2.20457103e+02] [-6.82506215e-01 7.29430836e-01 -4.59991508e-02 -1.41589720e+02] [-6.68889578e-02 3.34507844e-04 9.97760370e-01 -1.13542242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29864 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:220.48, Y:-141.61, Z:-11.36 [[ 7.27715668e-01 6.84282535e-01 4.67687911e-02 2.20480710e+02] [-6.82845015e-01 7.29216913e-01 -4.43325878e-02 -1.41611737e+02] [-6.44406090e-02 3.25682848e-04 9.97921491e-01 -1.13555296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.50, Y:-141.63, Z:-11.36 [[ 7.26613274e-01 6.85472875e-01 4.64767371e-02 2.20504057e+02] [-6.84053732e-01 7.28098125e-01 -4.40864212e-02 -1.41634684e+02] [-6.40596710e-02 2.41193340e-04 9.97946041e-01 -1.13573952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35864 meters Centerline goodness [0,1] 0.9998528474027567 Centerline is valid? [True, True] Translation: X:220.53, Y:-141.66, Z:-11.36 [[ 7.25850764e-01 6.86206038e-01 4.75598715e-02 2.20526138e+02] [-6.84718471e-01 7.27407195e-01 -4.51595836e-02 -1.41657961e+02] [-6.55841717e-02 2.13995752e-04 9.97847018e-01 -1.13590198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.55, Y:-141.68, Z:-11.36 [[ 7.25111290e-01 6.86971212e-01 4.77929965e-02 2.20550432e+02] [-6.85467780e-01 7.26684610e-01 -4.54246651e-02 -1.41680810e+02] [-6.59358722e-02 1.77378270e-04 9.97823847e-01 -1.13601004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41864 meters Centerline goodness [0,1] 0.9999020280199863 Centerline is valid? [True, True] Translation: X:220.57, Y:-141.70, Z:-11.36 [[ 7.24485178e-01 6.87607865e-01 4.81316054e-02 2.20574605e+02] [-6.86081236e-01 7.26082227e-01 -4.57945193e-02 -1.41703452e+02] [-6.64361749e-02 1.55259091e-04 9.97790665e-01 -1.13617345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.60, Y:-141.73, Z:-11.36 [[ 7.25579082e-01 6.86543955e-01 4.68230119e-02 2.20597844e+02] [-6.85094254e-01 7.27088249e-01 -4.45930685e-02 -1.41725547e+02] [-6.46595633e-02 2.77621345e-04 9.97907342e-01 -1.13628877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:220.62, Y:-141.75, Z:-11.36 [[ 7.25592007e-01 6.86518484e-01 4.69958528e-02 2.20621339e+02] [-6.85055192e-01 7.27112284e-01 -4.48007832e-02 -1.41748329e+02] [-6.49278276e-02 3.12337159e-04 9.97889914e-01 -1.13646022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50864 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:220.64, Y:-141.77, Z:-11.37 [[ 7.26314506e-01 6.85695276e-01 4.78458745e-02 2.20644872e+02] [-6.84173697e-01 7.27888595e-01 -4.56568169e-02 -1.41769938e+02] [-6.61331300e-02 4.26319531e-04 9.97810717e-01 -1.13652745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.67, Y:-141.79, Z:-11.37 [[ 7.26156186e-01 6.85878216e-01 4.76263217e-02 2.20668296e+02] [-6.84368115e-01 7.27716208e-01 -4.54906952e-02 -1.41793081e+02] [-6.58595231e-02 4.39413669e-04 9.97828808e-01 -1.13668694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56864000000002 meters Centerline goodness [0,1] 0.9998036713458329 Centerline is valid? [True, True] Translation: X:220.69, Y:-141.82, Z:-11.37 [[ 7.26220887e-01 6.85831710e-01 4.73084396e-02 2.20691760e+02] [-6.84338554e-01 7.27760015e-01 -4.52338747e-02 -1.41816435e+02] [-6.54520163e-02 4.74795439e-04 9.97855605e-01 -1.13686172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59864000000002 meters Centerline goodness [0,1] 0.9998528762689421 Centerline is valid? [True, True] Translation: X:220.72, Y:-141.84, Z:-11.37 [[ 7.26336144e-01 6.85706010e-01 4.73610977e-02 2.20715256e+02] [-6.84206167e-01 7.27878422e-01 -4.53312749e-02 -1.41840173e+02] [-6.55570487e-02 5.20988292e-04 9.97848687e-01 -1.13704996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62864000000002 meters Centerline goodness [0,1] 0.9998036617091248 Centerline is valid? [True, True] Translation: X:220.74, Y:-141.86, Z:-11.37 [[ 7.25620615e-01 6.86492605e-01 4.69321432e-02 2.20737440e+02] [-6.85018613e-01 7.27136627e-01 -4.49647123e-02 -1.41863150e+02] [-6.49940228e-02 4.77930600e-04 9.97885539e-01 -1.13716263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.76, Y:-141.89, Z:-11.37 [[ 7.25487585e-01 6.86645212e-01 4.67559157e-02 2.20761213e+02] [-6.85179837e-01 7.26992509e-01 -4.48384014e-02 -1.41885821e+02] [-6.47792742e-02 4.93492906e-04 9.97899495e-01 -1.13729124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68864 meters Centerline goodness [0,1] 0.9996567449615064 Centerline is valid? [True, True] Translation: X:220.78, Y:-141.91, Z:-11.37 [[ 7.24788904e-01 6.87369194e-01 4.69535517e-02 2.20784682e+02] [-6.85889860e-01 7.26308045e-01 -4.50746592e-02 -1.41908958e+02] [-6.50856745e-02 4.64647856e-04 9.97879571e-01 -1.13747532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71864 meters Centerline goodness [0,1] 0.9996566270970274 Centerline is valid? [True, True] Translation: X:220.81, Y:-141.93, Z:-11.38 [[ 7.23923506e-01 6.88259278e-01 4.72643933e-02 2.20807148e+02] [-6.86759053e-01 7.25464670e-01 -4.54204245e-02 -1.41932846e+02] [-6.55496761e-02 4.21662962e-04 9.97849218e-01 -1.13754491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:220.83, Y:-141.96, Z:-11.38 [[ 7.23622848e-01 6.88503098e-01 4.83058699e-02 2.20830240e+02] [-6.86933367e-01 7.25233265e-01 -4.64678568e-02 -1.41955801e+02] [-6.70262871e-02 4.42289065e-04 9.97751112e-01 -1.13775189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.85, Y:-141.98, Z:-11.38 [[ 7.23056236e-01 6.89099722e-01 4.82830491e-02 2.20853744e+02] [-6.87529809e-01 7.24666404e-01 -4.64904766e-02 -1.41979542e+02] [-6.70256781e-02 4.19193491e-04 9.97751163e-01 -1.13789664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80864 meters Centerline goodness [0,1] 0.9998527751877117 Centerline is valid? [True, True] Translation: X:220.88, Y:-142.00, Z:-11.38 [[ 7.22195717e-01 6.89988868e-01 4.84634696e-02 2.20875393e+02] [-6.88405916e-01 7.23819882e-01 -4.67126656e-02 -1.42004525e+02] [-6.73100422e-02 3.73147878e-04 9.97732038e-01 -1.13789714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83864 meters Centerline goodness [0,1] 0.9998036617091248 Centerline is valid? [True, True] Translation: X:220.90, Y:-142.03, Z:-11.38 [[ 7.20640429e-01 6.91609988e-01 4.85076947e-02 2.20898068e+02] [-6.90024533e-01 7.22271112e-01 -4.68036892e-02 -1.42028004e+02] [-6.74056055e-02 2.57131241e-04 9.97725623e-01 -1.13812276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:220.92, Y:-142.05, Z:-11.38 [[ 7.18825400e-01 6.93580068e-01 4.72941184e-02 2.20920889e+02] [-6.92075030e-01 7.20379539e-01 -4.56669734e-02 -1.42051338e+02] [-6.57434177e-02 9.55020274e-05 9.97836557e-01 -1.13832901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89864 meters Centerline goodness [0,1] 0.9999018645731109 Centerline is valid? [True, True] Translation: X:220.94, Y:-142.07, Z:-11.38 [[ 7.16725000e-01 6.95836267e-01 4.60126457e-02 2.20944189e+02] [-6.94414871e-01 7.18200446e-01 -4.44534050e-02 -1.42073593e+02] [-6.39785940e-02 -9.09987572e-05 9.97951267e-01 -1.13842658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.97, Y:-142.10, Z:-11.39 [[ 7.14809186e-01 6.97841878e-01 4.54372248e-02 2.20968017e+02] [-6.96457218e-01 7.16251812e-01 -4.39395750e-02 -1.42096671e+02] [-6.32073700e-02 -2.36671315e-04 9.98000387e-01 -1.13851922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.99, Y:-142.12, Z:-11.39 [[ 7.10947860e-01 7.01737159e-01 4.60228292e-02 2.20990463e+02] [-7.00321817e-01 7.12435716e-01 -4.45500169e-02 -1.42119077e+02] [-6.40507095e-02 -5.58052186e-04 9.97946489e-01 -1.13851165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.01, Y:-142.14, Z:-11.39 [[ 7.09005101e-01 7.03685198e-01 4.62483341e-02 2.21014101e+02] [-7.02257512e-01 7.10511533e-01 -4.48078986e-02 -1.42141069e+02] [-6.43906298e-02 -7.09211365e-04 9.97924518e-01 -1.13856890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.04, Y:-142.16, Z:-11.39 [[ 7.06770980e-01 7.05858782e-01 4.73092101e-02 2.21038691e+02] [-7.04366785e-01 7.08352013e-01 -4.58787300e-02 -1.42161974e+02] [-6.58954786e-02 -8.97281243e-04 9.97826128e-01 -1.13860414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04864 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:221.06, Y:-142.18, Z:-11.39 [[ 7.06439980e-01 7.06139764e-01 4.80540144e-02 2.21062967e+02] [-7.04598104e-01 7.08071896e-01 -4.66444139e-02 -1.42183069e+02] [-6.69631725e-02 -9.07288633e-04 9.97755035e-01 -1.13880229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.09, Y:-142.20, Z:-11.39 [[ 7.05691548e-01 7.06868479e-01 4.83362505e-02 2.21088500e+02] [-7.05307243e-01 7.07344366e-01 -4.69642555e-02 -1.42204571e+02] [-6.73879263e-02 -9.49629376e-04 9.97726398e-01 -1.13903701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.11, Y:-142.22, Z:-11.39 [[ 7.04981219e-01 7.07630202e-01 4.75497496e-02 2.21113199e+02] [-7.06118095e-01 7.06582302e-01 -4.62459223e-02 -1.42224994e+02] [-6.63228229e-02 -9.73231952e-04 9.97797743e-01 -1.13913017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.14, Y:-142.24, Z:-11.39 [[ 7.03817135e-01 7.08774824e-01 4.77460983e-02 2.21139096e+02] [-7.07249963e-01 7.05434005e-01 -4.64796137e-02 -1.42244465e+02] [-6.66253014e-02 -1.05527771e-03 9.97777508e-01 -1.13934547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.16, Y:-142.27, Z:-11.39 [[ 7.03408459e-01 7.09178059e-01 4.77809666e-02 2.21163648e+02] [-7.07648865e-01 7.05028618e-01 -4.65588947e-02 -1.42266659e+02] [-6.67054954e-02 -1.06222641e-03 9.97772143e-01 -1.13949330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:221.19, Y:-142.29, Z:-11.39 [[ 7.03694924e-01 7.08863787e-01 4.82243265e-02 2.21189741e+02] [-7.07301941e-01 7.05344680e-01 -4.70409005e-02 -1.42287002e+02] [-6.73603630e-02 -1.00671687e-03 9.97728203e-01 -1.13948812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22864 meters Centerline goodness [0,1] 0.9998528113040919 Centerline is valid? [True, True] Translation: X:221.21, Y:-142.31, Z:-11.40 [[ 7.03820524e-01 7.08759133e-01 4.79287201e-02 2.21214302e+02] [-7.07213036e-01 7.05449909e-01 -4.67990183e-02 -1.42308350e+02] [-6.69805428e-02 -9.57706088e-04 9.97753822e-01 -1.13956873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:221.24, Y:-142.33, Z:-11.40 [[ 7.04504554e-01 7.08211491e-01 4.59327521e-02 2.21239478e+02] [-7.06787859e-01 7.05999844e-01 -4.48903423e-02 -1.42328366e+02] [-6.42203721e-02 -8.39260898e-04 9.97935388e-01 -1.13961478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.26, Y:-142.35, Z:-11.40 [[ 7.03963995e-01 7.08770469e-01 4.55973256e-02 2.21264223e+02] [-7.07365980e-01 7.05438654e-01 -4.46057842e-02 -1.42350770e+02] [-6.37813786e-02 -8.53130798e-04 9.97963530e-01 -1.13981488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31864000000002 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:221.29, Y:-142.37, Z:-11.40 [[ 7.03600132e-01 7.09173259e-01 4.49460002e-02 2.21287886e+02] [-7.07806682e-01 7.05033740e-01 -4.40128022e-02 -1.42372009e+02] [-6.29011490e-02 -8.45665837e-04 9.98019404e-01 -1.13990788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34864000000002 meters Centerline goodness [0,1] 0.9998526594960955 Centerline is valid? [True, True] Translation: X:221.31, Y:-142.39, Z:-11.40 [[ 7.03611589e-01 7.09136226e-01 4.53491332e-02 2.21312197e+02] [-7.07742167e-01 7.05071019e-01 -4.44509160e-02 -1.42393949e+02] [-6.34961144e-02 -8.19314096e-04 9.97981749e-01 -1.14008900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37864000000002 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:221.34, Y:-142.42, Z:-11.40 [[ 7.03551864e-01 7.09190699e-01 4.54238570e-02 2.21336140e+02] [-7.07789139e-01 7.05016258e-01 -4.45714125e-02 -1.42416753e+02] [-6.36341889e-02 -7.92212280e-04 9.97972977e-01 -1.14026721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:221.36, Y:-142.44, Z:-11.40 [[ 7.04462116e-01 7.08339925e-01 4.45833895e-02 2.21359102e+02] [-7.06985379e-01 7.05871164e-01 -4.37901124e-02 -1.42439393e+02] [-6.24884139e-02 -6.71329239e-04 9.98045464e-01 -1.14029981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:221.38, Y:-142.46, Z:-11.40 [[ 7.04510011e-01 7.08306575e-01 4.43558287e-02 2.21382464e+02] [-7.06963165e-01 7.05904662e-01 -4.36083926e-02 -1.42463243e+02] [-6.21990975e-02 -6.35387850e-04 9.98063559e-01 -1.14039726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:221.41, Y:-142.49, Z:-11.41 [[ 7.04136925e-01 7.08678905e-01 4.43328318e-02 2.21405885e+02] [-7.07334760e-01 7.05530868e-01 -4.36317633e-02 -1.42485834e+02] [-6.21990916e-02 -6.35417318e-04 9.98063560e-01 -1.14052958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49864 meters Centerline goodness [0,1] 0.999803902343367 Centerline is valid? [True, True] Translation: X:221.43, Y:-142.51, Z:-11.41 [[ 7.04774135e-01 7.08026950e-01 4.46235006e-02 2.21429055e+02] [-7.06660872e-01 7.06185201e-01 -4.39644726e-02 -1.42509677e+02] [-6.26404871e-02 -5.48658648e-04 9.98036006e-01 -1.14061268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52864 meters Centerline goodness [0,1] 0.9997548538929202 Centerline is valid? [True, True] Translation: X:221.45, Y:-142.53, Z:-11.41 [[ 7.05583482e-01 7.07166134e-01 4.54753549e-02 2.21451877e+02] [-7.05742476e-01 7.07047282e-01 -4.48519743e-02 -1.42533223e+02] [-6.38710234e-02 -4.47077334e-04 9.97958061e-01 -1.14071935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55864 meters Centerline goodness [0,1] 0.9997547937815703 Centerline is valid? [True, True] Translation: X:221.48, Y:-142.56, Z:-11.41 [[ 7.07528931e-01 7.05153188e-01 4.64950807e-02 2.21475213e+02] [-7.03657304e-01 7.09054952e-01 -4.59072312e-02 -1.42556075e+02] [-6.53391976e-02 -2.35908906e-04 9.97863084e-01 -1.14085374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58864 meters Centerline goodness [0,1] 0.9997057669674382 Centerline is valid? [True, True] Translation: X:221.50, Y:-142.58, Z:-11.41 [[ 7.08411188e-01 7.04287773e-01 4.61770810e-02 2.21498889e+02] [-7.02807353e-01 7.09914586e-01 -4.56410569e-02 -1.42579552e+02] [-6.49262217e-02 -1.20956732e-04 9.97890060e-01 -1.14104586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61864 meters Centerline goodness [0,1] 0.9995098279496103 Centerline is valid? [True, True] Translation: X:221.52, Y:-142.60, Z:-11.41 [[ 7.10845518e-01 7.01955890e-01 4.42332310e-02 2.21520127e+02] [-7.00590423e-01 7.12220411e-01 -4.37623604e-02 -1.42604126e+02] [-6.22230567e-02 1.18899688e-04 9.98062261e-01 -1.14116622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64864 meters Centerline goodness [0,1] 0.999558520553321 Centerline is valid? [True, True] Translation: X:221.54, Y:-142.63, Z:-11.41 [[ 7.11819100e-01 7.00943444e-01 4.46302240e-02 2.21542230e+02] [-6.99548651e-01 7.13216819e-01 -4.41978951e-02 -1.42628436e+02] [-6.28112512e-02 2.39892866e-04 9.98025395e-01 -1.14140921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67864 meters Centerline goodness [0,1] 0.9989706386941817 Centerline is valid? [True, True] Translation: X:221.56, Y:-142.65, Z:-11.42 [[ 7.13024641e-01 6.99735552e-01 4.43398068e-02 2.21564400e+02] [-6.98353672e-01 7.14401858e-01 -4.39560320e-02 -1.42652873e+02] [-6.24340387e-02 3.76867015e-04 9.98049021e-01 -1.14154727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70864 meters Centerline goodness [0,1] 0.9985768966532536 Centerline is valid? [True, True] Translation: X:221.58, Y:-142.68, Z:-11.42 [[ 7.16183578e-01 6.96491654e-01 4.45023412e-02 2.21584514e+02] [-6.95090581e-01 7.17564557e-01 -4.41609548e-02 -1.42677785e+02] [-6.26910392e-02 6.94192430e-04 9.98032741e-01 -1.14160120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73864 meters Centerline goodness [0,1] 0.9989222026259064 Centerline is valid? [True, True] Translation: X:221.61, Y:-142.70, Z:-11.42 [[ 7.17388118e-01 6.95239348e-01 4.46826357e-02 2.21605451e+02] [-6.93821929e-01 7.18777818e-01 -4.43799416e-02 -1.42701921e+02] [-6.29715690e-02 8.35850235e-04 9.98014971e-01 -1.14180860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76864 meters Centerline goodness [0,1] 0.9985277518771164 Centerline is valid? [True, True] Translation: X:221.63, Y:-142.73, Z:-11.42 [[ 7.18438847e-01 6.94174663e-01 4.43526847e-02 2.21627121e+02] [-6.92773503e-01 7.19805968e-01 -4.40935620e-02 -1.42727461e+02] [-6.25339606e-02 9.52163122e-04 9.98042382e-01 -1.14187019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79864 meters Centerline goodness [0,1] 0.9993621823177313 Centerline is valid? [True, True] Translation: X:221.65, Y:-142.75, Z:-11.42 [[ 7.19661624e-01 6.92910054e-01 4.43035376e-02 2.21645873e+02] [-6.91506914e-01 7.21023206e-01 -4.40876875e-02 -1.42754852e+02] [-6.24926807e-02 1.09201417e-03 9.98044825e-01 -1.14181476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82864 meters Centerline goodness [0,1] 0.998773788503041 Centerline is valid? [True, True] Translation: X:221.67, Y:-142.78, Z:-11.42 [[ 7.19852750e-01 6.92715077e-01 4.42474959e-02 2.21667222e+02] [-6.91312557e-01 7.21210461e-01 -4.40728870e-02 -1.42779790e+02] [-6.24417103e-02 1.13713935e-03 9.98047965e-01 -1.14176333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85864 meters Centerline goodness [0,1] 0.999607554574442 Centerline is valid? [True, True] Translation: X:221.69, Y:-142.81, Z:-11.42 [[ 7.20022624e-01 6.92552418e-01 4.40291911e-02 2.21685972e+02] [-6.91160650e-01 7.21366593e-01 -4.38998184e-02 -1.42807205e+02] [-6.21641130e-02 1.17761817e-03 9.98065247e-01 -1.14189834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88864 meters Centerline goodness [0,1] 0.9997550220480157 Centerline is valid? [True, True] Translation: X:221.71, Y:-142.83, Z:-11.42 [[ 7.19295525e-01 6.93250249e-01 4.49226000e-02 2.21707297e+02] [-6.91799789e-01 7.20695994e-01 -4.48367751e-02 -1.42832758e+02] [-6.34586434e-02 1.17344650e-03 9.97983779e-01 -1.14214930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91864 meters Centerline goodness [0,1] 0.9997056081644669 Centerline is valid? [True, True] Translation: X:221.73, Y:-142.86, Z:-11.42 [[ 7.18986676e-01 6.93607820e-01 4.43435687e-02 2.21728027e+02] [-6.92192545e-01 7.20351894e-01 -4.43015734e-02 -1.42857323e+02] [-6.26708914e-02 1.15795334e-03 9.98033576e-01 -1.14220809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94864 meters Centerline goodness [0,1] 0.9998530204301602 Centerline is valid? [True, True] Translation: X:221.75, Y:-142.88, Z:-11.42 [[ 7.17657490e-01 6.95041248e-01 4.34210815e-02 2.21747438e+02] [-6.93684575e-01 7.18969112e-01 -4.34180333e-02 -1.42882944e+02] [-6.13957405e-02 1.03874227e-03 9.98112962e-01 -1.14231617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97864 meters Centerline goodness [0,1] 0.9998529195469922 Centerline is valid? [True, True] Translation: X:221.77, Y:-142.99, Z:-9.75 [[ 7.46141260e-01 -6.65672789e-01 -1.23676149e-02 2.21772933e+02] [-6.65517916e-01 -7.46238992e-01 1.46037666e-02 -1.42990795e+02] [-1.89505265e-02 -2.66560351e-03 -9.99816869e-01 -9.74538261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.78, Y:-142.93, Z:-11.42 [[ 7.63618004e-01 6.43953367e-01 4.70277160e-02 2.21775509e+02] [-6.42668624e-01 7.65064294e-01 -4.06652940e-02 -1.42932397e+02] [-6.21657793e-02 8.29513050e-04 9.98065493e-01 -1.14247362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03864000000002 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:221.80, Y:-142.96, Z:-11.42 [[ 7.60875288e-01 6.47103225e-01 4.82308320e-02 2.21798395e+02] [-6.45756210e-01 7.62402154e-01 -4.17357495e-02 -1.42955075e+02] [-6.37786283e-02 6.10341161e-04 9.97963884e-01 -1.14247115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06864000000002 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:221.82, Y:-142.98, Z:-11.43 [[ 7.59206416e-01 6.49026947e-01 4.86789487e-02 2.21823415e+02] [-6.47657054e-01 7.60765272e-01 -4.21490386e-02 -1.42976796e+02] [-6.43891155e-02 4.72556046e-04 9.97924756e-01 -1.14262924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.85, Y:-143.00, Z:-11.43 [[ 7.58029221e-01 6.50341345e-01 4.94756061e-02 2.21848133e+02] [-6.48925970e-01 7.59642004e-01 -4.28848669e-02 -1.42998742e+02] [-6.54735506e-02 4.01976584e-04 9.97854224e-01 -1.14276823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.87, Y:-143.02, Z:-11.43 [[ 7.56839991e-01 6.51761642e-01 4.89896990e-02 2.21872957e+02] [-6.50374173e-01 7.58423805e-01 -4.25060942e-02 -1.43019848e+02] [-6.48587956e-02 3.08676989e-04 9.97894404e-01 -1.14284848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.90, Y:-143.04, Z:-11.43 [[ 7.56096663e-01 6.52610417e-01 4.91678798e-02 2.21898277e+02] [-6.51211877e-01 7.57693587e-01 -4.27026921e-02 -1.43041284e+02] [-6.51224090e-02 2.68655711e-04 9.97877247e-01 -1.14300386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.92, Y:-143.06, Z:-11.43 [[ 7.55347376e-01 6.53423982e-01 4.98742444e-02 2.21922126e+02] [-6.51983607e-01 7.56992102e-01 -4.33628011e-02 -1.43063516e+02] [-6.60887033e-02 2.36788284e-04 9.97813724e-01 -1.14327611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.95, Y:-143.09, Z:-11.43 [[ 7.54529026e-01 6.54314551e-01 5.05807987e-02 2.21946707e+02] [-6.52831853e-01 7.56222474e-01 -4.40243272e-02 -1.43085294e+02] [-6.70560946e-02 1.96876145e-04 9.97749188e-01 -1.14345698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.97, Y:-143.11, Z:-11.44 [[ 7.53620854e-01 6.55403505e-01 5.00185338e-02 2.21971042e+02] [-6.53953105e-01 7.55278907e-01 -4.35787686e-02 -1.43105868e+02] [-6.63396212e-02 1.32093302e-04 9.97797092e-01 -1.14350373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.00, Y:-143.13, Z:-11.44 [[ 7.52929607e-01 6.56155656e-01 5.05644407e-02 2.21996227e+02] [-6.54672145e-01 7.54625566e-01 -4.40980349e-02 -1.43126551e+02] [-6.70923947e-02 9.95852062e-05 9.97746762e-01 -1.14362663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.02, Y:-143.15, Z:-11.44 [[ 7.52820017e-01 6.56293101e-01 5.04121840e-02 2.22021656e+02] [-6.54815675e-01 7.54506031e-01 -4.40122735e-02 -1.43147897e+02] [-6.69212483e-02 1.22632211e-04 9.97758253e-01 -1.14373759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.04, Y:-143.17, Z:-11.44 [[ 7.52022878e-01 6.57150572e-01 5.11343020e-02 2.22043742e+02] [-6.55629409e-01 7.53759325e-01 -4.46873354e-02 -1.43170767e+02] [-6.79092650e-02 8.07463496e-05 9.97691498e-01 -1.14386529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.07, Y:-143.19, Z:-11.44 [[ 7.51366775e-01 6.57913596e-01 5.09673347e-02 2.22067918e+02] [-6.56401251e-01 7.53093419e-01 -4.45836219e-02 -1.43193218e+02] [-6.77153353e-02 4.36299924e-05 9.97704681e-01 -1.14410054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.09, Y:-143.21, Z:-11.44 [[ 7.51624379e-01 6.57760380e-01 4.91128765e-02 2.22091691e+02] [-6.56353079e-01 7.53227239e-01 -4.30042002e-02 -1.43214998e+02] [-6.52796154e-02 8.76175571e-05 9.97867007e-01 -1.14402135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.12, Y:-143.24, Z:-11.44 [[ 7.51489834e-01 6.58009915e-01 4.78119304e-02 2.22115629e+02] [-6.56674892e-01 7.53009259e-01 -4.18944192e-02 -1.43236349e+02] [-6.35697695e-02 8.63358324e-05 9.97977393e-01 -1.14398462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.14, Y:-143.26, Z:-11.44 [[ 7.50840705e-01 6.58828811e-01 4.67208070e-02 2.22139165e+02] [-6.57554282e-01 7.52292893e-01 -4.09605840e-02 -1.43258152e+02] [-6.21337439e-02 3.34070182e-05 9.98067832e-01 -1.14414957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.16, Y:-143.28, Z:-11.44 [[ 7.49687558e-01 6.60102724e-01 4.72542034e-02 2.22163789e+02] [-6.58798805e-01 7.51175341e-01 -4.14697783e-02 -1.43279801e+02] [-6.28705059e-02 -4.16359318e-05 9.98021692e-01 -1.14430176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51864 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:222.19, Y:-143.30, Z:-11.44 [[ 7.48220041e-01 6.61716758e-01 4.79343634e-02 2.22188632e+02] [-6.60375364e-01 7.49753901e-01 -4.21125564e-02 -1.43301023e+02] [-6.38055602e-02 -1.45213941e-04 9.97962339e-01 -1.14436433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:222.21, Y:-143.32, Z:-11.44 [[ 7.45692179e-01 6.64526348e-01 4.84552057e-02 2.22214653e+02] [-6.63158668e-01 7.47264749e-01 -4.26142597e-02 -1.43320876e+02] [-6.45271655e-02 -3.56369498e-04 9.97915887e-01 -1.14434185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.24, Y:-143.34, Z:-11.44 [[ 7.43510304e-01 6.66930674e-01 4.89479801e-02 2.22239005e+02] [-6.65537531e-01 7.45119578e-01 -4.30883939e-02 -1.43341654e+02] [-6.52090698e-02 -5.40052984e-04 9.97871477e-01 -1.14447399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.26, Y:-143.36, Z:-11.45 [[ 7.41668833e-01 6.68978091e-01 4.89454477e-02 2.22264304e+02] [-6.67586750e-01 7.43281804e-01 -4.31287643e-02 -1.43363590e+02] [-6.52324591e-02 -6.88072101e-04 9.97869858e-01 -1.14456676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.29, Y:-143.39, Z:-11.45 [[ 7.40137757e-01 6.70665090e-01 4.90350671e-02 2.22289767e+02] [-6.69269298e-01 7.41759861e-01 -4.32540693e-02 -1.43385221e+02] [-6.53812388e-02 -8.03695083e-04 9.97860034e-01 -1.14460853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.32, Y:-143.41, Z:-11.45 [[ 7.39801609e-01 6.71089872e-01 4.82904069e-02 2.22315004e+02] [-6.69734914e-01 7.41375572e-01 -4.26310429e-02 -1.43405953e+02] [-6.44105891e-02 -8.03257361e-04 9.97923159e-01 -1.14475684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:222.34, Y:-143.42, Z:-11.45 [[ 7.40485331e-01 6.70416936e-01 4.71445178e-02 2.22340679e+02] [-6.69122783e-01 7.41984250e-01 -4.16422146e-02 -1.43424848e+02] [-6.28981356e-02 -7.10021820e-04 9.98019699e-01 -1.14479136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.37, Y:-143.45, Z:-11.45 [[ 7.40899309e-01 6.70003330e-01 4.65161573e-02 2.22365619e+02] [-6.68740282e-01 7.42357819e-01 -4.11254485e-02 -1.43445602e+02] [-6.20858205e-02 -6.37411772e-04 9.98070611e-01 -1.14494431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.39, Y:-143.47, Z:-11.45 [[ 7.41823930e-01 6.69009252e-01 4.60855490e-02 2.22390041e+02] [-6.67765229e-01 7.43253894e-01 -4.07829372e-02 -1.43466142e+02] [-6.15374261e-02 -5.20568464e-04 9.98104641e-01 -1.14511960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.42, Y:-143.49, Z:-11.45 [[ 7.42232251e-01 6.68517842e-01 4.66388311e-02 2.22415194e+02] [-6.67240189e-01 7.43695965e-01 -4.13139513e-02 -1.43486793e+02] [-6.23042241e-02 -4.54755347e-04 9.98057101e-01 -1.14527197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.44, Y:-143.51, Z:-11.45 [[ 7.44153838e-01 6.66328552e-01 4.73426394e-02 2.22441471e+02] [-6.65004672e-01 7.45658234e-01 -4.19831380e-02 -1.43507196e+02] [-6.32759924e-02 -2.41163104e-04 9.97996037e-01 -1.14545302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84864000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.47, Y:-143.53, Z:-11.46 [[ 7.44320059e-01 6.66109662e-01 4.78076188e-02 2.22465654e+02] [-6.64756297e-01 7.45853794e-01 -4.24403458e-02 -1.43528913e+02] [-6.39274183e-02 -1.91214914e-04 9.97954532e-01 -1.14559031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87864000000002 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:222.49, Y:-143.55, Z:-11.46 [[ 7.44619473e-01 6.65794738e-01 4.75311157e-02 2.22488819e+02] [-6.64453601e-01 7.46134940e-01 -4.22381635e-02 -1.43552647e+02] [-6.35865732e-02 -1.30861980e-04 9.97976318e-01 -1.14558850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90864 meters Centerline goodness [0,1] 0.9999509491342522 Centerline is valid? [True, True] Translation: X:222.51, Y:-143.57, Z:-11.46 [[ 7.44612669e-01 6.65830084e-01 4.71409938e-02 2.22513356e+02] [-6.64508139e-01 7.46103404e-01 -4.19361845e-02 -1.43574200e+02] [-6.30944292e-02 -9.93597980e-05 9.98007557e-01 -1.14570078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.54, Y:-143.60, Z:-11.46 [[ 7.44607863e-01 6.65931401e-01 4.57657031e-02 2.22537654e+02] [-6.64683198e-01 7.46012978e-01 -4.07539280e-02 -1.43595842e+02] [-6.12811288e-02 -7.39986669e-05 9.98120543e-01 -1.14590742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.56, Y:-143.62, Z:-11.46 [[ 7.45050580e-01 6.65502616e-01 4.47872948e-02 2.22560747e+02] [-6.64304271e-01 7.46395517e-01 -3.99195065e-02 -1.43618070e+02] [-5.99955721e-02 -1.03397799e-05 9.98198643e-01 -1.14613973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.58, Y:-143.64, Z:-11.46 [[ 7.44820478e-01 6.65784939e-01 4.44170084e-02 2.22583851e+02] [-6.64604536e-01 7.46143696e-01 -3.96282310e-02 -1.43641500e+02] [-5.95253501e-02 -3.82732299e-06 9.98226794e-01 -1.14628290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.61, Y:-143.67, Z:-11.46 [[ 7.45919552e-01 6.64543945e-01 4.45574726e-02 2.22607216e+02] [-6.63351274e-01 7.47249175e-01 -3.97964519e-02 -1.43665486e+02] [-5.97420258e-02 1.27695300e-04 9.98213842e-01 -1.14640262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.63, Y:-143.69, Z:-11.47 [[ 7.46368726e-01 6.64080546e-01 4.39403461e-02 2.22631726e+02] [-6.62917440e-01 7.47661013e-01 -3.92871029e-02 -1.43687482e+02] [-5.89422844e-02 1.93843177e-04 9.98261373e-01 -1.14652510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.65, Y:-143.71, Z:-11.47 [[ 7.46394647e-01 6.63960557e-01 4.52924855e-02 2.22653234e+02] [-6.62721946e-01 7.47767558e-01 -4.05376664e-02 -1.43710913e+02] [-6.07836629e-02 2.40773090e-04 9.98150935e-01 -1.14665290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.68, Y:-143.73, Z:-11.47 [[ 7.45837296e-01 6.64494895e-01 4.66182590e-02 2.22675533e+02] [-6.63181302e-01 7.47292768e-01 -4.17621752e-02 -1.43734188e+02] [-6.25882400e-02 2.31430126e-04 9.98039407e-01 -1.14681100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.70, Y:-143.76, Z:-11.47 [[ 7.46076982e-01 6.64292292e-01 4.56605601e-02 2.22698371e+02] [-6.63029473e-01 7.47472860e-01 -4.09419188e-02 -1.43756224e+02] [-6.13274305e-02 2.71526153e-04 9.98117665e-01 -1.14687814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.72, Y:-143.78, Z:-11.47 [[ 7.45604601e-01 6.64854853e-01 4.51863166e-02 2.22722539e+02] [-6.63616785e-01 7.46972530e-01 -4.05561623e-02 -1.43778303e+02] [-6.07168985e-02 2.52463079e-04 9.98154995e-01 -1.14706289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.74, Y:-143.80, Z:-11.47 [[ 7.44900545e-01 6.65744261e-01 4.36778855e-02 2.22744968e+02] [-6.64586745e-01 7.46179963e-01 -3.92418270e-02 -1.43801557e+02] [-5.87165841e-02 2.03514533e-04 9.98274672e-01 -1.14725997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23864000000003 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:222.77, Y:-143.82, Z:-11.47 [[ 7.44215452e-01 6.66527517e-01 4.34100191e-02 2.22768763e+02] [-6.65383282e-01 7.45480409e-01 -3.90390552e-02 -1.43824600e+02] [-5.83819234e-02 1.69167095e-04 9.98294307e-01 -1.14734008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.79, Y:-143.85, Z:-11.48 [[ 7.44125521e-01 6.66486613e-01 4.55280564e-02 2.22791426e+02] [-6.65225204e-01 7.45516968e-01 -4.09863216e-02 -1.43846709e+02] [-6.12587732e-02 2.12557304e-04 9.98121895e-01 -1.14760181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.82, Y:-143.87, Z:-11.48 [[ 7.43953039e-01 6.66708537e-01 4.50954783e-02 2.22815206e+02] [-6.65469117e-01 7.45318507e-01 -4.06346743e-02 -1.43869963e+02] [-6.07019789e-02 2.20641246e-04 9.98155910e-01 -1.14784992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.84, Y:-143.89, Z:-11.48 [[ 7.43196111e-01 6.67572084e-01 4.48001462e-02 2.22839007e+02] [-6.66347822e-01 7.44545150e-01 -4.04116296e-02 -1.43893292e+02] [-6.03334073e-02 1.81286077e-04 9.98178264e-01 -1.14795036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.86, Y:-143.91, Z:-11.48 [[ 7.42838641e-01 6.67971282e-01 4.47785738e-02 2.22863348e+02] [-6.66746305e-01 7.44187029e-01 -4.04355232e-02 -1.43914822e+02] [-6.03334021e-02 1.81120449e-04 9.98178265e-01 -1.14808233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.89, Y:-143.94, Z:-11.48 [[ 7.41208062e-01 6.69722747e-01 4.56295045e-02 2.22886453e+02] [-6.68451260e-01 7.42611229e-01 -4.12489564e-02 -1.43938668e+02] [-6.15103468e-02 7.29591929e-05 9.98106443e-01 -1.14824128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.91, Y:-143.96, Z:-11.48 [[ 7.40726090e-01 6.70235218e-01 4.59305142e-02 2.22911653e+02] [-6.68945082e-01 7.42148738e-01 -4.15659458e-02 -1.43960436e+02] [-6.19462339e-02 6.39889255e-05 9.98079486e-01 -1.14828872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.94, Y:-143.98, Z:-11.48 [[ 7.39121605e-01 6.72016724e-01 4.57468684e-02 2.22936099e+02] [-6.70737564e-01 7.40535968e-01 -4.14439415e-02 -1.43982427e+02] [-6.17282233e-02 -5.20305258e-05 9.98092994e-01 -1.14830580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:222.96, Y:-144.00, Z:-11.48 [[ 7.37255532e-01 6.73989612e-01 4.68218364e-02 2.22959670e+02] [-6.72650733e-01 7.38740799e-01 -4.24620367e-02 -1.44004496e+02] [-6.32081725e-02 -1.89371082e-04 9.98000346e-01 -1.14848409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.98, Y:-144.03, Z:-11.49 [[ 7.32681046e-01 6.78923610e-01 4.73414919e-02 2.22983198e+02] [-6.77562429e-01 7.34208678e-01 -4.29740773e-02 -1.44026669e+02] [-6.39346499e-02 -5.90524372e-04 9.97953913e-01 -1.14866896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:223.01, Y:-144.05, Z:-11.49 [[ 7.30310199e-01 6.81443542e-01 4.77672669e-02 2.23007853e+02] [-6.80060453e-01 7.31870260e-01 -4.34016403e-02 -1.44047511e+02] [-6.45352095e-02 -7.87968582e-04 9.97915120e-01 -1.14886310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:223.03, Y:-144.07, Z:-11.49 [[ 7.25863165e-01 6.86237051e-01 4.69188084e-02 2.23032820e+02] [-6.84910126e-01 7.27377040e-01 -4.26703792e-02 -1.44067863e+02] [-6.34096592e-02 -1.16231044e-03 9.97986906e-01 -1.14911333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:223.06, Y:-144.09, Z:-11.49 [[ 7.24926774e-01 6.87289486e-01 4.59818962e-02 2.23058105e+02] [-6.86014663e-01 7.26382629e-01 -4.18587988e-02 -1.44088705e+02] [-6.21695629e-02 -1.19969102e-03 9.98064881e-01 -1.14923600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.09, Y:-144.11, Z:-11.49 [[ 7.23495176e-01 6.88836222e-01 4.53804863e-02 2.23085345e+02] [-6.87594917e-01 7.24915865e-01 -4.13547865e-02 -1.44107738e+02] [-6.13837093e-02 -1.28340316e-03 9.98113417e-01 -1.14936954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.11, Y:-144.13, Z:-11.49 [[ 7.23104806e-01 6.89258020e-01 4.51975799e-02 2.23111582e+02] [-6.88024872e-01 7.24514829e-01 -4.12315186e-02 -1.44128539e+02] [-6.11654717e-02 -1.28234989e-03 9.98126816e-01 -1.14944677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.14, Y:-144.15, Z:-11.50 [[ 7.23105739e-01 6.89202706e-01 4.60186981e-02 2.23137158e+02] [-6.87921390e-01 7.24567472e-01 -4.20254689e-02 -1.44149209e+02] [-6.23077186e-02 -1.26838908e-03 9.98056180e-01 -1.14959231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.16, Y:-144.17, Z:-11.50 [[ 7.25137200e-01 6.87109470e-01 4.53499547e-02 2.23164052e+02] [-6.85858851e-01 7.26553151e-01 -4.14506231e-02 -1.44167713e+02] [-6.14302681e-02 -1.04627912e-03 9.98110829e-01 -1.14957669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:223.19, Y:-144.19, Z:-11.50 [[ 7.25851214e-01 6.86336670e-01 4.56288376e-02 2.23189483e+02] [-6.85067237e-01 7.27283331e-01 -4.17353102e-02 -1.44188150e+02] [-6.18295668e-02 -9.65196172e-04 9.98086255e-01 -1.14975059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.22, Y:-144.21, Z:-11.50 [[ 7.25906932e-01 6.86255478e-01 4.59624355e-02 2.23215061e+02] [-6.84964371e-01 7.27359987e-01 -4.20863380e-02 -1.44209718e+02] [-6.23132165e-02 -9.31866259e-04 9.98056208e-01 -1.14998868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.24, Y:-144.23, Z:-11.50 [[ 7.25208836e-01 6.87003484e-01 4.58078238e-02 2.23239344e+02] [-6.85719738e-01 7.26653488e-01 -4.19898741e-02 -1.44231801e+02] [-6.21336047e-02 -9.59901228e-04 9.98067379e-01 -1.15014471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:223.26, Y:-144.25, Z:-11.50 [[ 7.24688275e-01 6.87446199e-01 4.73775076e-02 2.23262566e+02] [-6.86070884e-01 7.26234622e-01 -4.34743237e-02 -1.44253363e+02] [-6.42934449e-02 -9.98995870e-04 9.97930536e-01 -1.15037624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86864 meters Centerline goodness [0,1] 0.9997548659116536 Centerline is valid? [True, True] Translation: X:223.29, Y:-144.27, Z:-11.50 [[ 7.23775434e-01 6.88397485e-01 4.75186708e-02 2.23287373e+02] [-6.87013208e-01 7.25332881e-01 -4.36470367e-02 -1.44274548e+02] [-6.45133647e-02 -1.05530151e-03 9.97916285e-01 -1.15043743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.31, Y:-144.30, Z:-11.51 [[ 7.23478266e-01 6.88730993e-01 4.72103533e-02 2.23312820e+02] [-6.87362381e-01 7.25016226e-01 -4.34100122e-02 -1.44295327e+02] [-6.41260930e-02 -1.04442044e-03 9.97941257e-01 -1.15055370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92864000000003 meters Centerline goodness [0,1] 0.999803497740224 Centerline is valid? [True, True] Translation: X:223.34, Y:-144.32, Z:-11.51 [[ 7.23187683e-01 6.89067954e-01 4.67432250e-02 2.23338331e+02] [-6.87724126e-01 7.24696000e-01 -4.30259736e-02 -1.44316134e+02] [-6.35224478e-02 -1.03058946e-03 9.97979878e-01 -1.15062480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95864 meters Centerline goodness [0,1] 0.9998040080356705 Centerline is valid? [True, True] Translation: X:223.36, Y:-144.34, Z:-11.51 [[ 7.22691023e-01 6.89676600e-01 4.54298685e-02 2.23363086e+02] [-6.88405899e-01 7.24116801e-01 -4.18590177e-02 -1.44336839e+02] [-6.17657160e-02 -1.02305308e-03 9.98090151e-01 -1.15067505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98864000000003 meters Centerline goodness [0,1] 0.9996076700505124 Centerline is valid? [True, True] Translation: X:223.39, Y:-144.36, Z:-11.51 [[ 7.22925324e-01 6.89381305e-01 4.61778270e-02 2.23388823e+02] [-6.88065122e-01 7.24397990e-01 -4.25903732e-02 -1.44357218e+02] [-6.28121321e-02 -9.83692766e-04 9.98024884e-01 -1.15092872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01864 meters Centerline goodness [0,1] 0.9999020472132432 Centerline is valid? [True, True] Translation: X:223.41, Y:-144.38, Z:-11.51 [[ 7.23026954e-01 6.89275027e-01 4.61731646e-02 2.23414731e+02] [-6.87956024e-01 7.24499173e-01 -4.26316611e-02 -1.44378443e+02] [-6.28373589e-02 -9.41266623e-04 9.98023337e-01 -1.15098051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04864 meters Centerline goodness [0,1] 0.999803950399451 Centerline is valid? [True, True] Translation: X:223.44, Y:-144.40, Z:-11.51 [[ 7.23906962e-01 6.88381959e-01 4.57054548e-02 2.23441239e+02] [-6.87085112e-01 7.25347916e-01 -4.22427361e-02 -1.44397847e+02] [-6.22314939e-02 -8.23726746e-04 9.98061402e-01 -1.15105411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07864 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:223.47, Y:-144.42, Z:-11.51 [[ 7.23534770e-01 6.88816811e-01 4.50426320e-02 2.23467308e+02] [-6.87555688e-01 7.24934984e-01 -4.16706833e-02 -1.44418724e+02] [-6.13564468e-02 -8.19129576e-04 9.98115582e-01 -1.15107691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10864 meters Centerline goodness [0,1] 0.9999019607843137 Centerline is valid? [True, True] Translation: X:223.49, Y:-144.44, Z:-11.51 [[ 7.23575352e-01 6.88721045e-01 4.58479237e-02 2.23494059e+02] [-6.87411305e-01 7.25025996e-01 -4.24617722e-02 -1.44438764e+02] [-6.24852526e-02 -7.92089292e-04 9.98045573e-01 -1.15129226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13864 meters Centerline goodness [0,1] 0.9998039215686274 Centerline is valid? [True, True] Translation: X:223.52, Y:-144.46, Z:-11.52 [[ 7.23442138e-01 6.88854939e-01 4.59385007e-02 2.23519433e+02] [-6.87537411e-01 7.24898805e-01 -4.25914512e-02 -1.44459379e+02] [-6.26400958e-02 -7.71987309e-04 9.98035882e-01 -1.15151449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16864 meters Centerline goodness [0,1] 0.9999020280199863 Centerline is valid? [True, True] Translation: X:223.55, Y:-144.48, Z:-11.52 [[ 7.23164324e-01 6.89159805e-01 4.57397521e-02 2.23545089e+02] [-6.87851454e-01 7.24608986e-01 -4.24522540e-02 -1.44479735e+02] [-6.23998225e-02 -7.62199514e-04 9.98050941e-01 -1.15157597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19864 meters Centerline goodness [0,1] 0.999901941557168 Centerline is valid? [True, True] Translation: X:223.57, Y:-144.50, Z:-11.52 [[ 7.22721993e-01 6.89720398e-01 4.42571292e-02 2.23572098e+02] [-6.88494138e-01 7.24075413e-01 -4.11171397e-02 -1.44497710e+02] [-6.04048290e-02 -7.54512919e-04 9.98173676e-01 -1.15164297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22864 meters Centerline goodness [0,1] 0.9997548899455856 Centerline is valid? [True, True] Translation: X:223.60, Y:-144.52, Z:-11.52 [[ 7.21994674e-01 6.90519010e-01 4.36713558e-02 2.23597410e+02] [-6.89324149e-01 7.23313822e-01 -4.06119748e-02 -1.44518886e+02] [-5.96314359e-02 -7.82090644e-04 9.98220156e-01 -1.15167333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25864 meters Centerline goodness [0,1] 0.999607804686734 Centerline is valid? [True, True] Translation: X:223.62, Y:-144.54, Z:-11.52 [[ 7.21674663e-01 6.90866966e-01 4.34570654e-02 2.23624283e+02] [-6.89681882e-01 7.22981490e-01 -4.04557455e-02 -1.44538890e+02] [-5.93681920e-02 -7.75664107e-04 9.98235852e-01 -1.15186446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28864 meters Centerline goodness [0,1] 0.9999019511716835 Centerline is valid? [True, True] Translation: X:223.65, Y:-144.56, Z:-11.52 [[ 7.21960403e-01 6.90549605e-01 4.37540824e-02 2.23649813e+02] [-6.89345034e-01 7.23284674e-01 -4.07762630e-02 -1.44559835e+02] [-5.98046896e-02 -7.22812177e-04 9.98209836e-01 -1.15208766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31864 meters Centerline goodness [0,1] 0.999754986034204 Centerline is valid? [True, True] Translation: X:223.67, Y:-144.58, Z:-11.52 [[ 7.22147772e-01 6.90399503e-01 4.30246628e-02 2.23673612e+02] [-6.89232110e-01 7.23428005e-01 -4.01375144e-02 -1.44580942e+02] [-5.88361660e-02 -6.68762544e-04 9.98267428e-01 -1.15226204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34864 meters Centerline goodness [0,1] 0.9997056081644669 Centerline is valid? [True, True] Translation: X:223.70, Y:-144.60, Z:-11.52 [[ 7.24543610e-01 6.87868375e-01 4.32857436e-02 2.23699417e+02] [-6.86679969e-01 7.25835317e-01 -4.04192086e-02 -1.44600623e+02] [-5.92214167e-02 -4.37973758e-04 9.98244776e-01 -1.15230895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37864 meters Centerline goodness [0,1] 0.999853063623451 Centerline is valid? [True, True] Translation: X:223.73, Y:-144.62, Z:-11.52 [[ 7.25328851e-01 6.86997445e-01 4.39609833e-02 2.23725353e+02] [-6.85767592e-01 7.26659750e-01 -4.10903512e-02 -1.44621950e+02] [-6.01736434e-02 -3.43000409e-04 9.98187866e-01 -1.15237186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40864 meters Centerline goodness [0,1] 0.9996081504702194 Centerline is valid? [True, True] Translation: X:223.75, Y:-144.64, Z:-11.53 [[ 7.28109934e-01 6.84023378e-01 4.43614943e-02 2.23751189e+02] [-6.82762713e-01 7.29460084e-01 -4.15098008e-02 -1.44642237e+02] [-6.07536135e-02 -6.46758246e-05 9.98152791e-01 -1.15259886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43864 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:223.78, Y:-144.66, Z:-11.53 [[ 7.28816829e-01 6.83288450e-01 4.40786009e-02 2.23775845e+02] [-6.82039798e-01 7.30148542e-01 -4.12894822e-02 -1.44664293e+02] [-6.03965525e-02 2.91094932e-05 9.98174462e-01 -1.15280787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46864 meters Centerline goodness [0,1] 0.999803902343367 Centerline is valid? [True, True] Translation: X:223.80, Y:-144.69, Z:-11.53 [[ 7.30037600e-01 6.82040064e-01 4.32024772e-02 2.23800393e+02] [-6.80835983e-01 7.31314792e-01 -4.05097364e-02 -1.44685388e+02] [-5.92238738e-02 1.59829694e-04 9.98244713e-01 -1.15284799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49864 meters Centerline goodness [0,1] 0.9999020232204967 Centerline is valid? [True, True] Translation: X:223.83, Y:-144.71, Z:-11.53 [[ 7.29835045e-01 6.82254563e-01 4.32379242e-02 2.23825322e+02] [-6.81046554e-01 7.31114685e-01 -4.05821245e-02 -1.44706736e+02] [-5.92992209e-02 1.71217402e-04 9.98240238e-01 -1.15297870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52864 meters Centerline goodness [0,1] 0.999803777287221 Centerline is valid? [True, True] Translation: X:223.85, Y:-144.73, Z:-11.53 [[ 7.29363887e-01 6.82831248e-01 4.20690809e-02 2.23850168e+02] [-6.81686407e-01 7.30576118e-01 -3.95243924e-02 -1.44726570e+02] [-5.77231560e-02 1.49743811e-04 9.98332617e-01 -1.15317086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55864 meters Centerline goodness [0,1] 0.9997063142437592 Centerline is valid? [True, True] Translation: X:223.87, Y:-144.75, Z:-11.53 [[ 7.28598381e-01 6.83639098e-01 4.22135394e-02 2.23874626e+02] [-6.82485517e-01 7.29820232e-01 -3.96982128e-02 -1.44749196e+02] [-5.79475455e-02 1.13924305e-04 9.98319623e-01 -1.15326841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.90, Y:-144.77, Z:-11.53 [[ 7.27726288e-01 6.84517316e-01 4.30173708e-02 2.23899235e+02] [-6.83318312e-01 7.28996597e-01 -4.04974849e-02 -1.44771481e+02] [-5.90807466e-02 7.65270993e-05 9.98253204e-01 -1.15340900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.92, Y:-144.79, Z:-11.53 [[ 7.27231866e-01 6.85009870e-01 4.35349439e-02 2.23924039e+02] [-6.83780060e-01 7.28533784e-01 -4.10287160e-02 -1.44793900e+02] [-5.98217528e-02 6.90631973e-05 9.98209073e-01 -1.15349097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:223.95, Y:-144.82, Z:-11.54 [[ 7.26669852e-01 6.85540614e-01 4.45532656e-02 2.23948551e+02] [-6.84250865e-01 7.28034384e-01 -4.20320143e-02 -1.44815366e+02] [-6.12509622e-02 5.77870556e-05 9.98122395e-01 -1.15366260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.97, Y:-144.84, Z:-11.54 [[ 7.26978710e-01 6.85152852e-01 4.54700342e-02 2.23973367e+02] [-6.83806140e-01 7.28399310e-01 -4.29372606e-02 -1.44835532e+02] [-6.25389280e-02 1.21785765e-04 9.98042518e-01 -1.15387517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70864 meters Centerline goodness [0,1] 0.9999510044096032 Centerline is valid? [True, True] Translation: X:224.00, Y:-144.86, Z:-11.54 [[ 7.27145661e-01 6.84941361e-01 4.59839105e-02 2.23997893e+02] [-6.83560885e-01 7.28598176e-01 -4.34650987e-02 -1.44856976e+02] [-6.32748372e-02 1.72655374e-04 9.97996125e-01 -1.15409276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.02, Y:-144.88, Z:-11.54 [[ 7.27481223e-01 6.84665481e-01 4.47688315e-02 2.24022020e+02] [-6.83353963e-01 7.28857414e-01 -4.23583822e-02 -1.44878490e+02] [-6.16314169e-02 2.21969266e-04 9.98098953e-01 -1.15419280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.05, Y:-144.90, Z:-11.54 [[ 7.27671778e-01 6.84538806e-01 4.35936471e-02 2.24046872e+02] [-6.83292848e-01 7.28976378e-01 -4.12834701e-02 -1.44898898e+02] [-6.00388762e-02 2.53588835e-04 9.98196007e-01 -1.15430745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.07, Y:-144.92, Z:-11.54 [[ 7.26845448e-01 6.85424310e-01 4.34650404e-02 2.24071137e+02] [-6.84184923e-01 7.28143854e-01 -4.12009651e-02 -1.44920577e+02] [-5.98889451e-02 2.08608626e-04 9.98205024e-01 -1.15448800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.09, Y:-144.94, Z:-11.55 [[ 7.25233007e-01 6.87153399e-01 4.30963145e-02 2.24094312e+02] [-6.85935489e-01 7.26512352e-01 -4.08938590e-02 -1.44943514e+02] [-5.94103590e-02 9.62847685e-05 9.98233640e-01 -1.15459097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.12, Y:-144.97, Z:-11.55 [[ 7.23942092e-01 6.88495229e-01 4.33839596e-02 2.24118167e+02] [-6.87260792e-01 7.25240870e-01 -4.12102490e-02 -1.44966427e+02] [-5.98368804e-02 1.77394779e-05 9.98208168e-01 -1.15471167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.14, Y:-144.99, Z:-11.55 [[ 7.22491883e-01 6.89912824e-01 4.50086123e-02 2.24141970e+02] [-6.88584091e-01 7.23892458e-01 -4.27978890e-02 -1.44988349e+02] [-6.21082075e-02 -7.10869383e-05 9.98069419e-01 -1.15490369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.17, Y:-145.01, Z:-11.55 [[ 7.20327371e-01 6.92093301e-01 4.62097452e-02 2.24165659e+02] [-6.90694460e-01 7.21808012e-01 -4.39813204e-02 -1.45009953e+02] [-6.37937415e-02 -2.35866114e-04 9.97963077e-01 -1.15503790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.19, Y:-145.03, Z:-11.55 [[ 7.20124048e-01 6.92320085e-01 4.59810330e-02 2.24188986e+02] [-6.90932840e-01 7.21590500e-01 -4.38059510e-02 -1.45033529e+02] [-6.35072163e-02 -2.24086942e-04 9.97981354e-01 -1.15505865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.21, Y:-145.06, Z:-11.55 [[ 7.20005781e-01 6.92462833e-01 4.56825982e-02 2.24211820e+02] [-6.91090939e-01 7.21453522e-01 -4.35675312e-02 -1.45057556e+02] [-6.31267674e-02 -2.01955333e-04 9.98005496e-01 -1.15519664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.23, Y:-145.08, Z:-11.55 [[ 7.20044930e-01 6.92499629e-01 4.44922837e-02 2.24232896e+02] [-6.91195826e-01 7.21418211e-01 -4.24746344e-02 -1.45081841e+02] [-6.15112123e-02 -1.69235646e-04 9.98106378e-01 -1.15523404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.26, Y:-145.11, Z:-11.55 [[ 7.19346082e-01 6.93195850e-01 4.49525065e-02 2.24255759e+02] [-6.91863658e-01 7.20749244e-01 -4.29558546e-02 -1.45105034e+02] [-6.21763052e-02 -2.00879858e-04 9.98065162e-01 -1.15539044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.28, Y:-145.13, Z:-11.55 [[ 7.17893083e-01 6.94720785e-01 4.46380192e-02 2.24276946e+02] [-6.93407337e-01 7.19279460e-01 -4.27003855e-02 -1.45130443e+02] [-6.17720557e-02 -2.98018636e-04 9.98090239e-01 -1.15547243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.30, Y:-145.15, Z:-11.56 [[ 7.16243764e-01 6.96426673e-01 4.45506333e-02 2.24299986e+02] [-6.95118855e-01 7.17627842e-01 -4.26621323e-02 -1.45154582e+02] [-6.16818217e-02 -4.11498955e-04 9.98095779e-01 -1.15554794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.32, Y:-145.18, Z:-11.56 [[ 7.14157669e-01 6.98492613e-01 4.56825367e-02 2.24322814e+02] [-6.97118773e-01 7.15617036e-01 -4.37912575e-02 -1.45177245e+02] [-6.32790714e-02 -5.72291565e-04 9.97995707e-01 -1.15565698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.34, Y:-145.20, Z:-11.56 [[ 7.09178061e-01 7.03517014e-01 4.61550526e-02 2.24344998e+02] [-7.02122499e-01 7.10677712e-01 -4.42852802e-02 -1.45200436e+02] [-6.39568153e-02 -1.00035174e-03 9.97952166e-01 -1.15582527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.37, Y:-145.22, Z:-11.56 [[ 7.06992569e-01 7.05775807e-01 4.51886874e-02 2.24367665e+02] [-7.04441121e-01 7.08434322e-01 -4.33995158e-02 -1.45223963e+02] [-6.26435454e-02 -1.14963446e-03 9.98035302e-01 -1.15590955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:224.39, Y:-145.25, Z:-11.56 [[ 7.03935682e-01 7.08818833e-01 4.52815443e-02 2.24390439e+02] [-7.07482135e-01 7.05389202e-01 -4.35327723e-02 -1.45246816e+02] [-6.27979613e-02 -1.39161189e-03 9.98025290e-01 -1.15592831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.42, Y:-145.27, Z:-11.56 [[ 7.03151578e-01 7.09541035e-01 4.61451766e-02 2.24415019e+02] [-7.08151703e-01 7.04662617e-01 -4.44045346e-02 -1.45267041e+02] [-6.40236203e-02 -1.45466675e-03 9.97947323e-01 -1.15614152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.44, Y:-145.29, Z:-11.56 [[ 7.02775152e-01 7.09915277e-01 4.61235826e-02 2.24438663e+02] [-7.08525278e-01 7.04285578e-01 -4.44269572e-02 -1.45289386e+02] [-6.40235497e-02 -1.45756257e-03 9.97947324e-01 -1.15627354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.46, Y:-145.31, Z:-11.56 [[ 7.02736229e-01 7.09927407e-01 4.65281654e-02 2.24463894e+02] [-7.08509810e-01 7.04273392e-01 -4.48646666e-02 -1.45310862e+02] [-6.46192053e-02 -1.43763498e-03 9.97908960e-01 -1.15640778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.49, Y:-145.33, Z:-11.57 [[ 7.05047812e-01 7.07639483e-01 4.64106058e-02 2.24488866e+02] [-7.06221151e-01 7.06572672e-01 -4.47967160e-02 -1.45331595e+02] [-6.44923907e-02 -1.19232479e-03 9.97917487e-01 -1.15660556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.51, Y:-145.35, Z:-11.57 [[ 7.05752082e-01 7.06907981e-01 4.68519475e-02 2.24514214e+02] [-7.05457985e-01 7.07304663e-01 -4.52674794e-02 -1.45353524e+02] [-6.51385434e-02 -1.10446263e-03 9.97875619e-01 -1.15676026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:224.54, Y:-145.37, Z:-11.57 [[ 7.06452830e-01 7.06176966e-01 4.73127009e-02 2.24542145e+02] [-7.04693400e-01 7.08034652e-01 -4.57618239e-02 -1.45371768e+02] [-6.58149777e-02 -1.01237799e-03 9.97831330e-01 -1.15686068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42864000000003 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:224.57, Y:-145.39, Z:-11.57 [[ 7.05505566e-01 7.07093917e-01 4.77502719e-02 2.24566709e+02] [-7.05581722e-01 7.07118828e-01 -4.62319934e-02 -1.45392247e+02] [-6.64554776e-02 -1.07479041e-03 9.97788812e-01 -1.15704345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.59, Y:-145.41, Z:-11.57 [[ 7.04423002e-01 7.08227470e-01 4.69263649e-02 2.24592361e+02] [-7.06766694e-01 7.05983408e-01 -4.54782055e-02 -1.45413175e+02] [-6.53381495e-02 -1.13009770e-03 9.97862540e-01 -1.15716179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.62, Y:-145.43, Z:-11.57 [[ 7.02872431e-01 7.09907106e-01 4.47464604e-02 2.24620441e+02] [-7.08579771e-01 7.04294306e-01 -4.34078207e-02 -1.45430156e+02] [-6.23301977e-02 -1.19627623e-03 9.98054866e-01 -1.15731818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.65, Y:-145.45, Z:-11.58 [[ 7.01756673e-01 7.10917729e-01 4.61904265e-02 2.24646527e+02] [-7.09502729e-01 7.03273985e-01 -4.48506269e-02 -1.45449860e+02] [-6.43696311e-02 -1.29800691e-03 9.97925281e-01 -1.15762474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.67, Y:-145.47, Z:-11.58 [[ 7.02150322e-01 7.10501101e-01 4.66166482e-02 2.24674008e+02] [-7.09056025e-01 7.03694997e-01 -4.53089983e-02 -1.45469524e+02] [-6.49959953e-02 -1.24008759e-03 9.97884754e-01 -1.15773983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.70, Y:-145.49, Z:-11.58 [[ 7.03339504e-01 7.09344472e-01 4.63029317e-02 2.24699240e+02] [-7.07913356e-01 7.04861138e-01 -4.50494920e-02 -1.45489850e+02] [-6.45927453e-02 -1.09337643e-03 9.97911109e-01 -1.15782777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.73, Y:-145.51, Z:-11.58 [[ 7.05029894e-01 7.07724081e-01 4.53814201e-02 2.24726403e+02] [-7.06343509e-01 7.06488372e-01 -4.41930762e-02 -1.45507504e+02] [-6.33379498e-02 -8.97431661e-04 9.97991733e-01 -1.15793597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63864 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:224.75, Y:-145.53, Z:-11.58 [[ 7.06108140e-01 7.06664260e-01 4.51322335e-02 2.24751920e+02] [-7.05294103e-01 7.07548607e-01 -4.39908723e-02 -1.45527880e+02] [-6.30200262e-02 -7.69185171e-04 9.98011966e-01 -1.15817185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.78, Y:-145.55, Z:-11.58 [[ 7.06830550e-01 7.05962464e-01 4.48059402e-02 2.24777475e+02] [-7.04608136e-01 7.08248929e-01 -4.37130279e-02 -1.45548302e+02] [-6.25935161e-02 -6.72926456e-04 9.98038876e-01 -1.15832193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:224.80, Y:-145.57, Z:-11.58 [[ 7.07406197e-01 7.05390279e-01 4.47328254e-02 2.24802909e+02] [-7.04036590e-01 7.08818880e-01 -4.36838170e-02 -1.45569700e+02] [-6.25216111e-02 -5.91343002e-04 9.98043435e-01 -1.15844470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.83, Y:-145.59, Z:-11.59 [[ 7.08826562e-01 7.03867440e-01 4.62118138e-02 2.24829127e+02] [-7.02416437e-01 7.10331214e-01 -4.51742730e-02 -1.45588686e+02] [-6.46223937e-02 -4.39212968e-04 9.97909692e-01 -1.15850266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.85, Y:-145.61, Z:-11.59 [[ 7.09204061e-01 7.03435466e-01 4.69909097e-02 2.24854792e+02] [-7.01931177e-01 7.10759034e-01 -4.59806210e-02 -1.45610384e+02] [-6.57436131e-02 -3.74741405e-04 9.97836478e-01 -1.15863827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:224.88, Y:-145.63, Z:-11.59 [[ 7.09576395e-01 7.03033030e-01 4.73909133e-02 2.24880049e+02] [-7.01498852e-01 7.11157132e-01 -4.64208409e-02 -1.45632149e+02] [-6.63377704e-02 -3.05538324e-04 9.97797177e-01 -1.15879241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.90, Y:-145.65, Z:-11.59 [[ 7.09299586e-01 7.03369480e-01 4.65346247e-02 2.24903169e+02] [-7.01888101e-01 7.10824370e-01 -4.56268494e-02 -1.45654747e+02] [-6.51704786e-02 -2.98993982e-04 9.97874100e-01 -1.15896194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.93, Y:-145.68, Z:-11.59 [[ 7.08549999e-01 7.04112508e-01 4.67169598e-02 2.24926687e+02] [-7.02618203e-01 7.10088348e-01 -4.58497463e-02 -1.45677795e+02] [-6.54565487e-02 -3.37348665e-04 9.97855363e-01 -1.15919521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.95, Y:-145.70, Z:-11.59 [[ 7.06748506e-01 7.05900886e-01 4.70158188e-02 2.24951803e+02] [-7.04388122e-01 7.08310466e-01 -4.61915337e-02 -1.45699635e+02] [-6.59084411e-02 -4.71586822e-04 9.97825563e-01 -1.15934348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.98, Y:-145.72, Z:-11.59 [[ 7.05892268e-01 7.06733534e-01 4.73689520e-02 2.24976557e+02] [-7.05196566e-01 7.07479641e-01 -4.65871234e-02 -1.45721420e+02] [-6.64372515e-02 -5.18932115e-04 9.97790470e-01 -1.15945307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.00, Y:-145.74, Z:-11.60 [[ 7.04019469e-01 7.08460361e-01 4.94014655e-02 2.25000171e+02] [-7.06789327e-01 7.05750282e-01 -4.86352417e-02 -1.45742880e+02] [-6.93212391e-02 -6.76271557e-04 9.97594160e-01 -1.15961148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.02, Y:-145.77, Z:-11.60 [[ 7.03086495e-01 7.09368843e-01 4.96510427e-02 2.25024043e+02] [-7.07679820e-01 7.04837075e-01 -4.89282049e-02 -1.45765289e+02] [-6.97040398e-02 -7.36280864e-04 9.97567444e-01 -1.15973760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.05, Y:-145.79, Z:-11.60 [[ 7.02801218e-01 7.09726201e-01 4.85712715e-02 2.25048086e+02] [-7.08107593e-01 7.04477252e-01 -4.79107193e-02 -1.45786439e+02] [-6.82208487e-02 -7.21974252e-04 9.97669983e-01 -1.15983946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.07, Y:-145.81, Z:-11.60 [[ 7.03125928e-01 7.09473281e-01 4.75562157e-02 2.25071735e+02] [-7.07918297e-01 7.04732032e-01 -4.69515391e-02 -1.45807717e+02] [-6.68252510e-02 -6.53070715e-04 9.97764481e-01 -1.15993429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.10, Y:-145.83, Z:-11.60 [[ 7.04890827e-01 7.07749578e-01 4.71111128e-02 2.25096365e+02] [-7.06216945e-01 7.06463253e-01 -4.65542545e-02 -1.45829105e+02] [-6.62310240e-02 -4.54999157e-04 9.97804211e-01 -1.16014534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.12, Y:-145.85, Z:-11.60 [[ 7.07601088e-01 7.05120344e-01 4.58911933e-02 2.25121589e+02] [-7.03657954e-01 7.09087633e-01 -4.53895716e-02 -1.45848913e+02] [-6.45459879e-02 -1.73992976e-04 9.97914718e-01 -1.16020433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.15, Y:-145.87, Z:-11.60 [[ 7.08498431e-01 7.04243125e-01 4.55147605e-02 2.25146037e+02] [-7.02800078e-01 7.09958884e-01 -4.50603317e-02 -1.45870736e+02] [-6.40470374e-02 -6.26029864e-05 9.97946879e-01 -1.16044654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.17, Y:-145.89, Z:-11.61 [[ 7.09175237e-01 7.03557534e-01 4.55771738e-02 2.25170320e+02] [-7.02106079e-01 7.10638301e-01 -4.51692183e-02 -1.45892989e+02] [-6.41680292e-02 3.28802872e-05 9.97939108e-01 -1.16059138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.19, Y:-145.92, Z:-11.61 [[ 7.09183541e-01 7.03539082e-01 4.57325394e-02 2.25194854e+02] [-7.02074633e-01 7.10656567e-01 -4.53701841e-02 -1.45915885e+02] [-6.44198271e-02 6.81319909e-05 9.97922883e-01 -1.16071920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.22, Y:-145.94, Z:-11.61 [[ 7.07674523e-01 7.04978414e-01 4.69276657e-02 2.25220828e+02] [-7.03436400e-01 7.09228761e-01 -4.66025342e-02 -1.45936052e+02] [-6.61362308e-02 -3.12020494e-05 9.97810602e-01 -1.16081782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.25, Y:-145.96, Z:-11.61 [[ 7.06285091e-01 7.06432609e-01 4.59819477e-02 2.25245700e+02] [-7.04952588e-01 7.07780298e-01 -4.57044626e-02 -1.45957195e+02] [-6.48322395e-02 -1.34712524e-04 9.97896168e-01 -1.16096715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:225.27, Y:-145.98, Z:-11.61 [[ 7.05970895e-01 7.06833522e-01 4.46258694e-02 2.25271838e+02] [-7.05437904e-01 7.07379921e-01 -4.43960711e-02 -1.45977251e+02] [-6.29480753e-02 -1.38445769e-04 9.98016794e-01 -1.16102600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.30, Y:-146.00, Z:-11.61 [[ 7.06508923e-01 7.06358043e-01 4.36286260e-02 2.25295700e+02] [-7.05020870e-01 7.07854724e-01 -4.34426298e-02 -1.45998613e+02] [-6.15687800e-02 -6.64862635e-05 9.98102841e-01 -1.16103408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32864 meters Centerline goodness [0,1] 0.9999510260051913 Centerline is valid? [True, True] Translation: X:225.32, Y:-146.02, Z:-11.61 [[ 7.07486721e-01 7.05318490e-01 4.45911128e-02 2.25320207e+02] [-7.03916959e-01 7.08890559e-01 -4.44419869e-02 -1.46019691e+02] [-6.29559740e-02 5.36750888e-05 9.98016304e-01 -1.16130418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.35, Y:-146.04, Z:-11.61 [[ 7.08970132e-01 7.03733357e-01 4.60512157e-02 2.25347286e+02] [-7.02232319e-01 7.10464150e-01 -4.59397509e-02 -1.46038598e+02] [-6.50470730e-02 2.31259269e-04 9.97882170e-01 -1.16132478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.37, Y:-146.06, Z:-11.62 [[ 7.09237863e-01 7.03439904e-01 4.64107318e-02 2.25372312e+02] [-7.01911779e-01 7.10754681e-01 -4.63426089e-02 -1.46060574e+02] [-6.55858852e-02 2.91693625e-04 9.97846885e-01 -1.16152536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.40, Y:-146.08, Z:-11.62 [[ 7.10250253e-01 7.02443187e-01 4.60233384e-02 2.25396543e+02] [-7.00935334e-01 7.11739698e-01 -4.60028277e-02 -1.46082742e+02] [-6.50710098e-02 4.14135955e-04 9.97880550e-01 -1.16162546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.27, Y:-146.34, Z:-9.94 [[ 7.50351351e-01 -6.60962540e-01 -1.00683032e-02 2.25265548e+02] [-6.60849233e-01 -7.50413822e-01 1.25453517e-02 -1.46343625e+02] [-1.58474014e-02 -2.75979115e-03 -9.99870613e-01 -9.94499472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.26, Y:-146.42, Z:-9.95 [[ 7.99364985e-01 -6.00715061e-01 -1.25314029e-02 2.25261367e+02] [-6.00577920e-01 -7.99457527e-01 1.31842739e-02 -1.46421104e+02] [-1.79383163e-02 -3.01296307e-03 -9.99834556e-01 -9.94730018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.39, Y:-146.18, Z:-11.62 [[ 8.06451929e-01 5.89204579e-01 4.97317965e-02 2.25394960e+02] [-5.88057565e-01 8.07983794e-01 -3.67489883e-02 -1.46180554e+02] [-6.18351578e-02 3.91133330e-04 9.98086299e-01 -1.16194685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53864 meters Centerline goodness [0,1] 0.9999510715334181 Centerline is valid? [True, True] Translation: X:225.42, Y:-146.20, Z:-11.62 [[ 8.05784363e-01 5.90102434e-01 4.99066999e-02 2.25420553e+02] [-5.88947328e-01 8.07328309e-01 -3.69059126e-02 -1.46201174e+02] [-6.20693605e-02 3.45789673e-04 9.98071778e-01 -1.16212326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.45, Y:-146.22, Z:-11.62 [[ 8.04666708e-01 5.91595492e-01 5.02619396e-02 2.25446874e+02] [-5.90425827e-01 8.06234900e-01 -3.71837055e-02 -1.46221285e+02] [-6.25206424e-02 2.44542596e-04 9.98043641e-01 -1.16220340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:225.47, Y:-146.24, Z:-11.62 [[ 8.04352283e-01 5.92066505e-01 4.97459320e-02 2.25472408e+02] [-5.90920848e-01 8.05889078e-01 -3.68150100e-02 -1.46240240e+02] [-6.18866376e-02 2.16329028e-04 9.98083162e-01 -1.16236416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.50, Y:-146.26, Z:-11.62 [[ 8.03734052e-01 5.92941337e-01 4.93167692e-02 2.25497552e+02] [-5.91816423e-01 8.05245644e-01 -3.65071892e-02 -1.46259611e+02] [-6.13587351e-02 1.55597142e-04 9.98115766e-01 -1.16247353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.52, Y:-146.28, Z:-11.63 [[ 8.02979466e-01 5.94028087e-01 4.85243116e-02 2.25522225e+02] [-5.92940467e-01 8.04444296e-01 -3.59301689e-02 -1.46279837e+02] [-6.03786352e-02 7.91599388e-05 9.98175543e-01 -1.16262863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.55, Y:-146.30, Z:-11.63 [[ 8.02432849e-01 5.94663854e-01 4.97636799e-02 2.25547544e+02] [-5.93520504e-01 8.03974439e-01 -3.68580116e-02 -1.46299096e+02] [-6.19268539e-02 4.03148408e-05 9.98080690e-01 -1.16283810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71864 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:225.57, Y:-146.32, Z:-11.63 [[ 8.02760126e-01 5.94202147e-01 4.99998893e-02 2.25573732e+02] [-5.93046216e-01 8.04315735e-01 -3.70457193e-02 -1.46319642e+02] [-6.22283436e-02 8.65811218e-05 9.98061935e-01 -1.16292566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:225.60, Y:-146.34, Z:-11.63 [[ 8.03020515e-01 5.93882941e-01 4.96095273e-02 2.25598419e+02] [-5.92743477e-01 8.04551451e-01 -3.67713638e-02 -1.46339641e+02] [-6.17513029e-02 1.22435839e-04 9.98091560e-01 -1.16306945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.62, Y:-146.36, Z:-11.63 [[ 8.03452989e-01 5.93300054e-01 4.95816528e-02 2.25624671e+02] [-5.92160028e-01 8.04981375e-01 -3.67625728e-02 -1.46360441e+02] [-6.17235435e-02 1.76726055e-04 9.98093269e-01 -1.16319373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.65, Y:-146.38, Z:-11.63 [[ 8.04875409e-01 5.91427651e-01 4.88764714e-02 2.25650478e+02] [-5.90315602e-01 8.06358002e-01 -3.62527673e-02 -1.46380280e+02] [-6.08528229e-02 3.26417247e-04 9.98146696e-01 -1.16347587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.68, Y:-146.40, Z:-11.64 [[ 8.05475630e-01 5.90658089e-01 4.82911068e-02 2.25676276e+02] [-5.89570580e-01 8.06921850e-01 -3.58281919e-02 -1.46399376e+02] [-6.01293606e-02 3.87719645e-04 9.98190518e-01 -1.16361053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.70, Y:-146.42, Z:-11.64 [[ 8.05658850e-01 5.90273970e-01 4.99044874e-02 2.25699792e+02] [-5.89111135e-01 8.07202855e-01 -3.70354185e-02 -1.46421497e+02] [-6.21440882e-02 4.38623434e-04 9.98067092e-01 -1.16381768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.72, Y:-146.44, Z:-11.64 [[ 8.05361228e-01 5.90784050e-01 4.86569518e-02 2.25724446e+02] [-5.89678540e-01 8.06829625e-01 -3.61272197e-02 -1.46442448e+02] [-6.06012554e-02 4.03501730e-04 9.98161973e-01 -1.16386264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92864000000003 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:225.75, Y:-146.46, Z:-11.64 [[ 8.04560702e-01 5.91861054e-01 4.88115710e-02 2.25750096e+02] [-5.90748304e-01 8.06039930e-01 -3.62777070e-02 -1.46464114e+02] [-6.08154372e-02 3.52264646e-04 9.98148966e-01 -1.16404820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.77, Y:-146.49, Z:-11.64 [[ 8.03459319e-01 5.93378016e-01 4.85350581e-02 2.25774592e+02] [-5.92278273e-01 8.04923883e-01 -3.61107957e-02 -1.46487358e+02] [-6.04943798e-02 2.67294923e-04 9.98168502e-01 -1.16411852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98864000000003 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:225.80, Y:-146.51, Z:-11.64 [[ 8.02605445e-01 5.94381709e-01 5.03476228e-02 2.25798933e+02] [-5.93197683e-01 8.04183021e-01 -3.74990505e-02 -1.46508702e+02] [-6.27774531e-02 2.30848988e-04 9.98027524e-01 -1.16438164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.82, Y:-146.53, Z:-11.64 [[ 8.01797416e-01 5.95425975e-01 5.08803719e-02 2.25823192e+02] [-5.94216407e-01 8.03410154e-01 -3.79339815e-02 -1.46531196e+02] [-6.34646853e-02 1.81416567e-04 9.97984068e-01 -1.16444692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:225.85, Y:-146.55, Z:-11.65 [[ 8.01375956e-01 5.96129441e-01 4.92571428e-02 2.25848619e+02] [-5.94994929e-01 8.02888327e-01 -3.67609564e-02 -1.46551397e+02] [-6.14622734e-02 1.51596404e-04 9.98109396e-01 -1.16452064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:225.87, Y:-146.57, Z:-11.65 [[ 8.01121102e-01 5.96483301e-01 4.91187456e-02 2.25874303e+02] [-5.95353591e-01 8.02625472e-01 -3.66940634e-02 -1.46572198e+02] [-6.13113524e-02 1.53366905e-04 9.98118678e-01 -1.16471476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.90, Y:-146.60, Z:-11.65 [[ 8.01815949e-01 5.95573559e-01 4.88192613e-02 2.25898461e+02] [-5.94453499e-01 8.03300736e-01 -3.65097972e-02 -1.46595394e+02] [-6.09608184e-02 2.53356951e-04 9.98140128e-01 -1.16480404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.92, Y:-146.62, Z:-11.65 [[ 8.02215051e-01 5.95014902e-01 4.90742121e-02 2.25923429e+02] [-5.93879617e-01 8.03714600e-01 -3.67402155e-02 -1.46616544e+02] [-6.13026365e-02 3.29379616e-04 9.98119170e-01 -1.16477552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.95, Y:-146.64, Z:-11.65 [[ 8.01905933e-01 5.95433001e-01 4.90552333e-02 2.25949678e+02] [-5.94296948e-01 8.03404900e-01 -3.67655431e-02 -1.46635796e+02] [-6.13026324e-02 3.29131710e-04 9.98119171e-01 -1.16490676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.97, Y:-146.66, Z:-11.65 [[ 8.02227784e-01 5.94799841e-01 5.14172260e-02 2.25973343e+02] [-5.93547690e-01 8.03873725e-01 -3.85768627e-02 -1.46658580e+02] [-6.42784688e-02 4.28855385e-04 9.97931909e-01 -1.16510177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22864 meters Centerline goodness [0,1] 0.9999019800039208 Centerline is valid? [True, True] Translation: X:226.00, Y:-146.68, Z:-11.65 [[ 8.01796260e-01 5.95313889e-01 5.21932025e-02 2.25997782e+02] [-5.94022137e-01 8.03493119e-01 -3.91983139e-02 -1.46680599e+02] [-6.52721798e-02 4.25143770e-04 9.97867407e-01 -1.16526777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:226.02, Y:-146.70, Z:-11.65 [[ 8.00272114e-01 5.97354849e-01 5.22659336e-02 2.26021750e+02] [-5.96061065e-01 8.01976994e-01 -3.92951307e-02 -1.46703644e+02] [-6.53892132e-02 2.93109261e-04 9.97859792e-01 -1.16538371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.05, Y:-146.72, Z:-11.66 [[ 7.98855358e-01 5.99307105e-01 5.15859536e-02 2.26047106e+02] [-5.98048307e-01 8.00519186e-01 -3.88233790e-02 -1.46724092e+02] [-6.45626724e-02 1.63372174e-04 9.97913641e-01 -1.16553813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.07, Y:-146.75, Z:-11.66 [[ 7.98055830e-01 6.00383918e-01 5.14397081e-02 2.26072590e+02] [-5.99131998e-01 7.99711910e-01 -3.87519032e-02 -1.46745081e+02] [-6.44029668e-02 1.07007183e-04 9.97923968e-01 -1.16573143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.10, Y:-146.77, Z:-11.66 [[ 7.96128443e-01 6.03024007e-01 5.04137774e-02 2.26095490e+02] [-6.01824915e-01 7.97723035e-01 -3.80096273e-02 -1.46767718e+02] [-6.31369493e-02 -7.97219021e-05 9.98004869e-01 -1.16573404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.12, Y:-146.79, Z:-11.66 [[ 7.94604641e-01 6.04994607e-01 5.08427982e-02 2.26121364e+02] [-6.03777505e-01 7.96229538e-01 -3.83568339e-02 -1.46787831e+02] [-6.36882154e-02 -2.19219691e-04 9.97969821e-01 -1.16580071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.15, Y:-146.81, Z:-11.66 [[ 7.92092756e-01 6.08335512e-01 5.01694132e-02 2.26147304e+02] [-6.07154547e-01 7.93679850e-01 -3.78900055e-02 -1.46808077e+02] [-6.28682882e-02 -4.48188464e-04 9.98021732e-01 -1.16584158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.17, Y:-146.83, Z:-11.66 [[ 7.90738908e-01 6.10118342e-01 4.98757310e-02 2.26173494e+02] [-6.08952143e-01 7.92310105e-01 -3.77092146e-02 -1.46828766e+02] [-6.25241291e-02 -5.53790099e-04 9.98043299e-01 -1.16601106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.20, Y:-146.85, Z:-11.66 [[ 7.89653568e-01 6.11457449e-01 5.06658715e-02 2.26199170e+02] [-6.10254161e-01 7.91277057e-01 -3.83468144e-02 -1.46848632e+02] [-6.35381870e-02 -6.38360157e-04 9.97979204e-01 -1.16623222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.23, Y:-146.87, Z:-11.66 [[ 7.89131009e-01 6.12124732e-01 5.07499987e-02 2.26226147e+02] [-6.10916358e-01 7.90760946e-01 -3.84490731e-02 -1.46868536e+02] [-6.36667456e-02 -6.62648517e-04 9.97970995e-01 -1.16634884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52864 meters Centerline goodness [0,1] 0.999951021207817 Centerline is valid? [True, True] Translation: X:226.25, Y:-146.89, Z:-11.66 [[ 7.87708661e-01 6.13930482e-01 5.10336110e-02 2.26252947e+02] [-6.12709738e-01 7.89359711e-01 -3.87043194e-02 -1.46886454e+02] [-6.40456379e-02 -7.81062800e-04 9.97946665e-01 -1.16640882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.28, Y:-146.91, Z:-11.67 [[ 7.87080080e-01 6.14807631e-01 5.01649748e-02 2.26279558e+02] [-6.13627530e-01 7.88676692e-01 -3.80832010e-02 -1.46905771e+02] [-6.29777890e-02 -8.08080695e-04 9.98014602e-01 -1.16650285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.31, Y:-146.92, Z:-11.67 [[ 7.86777528e-01 6.15109481e-01 5.12000837e-02 2.26305328e+02] [-6.13878126e-01 7.88441285e-01 -3.89099940e-02 -1.46924725e+02] [-6.43021660e-02 -8.17102501e-04 9.97930140e-01 -1.16664862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:226.33, Y:-146.94, Z:-11.67 [[ 7.87107732e-01 6.14687112e-01 5.11973822e-02 2.26332274e+02] [-6.13452476e-01 7.88770682e-01 -3.89470272e-02 -1.46943167e+02] [-6.43232297e-02 -7.51654632e-04 9.97928834e-01 -1.16673997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.36, Y:-146.96, Z:-11.67 [[ 7.87391830e-01 6.14394545e-01 5.03333764e-02 2.26358663e+02] [-6.13198166e-01 7.88998654e-01 -3.83292788e-02 -1.46961839e+02] [-6.32622660e-02 -6.84173117e-04 9.97996702e-01 -1.16682722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.39, Y:-146.98, Z:-11.67 [[ 7.89185124e-01 6.12018444e-01 5.11885193e-02 2.26386319e+02] [-6.10773457e-01 7.90843349e-01 -3.90202695e-02 -1.46980389e+02] [-6.43632246e-02 -4.70372650e-04 9.97926427e-01 -1.16703036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.41, Y:-147.00, Z:-11.67 [[ 7.90168504e-01 6.10844901e-01 5.00224161e-02 2.26412805e+02] [-6.09651225e-01 7.91750210e-01 -3.81705229e-02 -1.46999037e+02] [-6.29215278e-02 -3.35082236e-04 9.98018421e-01 -1.16703082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.44, Y:-147.02, Z:-11.67 [[ 7.92801523e-01 6.07398910e-01 5.03220471e-02 2.26441413e+02] [-6.06181455e-01 7.94396981e-01 -3.84380052e-02 -1.47016129e+02] [-6.33228848e-02 -3.05826580e-05 9.97993092e-01 -1.16711531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.47, Y:-147.04, Z:-11.67 [[ 7.94539301e-01 6.05172733e-01 4.97319020e-02 2.26468050e+02] [-6.03976729e-01 7.96094173e-01 -3.80286698e-02 -1.47035780e+02] [-6.26051914e-02 1.78361265e-04 9.98038355e-01 -1.16731859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.49, Y:-147.06, Z:-11.68 [[ 7.95204157e-01 6.04233380e-01 5.05210012e-02 2.26493302e+02] [-6.02994590e-01 7.96807341e-01 -3.86728035e-02 -1.47055866e+02] [-6.36229034e-02 2.88883682e-04 9.97973969e-01 -1.16750013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.52, Y:-147.07, Z:-11.68 [[ 7.97256061e-01 6.01607491e-01 4.95095972e-02 2.26520175e+02] [-6.00410470e-01 7.98791686e-01 -3.79356075e-02 -1.47074814e+02] [-6.23702002e-02 5.18312486e-04 9.98052949e-01 -1.16756183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.55, Y:-147.09, Z:-11.68 [[ 7.98015887e-01 6.00660550e-01 4.87600963e-02 2.26547087e+02] [-5.99495330e-01 7.99503925e-01 -3.74008539e-02 -1.47093726e+02] [-6.14491058e-02 6.15025599e-04 9.98110029e-01 -1.16764335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.57, Y:-147.11, Z:-11.68 [[ 7.99409597e-01 5.98830644e-01 4.84371361e-02 2.26571235e+02] [-5.97675165e-01 8.00875302e-01 -3.71906913e-02 -1.47114898e+02] [-6.10630317e-02 7.80922260e-04 9.98133606e-01 -1.16775185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.60, Y:-147.14, Z:-11.68 [[ 8.00335613e-01 5.97586618e-01 4.85091742e-02 2.26595768e+02] [-5.96423308e-01 8.01803851e-01 -3.72803244e-02 -1.47135323e+02] [-6.11730657e-02 9.04769184e-04 9.98126764e-01 -1.16792251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.62, Y:-147.16, Z:-11.68 [[ 8.01018734e-01 5.96662331e-01 4.86112197e-02 2.26620198e+02] [-5.95490307e-01 8.02491777e-01 -3.73930799e-02 -1.47156434e+02] [-6.13211463e-02 1.00504738e-03 9.98117582e-01 -1.16798497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.64, Y:-147.18, Z:-11.68 [[ 8.03060912e-01 5.93965476e-01 4.79393949e-02 2.26642277e+02] [-5.92818874e-01 8.04489604e-01 -3.69088020e-02 -1.47179808e+02] [-6.04892990e-02 1.22063813e-03 9.98168099e-01 -1.16806942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00864 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:226.67, Y:-147.20, Z:-11.68 [[ 8.03802744e-01 5.92993285e-01 4.75406346e-02 2.26665839e+02] [-5.91862104e-01 8.05206341e-01 -3.66332891e-02 -1.47202165e+02] [-6.00033149e-02 1.30843831e-03 9.98197320e-01 -1.16814177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:226.69, Y:-147.23, Z:-11.68 [[ 8.03602597e-01 5.93325635e-01 4.67713367e-02 2.26687223e+02] [-5.92229455e-01 8.04961509e-01 -3.60727283e-02 -1.47226644e+02] [-5.90520002e-02 1.28877484e-03 9.98254076e-01 -1.16808941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.71, Y:-147.25, Z:-11.68 [[ 8.02100471e-01 5.95321889e-01 4.71877375e-02 2.26711130e+02] [-5.94207542e-01 8.03486440e-01 -3.64271561e-02 -1.47249086e+02] [-5.96005906e-02 1.17892955e-03 9.98221609e-01 -1.16822903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.73, Y:-147.27, Z:-11.68 [[ 8.00709728e-01 5.97275874e-01 4.61027281e-02 2.26734682e+02] [-5.96213589e-01 8.02035198e-01 -3.56215860e-02 -1.47271423e+02] [-5.82519245e-02 1.03547740e-03 9.98301378e-01 -1.16828624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.75, Y:-147.30, Z:-11.68 [[ 7.97457969e-01 6.01506421e-01 4.74427365e-02 2.26754658e+02] [-6.00386807e-01 7.98867588e-01 -3.66913878e-02 -1.47298794e+02] [-5.99705698e-02 7.75846551e-04 9.98199844e-01 -1.16847386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.78, Y:-147.32, Z:-11.69 [[ 7.96459065e-01 6.02742588e-01 4.85214497e-02 2.26778710e+02] [-6.01571456e-01 7.97935363e-01 -3.75624904e-02 -1.47321911e+02] [-6.13574932e-02 7.27866885e-04 9.98115589e-01 -1.16853557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.80, Y:-147.34, Z:-11.69 [[ 7.95363092e-01 6.04117636e-01 4.93906233e-02 2.26803495e+02] [-6.02904203e-01 7.96894873e-01 -3.82764018e-02 -1.47344150e+02] [-6.24825839e-02 6.65822898e-04 9.98045832e-01 -1.16871371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.83, Y:-147.37, Z:-11.69 [[ 7.93272811e-01 6.06967733e-01 4.80459985e-02 2.26825921e+02] [-6.05822466e-01 7.94726343e-01 -3.72717027e-02 -1.47367903e+02] [-6.08061415e-02 4.59283092e-04 9.98149489e-01 -1.16885988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.85, Y:-147.39, Z:-11.69 [[ 7.93081250e-01 6.07270218e-01 4.73815692e-02 2.26850038e+02] [-6.06154820e-01 7.94495231e-01 -3.67921620e-02 -1.47390024e+02] [-5.99872150e-02 4.58607281e-04 9.98199040e-01 -1.16899568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.87, Y:-147.41, Z:-11.69 [[ 7.92497117e-01 6.08146031e-01 4.58990794e-02 2.26872624e+02] [-6.07098764e-01 7.93825068e-01 -3.56770593e-02 -1.47413654e+02] [-5.81327019e-02 4.08692247e-04 9.98308781e-01 -1.16891892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.90, Y:-147.44, Z:-11.69 [[ 7.91492518e-01 6.09421699e-01 4.63118394e-02 2.26897980e+02] [-6.08355574e-01 7.92846185e-01 -3.60336346e-02 -1.47435624e+02] [-5.86778440e-02 3.46286614e-04 9.98276911e-01 -1.16904802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.92, Y:-147.46, Z:-11.69 [[ 7.90289169e-01 6.10914881e-01 4.71809062e-02 2.26923090e+02] [-6.09808564e-01 7.91696239e-01 -3.67502543e-02 -1.47456452e+02] [-5.98042232e-02 2.72007328e-04 9.98210089e-01 -1.16922225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.95, Y:-147.48, Z:-11.69 [[ 7.87268420e-01 6.14619093e-01 4.95157060e-02 2.26945158e+02] [-6.13405677e-01 7.88824043e-01 -3.86018834e-02 -1.47479885e+02] [-6.27846339e-02 1.68285720e-05 9.98027099e-01 -1.16944719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.97, Y:-147.50, Z:-11.70 [[ 7.85848164e-01 6.16437270e-01 4.94747959e-02 2.26969688e+02] [-6.15227981e-01 7.87404013e-01 -3.85934090e-02 -1.47501643e+02] [-6.27470686e-02 -1.09719196e-04 9.98029455e-01 -1.16960649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.99, Y:-147.52, Z:-11.70 [[ 7.83269358e-01 6.19774858e-01 4.86645496e-02 2.26992578e+02] [-6.18609377e-01 7.84779590e-01 -3.79925361e-02 -1.47523905e+02] [-6.17377640e-02 -3.45957372e-04 9.98092345e-01 -1.16959869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.02, Y:-147.54, Z:-11.70 [[ 7.82053647e-01 6.21271225e-01 4.91340971e-02 2.27017598e+02] [-6.20084601e-01 7.83595472e-01 -3.83826109e-02 -1.47544959e+02] [-6.23472677e-02 -4.50036210e-04 9.98054415e-01 -1.16975424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.04, Y:-147.57, Z:-11.70 [[ 7.80971550e-01 6.22669848e-01 4.86384485e-02 2.27042465e+02] [-6.21507187e-01 7.82484496e-01 -3.80372190e-02 -1.47566011e+02] [-6.17434612e-02 -5.23159471e-04 9.98091915e-01 -1.16986829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.07, Y:-147.59, Z:-11.70 [[ 7.79378390e-01 6.24784796e-01 4.70455464e-02 2.27065868e+02] [-6.23698669e-01 7.80796742e-01 -3.68295920e-02 -1.47587793e+02] [-5.97435785e-02 -6.38056577e-04 9.98213553e-01 -1.16987035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.09, Y:-147.61, Z:-11.70 [[ 7.78779753e-01 6.25479015e-01 4.77294271e-02 2.27091570e+02] [-6.24360058e-01 7.80240700e-01 -3.74027685e-02 -1.47608875e+02] [-6.06350885e-02 -6.71829070e-04 9.98159774e-01 -1.16996855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.12, Y:-147.63, Z:-11.70 [[ 7.78440041e-01 6.25763380e-01 4.95105580e-02 2.27116025e+02] [-6.24557215e-01 7.80012641e-01 -3.88402445e-02 -1.47629748e+02] [-6.29236638e-02 -6.87374739e-04 9.98018106e-01 -1.16999589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.14, Y:-147.65, Z:-11.70 [[ 7.78109651e-01 6.26112816e-01 5.02803371e-02 2.27141231e+02] [-6.24866962e-01 7.79732171e-01 -3.94844466e-02 -1.47650695e+02] [-6.39269144e-02 -6.95292586e-04 9.97954341e-01 -1.17008679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.17, Y:-147.67, Z:-11.70 [[ 7.77351920e-01 6.27051607e-01 5.03018293e-02 2.27166327e+02] [-6.25803862e-01 7.78977366e-01 -3.95447941e-02 -1.47671614e+02] [-6.39806132e-02 -7.38857437e-04 9.97950868e-01 -1.17019857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.19, Y:-147.69, Z:-11.70 [[ 7.75637493e-01 6.29181844e-01 5.01665806e-02 2.27190796e+02] [-6.27942611e-01 7.77257636e-01 -3.94796756e-02 -1.47691931e+02] [-6.38322530e-02 -8.79817005e-04 9.97960254e-01 -1.17029505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:227.22, Y:-147.71, Z:-11.70 [[ 7.74969780e-01 6.29930493e-01 5.10824147e-02 2.27215904e+02] [-6.28644643e-01 7.76650959e-01 -4.02392961e-02 -1.47711613e+02] [-6.50211660e-02 -9.28447959e-04 9.97883453e-01 -1.17044346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.24, Y:-147.73, Z:-11.71 [[ 7.74141501e-01 6.30874444e-01 5.19843556e-02 2.27239450e+02] [-6.29542305e-01 7.75884299e-01 -4.09883069e-02 -1.47732747e+02] [-6.61923206e-02 -9.95601630e-04 9.97806387e-01 -1.17069740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.26, Y:-147.75, Z:-11.71 [[ 7.74066577e-01 6.31059657e-01 5.08393969e-02 2.27264364e+02] [-6.29783668e-01 7.75733708e-01 -4.01216408e-02 -1.47752853e+02] [-6.47569827e-02 -9.61000699e-04 9.97900601e-01 -1.17071915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.29, Y:-147.77, Z:-11.71 [[ 7.73553290e-01 6.31620415e-01 5.16813229e-02 2.27289408e+02] [-6.30300434e-01 7.75277152e-01 -4.08252418e-02 -1.47773155e+02] [-6.58534050e-02 -9.94260152e-04 9.97828813e-01 -1.17085147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.31, Y:-147.79, Z:-11.71 [[ 7.73893188e-01 6.31249218e-01 5.11249277e-02 2.27314591e+02] [-6.29954844e-01 7.75579500e-01 -4.04145305e-02 -1.47792612e+02] [-6.51630866e-02 -9.29866000e-04 9.97874194e-01 -1.17093672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.34, Y:-147.81, Z:-11.71 [[ 7.72383072e-01 6.32928333e-01 5.31612200e-02 2.27338529e+02] [-6.31530934e-01 7.74209614e-01 -4.20494135e-02 -1.47813685e+02] [-6.77721928e-02 -1.09469979e-03 9.97700221e-01 -1.17114894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:227.36, Y:-147.83, Z:-11.71 [[ 7.71590832e-01 6.33936702e-01 5.26483230e-02 2.27363917e+02] [-6.32565688e-01 7.73384096e-01 -4.16856206e-02 -1.47834357e+02] [-6.71434205e-02 -1.13928007e-03 9.97742684e-01 -1.17117794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.39, Y:-147.85, Z:-11.71 [[ 7.70488055e-01 6.35244835e-01 5.30297660e-02 2.27389419e+02] [-6.33854005e-01 7.72309841e-01 -4.20310683e-02 -1.47854312e+02] [-6.76554291e-02 -1.22869347e-03 9.97707990e-01 -1.17137233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.41, Y:-147.87, Z:-11.72 [[ 7.69378260e-01 6.36512778e-01 5.39312260e-02 2.27414510e+02] [-6.35074506e-01 7.71265007e-01 -4.27862204e-02 -1.47873995e+02] [-6.88292434e-02 -1.33155893e-03 9.97627567e-01 -1.17150673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96864 meters Centerline goodness [0,1] 0.9999020088192063 Centerline is valid? [True, True] Translation: X:227.44, Y:-147.89, Z:-11.72 [[ 7.68713672e-01 6.37274738e-01 5.44077120e-02 2.27438548e+02] [-6.35809976e-01 7.70635454e-01 -4.32050010e-02 -1.47894963e+02] [-6.94619675e-02 -1.38069114e-03 9.97583645e-01 -1.17176733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:227.46, Y:-147.92, Z:-11.72 [[ 7.67724496e-01 6.38457469e-01 5.45083251e-02 2.27463442e+02] [-6.36987421e-01 7.69655722e-01 -4.33254562e-02 -1.47915345e+02] [-6.96141054e-02 -1.45910338e-03 9.97572928e-01 -1.17196467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.49, Y:-147.93, Z:-11.72 [[ 7.66519624e-01 6.39889511e-01 5.46724719e-02 2.27488406e+02] [-6.38411454e-01 7.68465334e-01 -4.34953582e-02 -1.47934806e+02] [-6.98461229e-02 -1.56348664e-03 9.97556552e-01 -1.17205826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.51, Y:-147.95, Z:-11.72 [[ 7.65224604e-01 6.41395953e-01 5.51591991e-02 2.27513598e+02] [-6.39892633e-01 7.67208177e-01 -4.39207487e-02 -1.47953988e+02] [-7.04891790e-02 -1.68672758e-03 9.97511118e-01 -1.17221224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.54, Y:-147.97, Z:-11.72 [[ 7.64892676e-01 6.41793497e-01 5.51389243e-02 2.27539220e+02] [-6.40289375e-01 7.66875641e-01 -4.39461923e-02 -1.47974003e+02] [-7.04890784e-02 -1.69074673e-03 9.97511118e-01 -1.17234354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.56, Y:-147.99, Z:-11.72 [[ 7.62469798e-01 6.44764837e-01 5.40195495e-02 2.27563813e+02] [-6.43325686e-01 7.64378652e-01 -4.30968412e-02 -1.47994737e+02] [-6.90787182e-02 -1.89212393e-03 9.97609418e-01 -1.17249157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.59, Y:-148.01, Z:-11.73 [[ 7.61645542e-01 6.45772132e-01 5.36136449e-02 2.27589794e+02] [-6.44354179e-01 7.63527736e-01 -4.28145882e-02 -1.48014803e+02] [-6.85839727e-02 -1.93663591e-03 9.97643467e-01 -1.17267644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17864000000003 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:227.62, Y:-148.03, Z:-11.73 [[ 7.60714430e-01 6.46874330e-01 5.35458514e-02 2.27616676e+02] [-6.45459771e-01 7.62593993e-01 -4.28028734e-02 -1.48033076e+02] [-6.85218247e-02 -2.00092957e-03 9.97647611e-01 -1.17287735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.64, Y:-148.05, Z:-11.73 [[ 7.59710114e-01 6.48045649e-01 5.36412149e-02 2.27643013e+02] [-6.46626243e-01 7.61598654e-01 -4.29184454e-02 -1.48052433e+02] [-6.86661889e-02 -2.08024027e-03 9.97637523e-01 -1.17292138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.67, Y:-148.07, Z:-11.73 [[ 7.58973682e-01 6.48915864e-01 5.35457846e-02 2.27669054e+02] [-6.47500794e-01 7.60857210e-01 -4.28839014e-02 -1.48072349e+02] [-6.85687402e-02 -2.12318546e-03 9.97644135e-01 -1.17310087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.70, Y:-148.09, Z:-11.73 [[ 7.58078561e-01 6.50023658e-01 5.27839024e-02 2.27696655e+02] [-6.48648297e-01 7.59910908e-01 -4.23178341e-02 -1.48090291e+02] [-6.76186565e-02 -2.15794564e-03 9.97708906e-01 -1.17332493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:227.72, Y:-148.11, Z:-11.74 [[ 7.57725787e-01 6.50426542e-01 5.28861478e-02 2.27723301e+02] [-6.49043810e-01 7.59566079e-01 -4.24441225e-02 -1.48109281e+02] [-6.77773078e-02 -2.16442073e-03 9.97698127e-01 -1.17355335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32864 meters Centerline goodness [0,1] 0.9999017295597484 Centerline is valid? [True, True] Translation: X:227.75, Y:-148.13, Z:-11.74 [[ 7.58211103e-01 6.49826676e-01 5.33030524e-02 2.27750222e+02] [-6.48418346e-01 7.60079515e-01 -4.28109748e-02 -1.48127274e+02] [-6.83342716e-02 -2.10292064e-03 9.97660265e-01 -1.17370364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:227.78, Y:-148.15, Z:-11.74 [[ 7.59305027e-01 6.48591159e-01 5.27767390e-02 2.27777606e+02] [-6.47206614e-01 7.61134457e-01 -4.24020823e-02 -1.48145305e+02] [-6.76718103e-02 -1.96134025e-03 9.97705708e-01 -1.17382109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38864 meters Centerline goodness [0,1] 0.9998529195469922 Centerline is valid? [True, True] Translation: X:227.80, Y:-148.16, Z:-11.74 [[ 7.59801766e-01 6.47998993e-01 5.29016105e-02 2.27804460e+02] [-6.46605494e-01 7.61638816e-01 -4.25164576e-02 -1.48164013e+02] [-6.78425416e-02 -1.90239243e-03 9.97694227e-01 -1.17388925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.83, Y:-148.18, Z:-11.74 [[ 7.60501734e-01 6.47309110e-01 5.12642958e-02 2.27832233e+02] [-6.45997553e-01 7.62225555e-01 -4.12233673e-02 -1.48180091e+02] [-6.57592175e-02 -1.76616730e-03 9.97833957e-01 -1.17407769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44864 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:227.86, Y:-148.20, Z:-11.74 [[ 7.60052768e-01 6.47809491e-01 5.16009054e-02 2.27859793e+02] [-6.46479078e-01 7.61800274e-01 -4.15348467e-02 -1.48198789e+02] [-6.62162518e-02 -1.79023057e-03 9.97803690e-01 -1.17427748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47864 meters Centerline goodness [0,1] 0.9998528257456829 Centerline is valid? [True, True] Translation: X:227.89, Y:-148.22, Z:-11.74 [[ 7.60450949e-01 6.47422920e-01 5.05758547e-02 2.27886787e+02] [-6.46141394e-01 7.62129060e-01 -4.07503895e-02 -1.48217027e+02] [-6.49280648e-02 -1.69048094e-03 9.97888515e-01 -1.17431858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:227.92, Y:-148.23, Z:-11.74 [[ 7.61632888e-01 6.45959362e-01 5.14960849e-02 2.27915313e+02] [-6.44624803e-01 7.63370195e-01 -4.15308083e-02 -1.48233062e+02] [-6.61377908e-02 -1.56442419e-03 9.97809273e-01 -1.17444256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53864 meters Centerline goodness [0,1] 0.9997056659308315 Centerline is valid? [True, True] Translation: X:227.94, Y:-148.25, Z:-11.74 [[ 7.63408723e-01 6.43822791e-01 5.19551240e-02 2.27943305e+02] [-6.42456726e-01 7.65173418e-01 -4.19403737e-02 -1.48249918e+02] [-6.67568483e-02 -1.36127177e-03 9.97768345e-01 -1.17448980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56864 meters Centerline goodness [0,1] 0.9998037676609105 Centerline is valid? [True, True] Translation: X:227.97, Y:-148.27, Z:-11.75 [[ 7.63884107e-01 6.43240466e-01 5.21802126e-02 2.27969733e+02] [-6.41858334e-01 7.65663147e-01 -4.21642471e-02 -1.48269004e+02] [-6.70742157e-02 -1.28370612e-03 9.97747163e-01 -1.17466736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59864 meters Centerline goodness [0,1] 0.9998526088238184 Centerline is valid? [True, True] Translation: X:228.00, Y:-148.29, Z:-11.75 [[ 7.64662485e-01 6.42323260e-01 5.20779605e-02 2.27996103e+02] [-6.40941517e-01 7.66432950e-01 -4.21248834e-02 -1.48287452e+02] [-6.69720573e-02 -1.16760898e-03 9.97754168e-01 -1.17482136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:228.02, Y:-148.31, Z:-11.75 [[ 7.65526397e-01 6.41284554e-01 5.21867461e-02 2.28022200e+02] [-6.39891921e-01 7.67302432e-01 -4.22528944e-02 -1.48305734e+02] [-6.71391457e-02 -1.04817118e-03 9.97743071e-01 -1.17501042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:228.05, Y:-148.32, Z:-11.75 [[ 7.67372379e-01 6.39120867e-01 5.16153958e-02 2.28049177e+02] [-6.37751724e-01 7.69105867e-01 -4.18198989e-02 -1.48324280e+02] [-6.64256738e-02 -8.26372357e-04 9.97791034e-01 -1.17515586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.07, Y:-148.34, Z:-11.75 [[ 7.68074123e-01 6.38357916e-01 5.06094146e-02 2.28074909e+02] [-6.37038496e-01 7.69739334e-01 -4.10281907e-02 -1.48343185e+02] [-6.51467274e-02 -7.27453812e-04 9.97875430e-01 -1.17529493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.10, Y:-148.36, Z:-11.75 [[ 7.68731815e-01 6.37604753e-01 5.01156263e-02 2.28101385e+02] [-6.36306903e-01 7.70363411e-01 -4.06662008e-02 -1.48361918e+02] [-6.45362078e-02 -6.27516604e-04 9.97915169e-01 -1.17543075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74864 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:228.13, Y:-148.38, Z:-11.76 [[ 7.68639443e-01 6.37766585e-01 4.94690758e-02 2.28127290e+02] [-6.36499961e-01 7.70229458e-01 -4.01793700e-02 -1.48381324e+02] [-6.37275990e-02 -6.03616234e-04 9.97967148e-01 -1.17558036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77864 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:228.15, Y:-148.40, Z:-11.76 [[ 7.68257862e-01 6.38338513e-01 4.79979242e-02 2.28153117e+02] [-6.37145043e-01 7.69755532e-01 -3.90207003e-02 -1.48400197e+02] [-6.18550835e-02 -6.03679728e-04 9.98084958e-01 -1.17562938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.18, Y:-148.42, Z:-11.76 [[ 7.67998136e-01 6.38625755e-01 4.83322687e-02 2.28180805e+02] [-6.37413692e-01 7.69517241e-01 -3.93319335e-02 -1.48418469e+02] [-6.23108998e-02 -6.00798190e-04 9.98056607e-01 -1.17580120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83864 meters Centerline goodness [0,1] 0.9997547817557626 Centerline is valid? [True, True] Translation: X:228.21, Y:-148.44, Z:-11.76 [[ 7.67485879e-01 6.39223735e-01 4.85637835e-02 2.28206875e+02] [-6.37999158e-01 7.69020561e-01 -3.95531536e-02 -1.48437780e+02] [-6.26298626e-02 -6.27166073e-04 9.98036626e-01 -1.17602491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86864 meters Centerline goodness [0,1] 0.9998036809815951 Centerline is valid? [True, True] Translation: X:228.23, Y:-148.46, Z:-11.76 [[ 7.67425211e-01 6.39231037e-01 4.94188800e-02 2.28232821e+02] [-6.37961327e-01 7.69014497e-01 -4.02746547e-02 -1.48458693e+02] [-6.37486444e-02 -6.19548902e-04 9.97965794e-01 -1.17624023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89864 meters Centerline goodness [0,1] 0.999852616064849 Centerline is valid? [True, True] Translation: X:228.26, Y:-148.48, Z:-11.76 [[ 7.67053381e-01 6.39694401e-01 4.91953689e-02 2.28258473e+02] [-6.38434324e-01 7.68629096e-01 -4.01363602e-02 -1.48479459e+02] [-6.34879969e-02 -6.21281279e-04 9.97982409e-01 -1.17648655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92864000000003 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:228.28, Y:-148.50, Z:-11.76 [[ 7.66758472e-01 6.40141935e-01 4.79556904e-02 2.28284086e+02] [-6.38943019e-01 7.68256422e-01 -3.91648876e-02 -1.48499566e+02] [-6.19133541e-02 -6.10944233e-04 9.98081341e-01 -1.17642878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95864 meters Centerline goodness [0,1] 0.9999018790168277 Centerline is valid? [True, True] Translation: X:228.31, Y:-148.52, Z:-11.77 [[ 7.66877519e-01 6.40111389e-01 4.64357645e-02 2.28309897e+02] [-6.38985170e-01 7.68281910e-01 -3.79586485e-02 -1.48518699e+02] [-5.99735211e-02 -5.62130680e-04 9.98199810e-01 -1.17651211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98864000000003 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:228.34, Y:-148.54, Z:-11.77 [[ 7.66490304e-01 6.40527475e-01 4.70868087e-02 2.28335858e+02] [-6.39367849e-01 7.67935039e-01 -3.85295865e-02 -1.48539147e+02] [-6.08388690e-02 -5.73237111e-04 9.98147436e-01 -1.17679529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:228.36, Y:-148.56, Z:-11.77 [[ 7.65657741e-01 6.41397744e-01 4.87561041e-02 2.28361644e+02] [-6.40153441e-01 7.67208273e-01 -3.99379208e-02 -1.48558287e+02] [-6.30221787e-02 -6.32609629e-04 9.98011926e-01 -1.17707551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.39, Y:-148.58, Z:-11.77 [[ 7.65218506e-01 6.42018469e-01 4.74649785e-02 2.28387051e+02] [-6.40838233e-01 7.66688906e-01 -3.89163299e-02 -1.48577523e+02] [-6.13758750e-02 -6.37877161e-04 9.98114520e-01 -1.17699569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:228.41, Y:-148.60, Z:-11.77 [[ 7.65110338e-01 6.42080144e-01 4.83658894e-02 2.28412567e+02] [-6.40852274e-01 7.66637267e-01 -3.96946326e-02 -1.48598301e+02] [-6.25662286e-02 -6.24616471e-04 9.98040619e-01 -1.17712954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.44, Y:-148.62, Z:-11.77 [[ 7.64938609e-01 6.42204822e-01 4.94155024e-02 2.28437457e+02] [-6.40920567e-01 7.66532835e-01 -4.05985182e-02 -1.48618703e+02] [-6.39511693e-02 -6.16037825e-04 9.97952839e-01 -1.17731475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.46, Y:-148.64, Z:-11.77 [[ 7.65390261e-01 6.41732686e-01 4.85479979e-02 2.28462261e+02] [-6.40489878e-01 7.66928204e-01 -3.99230035e-02 -1.48638968e+02] [-6.28527251e-02 -5.37823163e-04 9.98022668e-01 -1.17744920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.49, Y:-148.66, Z:-11.78 [[ 7.67677515e-01 6.39034307e-01 4.80248670e-02 2.28487870e+02] [-6.37811084e-01 7.69178178e-01 -3.95215326e-02 -1.48659277e+02] [-6.21952950e-02 -2.91000568e-04 9.98063956e-01 -1.17758950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.51, Y:-148.68, Z:-11.78 [[ 7.67896052e-01 6.38785444e-01 4.78415029e-02 2.28513902e+02] [-6.37569607e-01 7.69384879e-01 -3.93942068e-02 -1.48679476e+02] [-6.19729748e-02 -2.51632269e-04 9.98077796e-01 -1.17768212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:228.54, Y:-148.70, Z:-11.78 [[ 7.68911871e-01 6.37526956e-01 4.83106118e-02 2.28540688e+02] [-6.36281937e-01 7.70428041e-01 -3.98237425e-02 -1.48699246e+02] [-6.26085593e-02 -1.18221244e-04 9.98038153e-01 -1.17776536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.57, Y:-148.72, Z:-11.78 [[ 7.69264785e-01 6.37055252e-01 4.89111070e-02 2.28565676e+02] [-6.35775364e-01 7.70818139e-01 -4.03618936e-02 -1.48719985e+02] [-6.34143248e-02 -4.74934299e-05 9.97987285e-01 -1.17799880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.59, Y:-148.74, Z:-11.78 [[ 7.69182198e-01 6.37251278e-01 4.76398597e-02 2.28589632e+02] [-6.36035124e-01 7.70656089e-01 -3.93511462e-02 -1.48741067e+02] [-6.17905162e-02 -3.24229586e-05 9.98089140e-01 -1.17808248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.62, Y:-148.76, Z:-11.78 [[ 7.68777860e-01 6.37784705e-01 4.70241755e-02 2.28615151e+02] [-6.36598480e-01 7.70214690e-01 -3.88806669e-02 -1.48761563e+02] [-6.10162054e-02 -4.49228480e-05 9.98136775e-01 -1.17817522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.64, Y:-148.78, Z:-11.78 [[ 7.68769217e-01 6.37771377e-01 4.73451264e-02 2.28641661e+02] [-6.36566243e-01 7.70225727e-01 -3.91886211e-02 -1.48781912e+02] [-6.14598153e-02 -1.13037217e-05 9.98109559e-01 -1.17826916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.67, Y:-148.80, Z:-11.78 [[ 7.69234352e-01 6.37167587e-01 4.79163666e-02 2.28667072e+02] [-6.35929307e-01 7.70725283e-01 -3.97045977e-02 -1.48802651e+02] [-6.22288379e-02 7.07186761e-05 9.98061905e-01 -1.17845699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.69, Y:-148.82, Z:-11.79 [[ 7.69432866e-01 6.36938401e-01 4.77759110e-02 2.28692237e+02] [-6.35704290e-01 7.70914689e-01 -3.96307557e-02 -1.48824000e+02] [-6.20735018e-02 1.21854354e-04 9.98071573e-01 -1.17865330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:228.72, Y:-148.85, Z:-11.79 [[ 7.69656679e-01 6.36677592e-01 4.76470455e-02 2.28716763e+02] [-6.35447010e-01 7.71130089e-01 -3.95661926e-02 -1.48846597e+02] [-6.19329787e-02 1.75211778e-04 9.98080295e-01 -1.17872499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.74, Y:-148.87, Z:-11.79 [[ 7.69595747e-01 6.36865435e-01 4.60955907e-02 2.28741169e+02] [-6.35711791e-01 7.70974956e-01 -3.83162616e-02 -1.48867587e+02] [-5.99408486e-02 1.84521482e-04 9.98201914e-01 -1.17876917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.77, Y:-148.89, Z:-11.79 [[ 7.70031192e-01 6.36346253e-01 4.59935862e-02 2.28766257e+02] [-6.35194554e-01 7.71403514e-01 -3.82687364e-02 -1.48888889e+02] [-5.98317811e-02 2.53245193e-04 9.98208442e-01 -1.17891684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:228.79, Y:-148.91, Z:-11.79 [[ 7.69846081e-01 6.36542976e-01 4.63686553e-02 2.28789421e+02] [-6.35370255e-01 7.71241185e-01 -3.86221860e-02 -1.48912528e+02] [-6.03460979e-02 2.71874172e-04 9.98177476e-01 -1.17907992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.81, Y:-148.93, Z:-11.79 [[ 7.69356480e-01 6.37166920e-01 4.59230102e-02 2.28813477e+02] [-6.36015328e-01 7.70725796e-01 -3.82916386e-02 -1.48934749e+02] [-5.97922140e-02 2.52181848e-04 9.98210813e-01 -1.17919547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.84, Y:-148.96, Z:-11.79 [[ 7.67830498e-01 6.39017640e-01 4.57469333e-02 2.28837847e+02] [-6.37875694e-01 7.69192067e-01 -3.81859021e-02 -1.48957252e+02] [-5.95896433e-02 1.39443415e-04 9.98222949e-01 -1.17935136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61864 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:228.86, Y:-148.98, Z:-11.79 [[ 7.65433791e-01 6.41915085e-01 4.53446319e-02 2.28860799e+02] [-6.40795811e-01 7.66775730e-01 -3.78907334e-02 -1.48981161e+02] [-5.90917966e-02 -5.38025146e-05 9.98252552e-01 -1.17940797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.88, Y:-149.00, Z:-11.80 [[ 7.63402042e-01 6.44284000e-01 4.59940141e-02 2.28884748e+02] [-6.43134176e-01 7.64786300e-01 -3.84752910e-02 -1.49003618e+02] [-5.99646062e-02 -2.08206624e-04 9.98200482e-01 -1.17950177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.91, Y:-149.03, Z:-11.80 [[ 7.61624057e-01 6.46328814e-01 4.67745518e-02 2.28908111e+02] [-6.45140941e-01 7.63058940e-01 -3.91691259e-02 -1.49026140e+02] [-6.10078746e-02 -3.44029763e-04 9.98137225e-01 -1.17965963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.93, Y:-149.05, Z:-11.80 [[ 7.60307835e-01 6.47848625e-01 4.71609491e-02 2.28932538e+02] [-6.46641522e-01 7.61768971e-01 -3.95319674e-02 -1.49047655e+02] [-6.15364784e-02 -4.39763440e-04 9.98104738e-01 -1.17980437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.96, Y:-149.07, Z:-11.80 [[ 7.59483283e-01 6.48864339e-01 4.64780905e-02 2.28957917e+02] [-6.47691340e-01 7.60903960e-01 -3.90011646e-02 -1.49069119e+02] [-6.06718280e-02 -4.82724198e-04 9.98157651e-01 -1.17983081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:228.98, Y:-149.09, Z:-11.80 [[ 7.57009344e-01 6.51818545e-01 4.54910697e-02 2.28983138e+02] [-6.50697780e-01 7.58374664e-01 -3.82134521e-02 -1.49090083e+02] [-5.94075114e-02 -6.72997736e-04 9.98233587e-01 -1.17993388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79864 meters Centerline goodness [0,1] 0.9999018645731109 Centerline is valid? [True, True] Translation: X:229.01, Y:-149.11, Z:-11.80 [[ 7.55892029e-01 6.53070916e-01 4.61044404e-02 2.29007685e+02] [-6.51919573e-01 7.57296385e-01 -3.87692584e-02 -1.49110156e+02] [-6.02338011e-02 -7.51013681e-04 9.98184014e-01 -1.18006117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.03, Y:-149.13, Z:-11.80 [[ 7.54629594e-01 6.54407974e-01 4.77951945e-02 2.29032370e+02] [-6.53170786e-01 7.56141167e-01 -4.02300835e-02 -1.49130381e+02] [-6.24668015e-02 -8.59613181e-04 9.98046672e-01 -1.18026021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.06, Y:-149.15, Z:-11.80 [[ 7.54410631e-01 6.54646245e-01 4.79884761e-02 2.29058972e+02] [-6.53396974e-01 7.55934897e-01 -4.04329934e-02 -1.49150341e+02] [-6.27454710e-02 -8.52444962e-04 9.98029198e-01 -1.18044063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.09, Y:-149.17, Z:-11.81 [[ 7.54527467e-01 6.54487412e-01 4.83169707e-02 2.29085620e+02] [-6.53217840e-01 7.56072463e-01 -4.07539555e-02 -1.49169704e+02] [-6.32040819e-02 -8.11528392e-04 9.98000293e-01 -1.18060382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91864 meters Centerline goodness [0,1] 0.9999017536965171 Centerline is valid? [True, True] Translation: X:229.11, Y:-149.19, Z:-11.81 [[ 7.54922251e-01 6.53906110e-01 4.99919445e-02 2.29110648e+02] [-6.52542703e-01 7.56575329e-01 -4.22112832e-02 -1.49189721e+02] [-6.54248878e-02 -7.55641659e-04 9.97857211e-01 -1.18078779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:229.14, Y:-149.21, Z:-11.81 [[ 7.55910106e-01 6.52786468e-01 4.96964796e-02 2.29135089e+02] [-6.51434150e-01 7.57541707e-01 -4.20013243e-02 -1.49210058e+02] [-6.50650521e-02 -6.24758386e-04 9.97880829e-01 -1.18085613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97864 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:229.16, Y:-149.23, Z:-11.81 [[ 7.55565406e-01 6.53186973e-01 4.96759047e-02 2.29160126e+02] [-6.51833920e-01 7.57196398e-01 -4.20256492e-02 -1.49230812e+02] [-6.50650227e-02 -6.27312971e-04 9.97880829e-01 -1.18098738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.19, Y:-149.25, Z:-11.81 [[ 7.56516093e-01 6.52242846e-01 4.75675467e-02 2.29185615e+02] [-6.50997947e-01 7.58009913e-01 -4.02820709e-02 -1.49250712e+02] [-6.23303645e-02 -4.92340325e-04 9.98055451e-01 -1.18106715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03864 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:229.21, Y:-149.27, Z:-11.81 [[ 7.56155562e-01 6.52698301e-01 4.70499212e-02 2.29211129e+02] [-6.51478840e-01 7.57617769e-01 -3.98827986e-02 -1.49271293e+02] [-6.16772912e-02 -4.94428045e-04 9.98096021e-01 -1.18123270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.24, Y:-149.29, Z:-11.81 [[ 7.55584759e-01 6.53365480e-01 4.69597951e-02 2.29236338e+02] [-6.52149322e-01 7.57042459e-01 -3.98494389e-02 -1.49292899e+02] [-6.15868065e-02 -5.15169831e-04 9.98101598e-01 -1.18135102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:229.26, Y:-149.31, Z:-11.82 [[ 7.55229953e-01 6.53722053e-01 4.76990069e-02 2.29260865e+02] [-6.52465203e-01 7.56734569e-01 -4.05209943e-02 -1.49314260e+02] [-6.25849550e-02 -5.19273607e-04 9.98039505e-01 -1.18151838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.28, Y:-149.34, Z:-11.82 [[ 7.54549105e-01 6.54457529e-01 4.83837839e-02 2.29284970e+02] [-6.53163092e-01 7.56098561e-01 -4.11453700e-02 -1.49335306e+02] [-6.35108065e-02 -5.56299780e-04 9.97980996e-01 -1.18163758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.31, Y:-149.36, Z:-11.82 [[ 7.53453019e-01 6.55686334e-01 4.88260051e-02 2.29311039e+02] [-6.54368019e-01 7.55033131e-01 -4.15628077e-02 -1.49355314e+02] [-6.41174165e-02 -6.34553278e-04 9.97942160e-01 -1.18179109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.34, Y:-149.38, Z:-11.82 [[ 7.52727280e-01 6.56545353e-01 4.84751501e-02 2.29335978e+02] [-6.55244896e-01 7.54286253e-01 -4.13082981e-02 -1.49376867e+02] [-6.36849105e-02 -6.69211820e-04 9.97969831e-01 -1.18195295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.36, Y:-149.40, Z:-11.82 [[ 7.52045575e-01 6.57345250e-01 4.82148812e-02 2.29359636e+02] [-6.56057581e-01 7.53589233e-01 -4.11305068e-02 -1.49399381e+02] [-6.33711586e-02 -6.99722666e-04 9.97989783e-01 -1.18189350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.39, Y:-149.42, Z:-11.82 [[ 7.51918577e-01 6.57476256e-01 4.84089509e-02 2.29385589e+02] [-6.56175615e-01 7.53474956e-01 -4.13406890e-02 -1.49420429e+02] [-6.36554536e-02 -6.79941094e-04 9.97971703e-01 -1.18198933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.41, Y:-149.44, Z:-11.82 [[ 7.50358919e-01 6.59287117e-01 4.79790658e-02 2.29410967e+02] [-6.58010398e-01 7.51890863e-01 -4.10176399e-02 -1.49440881e+02] [-6.31174227e-02 -7.92772272e-04 9.98005793e-01 -1.18212877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.44, Y:-149.46, Z:-11.82 [[ 7.49568752e-01 6.60186130e-01 4.79683263e-02 2.29435937e+02] [-6.58909025e-01 7.51101576e-01 -4.10526419e-02 -1.49462125e+02] [-6.31314703e-02 -8.34985570e-04 9.98004870e-01 -1.18228973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.46, Y:-149.48, Z:-11.82 [[ 7.48453917e-01 6.61421735e-01 4.83530956e-02 2.29460664e+02] [-6.60123882e-01 7.50013634e-01 -4.14247443e-02 -1.49483064e+02] [-6.36647072e-02 -9.14520986e-04 9.97970926e-01 -1.18244655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.49, Y:-149.50, Z:-11.83 [[ 7.46150997e-01 6.64076153e-01 4.75557927e-02 2.29485682e+02] [-6.62823648e-01 7.47664143e-01 -4.07816235e-02 -1.49504247e+02] [-6.26378646e-02 -1.09185493e-03 9.98035724e-01 -1.18256711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.51, Y:-149.53, Z:-11.83 [[ 7.45090355e-01 6.65293065e-01 4.71752022e-02 2.29510998e+02] [-6.64060269e-01 7.46581416e-01 -4.04987443e-02 -1.49525008e+02] [-6.21636629e-02 -1.15195373e-03 9.98065304e-01 -1.18261712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.54, Y:-149.54, Z:-11.83 [[ 7.43258749e-01 6.67297870e-01 4.77491879e-02 2.29537085e+02] [-6.66036374e-01 7.44789803e-01 -4.10328897e-02 -1.49543218e+02] [-6.29442681e-02 -1.30464162e-03 9.98016191e-01 -1.18271138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:229.56, Y:-149.56, Z:-11.83 [[ 7.42957793e-01 6.67585098e-01 4.84133750e-02 2.29563440e+02] [-6.66286306e-01 7.44532336e-01 -4.16432289e-02 -1.49562518e+02] [-6.38457222e-02 -1.31800742e-03 9.97958910e-01 -1.18288369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.59, Y:-149.58, Z:-11.83 [[ 7.41944851e-01 6.68713864e-01 4.83694870e-02 2.29589582e+02] [-6.67416960e-01 7.43518569e-01 -4.16501902e-02 -1.49582187e+02] [-6.38156714e-02 -1.38047183e-03 9.97960748e-01 -1.18292396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:229.62, Y:-149.60, Z:-11.83 [[ 7.42264219e-01 6.68270209e-01 4.95858534e-02 2.29617498e+02] [-6.66903135e-01 7.43917421e-01 -4.27443510e-02 -1.49600320e+02] [-6.54525565e-02 -1.34135875e-03 9.97854781e-01 -1.18319400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.64, Y:-149.62, Z:-11.83 [[ 7.43368810e-01 6.66995224e-01 5.02014180e-02 2.29643139e+02] [-6.65588086e-01 7.45061007e-01 -4.33196875e-02 -1.49619296e+02] [-6.62971438e-02 -1.21096118e-03 9.97799189e-01 -1.18331911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.67, Y:-149.64, Z:-11.83 [[ 7.46989751e-01 6.63002130e-01 4.93405192e-02 2.29669371e+02] [-6.61632206e-01 7.48617062e-01 -4.26065558e-02 -1.49638916e+02] [-6.51853918e-02 -8.18616071e-04 9.97872835e-01 -1.18348578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.69, Y:-149.66, Z:-11.84 [[ 7.48359376e-01 6.61529685e-01 4.83396402e-02 2.29693618e+02] [-6.60210276e-01 7.49918690e-01 -4.17654109e-02 -1.49659611e+02] [-6.38798588e-02 -6.58790354e-04 9.97957379e-01 -1.18354016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.72, Y:-149.68, Z:-11.84 [[ 7.50676812e-01 6.58908956e-01 4.82007383e-02 2.29719102e+02] [-6.57589220e-01 7.52222589e-01 -4.16844565e-02 -1.49679621e+02] [-6.37239459e-02 -4.04731012e-04 9.97967482e-01 -1.18373794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.75, Y:-149.70, Z:-11.84 [[ 7.53756269e-01 6.55421659e-01 4.76857934e-02 2.29746249e+02] [-6.54120559e-01 7.55263161e-01 -4.12777359e-02 -1.49697779e+02] [-6.30696452e-02 -7.89056365e-05 9.98009125e-01 -1.18397695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.77, Y:-149.72, Z:-11.84 [[ 7.54268566e-01 6.54841764e-01 4.75520272e-02 2.29772092e+02] [-6.53544253e-01 7.55766012e-01 -4.12024897e-02 -1.49718183e+02] [-6.29193170e-02 3.88670963e-07 9.98018617e-01 -1.18407610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.80, Y:-149.74, Z:-11.84 [[ 7.53580883e-01 6.55521905e-01 4.90600073e-02 2.29797664e+02] [-6.54139284e-01 7.55176159e-01 -4.25530952e-02 -1.49737837e+02] [-6.49434339e-02 -2.48789051e-05 9.97888947e-01 -1.18420520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.82, Y:-149.76, Z:-11.84 [[ 7.53103276e-01 6.56061680e-01 4.91785406e-02 2.29824109e+02] [-6.54670770e-01 7.54707275e-01 -4.26979204e-02 -1.49757872e+02] [-6.51278718e-02 -3.98093560e-05 9.97876926e-01 -1.18429078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.85, Y:-149.78, Z:-11.85 [[ 7.51931479e-01 6.57340543e-01 5.00246040e-02 2.29849559e+02] [-6.55901173e-01 7.53593655e-01 -4.34770646e-02 -1.49776953e+02] [-6.62774615e-02 -1.19422908e-04 9.97801225e-01 -1.18451215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.88, Y:-149.80, Z:-11.85 [[ 7.51456828e-01 6.57988607e-01 4.86171768e-02 2.29875685e+02] [-6.56628022e-01 7.53027870e-01 -4.22926455e-02 -1.49795817e+02] [-6.44381680e-02 -1.42303426e-04 9.97921691e-01 -1.18474226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.90, Y:-149.82, Z:-11.85 [[ 7.51889042e-01 6.57649427e-01 4.64768780e-02 2.29900357e+02] [-6.56403206e-01 7.53324117e-01 -4.04673506e-02 -1.49815873e+02] [-6.16254830e-02 -8.06142675e-05 9.98099340e-01 -1.18488342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.93, Y:-149.84, Z:-11.85 [[ 7.53312004e-01 6.56163224e-01 4.43942318e-02 2.29925951e+02] [-6.55021649e-01 7.54618989e-01 -3.86887589e-02 -1.49835913e+02] [-5.88868711e-02 6.55234961e-05 9.98264660e-01 -1.18479241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:229.95, Y:-149.86, Z:-11.85 [[ 7.54009884e-01 6.55315426e-01 4.50642475e-02 2.29952645e+02] [-6.54135279e-01 7.55355324e-01 -3.93112097e-02 -1.49856075e+02] [-5.98007614e-02 1.62926569e-04 9.98210320e-01 -1.18496645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.98, Y:-149.88, Z:-11.85 [[ 7.54780802e-01 6.54400974e-01 4.54456455e-02 2.29978828e+02] [-6.53196547e-01 7.56147666e-01 -3.96860023e-02 -1.49876381e+02] [-6.03341773e-02 2.69293900e-04 9.98178198e-01 -1.18513630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.00, Y:-149.90, Z:-11.85 [[ 7.56065010e-01 6.52933345e-01 4.52078168e-02 2.30003541e+02] [-6.51736391e-01 7.57415258e-01 -3.95196540e-02 -1.49898740e+02] [-6.00447901e-02 4.15848280e-04 9.98195597e-01 -1.18518894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.03, Y:-149.92, Z:-11.85 [[ 7.57017457e-01 6.51802551e-01 4.55851313e-02 2.30027346e+02] [-6.50581013e-01 7.58388516e-01 -3.98899021e-02 -1.49920625e+02] [-6.05715801e-02 5.40531363e-04 9.98163710e-01 -1.18538293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.05, Y:-149.94, Z:-11.85 [[ 7.58890885e-01 6.49748662e-01 4.37184419e-02 2.30051481e+02] [-6.48619731e-01 7.60148790e-01 -3.82918027e-02 -1.49942759e+02] [-5.81125683e-02 7.02655972e-04 9.98309789e-01 -1.18546618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.07, Y:-149.97, Z:-11.86 [[ 7.58620135e-01 6.50096070e-01 4.32503252e-02 2.30074858e+02] [-6.48989527e-01 7.59851704e-01 -3.79207398e-02 -1.49965686e+02] [-5.75159572e-02 6.98428691e-04 9.98344343e-01 -1.18561619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.10, Y:-149.99, Z:-11.86 [[ 7.57717727e-01 6.51192675e-01 4.25669664e-02 2.30096585e+02] [-6.50120485e-01 7.58912181e-01 -3.73584764e-02 -1.49989625e+02] [-5.66321555e-02 6.33522975e-04 9.98394911e-01 -1.18568359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:230.12, Y:-150.02, Z:-11.86 [[ 7.55582820e-01 6.53627057e-01 4.32003844e-02 2.30117534e+02] [-6.52524569e-01 7.56816646e-01 -3.79506589e-02 -1.50015412e+02] [-5.75003475e-02 4.85553697e-04 9.98345368e-01 -1.18570033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.14, Y:-150.04, Z:-11.86 [[ 7.54159011e-01 6.55222225e-01 4.39092471e-02 2.30141206e+02] [-6.54083950e-01 7.55436085e-01 -3.86070815e-02 -1.50037772e+02] [-5.84668475e-02 3.95544570e-04 9.98289272e-01 -1.18586551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.16, Y:-150.06, Z:-11.86 [[ 7.51621365e-01 6.58080677e-01 4.46670708e-02 2.30164197e+02] [-6.56906208e-01 7.52947398e-01 -3.92994795e-02 -1.50062161e+02] [-5.94941828e-02 1.96252231e-04 9.98228633e-01 -1.18613543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.19, Y:-150.09, Z:-11.86 [[ 7.50903037e-01 6.58890856e-01 4.48047842e-02 2.30186951e+02] [-6.57708036e-01 7.52238535e-01 -3.94629821e-02 -1.50086057e+02] [-5.97056833e-02 1.64406467e-04 9.98216011e-01 -1.18622202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.21, Y:-150.11, Z:-11.86 [[ 7.50435789e-01 6.59364190e-01 4.56617074e-02 2.30208911e+02] [-6.58133918e-01 7.51823675e-01 -4.02604956e-02 -1.50110307e+02] [-6.08758817e-02 1.61398398e-04 9.98145331e-01 -1.18633895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.23, Y:-150.13, Z:-11.87 [[ 7.49527863e-01 6.60394126e-01 4.56900395e-02 2.30233113e+02] [-6.59161705e-01 7.50919161e-01 -4.03269165e-02 -1.50132512e+02] [-6.09411849e-02 1.09023251e-04 9.98141353e-01 -1.18654362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.26, Y:-150.16, Z:-11.87 [[ 7.48976176e-01 6.61061609e-01 4.50803345e-02 2.30256905e+02] [-6.59860555e-01 7.50331621e-01 -3.98309730e-02 -1.50156054e+02] [-6.01559275e-02 8.57152655e-05 9.98188989e-01 -1.18675297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.28, Y:-150.18, Z:-11.87 [[ 7.48970099e-01 6.61114791e-01 4.43962152e-02 2.30281777e+02] [-6.59947579e-01 7.50284760e-01 -3.92679436e-02 -1.50178451e+02] [-5.92704220e-02 1.11340857e-04 9.98241957e-01 -1.18686144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.31, Y:-150.20, Z:-11.87 [[ 7.48025391e-01 6.62185016e-01 4.43736347e-02 2.30306729e+02] [-6.61018380e-01 7.49340378e-01 -3.92899413e-02 -1.50200336e+02] [-5.92681666e-02 5.80855373e-05 9.98242095e-01 -1.18689380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.33, Y:-150.22, Z:-11.87 [[ 7.45441203e-01 6.64948137e-01 4.64907330e-02 2.30330753e+02] [-6.63670061e-01 7.46889521e-01 -4.12079245e-02 -1.50221222e+02] [-6.21245739e-02 -1.36422782e-04 9.98068394e-01 -1.18708126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.36, Y:-150.24, Z:-11.87 [[ 7.44128358e-01 6.66437746e-01 4.61921815e-02 2.30355465e+02] [-6.65176444e-01 7.45560646e-01 -4.09831707e-02 -1.50243663e+02] [-6.17518046e-02 -2.29211520e-04 9.98091510e-01 -1.18719308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.38, Y:-150.27, Z:-11.87 [[ 7.43913344e-01 6.66607691e-01 4.71924081e-02 2.30379091e+02] [-6.65288720e-01 7.45408706e-01 -4.19139517e-02 -1.50266018e+02] [-6.31177944e-02 -2.16228799e-04 9.98006061e-01 -1.18744942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.40, Y:-150.29, Z:-11.88 [[ 7.43972482e-01 6.66589982e-01 4.65053026e-02 2.30403584e+02] [-6.65306751e-01 7.45424552e-01 -4.13420345e-02 -1.50286903e+02] [-6.22243804e-02 -1.82955843e-04 9.98062169e-01 -1.18756548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.43, Y:-150.31, Z:-11.88 [[ 7.43453598e-01 6.67256058e-01 4.52338520e-02 2.30428816e+02] [-6.66041084e-01 7.44828377e-01 -4.02487528e-02 -1.50306955e+02] [-6.05476807e-02 -2.04523728e-04 9.98165285e-01 -1.18763354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.45, Y:-150.33, Z:-11.88 [[ 7.43914211e-01 6.66785444e-01 4.45961843e-02 2.30453735e+02] [-6.65601463e-01 7.45249726e-01 -3.97182446e-02 -1.50326935e+02] [-5.97188415e-02 -1.36318908e-04 9.98215228e-01 -1.18786106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.48, Y:-150.35, Z:-11.88 [[ 7.43762810e-01 6.67002324e-01 4.38723276e-02 2.30477935e+02] [-6.65854632e-01 7.45055625e-01 -3.91116980e-02 -1.50349547e+02] [-5.87749180e-02 -1.22766139e-04 9.98271253e-01 -1.18801542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.50, Y:-150.37, Z:-11.88 [[ 7.44989385e-01 6.65606516e-01 4.42581357e-02 2.30501782e+02] [-6.64433530e-01 7.46302865e-01 -3.94983290e-02 -1.50372970e+02] [-5.93203186e-02 1.92464787e-05 9.98238999e-01 -1.18805856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.53, Y:-150.39, Z:-11.88 [[ 7.45146142e-01 6.65461780e-01 4.37932345e-02 2.30526485e+02] [-6.64310643e-01 7.46431923e-01 -3.91248503e-02 -1.50394331e+02] [-5.87247608e-02 6.14194700e-05 9.98274210e-01 -1.18823707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.55, Y:-150.42, Z:-11.88 [[ 7.44683745e-01 6.65976507e-01 4.38339137e-02 2.30550746e+02] [-6.64821652e-01 7.45972714e-01 -3.92030899e-02 -1.50416696e+02] [-5.88072404e-02 5.21689465e-05 9.98269355e-01 -1.18846185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.57, Y:-150.44, Z:-11.89 [[ 7.43415512e-01 6.67383726e-01 4.39583679e-02 2.30574404e+02] [-6.66222258e-01 7.44714013e-01 -3.93565953e-02 -1.50439367e+02] [-5.90023638e-02 -2.77396918e-05 9.98257843e-01 -1.18864298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.60, Y:-150.46, Z:-11.89 [[ 7.42484002e-01 6.68357990e-01 4.48899066e-02 2.30597538e+02] [-6.67145972e-01 7.43839762e-01 -4.02325968e-02 -1.50461715e+02] [-6.02806750e-02 -7.60609089e-05 9.98181464e-01 -1.18879416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.62, Y:-150.48, Z:-11.89 [[ 7.41332989e-01 6.69624131e-01 4.50435657e-02 2.30621535e+02] [-6.68403718e-01 7.42700142e-01 -4.04100043e-02 -1.50484050e+02] [-6.05133766e-02 -1.50017520e-04 9.98167375e-01 -1.18885010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.65, Y:-150.51, Z:-11.89 [[ 7.40444577e-01 6.70614361e-01 4.49244624e-02 2.30646329e+02] [-6.69399607e-01 7.41806133e-01 -4.03463313e-02 -1.50506288e+02] [-6.03820709e-02 -1.98195285e-04 9.98175318e-01 -1.18887662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:230.67, Y:-150.53, Z:-11.89 [[ 7.38641041e-01 6.72554132e-01 4.56108731e-02 2.30669660e+02] [-6.71303030e-01 7.40047857e-01 -4.10050277e-02 -1.50528135e+02] [-6.13323297e-02 -3.30720974e-04 9.98117346e-01 -1.18908448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.69, Y:-150.55, Z:-11.89 [[ 7.37507612e-01 6.73754149e-01 4.62370903e-02 2.30693759e+02] [-6.72468332e-01 7.38955466e-01 -4.16072258e-02 -1.50549662e+02] [-6.22001916e-02 -4.07333225e-04 9.98063610e-01 -1.18917232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.72, Y:-150.57, Z:-11.89 [[ 7.37239738e-01 6.73936006e-01 4.78312540e-02 2.30718354e+02] [-6.72557692e-01 7.38789614e-01 -4.30819779e-02 -1.50569562e+02] [-6.43717298e-02 -4.07531666e-04 9.97925906e-01 -1.18943275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.74, Y:-150.59, Z:-11.90 [[ 7.36881796e-01 6.74328800e-01 4.78109674e-02 2.30742725e+02] [-6.72949852e-01 7.38431107e-01 -4.31044835e-02 -1.50591092e+02] [-6.43717002e-02 -4.11474199e-04 9.97925907e-01 -1.18956401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.77, Y:-150.61, Z:-11.90 [[ 7.36850536e-01 6.74381961e-01 4.75421690e-02 2.30767248e+02] [-6.73015669e-01 7.38382574e-01 -4.29078463e-02 -1.50612851e+02] [-6.40405867e-02 -3.79955174e-04 9.97947223e-01 -1.18971671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.79, Y:-150.63, Z:-11.90 [[ 7.37487634e-01 6.73736668e-01 4.68069614e-02 2.30791290e+02] [-6.72408359e-01 7.38971461e-01 -4.22868673e-02 -1.50633855e+02] [-6.30792217e-02 -2.87350389e-04 9.98008482e-01 -1.18979401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.82, Y:-150.65, Z:-11.90 [[ 7.38084473e-01 6.73131426e-01 4.61019928e-02 2.30816465e+02] [-6.71839296e-01 7.39522847e-01 -4.16883610e-02 -1.50654480e+02] [-6.21552229e-02 -2.03598418e-04 9.98066474e-01 -1.18984219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.84, Y:-150.68, Z:-11.90 [[ 7.37481063e-01 6.73752554e-01 4.66816683e-02 2.30842426e+02] [-6.72426297e-01 7.38956998e-01 -4.22543654e-02 -1.50675551e+02] [-6.29647321e-02 -2.28187039e-04 9.98015727e-01 -1.18993189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.87, Y:-150.70, Z:-11.90 [[ 7.37825203e-01 6.73422119e-01 4.60067371e-02 2.30866924e+02] [-6.72131258e-01 7.39258155e-01 -4.16767664e-02 -1.50697198e+02] [-6.20769120e-02 -1.72397463e-04 9.98071354e-01 -1.18998375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.89, Y:-150.72, Z:-11.90 [[ 7.37593328e-01 6.73684205e-01 4.58876158e-02 2.30890936e+02] [-6.72399007e-01 7.39019324e-01 -4.15934548e-02 -1.50719297e+02] [-6.19326883e-02 -1.75732492e-04 9.98080313e-01 -1.19014160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.92, Y:-150.74, Z:-11.90 [[ 7.38139820e-01 6.73052349e-01 4.63696256e-02 2.30916810e+02] [-6.71735889e-01 7.39594840e-01 -4.20757366e-02 -1.50739434e+02] [-6.26139092e-02 -9.03650156e-05 9.98037820e-01 -1.19039927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.94, Y:-150.76, Z:-11.91 [[ 7.38915638e-01 6.72266183e-01 4.54076997e-02 2.30941252e+02] [-6.70999788e-01 7.40309516e-01 -4.12444525e-02 -1.50760092e+02] [-6.13430028e-02 7.61401606e-06 9.98116745e-01 -1.19054294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.97, Y:-150.78, Z:-11.91 [[ 7.39592494e-01 6.71545716e-01 4.50476964e-02 2.30965425e+02] [-6.70295571e-01 7.40963118e-01 -4.09573525e-02 -1.50782700e+02] [-6.08834162e-02 9.64791463e-05 9.98144879e-01 -1.19063338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.99, Y:-150.81, Z:-11.91 [[ 7.41624435e-01 6.69389176e-01 4.37187438e-02 2.30989007e+02] [-6.68205662e-01 7.42911868e-01 -3.97888021e-02 -1.50805105e+02] [-5.91133670e-02 2.95235719e-04 9.98251232e-01 -1.19066328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.01, Y:-150.83, Z:-11.91 [[ 7.41955949e-01 6.68984414e-01 4.42857114e-02 2.31014104e+02] [-6.67766899e-01 7.43276344e-01 -4.03440837e-02 -1.50826613e+02] [-5.99060849e-02 3.61000727e-04 9.98203952e-01 -1.19083719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.04, Y:-150.85, Z:-11.91 [[ 7.43335463e-01 6.67458716e-01 4.41729726e-02 2.31038913e+02] [-6.66242159e-01 7.44646626e-01 -4.02838511e-02 -1.50848795e+02] [-5.97810626e-02 5.14518491e-04 9.98211380e-01 -1.19103008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.06, Y:-150.87, Z:-11.91 [[ 7.43477244e-01 6.67289590e-01 4.43417352e-02 2.31062167e+02] [-6.66060845e-01 7.44798152e-01 -4.04804088e-02 -1.50871641e+02] [-6.00377979e-02 5.61969130e-04 9.98195946e-01 -1.19113390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.09, Y:-150.90, Z:-11.91 [[ 7.42734291e-01 6.68101013e-01 4.45736486e-02 2.31085162e+02] [-6.66858252e-01 7.44070396e-01 -4.07347123e-02 -1.50895873e+02] [-6.03808349e-02 5.30762238e-04 9.98175272e-01 -1.19113307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.11, Y:-150.92, Z:-11.91 [[ 7.42028947e-01 6.68951975e-01 4.35464903e-02 2.31109025e+02] [-6.67765012e-01 7.43305472e-01 -3.98354671e-02 -1.50918105e+02] [-5.90163589e-02 4.80247097e-04 9.98256900e-01 -1.19120648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.13, Y:-150.94, Z:-11.91 [[ 7.40823761e-01 6.70284630e-01 4.35737253e-02 2.31132857e+02] [-6.69096212e-01 7.42104004e-01 -3.98987018e-02 -1.50940485e+02] [-5.90797226e-02 4.02891807e-04 9.98253186e-01 -1.19137112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.16, Y:-150.96, Z:-11.92 [[ 7.38506185e-01 6.72813555e-01 4.39378454e-02 2.31155989e+02] [-6.71607087e-01 7.39812047e-01 -4.02747515e-02 -1.50964023e+02] [-5.96031461e-02 2.34184744e-04 9.98222125e-01 -1.19158787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.18, Y:-150.99, Z:-11.92 [[ 7.37663233e-01 6.73731747e-01 4.40282609e-02 2.31180017e+02] [-6.72519364e-01 7.38975978e-01 -4.04006178e-02 -1.50986719e+02] [-5.97550060e-02 1.92192351e-04 9.98213055e-01 -1.19168458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.20, Y:-151.01, Z:-11.92 [[ 7.36622778e-01 6.74867936e-01 4.40471587e-02 2.31204791e+02] [-6.73653966e-01 7.37938515e-01 -4.04608795e-02 -1.51008405e+02] [-5.98098451e-02 1.31862301e-04 9.98209780e-01 -1.19171486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.23, Y:-151.03, Z:-11.92 [[ 7.36953795e-01 6.74505403e-01 4.40632089e-02 2.31229792e+02] [-6.73287316e-01 7.38269886e-01 -4.05187040e-02 -1.51030200e+02] [-5.98606249e-02 1.93213008e-04 9.98206726e-01 -1.19187174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.25, Y:-151.05, Z:-11.92 [[ 7.37456187e-01 6.73986788e-01 4.35910723e-02 2.31253915e+02] [-6.72791271e-01 7.38743352e-01 -4.01268799e-02 -1.51052935e+02] [-5.92476018e-02 2.64122928e-04 9.98243283e-01 -1.19199528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.28, Y:-151.08, Z:-11.92 [[ 7.38704389e-01 6.72571734e-01 4.43067493e-02 2.31276735e+02] [-6.71331536e-01 7.40031817e-01 -4.08274144e-02 -1.51075143e+02] [-6.02477691e-02 4.14872112e-04 9.98183367e-01 -1.19212972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.30, Y:-151.10, Z:-11.92 [[ 7.38788530e-01 6.72427357e-01 4.50883332e-02 2.31301019e+02] [-6.71140335e-01 7.40162979e-01 -4.15862491e-02 -1.51095806e+02] [-6.13364466e-02 4.62844781e-04 9.98117040e-01 -1.19226719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.33, Y:-151.12, Z:-11.93 [[ 7.37693940e-01 6.73596016e-01 4.55637835e-02 2.31326269e+02] [-6.72281429e-01 7.39099619e-01 -4.20646294e-02 -1.51116266e+02] [-6.20107419e-02 3.99136663e-04 9.98075402e-01 -1.19259455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.35, Y:-151.14, Z:-11.93 [[ 7.36324184e-01 6.75141924e-01 4.48338969e-02 2.31349530e+02] [-6.73869594e-01 7.37687804e-01 -4.14303565e-02 -1.51137951e+02] [-6.10447895e-02 2.93973488e-04 9.98134984e-01 -1.19266505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67864000000003 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:231.37, Y:-151.16, Z:-11.93 [[ 7.35760032e-01 6.75766180e-01 4.46905578e-02 2.31374020e+02] [-6.74500707e-01 7.37115999e-01 -4.13376272e-02 -1.51159948e+02] [-6.08766956e-02 2.70761034e-04 9.98145257e-01 -1.19283774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.40, Y:-151.18, Z:-11.93 [[ 7.36098214e-01 6.75490235e-01 4.32708027e-02 2.31398899e+02] [-6.74301146e-01 7.37368866e-01 -4.00639563e-02 -1.51180765e+02] [-5.89693539e-02 3.13454810e-04 9.98259744e-01 -1.19296345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.42, Y:-151.20, Z:-11.93 [[ 7.36806097e-01 6.74730479e-01 4.30761685e-02 2.31423703e+02] [-6.73548516e-01 7.38064102e-01 -3.99221369e-02 -1.51202295e+02] [-5.87296562e-02 4.00984474e-04 9.98273844e-01 -1.19311835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.45, Y:-151.22, Z:-11.93 [[ 7.40164109e-01 6.71098930e-01 4.22293591e-02 2.31447353e+02] [-6.69954835e-01 7.41367472e-01 -3.91764021e-02 -1.51223467e+02] [-5.75987147e-02 7.05203459e-04 9.98339567e-01 -1.19323473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.47, Y:-151.25, Z:-11.93 [[ 7.42061534e-01 6.69013016e-01 4.20269401e-02 2.31471251e+02] [-6.67874499e-01 7.43250155e-01 -3.90238535e-02 -1.51245089e+02] [-5.73439957e-02 8.89379014e-04 9.98354083e-01 -1.19342875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.49, Y:-151.27, Z:-11.94 [[ 7.44349796e-01 6.66460485e-01 4.21165523e-02 2.31494450e+02] [-6.65310987e-01 7.45539522e-01 -3.91422019e-02 -1.51267479e+02] [-5.74862852e-02 1.11488504e-03 9.98345674e-01 -1.19354170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.52, Y:-151.29, Z:-11.94 [[ 7.44874459e-01 6.65879457e-01 4.20308201e-02 2.31517523e+02] [-6.64731720e-01 7.46058409e-01 -3.90971994e-02 -1.51289581e+02] [-5.73914687e-02 1.18328595e-03 9.98351050e-01 -1.19362093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88864 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:231.54, Y:-151.31, Z:-11.94 [[ 7.44942052e-01 6.65846347e-01 4.13519231e-02 2.31541222e+02] [-6.64733376e-01 7.46087943e-01 -3.85008959e-02 -1.51313179e+02] [-5.64878522e-02 1.19293296e-03 9.98402574e-01 -1.19368302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91864 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:231.56, Y:-151.34, Z:-11.94 [[ 7.45033340e-01 6.65748154e-01 4.12882285e-02 2.31564554e+02] [-6.64636260e-01 7.46175508e-01 -3.84805649e-02 -1.51336751e+02] [-5.64266299e-02 1.22765007e-03 9.98405994e-01 -1.19380784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.59, Y:-151.36, Z:-11.94 [[ 7.45096317e-01 6.65641790e-01 4.18627094e-02 2.31586403e+02] [-6.64496340e-01 7.46270303e-01 -3.90544467e-02 -1.51360630e+02] [-5.72371686e-02 1.28170726e-03 9.98359787e-01 -1.19392708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.61, Y:-151.39, Z:-11.94 [[ 7.44370623e-01 6.66399206e-01 4.27138466e-02 2.31607612e+02] [-6.65205711e-01 7.45594037e-01 -3.98860033e-02 -1.51385780e+02] [-5.84271903e-02 1.27647445e-03 9.98290856e-01 -1.19412052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:231.63, Y:-151.41, Z:-11.94 [[ 7.43866151e-01 6.66983755e-01 4.23771019e-02 2.31630045e+02] [-6.65807631e-01 7.45071208e-01 -3.96117851e-02 -1.51409489e+02] [-5.79943757e-02 1.25086836e-03 9.98316126e-01 -1.19433694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.65, Y:-151.43, Z:-11.94 [[ 7.43000324e-01 6.67974578e-01 4.19580914e-02 2.31652197e+02] [-6.66820973e-01 7.44183139e-01 -3.92587016e-02 -1.51433508e+02] [-5.74483188e-02 1.19069274e-03 9.98347772e-01 -1.19441797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.67, Y:-151.46, Z:-11.95 [[ 7.42253570e-01 6.68872939e-01 4.08488593e-02 2.31672859e+02] [-6.67779397e-01 7.43375918e-01 -3.82481609e-02 -1.51459273e+02] [-5.59492181e-02 1.11180735e-03 9.98432997e-01 -1.19451112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.70, Y:-151.48, Z:-11.95 [[ 7.41496278e-01 6.69650532e-01 4.18501481e-02 2.31696010e+02] [-6.68502706e-01 7.42675546e-01 -3.92066971e-02 -1.51482644e+02] [-5.73358672e-02 1.09468268e-03 9.98354346e-01 -1.19460549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.72, Y:-151.51, Z:-11.95 [[ 7.39559932e-01 6.71747776e-01 4.24974376e-02 2.31718762e+02] [-6.70565675e-01 7.40779307e-01 -3.98458700e-02 -1.51506033e+02] [-5.82475970e-02 9.71086016e-04 9.98301695e-01 -1.19480731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15864 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:231.74, Y:-151.53, Z:-11.95 [[ 7.38405754e-01 6.72960909e-01 4.33653827e-02 2.31742957e+02] [-6.71730717e-01 7.39677488e-01 -4.06823984e-02 -1.51529132e+02] [-5.94540611e-02 9.10257503e-04 9.98230628e-01 -1.19500063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:231.77, Y:-151.55, Z:-11.95 [[ 7.36379019e-01 6.75127606e-01 4.41435750e-02 2.31766438e+02] [-6.73854046e-01 7.37700552e-01 -4.14562432e-02 -1.51551631e+02] [-6.05529939e-02 7.81181063e-04 9.98164678e-01 -1.19521188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.79, Y:-151.57, Z:-11.95 [[ 7.33574991e-01 6.78180254e-01 4.40372190e-02 2.31790081e+02] [-6.76915794e-01 7.34895388e-01 -4.13977899e-02 -1.51573981e+02] [-6.04379127e-02 5.58894288e-04 9.98171802e-01 -1.19520351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:231.81, Y:-151.60, Z:-11.95 [[ 7.32495408e-01 6.79336342e-01 4.41883605e-02 2.31814810e+02] [-6.78062838e-01 7.33826880e-01 -4.15800165e-02 -1.51596344e+02] [-6.06734230e-02 4.94685964e-04 9.98157548e-01 -1.19541176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27864 meters Centerline goodness [0,1] 0.9999018453082057 Centerline is valid? [True, True] Translation: X:231.84, Y:-151.62, Z:-11.96 [[ 7.30566342e-01 6.81459212e-01 4.34299717e-02 2.31838120e+02] [-6.80230839e-01 7.31856016e-01 -4.08996036e-02 -1.51619160e+02] [-5.96558977e-02 3.37467751e-04 9.98218944e-01 -1.19570104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:231.86, Y:-151.64, Z:-11.96 [[ 7.30099558e-01 6.82059639e-01 4.18244514e-02 2.31862011e+02] [-6.80920330e-01 7.31296495e-01 -3.94073699e-02 -1.51641276e+02] [-5.74642512e-02 2.92184095e-04 9.98347522e-01 -1.19576878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.89, Y:-151.66, Z:-11.96 [[ 7.29014806e-01 6.83206287e-01 4.20307429e-02 2.31886325e+02] [-6.82055376e-01 7.30225388e-01 -3.96402180e-02 -1.51663535e+02] [-5.77743616e-02 2.31011649e-04 9.98329640e-01 -1.19588547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.91, Y:-151.69, Z:-11.96 [[ 7.28240644e-01 6.84026842e-01 4.21051463e-02 2.31910588e+02] [-6.82870761e-01 7.29456812e-01 -3.97527752e-02 -1.51686585e+02] [-5.79058511e-02 1.97213304e-04 9.98322029e-01 -1.19599483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.93, Y:-151.71, Z:-11.96 [[ 7.28142322e-01 6.84140537e-01 4.19581369e-02 2.31934289e+02] [-6.82990267e-01 7.29350176e-01 -3.96562294e-02 -1.51709373e+02] [-5.77326085e-02 2.18379790e-04 9.98332058e-01 -1.19603956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.96, Y:-151.73, Z:-11.96 [[ 7.27825477e-01 6.84480068e-01 4.19179131e-02 2.31959540e+02] [-6.83330125e-01 7.29031541e-01 -3.96604809e-02 -1.51731239e+02] [-5.77062894e-02 2.22135682e-04 9.98333579e-01 -1.19615586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.98, Y:-151.75, Z:-11.96 [[ 7.27033402e-01 6.85375939e-01 4.10152892e-02 2.31983430e+02] [-6.84274214e-01 7.28189392e-01 -3.88459603e-02 -1.51752224e+02] [-5.64909850e-02 1.76605956e-04 9.98403094e-01 -1.19626055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.01, Y:-151.78, Z:-11.97 [[ 7.26254919e-01 6.86162223e-01 4.16556907e-02 2.32006824e+02] [-6.85024849e-01 7.27448543e-01 -3.94914452e-02 -1.51775251e+02] [-5.73999093e-02 1.45673055e-04 9.98351255e-01 -1.19652899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51864 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:232.03, Y:-151.80, Z:-11.97 [[ 7.27234249e-01 6.85076863e-01 4.24268536e-02 2.32030033e+02] [-6.83892647e-01 7.28470741e-01 -4.02644626e-02 -1.51797896e+02] [-5.84909732e-02 2.66283085e-04 9.98287902e-01 -1.19663957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54864 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:232.05, Y:-151.82, Z:-11.97 [[ 7.28296980e-01 6.83900088e-01 4.31761422e-02 2.32052926e+02] [-6.82669263e-01 7.29575571e-01 -4.10141896e-02 -1.51820229e+02] [-5.95498664e-02 3.95485244e-04 9.98225254e-01 -1.19680050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57864 meters Centerline goodness [0,1] 0.9999018260357353 Centerline is valid? [True, True] Translation: X:232.07, Y:-151.84, Z:-11.97 [[ 7.31169511e-01 6.80856860e-01 4.27209751e-02 2.32074876e+02] [-6.79644471e-01 7.32416203e-01 -4.06189523e-02 -1.51843354e+02] [-5.89452267e-02 6.64264996e-04 9.98260997e-01 -1.19692515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:232.10, Y:-151.87, Z:-11.97 [[ 7.31848231e-01 6.80193413e-01 4.16543766e-02 2.32097931e+02] [-6.79037641e-01 7.33032327e-01 -3.96420141e-02 -1.51866673e+02] [-5.74982415e-02 7.27048298e-04 9.98345343e-01 -1.19706889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.12, Y:-151.89, Z:-11.97 [[ 7.31871007e-01 6.80174016e-01 4.15708593e-02 2.32119340e+02] [-6.79020474e-01 7.33050294e-01 -3.96038109e-02 -1.51892213e+02] [-5.74110138e-02 7.57416351e-04 9.98350340e-01 -1.19716910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.14, Y:-151.92, Z:-11.97 [[ 7.31684301e-01 6.80331233e-01 4.22788091e-02 2.32141977e+02] [-6.79135803e-01 7.32904354e-01 -4.03208302e-02 -1.51916646e+02] [-5.84178433e-02 7.89065476e-04 9.98291908e-01 -1.19726759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:232.16, Y:-151.94, Z:-11.97 [[ 7.31195431e-01 6.80835482e-01 4.26179416e-02 2.32164920e+02] [-6.79619128e-01 7.32435956e-01 -4.06867526e-02 -1.51940824e+02] [-5.89158976e-02 7.85999293e-04 9.98262640e-01 -1.19741338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.19, Y:-151.97, Z:-11.98 [[ 7.28968433e-01 6.83183415e-01 4.31908014e-02 2.32186275e+02] [-6.81935606e-01 7.30246545e-01 -4.12772809e-02 -1.51966212e+02] [-5.97398873e-02 6.36489446e-04 9.98213775e-01 -1.19757704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.21, Y:-151.99, Z:-11.98 [[ 7.27069045e-01 6.85230118e-01 4.27818909e-02 2.32207291e+02] [-6.84006935e-01 7.28326466e-01 -4.09276423e-02 -1.51990273e+02] [-5.92040366e-02 4.94111745e-04 9.98245780e-01 -1.19766873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.23, Y:-152.01, Z:-11.98 [[ 7.26707623e-01 6.85614632e-01 4.27622120e-02 2.32230982e+02] [-6.84390904e-01 7.27964515e-01 -4.09481961e-02 -1.52012508e+02] [-5.92040554e-02 4.91297323e-04 9.98245781e-01 -1.19779995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.25, Y:-152.04, Z:-11.98 [[ 7.23645853e-01 6.88878877e-01 4.22205279e-02 2.32251532e+02] [-6.87689121e-01 7.24876424e-01 -4.04702672e-02 -1.52038207e+02] [-5.84837775e-02 2.51543288e-04 9.98288327e-01 -1.19783459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84864 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:232.27, Y:-152.06, Z:-11.98 [[ 7.21566391e-01 6.91045501e-01 4.24035330e-02 2.32274969e+02] [-6.89846788e-01 7.22811251e-01 -4.06854355e-02 -1.52061343e+02] [-5.87652378e-02 1.05301829e-04 9.98271825e-01 -1.19801410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87864 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:232.30, Y:-152.08, Z:-11.98 [[ 7.19739013e-01 6.92862483e-01 4.37873588e-02 2.32297351e+02] [-6.91584833e-01 7.21069747e-01 -4.20575769e-02 -1.52083965e+02] [-6.07138569e-02 -1.21942972e-05 9.98155212e-01 -1.19826242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.32, Y:-152.11, Z:-11.98 [[ 7.17448987e-01 6.95168230e-01 4.48116345e-02 2.32318419e+02] [-6.93831961e-01 7.18847062e-01 -4.30825978e-02 -1.52108740e+02] [-6.21623650e-02 -1.82178080e-04 9.98066033e-01 -1.19845674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.34, Y:-152.13, Z:-11.98 [[ 7.15324074e-01 6.97307754e-01 4.55342201e-02 2.32340365e+02] [-6.95929679e-01 7.16771776e-01 -4.38189885e-02 -1.52132653e+02] [-6.31929642e-02 -3.43837795e-04 9.98001268e-01 -1.19844134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.36, Y:-152.16, Z:-11.99 [[ 7.13948271e-01 6.98771562e-01 4.46785266e-02 2.32364484e+02] [-6.97445089e-01 7.15344753e-01 -4.30375636e-02 -1.52155679e+02] [-6.20339751e-02 -4.34224788e-04 9.98073944e-01 -1.19858898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99864 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:232.39, Y:-152.18, Z:-11.99 [[ 7.12066933e-01 7.00653551e-01 4.52248169e-02 2.32387575e+02] [-6.99295339e-01 7.13501418e-01 -4.36091257e-02 -1.52178356e+02] [-6.28228598e-02 -5.72887296e-04 9.98024529e-01 -1.19881924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.41, Y:-152.20, Z:-11.99 [[ 7.08193583e-01 7.04573911e-01 4.51381567e-02 2.32410284e+02] [-7.03226247e-01 7.09630054e-01 -4.35663996e-02 -1.52201501e+02] [-6.27271411e-02 -8.88891924e-04 9.98030318e-01 -1.19896773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.43, Y:-152.22, Z:-11.99 [[ 7.05639441e-01 7.07132894e-01 4.51226104e-02 2.32433618e+02] [-7.05788821e-01 7.07079832e-01 -4.35918662e-02 -1.52223139e+02] [-6.27305303e-02 -1.08689385e-03 9.98029909e-01 -1.19903728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.46, Y:-152.24, Z:-11.99 [[ 7.03689467e-01 7.09132979e-01 4.41763815e-02 2.32458467e+02] [-7.07846149e-01 7.05073724e-01 -4.27185339e-02 -1.52244500e+02] [-6.14407269e-02 -1.20949918e-03 9.98110001e-01 -1.19909032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.48, Y:-152.27, Z:-11.99 [[ 7.00671116e-01 7.12154208e-01 4.35473427e-02 2.32483420e+02] [-7.10907556e-01 7.02021610e-01 -4.21438679e-02 -1.52265020e+02] [-6.05841085e-02 -1.42914407e-03 9.98162073e-01 -1.19911362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.51, Y:-152.29, Z:-11.99 [[ 6.99610475e-01 7.13193237e-01 4.35957649e-02 2.32506473e+02] [-7.11944460e-01 7.00965864e-01 -4.22130857e-02 -1.52287844e+02] [-6.06652302e-02 -1.50504634e-03 9.98157034e-01 -1.19925004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.53, Y:-152.31, Z:-12.00 [[ 6.99382303e-01 7.13291235e-01 4.56071097e-02 2.32528458e+02] [-7.11922064e-01 7.00866033e-01 -4.42015692e-02 -1.52310607e+02] [-6.34930659e-02 -1.55491231e-03 9.97981068e-01 -1.19950211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.55, Y:-152.33, Z:-12.00 [[ 6.99873508e-01 7.12810415e-01 4.55893174e-02 2.32552065e+02] [-7.11438852e-01 7.01355196e-01 -4.42227106e-02 -1.52332634e+02] [-6.34967134e-02 -1.48370802e-03 9.97980945e-01 -1.19956792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.58, Y:-152.36, Z:-12.00 [[ 6.99603233e-01 7.13036168e-01 4.62032470e-02 2.32575333e+02] [-7.11625072e-01 7.01125660e-01 -4.48616311e-02 -1.52355619e+02] [-6.43822476e-02 -1.49404681e-03 9.97924193e-01 -1.19977406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.60, Y:-152.38, Z:-12.00 [[ 6.98567667e-01 7.14124990e-01 4.50412435e-02 2.32599548e+02] [-7.12783474e-01 7.00016558e-01 -4.37782927e-02 -1.52377550e+02] [-6.27927890e-02 -1.52255417e-03 9.98025424e-01 -1.19966178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.62, Y:-152.40, Z:-12.00 [[ 6.97026042e-01 7.15599440e-01 4.55207430e-02 2.32622738e+02] [-7.14229515e-01 6.98508944e-01 -4.42883289e-02 -1.52399209e+02] [-6.34893494e-02 -1.64213961e-03 9.97981165e-01 -1.19989161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.65, Y:-152.42, Z:-12.00 [[ 6.93497773e-01 7.19116140e-01 4.39638174e-02 2.32646334e+02] [-7.17843093e-01 6.94887388e-01 -4.28113397e-02 -1.52421538e+02] [-6.13362276e-02 -1.86955394e-03 9.98115410e-01 -1.19995578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.67, Y:-152.44, Z:-12.00 [[ 6.91806860e-01 7.20691410e-01 4.48013378e-02 2.32669932e+02] [-7.19370172e-01 6.93253064e-01 -4.36662838e-02 -1.52443829e+02] [-6.25285803e-02 -2.02011147e-03 9.98041129e-01 -1.20011556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.69, Y:-152.47, Z:-12.00 [[ 6.90424956e-01 7.22067251e-01 4.39575385e-02 2.32692865e+02] [-7.20795875e-01 6.91819749e-01 -4.28805486e-02 -1.52465700e+02] [-6.13733331e-02 -2.07861152e-03 9.98112716e-01 -1.20020378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:232.72, Y:-152.49, Z:-12.00 [[ 6.89827385e-01 7.22500857e-01 4.61594010e-02 2.32717130e+02] [-7.21097220e-01 6.91366536e-01 -4.50678619e-02 -1.52486971e+02] [-6.44746340e-02 -2.19637035e-03 9.97916929e-01 -1.20037731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:232.74, Y:-152.51, Z:-12.00 [[ 6.91521019e-01 7.20914696e-01 4.56144862e-02 2.32742283e+02] [-7.19538679e-01 6.93020914e-01 -4.45657092e-02 -1.52507921e+02] [-6.37398676e-02 -2.00326255e-03 9.97964537e-01 -1.20033491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.77, Y:-152.53, Z:-12.01 [[ 6.91458469e-01 7.20955331e-01 4.59194610e-02 2.32767061e+02] [-7.19559264e-01 6.92978644e-01 -4.48894708e-02 -1.52529039e+02] [-6.41845091e-02 -2.00256881e-03 9.97936039e-01 -1.20050050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.79, Y:-152.55, Z:-12.01 [[ 6.91590523e-01 7.20876565e-01 4.51611134e-02 2.32791968e+02] [-7.19523440e-01 6.93060778e-01 -4.41902354e-02 -1.52549660e+02] [-6.31551015e-02 -1.93293164e-03 9.98001852e-01 -1.20065206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.82, Y:-152.57, Z:-12.01 [[ 6.91218951e-01 7.21210151e-01 4.55222950e-02 2.32818873e+02] [-7.19833329e-01 6.92713588e-01 -4.45854689e-02 -1.52569483e+02] [-6.36894051e-02 -1.95014411e-03 9.97967864e-01 -1.20084883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.84, Y:-152.59, Z:-12.01 [[ 6.90676856e-01 7.21730784e-01 4.54989729e-02 2.32843467e+02] [-7.20353595e-01 6.92171086e-01 -4.46081433e-02 -1.52591145e+02] [-6.36881438e-02 -1.96553651e-03 9.97967914e-01 -1.20093606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.87, Y:-152.61, Z:-12.01 [[ 6.90293190e-01 7.22111722e-01 4.52766236e-02 2.32870261e+02] [-7.20745901e-01 6.91773678e-01 -4.44356258e-02 -1.52610517e+02] [-6.34086627e-02 -1.95933096e-03 9.97985723e-01 -1.20082383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.90, Y:-152.63, Z:-12.01 [[ 6.89632440e-01 7.22760987e-01 4.49850341e-02 2.32895559e+02] [-7.21411241e-01 6.91095258e-01 -4.41946274e-02 -1.52631173e+02] [-6.30310963e-02 -1.97466052e-03 9.98009610e-01 -1.20102054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65864 meters Centerline goodness [0,1] 0.9998034494619429 Centerline is valid? [True, True] Translation: X:232.92, Y:-152.65, Z:-12.01 [[ 6.89625156e-01 7.22770962e-01 4.49364099e-02 2.32921295e+02] [-7.21421293e-01 6.91084919e-01 -4.41922288e-02 -1.52651873e+02] [-6.29957350e-02 -1.94201029e-03 9.98011907e-01 -1.20126160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68864 meters Centerline goodness [0,1] 0.9998528040822334 Centerline is valid? [True, True] Translation: X:232.95, Y:-152.67, Z:-12.01 [[ 6.89905560e-01 7.22607448e-01 4.32295478e-02 2.32948301e+02] [-7.21356100e-01 6.91256194e-01 -4.25470600e-02 -1.52670935e+02] [-6.06275151e-02 -1.83044472e-03 9.98158782e-01 -1.20139321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.97, Y:-152.69, Z:-12.02 [[ 6.90404761e-01 7.22171137e-01 4.25454461e-02 2.32973217e+02] [-7.20956900e-01 6.91712220e-01 -4.18969434e-02 -1.52691204e+02] [-5.96859682e-02 -1.74758371e-03 9.98215674e-01 -1.20153541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.00, Y:-152.71, Z:-12.02 [[ 6.92639081e-01 7.20008839e-01 4.28762931e-02 2.33000314e+02] [-7.18769634e-01 6.93963158e-01 -4.22533969e-02 -1.52710125e+02] [-6.01773870e-02 -1.55182355e-03 9.98186493e-01 -1.20162297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77864 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:233.02, Y:-152.73, Z:-12.02 [[ 6.93724386e-01 7.18936211e-01 4.33266658e-02 2.33024642e+02] [-7.17667354e-01 6.95074526e-01 -4.27196839e-02 -1.52730823e+02] [-6.08279894e-02 -1.45844713e-03 9.98147198e-01 -1.20163708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80864 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:233.05, Y:-152.75, Z:-12.02 [[ 6.94979216e-01 7.17684822e-01 4.39589190e-02 2.33048682e+02] [-7.16373658e-01 6.96366785e-01 -4.33829731e-02 -1.52751933e+02] [-6.17468324e-02 -1.34074695e-03 9.98090943e-01 -1.20164242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.08, Y:-152.77, Z:-12.02 [[ 6.98132068e-01 7.14593093e-01 4.43658432e-02 2.33075081e+02] [-7.13248738e-01 6.99539572e-01 -4.38249261e-02 -1.52771378e+02] [-6.23526525e-02 -1.04829542e-03 9.98053630e-01 -1.20173106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:233.10, Y:-152.79, Z:-12.02 [[ 6.99953567e-01 7.12889637e-01 4.30507731e-02 2.33100163e+02] [-7.11618303e-01 7.01275734e-01 -4.25644817e-02 -1.52791479e+02] [-6.05342404e-02 -8.42557297e-04 9.98165766e-01 -1.20197916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.12, Y:-152.81, Z:-12.02 [[ 7.00656635e-01 7.12157837e-01 4.37206449e-02 2.33123464e+02] [-7.10842534e-01 7.02018971e-01 -4.32695737e-02 -1.52814105e+02] [-6.15074882e-02 -7.61380062e-04 9.98106332e-01 -1.20219561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.15, Y:-152.84, Z:-12.02 [[ 7.00859882e-01 7.11959286e-01 4.36966893e-02 2.33146827e+02] [-7.10642179e-01 7.02220385e-01 -4.32923173e-02 -1.52837338e+02] [-6.15070733e-02 -7.10862077e-04 9.98106394e-01 -1.20235771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.17, Y:-152.86, Z:-12.02 [[ 7.01896696e-01 7.10972380e-01 4.31196425e-02 2.33169955e+02] [-7.09685339e-01 7.03219690e-01 -4.27643217e-02 -1.52859540e+02] [-6.07268332e-02 -5.85241962e-04 9.98154251e-01 -1.20235286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.19, Y:-152.88, Z:-12.03 [[ 7.01550664e-01 7.11287318e-01 4.35547461e-02 2.33193110e+02] [-7.09972115e-01 7.02901134e-01 -4.32387739e-02 -1.52882581e+02] [-6.13698720e-02 -5.88464603e-04 9.98114919e-01 -1.20251287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.21, Y:-152.91, Z:-12.03 [[ 7.00991109e-01 7.11776678e-01 4.45581165e-02 2.33214861e+02] [-7.10398212e-01 7.02405570e-01 -4.42808845e-02 -1.52906628e+02] [-6.28159700e-02 -6.13499967e-04 9.98024938e-01 -1.20261399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:233.24, Y:-152.93, Z:-12.03 [[ 7.01284295e-01 7.11482890e-01 4.46367004e-02 2.33238431e+02] [-7.10096218e-01 7.02703200e-01 -4.44024213e-02 -1.52930153e+02] [-6.29579152e-02 -5.57631374e-04 9.98016027e-01 -1.20276215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.26, Y:-152.95, Z:-12.03 [[ 7.01218360e-01 7.11559327e-01 4.44537482e-02 2.33261852e+02] [-7.10181179e-01 7.02625821e-01 -4.42679177e-02 -1.52953218e+02] [-6.27336010e-02 -5.28738646e-04 9.98030168e-01 -1.20290537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10864 meters Centerline goodness [0,1] 0.9999019223224794 Centerline is valid? [True, True] Translation: X:233.29, Y:-152.98, Z:-12.03 [[ 7.01130776e-01 7.11666394e-01 4.41200594e-02 2.33285336e+02] [-7.10306151e-01 7.02517397e-01 -4.39827120e-02 -1.52976488e+02] [-6.22961273e-02 -5.01116548e-04 9.98057584e-01 -1.20318658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13864 meters Centerline goodness [0,1] 0.9999510020089176 Centerline is valid? [True, True] Translation: X:233.31, Y:-153.00, Z:-12.03 [[ 7.01814677e-01 7.11063675e-01 4.29489239e-02 2.33307274e+02] [-7.09771008e-01 7.03127503e-01 -4.28582505e-02 -1.52999598e+02] [-6.06735147e-02 -4.05351826e-04 9.98157583e-01 -1.20330907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.33, Y:-153.02, Z:-12.03 [[ 7.03338981e-01 7.09589214e-01 4.23960629e-02 2.33327688e+02] [-7.08324596e-01 7.04615560e-01 -4.23459543e-02 -1.53024529e+02] [-5.99211581e-02 -2.46613793e-04 9.98203083e-01 -1.20346794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.35, Y:-153.05, Z:-12.04 [[ 7.03600142e-01 7.09323007e-01 4.25171903e-02 2.33349736e+02] [-7.08048149e-01 7.04883560e-01 -4.25086430e-02 -1.53048905e+02] [-6.01220269e-02 -1.95130642e-04 9.98191016e-01 -1.20356047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.41, Y:-153.14, Z:-10.38 [[ 7.58984386e-01 -6.50978646e-01 -1.30194055e-02 2.33405253e+02] [-6.50808923e-01 -7.59089946e-01 1.51723016e-02 -1.53137399e+02] [-1.97597442e-02 -3.04239477e-03 -9.99800128e-01 -1.03822602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.39, Y:-153.11, Z:-12.04 [[ 7.53392945e-01 6.55968785e-01 4.58696413e-02 2.33387472e+02] [-6.54775167e-01 7.54787982e-01 -3.95547938e-02 -1.53106184e+02] [-6.05685640e-02 -2.33999462e-04 9.98164012e-01 -1.20376737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.41, Y:-153.13, Z:-12.04 [[ 7.52885355e-01 6.56513509e-01 4.64074945e-02 2.33409160e+02] [-6.55290057e-01 7.54314226e-01 -4.00623308e-02 -1.53131922e+02] [-6.13072946e-02 -2.48027535e-04 9.98118908e-01 -1.20400160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.43, Y:-153.16, Z:-12.04 [[ 7.52817307e-01 6.56615066e-01 4.60734014e-02 2.33432531e+02] [-6.55406751e-01 7.54225832e-01 -3.98168882e-02 -1.53155039e+02] [-6.08941182e-02 -2.21975787e-04 9.98144207e-01 -1.20402960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.46, Y:-153.18, Z:-12.04 [[ 7.51858704e-01 6.57738883e-01 4.56952023e-02 2.33455984e+02] [-6.56549831e-01 7.53245965e-01 -3.95327130e-02 -1.53177719e+02] [-6.04219293e-02 -2.78162973e-04 9.98172887e-01 -1.20410081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.48, Y:-153.20, Z:-12.04 [[ 7.50298083e-01 6.59528038e-01 4.55582604e-02 2.33478723e+02] [-6.58346813e-01 7.51679863e-01 -3.94570326e-02 -1.53201316e+02] [-6.02682463e-02 -3.88599617e-04 9.98182141e-01 -1.20414309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.50, Y:-153.22, Z:-12.04 [[ 7.48499330e-01 6.61554028e-01 4.57713998e-02 2.33502296e+02] [-6.60362857e-01 7.49897323e-01 -3.96850240e-02 -1.53224171e+02] [-6.05776376e-02 -5.21518501e-04 9.98163352e-01 -1.20428022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.52, Y:-153.25, Z:-12.04 [[ 7.45133404e-01 6.65388764e-01 4.50999188e-02 2.33524513e+02] [-6.64236884e-01 7.46496596e-01 -3.91432437e-02 -1.53247679e+02] [-5.97124104e-02 -7.90091094e-04 9.98215309e-01 -1.20447772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.55, Y:-153.27, Z:-12.05 [[ 7.43375019e-01 6.67307224e-01 4.57673471e-02 2.33548498e+02] [-6.66122291e-01 7.44781985e-01 -3.97603981e-02 -1.53269642e+02] [-6.06190964e-02 -9.29763416e-04 9.98160539e-01 -1.20461639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.57, Y:-153.29, Z:-12.05 [[ 7.42042951e-01 6.68786749e-01 4.57880371e-02 2.33572978e+02] [-6.67601287e-01 7.43453588e-01 -3.98156283e-02 -1.53290977e+02] [-6.06694451e-02 -1.02324616e-03 9.98157388e-01 -1.20463405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.60, Y:-153.31, Z:-12.05 [[ 7.41012232e-01 6.69912096e-01 4.60288643e-02 2.33596238e+02] [-6.68713996e-01 7.42439619e-01 -4.00624832e-02 -1.53313387e+02] [-6.10119946e-02 -1.09335571e-03 9.98136434e-01 -1.20469775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.62, Y:-153.33, Z:-12.05 [[ 7.41143752e-01 6.69780909e-01 4.58200015e-02 2.33621119e+02] [-6.68591049e-01 7.42558034e-01 -3.99196182e-02 -1.53334777e+02] [-6.07614084e-02 -1.04866721e-03 9.98151768e-01 -1.20476694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.65, Y:-153.36, Z:-12.05 [[ 7.41111688e-01 6.69895776e-01 4.46443224e-02 2.33645510e+02] [-6.68764138e-01 7.42454474e-01 -3.89343307e-02 -1.53355632e+02] [-5.92283206e-02 -1.00183422e-03 9.98243959e-01 -1.20484581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.67, Y:-153.38, Z:-12.05 [[ 7.41597475e-01 6.69401476e-01 4.39869187e-02 2.33670386e+02] [-6.68300001e-01 7.42900272e-01 -3.83965474e-02 -1.53376577e+02] [-5.83805994e-02 -9.21675189e-04 9.98293973e-01 -1.20495276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.70, Y:-153.40, Z:-12.05 [[ 7.41237586e-01 6.69797363e-01 4.40265145e-02 2.33695384e+02] [-6.68692381e-01 7.42543357e-01 -3.84689845e-02 -1.53398357e+02] [-5.84580202e-02 -9.25537663e-04 9.98289439e-01 -1.20508531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.72, Y:-153.42, Z:-12.05 [[ 7.41339967e-01 6.69681878e-01 4.40594637e-02 2.33721640e+02] [-6.68572602e-01 7.42647559e-01 -3.85393114e-02 -1.53418761e+02] [-5.85297316e-02 -8.86218424e-04 9.98285272e-01 -1.20533819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.75, Y:-153.44, Z:-12.05 [[ 7.40983713e-01 6.70077393e-01 4.40389004e-02 2.33746295e+02] [-6.68967419e-01 7.42290713e-01 -3.85627988e-02 -1.53439926e+02] [-5.85297264e-02 -8.86183731e-04 9.98285273e-01 -1.20546906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.77, Y:-153.46, Z:-12.06 [[ 7.39234909e-01 6.72005645e-01 4.40472769e-02 2.33771246e+02] [-6.70896324e-01 7.40545336e-01 -3.86099403e-02 -1.53460219e+02] [-5.85651033e-02 -1.00934046e-03 9.98283081e-01 -1.20570033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.80, Y:-153.48, Z:-12.06 [[ 7.38113122e-01 6.73279145e-01 4.34075074e-02 2.33796111e+02] [-6.72201907e-01 7.39387621e-01 -3.80859794e-02 -1.53482547e+02] [-5.77374693e-02 -1.06684811e-03 9.98331231e-01 -1.20577205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.82, Y:-153.50, Z:-12.06 [[ 7.37180444e-01 6.74251106e-01 4.41637824e-02 2.33820545e+02] [-6.73135339e-01 7.38501295e-01 -3.87898533e-02 -1.53504038e+02] [-5.87691120e-02 -1.13308134e-03 9.98270959e-01 -1.20595186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.85, Y:-153.52, Z:-12.06 [[ 7.36587381e-01 6.74839544e-01 4.50624002e-02 2.33845803e+02] [-6.73676732e-01 7.37963553e-01 -3.96163392e-02 -1.53523924e+02] [-5.99890812e-02 -1.17659491e-03 9.98198340e-01 -1.20605053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.87, Y:-153.54, Z:-12.06 [[ 7.36726551e-01 6.74685432e-01 4.50949844e-02 2.33871584e+02] [-6.73518335e-01 7.38104516e-01 -3.96834534e-02 -1.53544658e+02] [-6.00586595e-02 -1.13644500e-03 9.98194203e-01 -1.20609364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.90, Y:-153.56, Z:-12.06 [[ 7.37640455e-01 6.73776477e-01 4.37243555e-02 2.33897122e+02] [-6.72675469e-01 7.38934541e-01 -3.85156694e-02 -1.53564839e+02] [-5.82603886e-02 -1.00158553e-03 9.98300919e-01 -1.20619450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.92, Y:-153.59, Z:-12.06 [[ 7.37733828e-01 6.73641720e-01 4.42225329e-02 2.33922621e+02] [-6.72512961e-01 7.39057430e-01 -3.89927132e-02 -1.53585897e+02] [-5.89501099e-02 -9.73983025e-04 9.98260455e-01 -1.20645402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.95, Y:-153.61, Z:-12.07 [[ 7.38304260e-01 6.73090559e-01 4.30803673e-02 2.33947610e+02] [-6.72016253e-01 7.39559551e-01 -3.80240251e-02 -1.53605696e+02] [-5.74541094e-02 -8.77407285e-04 9.98347763e-01 -1.20660110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.97, Y:-153.63, Z:-12.07 [[ 7.38149653e-01 6.73189549e-01 4.41692432e-02 2.33973881e+02] [-6.72058083e-01 7.39469445e-01 -3.90240072e-02 -1.53625338e+02] [-5.89323595e-02 -8.78739559e-04 9.98261591e-01 -1.20675001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.00, Y:-153.65, Z:-12.07 [[ 7.37951374e-01 6.73311318e-01 4.56030459e-02 2.33998530e+02] [-6.72102769e-01 7.39358562e-01 -4.03334045e-02 -1.53645360e+02] [-6.08739402e-02 -8.85842228e-04 9.98145069e-01 -1.20697091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.02, Y:-153.67, Z:-12.07 [[ 7.37078305e-01 6.74202784e-01 4.65422324e-02 2.34023266e+02] [-6.72943208e-01 7.38545668e-01 -4.12035839e-02 -1.53666185e+02] [-6.21531351e-02 -9.50011352e-04 9.98066173e-01 -1.20707539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.05, Y:-153.69, Z:-12.07 [[ 7.36491423e-01 6.74865402e-01 4.62284823e-02 2.34049343e+02] [-6.73621571e-01 7.37940207e-01 -4.09661892e-02 -1.53685892e+02] [-6.17605196e-02 -9.69255871e-04 9.98090526e-01 -1.20719344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:234.08, Y:-153.71, Z:-12.07 [[ 7.36299683e-01 6.75101083e-01 4.58399899e-02 2.34075994e+02] [-6.73875877e-01 7.37724629e-01 -4.06653896e-02 -1.53705708e+02] [-6.12705381e-02 -9.48549967e-04 9.98120745e-01 -1.20740472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.10, Y:-153.73, Z:-12.07 [[ 7.36510974e-01 6.74895724e-01 4.54680775e-02 2.34101269e+02] [-6.73687420e-01 7.37912572e-01 -4.03769318e-02 -1.53725890e+02] [-6.08016846e-02 -8.93218470e-04 9.98149466e-01 -1.20746658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.13, Y:-153.75, Z:-12.08 [[ 7.36812560e-01 6.74540365e-01 4.58535380e-02 2.34126731e+02] [-6.73308293e-01 7.38237488e-01 -4.07597228e-02 -1.53746857e+02] [-6.13448790e-02 -8.41291663e-04 9.98116275e-01 -1.20756953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.15, Y:-153.77, Z:-12.08 [[ 7.37442070e-01 6.73765320e-01 4.71114293e-02 2.34152338e+02] [-6.72460163e-01 7.38944998e-01 -4.19239719e-02 -1.53768376e+02] [-6.30596734e-02 -7.64058757e-04 9.98009466e-01 -1.20773370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.18, Y:-153.79, Z:-12.08 [[ 7.37616524e-01 6.73670553e-01 4.57148709e-02 2.34176887e+02] [-6.72438993e-01 7.39031455e-01 -4.07223461e-02 -1.53788518e+02] [-6.12181730e-02 -7.02986367e-04 9.98124161e-01 -1.20779260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:234.20, Y:-153.81, Z:-12.08 [[ 7.37770480e-01 6.73593350e-01 4.43476856e-02 2.34202355e+02] [-6.72432112e-01 7.39101872e-01 -3.95408345e-02 -1.53808031e+02] [-5.94119006e-02 -6.48747457e-04 9.98233342e-01 -1.20812531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.23, Y:-153.83, Z:-12.08 [[ 7.37847927e-01 6.73582778e-01 4.32050647e-02 2.34226519e+02] [-6.72478565e-01 7.39111544e-01 -3.85578054e-02 -1.53829453e+02] [-5.79052358e-02 -6.04683142e-04 9.98321901e-01 -1.20823872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.25, Y:-153.85, Z:-12.08 [[ 7.37896289e-01 6.73477892e-01 4.40067618e-02 2.34251569e+02] [-6.72329763e-01 7.39207139e-01 -3.93127836e-02 -1.53851609e+02] [-5.90064031e-02 -5.78298605e-04 9.98257437e-01 -1.20838354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.28, Y:-153.87, Z:-12.08 [[ 7.38452114e-01 6.72819168e-01 4.47531314e-02 2.34276590e+02] [-6.71627872e-01 7.39806810e-01 -4.00235719e-02 -1.53873303e+02] [-6.00372977e-02 -5.01959034e-04 9.98196008e-01 -1.20840394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.30, Y:-153.89, Z:-12.09 [[ 7.40201251e-01 6.70814896e-01 4.59290983e-02 2.34301914e+02] [-6.69553435e-01 7.41624754e-01 -4.11208189e-02 -1.53894729e+02] [-6.16466141e-02 -3.14303854e-04 9.98097989e-01 -1.20872218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.33, Y:-153.92, Z:-12.09 [[ 7.41186640e-01 6.69748392e-01 4.56010550e-02 2.34326955e+02] [-6.68500164e-01 7.42588079e-01 -4.08714465e-02 -1.53916424e+02] [-6.12363854e-02 -1.90942593e-04 9.98123273e-01 -1.20884797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.35, Y:-153.94, Z:-12.09 [[ 7.42128437e-01 6.68761558e-01 4.47589374e-02 2.34350502e+02] [-6.67554783e-01 7.43476949e-01 -4.01576774e-02 -1.53938422e+02] [-6.01331491e-02 -7.68883663e-05 9.98190362e-01 -1.20897022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.37, Y:-153.96, Z:-12.09 [[ 7.45205773e-01 6.65359170e-01 4.43343179e-02 2.34372655e+02] [-6.64166834e-01 7.46523358e-01 -3.98157223e-02 -1.53963536e+02] [-5.95883598e-02 2.25522543e-04 9.98223009e-01 -1.20902775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.40, Y:-153.99, Z:-12.09 [[ 7.46099852e-01 6.64333165e-01 4.46817237e-02 2.34395908e+02] [-6.63117612e-01 7.47436505e-01 -4.01709356e-02 -1.53987208e+02] [-6.00836361e-02 3.42291234e-04 9.98193288e-01 -1.20910551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.42, Y:-154.01, Z:-12.09 [[ 7.46906116e-01 6.63361019e-01 4.56444165e-02 2.34417614e+02] [-6.62088048e-01 7.48299369e-01 -4.10788342e-02 -1.54011296e+02] [-6.14057854e-02 4.61409944e-04 9.98112778e-01 -1.20909109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.44, Y:-154.04, Z:-12.09 [[ 7.46774445e-01 6.63543656e-01 4.51413857e-02 2.34440310e+02] [-6.62296556e-01 7.48137417e-01 -4.06654251e-02 -1.54035006e+02] [-6.07552445e-02 4.70915937e-04 9.98152583e-01 -1.20928615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.46, Y:-154.06, Z:-12.09 [[ 7.45345178e-01 6.65157538e-01 4.50112815e-02 2.34462363e+02] [-6.63917942e-01 7.46702961e-01 -4.05913126e-02 -1.54059784e+02] [-6.06096747e-02 3.70741673e-04 9.98161475e-01 -1.20937406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.48, Y:-154.09, Z:-12.10 [[ 7.42414760e-01 6.68350715e-01 4.61264098e-02 2.34481676e+02] [-6.67052198e-01 7.43846288e-01 -4.16421088e-02 -1.54087384e+02] [-6.21424919e-02 1.46993191e-04 9.98067277e-01 -1.20950612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.50, Y:-154.11, Z:-12.10 [[ 7.40877277e-01 6.70073821e-01 4.58468637e-02 2.34504020e+02] [-6.68791548e-01 7.42294466e-01 -4.14341842e-02 -1.54111427e+02] [-6.17958353e-02 3.56506711e-05 9.98088810e-01 -1.20964365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66864 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:234.52, Y:-154.14, Z:-12.10 [[ 7.38404424e-01 6.72781270e-01 4.60897886e-02 2.34523978e+02] [-6.71487803e-01 7.39841427e-01 -4.16988441e-02 -1.54138079e+02] [-6.21533363e-02 -1.58119904e-04 9.98066600e-01 -1.20977583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.55, Y:-154.16, Z:-12.10 [[ 7.36919085e-01 6.74409404e-01 4.60675282e-02 2.34546986e+02] [-6.73117552e-01 7.38357560e-01 -4.17237786e-02 -1.54162486e+02] [-6.21532164e-02 -2.61813091e-04 9.98066586e-01 -1.20986747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.57, Y:-154.19, Z:-12.10 [[ 7.35782746e-01 6.75658639e-01 4.59255430e-02 2.34570443e+02] [-6.74374379e-01 7.37214550e-01 -4.16401646e-02 -1.54185988e+02] [-6.19915155e-02 -3.32894907e-04 9.98076621e-01 -1.20996134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.59, Y:-154.21, Z:-12.10 [[ 7.33188994e-01 6.78493577e-01 4.56110166e-02 2.34593229e+02] [-6.77229573e-01 7.34606139e-01 -4.13995951e-02 -1.54209775e+02] [-6.15954922e-02 -5.35401839e-04 9.98101051e-01 -1.21007352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.62, Y:-154.23, Z:-12.10 [[ 7.32346235e-01 6.79471231e-01 4.45851760e-02 2.34616637e+02] [-6.78262819e-01 7.33701927e-01 -4.05096319e-02 -1.54232333e+02] [-6.02373589e-02 -5.73390763e-04 9.98183917e-01 -1.21018184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.64, Y:-154.26, Z:-12.10 [[ 7.30308768e-01 6.81580781e-01 4.57901938e-02 2.34638037e+02] [-6.80307839e-01 7.31742504e-01 -4.16431498e-02 -1.54255817e+02] [-6.18898017e-02 -7.39070388e-04 9.98082715e-01 -1.21043029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.66, Y:-154.28, Z:-12.10 [[ 7.29028356e-01 6.82970095e-01 4.54918217e-02 2.34662100e+02] [-6.81714017e-01 7.30445872e-01 -4.14104643e-02 -1.54278394e+02] [-6.15114221e-02 -8.23009773e-04 9.98106040e-01 -1.21048934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.69, Y:-154.30, Z:-12.11 [[ 7.25125673e-01 6.87034753e-01 4.66476830e-02 2.34686499e+02] [-6.85719539e-01 7.26623625e-01 -4.25067214e-02 -1.54299754e+02] [-6.30989034e-02 -1.16451269e-03 9.98006599e-01 -1.21057304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.71, Y:-154.32, Z:-12.11 [[ 7.23000194e-01 6.89310301e-01 4.60654921e-02 2.34710767e+02] [-6.88029941e-01 7.24465025e-01 -4.20146030e-02 -1.54321084e+02] [-6.23339365e-02 -1.31787175e-03 9.98054479e-01 -1.21064355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.74, Y:-154.34, Z:-12.11 [[ 7.21017316e-01 6.91345497e-01 4.66415470e-02 2.34735482e+02] [-6.90034665e-01 7.22522803e-01 -4.25788687e-02 -1.54342214e+02] [-6.31362904e-02 -1.48418257e-03 9.98003811e-01 -1.21075957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.76, Y:-154.36, Z:-12.11 [[ 7.18170053e-01 6.94317300e-01 4.64247989e-02 2.34762261e+02] [-6.93022399e-01 7.19666982e-01 -4.24192137e-02 -1.54360501e+02] [-6.28627888e-02 -1.70921656e-03 9.98020715e-01 -1.21089486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.79, Y:-154.38, Z:-12.11 [[ 7.17338653e-01 6.95299082e-01 4.45470972e-02 2.34788627e+02] [-6.94106626e-01 7.18718518e-01 -4.07392070e-02 -1.54379998e+02] [-6.03427570e-02 -1.69662747e-03 9.98176274e-01 -1.21091341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.82, Y:-154.40, Z:-12.11 [[ 7.17237964e-01 6.95474416e-01 4.34170379e-02 2.34817777e+02] [-6.94339981e-01 7.18548982e-01 -3.97410536e-02 -1.54395843e+02] [-5.88361544e-02 -1.64239288e-03 9.98266302e-01 -1.21101471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:234.84, Y:-154.41, Z:-12.11 [[ 7.16754222e-01 6.95956940e-01 4.36729052e-02 2.34844821e+02] [-6.94807730e-01 7.18081588e-01 -4.00131482e-02 -1.54414790e+02] [-5.92081373e-02 -1.66467927e-03 9.98244271e-01 -1.21112333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.87, Y:-154.43, Z:-12.11 [[ 7.17486489e-01 6.95211781e-01 4.35168700e-02 2.34871508e+02] [-6.94067078e-01 7.18803254e-01 -3.99095559e-02 -1.54432844e+02] [-5.90256611e-02 -1.56905967e-03 9.98255233e-01 -1.21124112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.90, Y:-154.45, Z:-12.11 [[ 7.19814333e-01 6.92813489e-01 4.33219980e-02 2.34902477e+02] [-6.91672558e-01 7.21115576e-01 -3.97668081e-02 -1.54446653e+02] [-5.87911486e-02 -1.33991869e-03 9.98269405e-01 -1.21133341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14864 meters Centerline goodness [0,1] 0.9999018501251411 Centerline is valid? [True, True] Translation: X:234.93, Y:-154.47, Z:-12.12 [[ 7.21077028e-01 6.91511312e-01 4.31280161e-02 2.34929288e+02] [-6.90376125e-01 7.22364632e-01 -3.96250531e-02 -1.54465201e+02] [-5.85553259e-02 -1.20183712e-03 9.98283441e-01 -1.21151948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.96, Y:-154.48, Z:-12.12 [[ 7.24049074e-01 6.88362939e-01 4.36967126e-02 2.34958723e+02] [-6.87189615e-01 7.25365836e-01 -4.01850354e-02 -1.54480721e+02] [-5.93579915e-02 -9.31989390e-04 9.98236325e-01 -1.21161198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.99, Y:-154.50, Z:-12.12 [[ 7.25371764e-01 6.87013162e-01 4.29967276e-02 2.34985806e+02] [-6.85872663e-01 7.26644551e-01 -3.95775993e-02 -1.54499045e+02] [-5.84336695e-02 -7.81807052e-04 9.98290987e-01 -1.21166301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.02, Y:-154.52, Z:-12.12 [[ 7.27477763e-01 6.84704992e-01 4.42173978e-02 2.35015519e+02] [-6.83492028e-01 7.28820097e-01 -4.07420309e-02 -1.54516140e+02] [-6.01228001e-02 -5.83317417e-04 9.98190818e-01 -1.21192667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.04, Y:-154.54, Z:-12.12 [[ 7.28312234e-01 6.83780070e-01 4.47895653e-02 2.35042274e+02] [-6.82530992e-01 7.29688005e-01 -4.13141688e-02 -1.54536381e+02] [-6.09322138e-02 -4.80651833e-04 9.98141791e-01 -1.21214934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:235.07, Y:-154.55, Z:-12.12 [[ 7.29355949e-01 6.82660661e-01 4.48811955e-02 2.35070981e+02] [-6.81401625e-01 7.30735448e-01 -4.14430919e-02 -1.54553483e+02] [-6.10878490e-02 -3.55353912e-04 9.98132330e-01 -1.21226902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.10, Y:-154.57, Z:-12.12 [[ 7.29615025e-01 6.82328139e-01 4.57189848e-02 2.35097461e+02] [-6.81018117e-01 7.31045977e-01 -4.22623294e-02 -1.54573144e+02] [-6.22594564e-02 -3.00226399e-04 9.98059953e-01 -1.21247718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35864 meters Centerline goodness [0,1] 0.9999018597575936 Centerline is valid? [True, True] Translation: X:235.12, Y:-154.59, Z:-12.13 [[ 7.30510747e-01 6.81391800e-01 4.53791174e-02 2.35123731e+02] [-6.80096627e-01 7.31918835e-01 -4.19928201e-02 -1.54593603e+02] [-6.18273940e-02 -1.85978351e-04 9.98086839e-01 -1.21257642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38864 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:235.15, Y:-154.61, Z:-12.13 [[ 7.32858577e-01 6.78949504e-01 4.41120922e-02 2.35149893e+02] [-6.77719291e-01 7.34184969e-01 -4.08533239e-02 -1.54613454e+02] [-6.01237791e-02 4.40930178e-05 9.98190928e-01 -1.21262867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.18, Y:-154.63, Z:-12.13 [[ 7.33284690e-01 6.78454917e-01 4.46372963e-02 2.35175379e+02] [-6.77192823e-01 7.34642032e-01 -4.13638298e-02 -1.54634549e+02] [-6.08559277e-02 1.03406442e-04 9.98146555e-01 -1.21276771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.20, Y:-154.65, Z:-12.13 [[ 7.34546564e-01 6.77064206e-01 4.50045035e-02 2.35202015e+02] [-6.75775897e-01 7.35923907e-01 -4.17485410e-02 -1.54653947e+02] [-6.13863328e-02 2.53288632e-04 9.98114049e-01 -1.21295216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.23, Y:-154.67, Z:-12.13 [[ 7.34574037e-01 6.77027392e-01 4.51097955e-02 2.35227386e+02] [-6.75730239e-01 7.35957761e-01 -4.18905465e-02 -1.54674902e+02] [-6.15599516e-02 2.89654910e-04 9.98103346e-01 -1.21316268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.25, Y:-154.70, Z:-12.13 [[ 7.34657967e-01 6.76910838e-01 4.54905371e-02 2.35252497e+02] [-6.75588671e-01 7.36064946e-01 -4.22887968e-02 -1.54695690e+02] [-6.21097346e-02 3.34909926e-04 9.98069270e-01 -1.21329766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.28, Y:-154.72, Z:-12.13 [[ 7.36418759e-01 6.75015918e-01 4.51765509e-02 2.35277976e+02] [-6.73705688e-01 7.37802979e-01 -4.20405747e-02 -1.54716553e+02] [-6.17094509e-02 5.23768577e-04 9.98094018e-01 -1.21336331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.30, Y:-154.74, Z:-12.14 [[ 7.37163524e-01 6.74247396e-01 4.45015402e-02 2.35302076e+02] [-6.72972056e-01 7.38505298e-01 -4.14552426e-02 -1.54739121e+02] [-6.08157126e-02 6.10999695e-04 9.98148824e-01 -1.21352983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.33, Y:-154.76, Z:-12.14 [[ 7.36817099e-01 6.74627368e-01 4.44800692e-02 2.35326090e+02] [-6.73351329e-01 7.38158208e-01 -4.14782715e-02 -1.54761057e+02] [-6.08157053e-02 6.11185929e-04 9.98148825e-01 -1.21366070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62864 meters Centerline goodness [0,1] 0.999901927131859 Centerline is valid? [True, True] Translation: X:235.35, Y:-154.78, Z:-12.14 [[ 7.39046432e-01 6.72180528e-01 4.45388522e-02 2.35349330e+02] [-6.70894156e-01 7.40386808e-01 -4.15741013e-02 -1.54783447e+02] [-6.09212800e-02 8.44335571e-04 9.98142217e-01 -1.21381776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.37, Y:-154.80, Z:-12.14 [[ 7.40090213e-01 6.71022303e-01 4.46715303e-02 2.35373682e+02] [-6.69723845e-01 7.41436530e-01 -4.17354137e-02 -1.54804837e+02] [-6.11264978e-02 9.70382187e-04 9.98129556e-01 -1.21399190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68864 meters Centerline goodness [0,1] 0.9999018693881556 Centerline is valid? [True, True] Translation: X:235.40, Y:-154.83, Z:-12.14 [[ 7.42004558e-01 6.68957369e-01 4.38779451e-02 2.35397051e+02] [-6.67698892e-01 7.43299887e-01 -4.10300813e-02 -1.54827720e+02] [-6.00618468e-02 1.14725204e-03 9.98193998e-01 -1.21396576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71864 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:235.42, Y:-154.85, Z:-12.14 [[ 7.42396083e-01 6.68471246e-01 4.46570095e-02 2.35419556e+02] [-6.67164479e-01 7.43736961e-01 -4.17958312e-02 -1.54851316e+02] [-6.11523799e-02 1.23549095e-03 9.98127677e-01 -1.21424950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74864 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:235.44, Y:-154.88, Z:-12.14 [[ 7.42886084e-01 6.67950601e-01 4.42974155e-02 2.35442885e+02] [-6.66661565e-01 7.44204484e-01 -4.14975158e-02 -1.54875142e+02] [-6.06846258e-02 1.29654266e-03 9.98156148e-01 -1.21435539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:235.46, Y:-154.90, Z:-12.15 [[ 7.42277744e-01 6.68645309e-01 4.40136471e-02 2.35464631e+02] [-6.67371452e-01 7.43580430e-01 -4.12733566e-02 -1.54899562e+02] [-6.03249230e-02 1.26284245e-03 9.98177995e-01 -1.21450265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80864 meters Centerline goodness [0,1] 0.9998528979111503 Centerline is valid? [True, True] Translation: X:235.49, Y:-154.92, Z:-12.15 [[ 7.41671511e-01 6.69298920e-01 4.42981506e-02 2.35487446e+02] [-6.68007108e-01 7.42992191e-01 -4.15825459e-02 -1.54924131e+02] [-6.07443330e-02 1.24911019e-03 9.98152576e-01 -1.21478492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83864 meters Centerline goodness [0,1] 0.9998527318246527 Centerline is valid? [True, True] Translation: X:235.51, Y:-154.95, Z:-12.15 [[ 7.40079451e-01 6.71137224e-01 4.30956275e-02 2.35505541e+02] [-6.69915779e-01 7.41332335e-01 -4.04872677e-02 -1.54951525e+02] [-5.91206947e-02 1.09335395e-03 9.98250243e-01 -1.21480237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86864 meters Centerline goodness [0,1] 0.9999018645731109 Centerline is valid? [True, True] Translation: X:235.53, Y:-154.97, Z:-12.15 [[ 7.39081679e-01 6.72232821e-01 4.31428555e-02 2.35528534e+02] [-6.71008955e-01 7.40339098e-01 -4.05586302e-02 -1.54974733e+02] [-5.92051851e-02 1.02689817e-03 9.98245306e-01 -1.21491836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.55, Y:-155.00, Z:-12.15 [[ 7.37483550e-01 6.74027621e-01 4.24826881e-02 2.35551085e+02] [-6.72842042e-01 7.38705603e-01 -3.99702274e-02 -1.54998530e+02] [-5.83232370e-02 8.93246658e-04 9.98297352e-01 -1.21493197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92864000000003 meters Centerline goodness [0,1] 0.9999019078915101 Centerline is valid? [True, True] Translation: X:235.57, Y:-155.02, Z:-12.15 [[ 7.35289345e-01 6.76430275e-01 4.23280320e-02 2.35571031e+02] [-6.75256117e-01 7.36506329e-01 -3.98447472e-02 -1.55024233e+02] [-5.81270568e-02 7.15155524e-04 9.98308937e-01 -1.21509725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.59, Y:-155.05, Z:-12.15 [[ 7.33673227e-01 6.78063413e-01 4.41995906e-02 2.35591967e+02] [-6.76783609e-01 7.35003128e-01 -4.16455110e-02 -1.55048744e+02] [-6.07251347e-02 6.40637980e-04 9.98154321e-01 -1.21540506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.61, Y:-155.07, Z:-12.16 [[ 7.32234235e-01 6.79619495e-01 4.41629677e-02 2.35614495e+02] [-6.78342219e-01 7.33564619e-01 -4.16507293e-02 -1.55073672e+02] [-6.07030382e-02 5.40484418e-04 9.98155724e-01 -1.21550050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.64, Y:-155.10, Z:-12.16 [[ 7.30034948e-01 6.82015738e-01 4.36292119e-02 2.35635876e+02] [-6.80770973e-01 7.31337404e-01 -4.11883934e-02 -1.55098115e+02] [-5.99988071e-02 3.67465598e-04 9.98198381e-01 -1.21565378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04864 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:235.66, Y:-155.12, Z:-12.16 [[ 7.28340558e-01 6.83822131e-01 4.36729291e-02 2.35659861e+02] [-6.82575699e-01 7.29648704e-01 -4.12696442e-02 -1.55121404e+02] [-6.00869921e-02 2.48275608e-04 9.98193113e-01 -1.21580037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07864 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:235.68, Y:-155.14, Z:-12.16 [[ 7.24978870e-01 6.87442693e-01 4.27572386e-02 2.35683031e+02] [-6.86251879e-01 7.26238627e-01 -4.04452161e-02 -1.55143665e+02] [-5.88557266e-02 -2.03082708e-05 9.98266499e-01 -1.21591988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.71, Y:-155.17, Z:-12.16 [[ 7.23826215e-01 6.88665009e-01 4.26159230e-02 2.35707672e+02] [-6.87481852e-01 7.25079649e-01 -4.03510327e-02 -1.55165892e+02] [-5.86882828e-02 -9.05383653e-05 9.98276353e-01 -1.21600913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.73, Y:-155.19, Z:-12.16 [[ 7.21711670e-01 6.90874948e-01 4.27091486e-02 2.35732337e+02] [-6.89687889e-01 7.22974238e-01 -4.04829217e-02 -1.55188030e+02] [-5.88462506e-02 -2.38985508e-04 9.98267029e-01 -1.21599199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:235.76, Y:-155.21, Z:-12.16 [[ 7.18679293e-01 6.93969750e-01 4.36584540e-02 2.35758219e+02] [-6.92732346e-01 7.20004003e-01 -4.14262230e-02 -1.55206879e+02] [-6.01828072e-02 -4.71454588e-04 9.98187261e-01 -1.21605549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.78, Y:-155.23, Z:-12.16 [[ 7.16617310e-01 6.96058897e-01 4.42904409e-02 2.35783798e+02] [-6.94786912e-01 7.17984414e-01 -4.20657539e-02 -1.55227202e+02] [-6.10800885e-02 -6.27371231e-04 9.98132671e-01 -1.21628207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.81, Y:-155.24, Z:-12.16 [[ 7.15820673e-01 6.96888442e-01 4.41277954e-02 2.35812592e+02] [-6.95624846e-01 7.17179235e-01 -4.19525630e-02 -1.55244396e+02] [-6.08837948e-02 -6.65879029e-04 9.98144639e-01 -1.21634478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25864 meters Centerline goodness [0,1] 0.9998527968596663 Centerline is valid? [True, True] Translation: X:235.84, Y:-155.26, Z:-12.17 [[ 7.16192357e-01 6.96541201e-01 4.35759462e-02 2.35839210e+02] [-6.95305839e-01 7.17516549e-01 -4.14703770e-02 -1.55262807e+02] [-6.01522887e-02 -5.97842780e-04 9.98189033e-01 -1.21651311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:235.87, Y:-155.28, Z:-12.17 [[ 7.17327671e-01 6.95440307e-01 4.24710660e-02 2.35865588e+02] [-6.94262716e-01 7.18583720e-01 -4.04563718e-02 -1.55281946e+02] [-5.86540083e-02 -4.65602693e-04 9.98278263e-01 -1.21653814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.89, Y:-155.30, Z:-12.17 [[ 7.19240981e-01 6.93403888e-01 4.33988373e-02 2.35894360e+02] [-6.92168042e-01 7.20549077e-01 -4.13815243e-02 -1.55300065e+02] [-5.99651020e-02 -2.76000062e-04 9.98200436e-01 -1.21679927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.92, Y:-155.32, Z:-12.17 [[ 7.21484502e-01 6.91012439e-01 4.42935826e-02 2.35922677e+02] [-6.89717710e-01 7.22842864e-01 -4.22808921e-02 -1.55317743e+02] [-6.12339225e-02 -4.50599195e-05 9.98123442e-01 -1.21705492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.95, Y:-155.34, Z:-12.17 [[ 7.22215742e-01 6.90234390e-01 4.45074055e-02 2.35948502e+02] [-6.88922831e-01 7.23585851e-01 -4.25305611e-02 -1.55339005e+02] [-6.15609848e-02 5.40728958e-05 9.98103322e-01 -1.21722629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.97, Y:-155.36, Z:-12.17 [[ 7.23942979e-01 6.88400852e-01 4.48422773e-02 2.35973865e+02] [-6.87063093e-01 7.25330412e-01 -4.28963836e-02 -1.55360561e+02] [-6.20553745e-02 2.45061980e-04 9.98072678e-01 -1.21732424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.00, Y:-155.38, Z:-12.17 [[ 7.26692862e-01 6.85488112e-01 4.49836854e-02 2.35999135e+02] [-6.84133580e-01 7.28083628e-01 -4.30752299e-02 -1.55381218e+02] [-6.22794429e-02 5.27612368e-04 9.98058612e-01 -1.21741800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:236.02, Y:-155.40, Z:-12.18 [[ 7.27524079e-01 6.84627174e-01 4.46581116e-02 2.36024227e+02] [-6.83288034e-01 7.28893161e-01 -4.28044687e-02 -1.55403430e+02] [-6.18560945e-02 6.26928379e-04 9.98084881e-01 -1.21752628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49864 meters Centerline goodness [0,1] 0.9998037869125871 Centerline is valid? [True, True] Translation: X:236.05, Y:-155.43, Z:-12.18 [[ 7.30099666e-01 6.81836611e-01 4.53135141e-02 2.36047179e+02] [-6.80449705e-01 7.31503938e-01 -4.34762855e-02 -1.55425914e+02] [-6.27907372e-02 9.08454184e-04 9.98026301e-01 -1.21794568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52864 meters Centerline goodness [0,1] 0.999803902343367 Centerline is valid? [True, True] Translation: X:236.07, Y:-155.45, Z:-12.18 [[ 7.30425619e-01 6.81538168e-01 4.45436859e-02 2.36069932e+02] [-6.80195016e-01 7.31781954e-01 -4.27774733e-02 -1.55449635e+02] [-6.17507462e-02 9.47369302e-04 9.98091152e-01 -1.21795465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55864 meters Centerline goodness [0,1] 0.9997548418730081 Centerline is valid? [True, True] Translation: X:236.09, Y:-155.47, Z:-12.18 [[ 7.31067210e-01 6.80789311e-01 4.54604102e-02 2.36092815e+02] [-6.79386087e-01 7.32478521e-01 -4.37008162e-02 -1.55471910e+02] [-6.30498226e-02 1.06306354e-03 9.98009814e-01 -1.21826778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58864 meters Centerline goodness [0,1] 0.9999019367492032 Centerline is valid? [True, True] Translation: X:236.12, Y:-155.49, Z:-12.18 [[ 7.31044554e-01 6.80779636e-01 4.59668127e-02 2.36116319e+02] [-6.79342393e-01 7.32487452e-01 -4.42272201e-02 -1.55493902e+02] [-6.37791043e-02 1.10486387e-03 9.97963429e-01 -1.21831239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.14, Y:-155.52, Z:-12.18 [[ 7.30740579e-01 6.81134055e-01 4.55478342e-02 2.36139829e+02] [-6.79721032e-01 7.32157909e-01 -4.38647398e-02 -1.55517149e+02] [-6.32259751e-02 1.09392456e-03 9.97998637e-01 -1.21840963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64864 meters Centerline goodness [0,1] 0.9998031108485922 Centerline is valid? [True, True] Translation: X:236.16, Y:-155.54, Z:-12.18 [[ 7.30383472e-01 6.81625667e-01 4.38911680e-02 2.36161151e+02] [-6.80312105e-01 7.31700324e-01 -4.23092950e-02 -1.55541471e+02] [-6.09542832e-02 1.04231684e-03 9.98140015e-01 -1.21846322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67864000000003 meters Centerline goodness [0,1] 0.9996565765588972 Centerline is valid? [True, True] Translation: X:236.18, Y:-155.56, Z:-12.19 [[ 7.29920565e-01 6.82152018e-01 4.34119087e-02 2.36184424e+02] [-6.80865707e-01 7.31209680e-01 -4.18842848e-02 -1.55563942e+02] [-6.03146573e-02 1.01452087e-03 9.98178898e-01 -1.21855566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70864 meters Centerline goodness [0,1] 0.9997060264576189 Centerline is valid? [True, True] Translation: X:236.21, Y:-155.59, Z:-12.19 [[ 7.29689261e-01 6.82375228e-01 4.37907641e-02 2.36208418e+02] [-6.81064325e-01 7.31001354e-01 -4.22895566e-02 -1.55585964e+02] [-6.08684536e-02 1.03390809e-03 9.98145261e-01 -1.21864662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73864000000003 meters Centerline goodness [0,1] 0.9996072848657405 Centerline is valid? [True, True] Translation: X:236.23, Y:-155.61, Z:-12.19 [[ 7.30013521e-01 6.82005418e-01 4.41459909e-02 2.36230875e+02] [-6.80669903e-01 7.31346287e-01 -4.26742548e-02 -1.55608431e+02] [-6.13900795e-02 1.10393564e-03 9.98113240e-01 -1.21882341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76864 meters Centerline goodness [0,1] 0.9995096837460162 Centerline is valid? [True, True] Translation: X:236.25, Y:-155.63, Z:-12.19 [[ 7.30016044e-01 6.81988935e-01 4.43583986e-02 2.36253918e+02] [-6.80638013e-01 7.31361602e-01 -4.29197168e-02 -1.55632199e+02] [-6.17128014e-02 1.14006960e-03 9.98093297e-01 -1.21900526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79864 meters Centerline goodness [0,1] 0.9992130631516821 Centerline is valid? [True, True] Translation: X:236.28, Y:-155.66, Z:-12.19 [[ 7.31281004e-01 6.80658127e-01 4.39614309e-02 2.36275591e+02] [-6.79326376e-01 7.32600094e-01 -4.25767264e-02 -1.55656220e+02] [-6.11863433e-02 1.27139175e-03 9.98125551e-01 -1.21908608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82864 meters Centerline goodness [0,1] 0.9992642370137833 Centerline is valid? [True, True] Translation: X:236.30, Y:-155.68, Z:-12.19 [[ 7.31281217e-01 6.80687205e-01 4.35052908e-02 2.36298884e+02] [-6.79380678e-01 7.32573054e-01 -4.21736323e-02 -1.55679629e+02] [-6.05778556e-02 1.28413122e-03 9.98162649e-01 -1.21921595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85864 meters Centerline goodness [0,1] 0.9993133215617029 Centerline is valid? [True, True] Translation: X:236.32, Y:-155.71, Z:-12.19 [[ 7.32215955e-01 6.79659818e-01 4.38443533e-02 2.36319401e+02] [-6.78328458e-01 7.33526102e-01 -4.25436334e-02 -1.55705243e+02] [-6.10761757e-02 1.41025462e-03 9.98132111e-01 -1.21932062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88864 meters Centerline goodness [0,1] 0.9993129171574401 Centerline is valid? [True, True] Translation: X:236.34, Y:-155.73, Z:-12.19 [[ 7.32688955e-01 6.79090415e-01 4.47560481e-02 2.36341206e+02] [-6.77699582e-01 7.34053069e-01 -4.34668719e-02 -1.55729031e+02] [-6.23712506e-02 1.51654185e-03 9.98051866e-01 -1.21943738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91864 meters Centerline goodness [0,1] 0.9993624325649828 Centerline is valid? [True, True] Translation: X:236.36, Y:-155.75, Z:-12.20 [[ 7.32472523e-01 6.79265893e-01 4.56272843e-02 2.36363408e+02] [-6.77818158e-01 7.33890600e-01 -4.43523608e-02 -1.55752851e+02] [-6.36124810e-02 1.55988386e-03 9.97973456e-01 -1.21955001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94864 meters Centerline goodness [0,1] 0.9996075930740178 Centerline is valid? [True, True] Translation: X:236.38, Y:-155.78, Z:-12.20 [[ 7.30852760e-01 6.81025535e-01 4.53703049e-02 2.36384102e+02] [-6.79595017e-01 7.32258277e-01 -4.41409966e-02 -1.55777434e+02] [-6.32839271e-02 1.42713607e-03 9.97994543e-01 -1.21965131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97864 meters Centerline goodness [0,1] 0.9995095154012164 Centerline is valid? [True, True] Translation: X:236.41, Y:-155.80, Z:-12.20 [[ 7.29400218e-01 6.82642231e-01 4.44399085e-02 2.36405275e+02] [-6.81270500e-01 7.30751617e-01 -4.32733316e-02 -1.55801152e+02] [-6.20147386e-02 1.28797888e-03 9.98074403e-01 -1.21982035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00864 meters Centerline goodness [0,1] 0.999754275604482 Centerline is valid? [True, True] Translation: X:236.43, Y:-155.83, Z:-12.20 [[ 7.26489841e-01 6.85837918e-01 4.28819500e-02 2.36425507e+02] [-6.84564605e-01 7.27753632e-01 -4.17845986e-02 -1.55827244e+02] [-5.98649570e-02 1.00062126e-03 9.98205984e-01 -1.21998399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03864 meters Centerline goodness [0,1] 0.9997056948055133 Centerline is valid? [True, True] Translation: X:236.45, Y:-155.85, Z:-12.20 [[ 7.24686296e-01 6.87717105e-01 4.33007598e-02 2.36447451e+02] [-6.86420797e-01 7.25978256e-01 -4.22144768e-02 -1.55850270e+02] [-6.04670279e-02 8.69710818e-04 9.98169816e-01 -1.22014379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06864 meters Centerline goodness [0,1] 0.9996565765588972 Centerline is valid? [True, True] Translation: X:236.47, Y:-155.87, Z:-12.20 [[ 7.23692530e-01 6.88796506e-01 4.27609183e-02 2.36469948e+02] [-6.87531995e-01 7.24954301e-01 -4.17255015e-02 -1.55872970e+02] [-5.97400913e-02 7.96934289e-04 9.98213648e-01 -1.22016485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.49, Y:-155.90, Z:-12.20 [[ 7.20597468e-01 6.91985273e-01 4.35393095e-02 2.36490093e+02] [-6.90677666e-01 7.21911391e-01 -4.25241772e-02 -1.55898043e+02] [-6.08576278e-02 5.71185772e-04 9.98146293e-01 -1.22037908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12864 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:236.51, Y:-155.92, Z:-12.20 [[ 7.19954526e-01 6.92720136e-01 4.24769722e-02 2.36511394e+02] [-6.91475142e-01 7.21206312e-01 -4.15160545e-02 -1.55921756e+02] [-5.93936674e-02 5.17900922e-04 9.98234504e-01 -1.22040976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15864 meters Centerline goodness [0,1] 0.9997541426955795 Centerline is valid? [True, True] Translation: X:236.53, Y:-155.95, Z:-12.20 [[ 7.18839303e-01 6.93850275e-01 4.29168217e-02 2.36534385e+02] [-6.92579908e-01 7.20119155e-01 -4.19699145e-02 -1.55945971e+02] [-6.00260620e-02 4.46295629e-04 9.98196710e-01 -1.22048018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:236.56, Y:-155.97, Z:-12.21 [[ 7.18643403e-01 6.94018235e-01 4.34781415e-02 2.36557622e+02] [-6.92711927e-01 7.19957268e-01 -4.25642911e-02 -1.55969035e+02] [-6.08427982e-02 4.70719835e-04 9.98147250e-01 -1.22079730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.58, Y:-155.99, Z:-12.21 [[ 7.17987304e-01 6.94681670e-01 4.37219427e-02 2.36580332e+02] [-6.93359165e-01 7.19317160e-01 -4.28473097e-02 -1.55992281e+02] [-6.12151842e-02 4.48814712e-04 9.98124491e-01 -1.22093211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.60, Y:-156.02, Z:-12.21 [[ 7.15196507e-01 6.97635705e-01 4.24073095e-02 2.36601988e+02] [-6.96394439e-01 7.16452633e-01 -4.15982014e-02 -1.56016132e+02] [-5.94032191e-02 2.18673840e-04 9.98234046e-01 -1.22097716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.62, Y:-156.04, Z:-12.21 [[ 7.13469110e-01 6.99428651e-01 4.19689345e-02 2.36624789e+02] [-6.98213702e-01 7.14702423e-01 -4.12076837e-02 -1.56039540e+02] [-5.88171337e-02 9.71242657e-05 9.98268769e-01 -1.22115429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30864 meters Centerline goodness [0,1] 0.9999018308545624 Centerline is valid? [True, True] Translation: X:236.65, Y:-156.06, Z:-12.21 [[ 7.10028579e-01 7.03006091e-01 4.05197903e-02 2.36646508e+02] [-7.01877190e-01 7.11183809e-01 -3.98246151e-02 -1.56063559e+02] [-5.68139657e-02 -1.63301710e-04 9.98384769e-01 -1.22113306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.67, Y:-156.09, Z:-12.21 [[ 7.07734050e-01 7.05284421e-01 4.10657970e-02 2.36669385e+02] [-7.04126409e-01 7.08924384e-01 -4.04007315e-02 -1.56086728e+02] [-5.76065513e-02 -3.22538806e-04 9.98339312e-01 -1.22124270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.69, Y:-156.11, Z:-12.21 [[ 7.06139105e-01 7.06807926e-01 4.23098180e-02 2.36692595e+02] [-7.05578758e-01 7.07405380e-01 -4.16682699e-02 -1.56109602e+02] [-5.93816563e-02 -4.29314071e-04 9.98235260e-01 -1.22134668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39864 meters Centerline goodness [0,1] 0.9998528329654157 Centerline is valid? [True, True] Translation: X:236.72, Y:-156.13, Z:-12.22 [[ 7.03813704e-01 7.09180375e-01 4.13456827e-02 2.36715382e+02] [-7.08008436e-01 7.05026844e-01 -4.07578800e-02 -1.56133452e+02] [-5.80545048e-02 -5.87137677e-04 9.98313242e-01 -1.22151202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42864000000003 meters Centerline goodness [0,1] 0.9997544686702023 Centerline is valid? [True, True] Translation: X:236.74, Y:-156.16, Z:-12.22 [[ 7.03052540e-01 7.09931911e-01 4.13981615e-02 2.36738290e+02] [-7.08755745e-01 7.04270047e-01 -4.08533392e-02 -1.56156697e+02] [-5.81585743e-02 -6.19140926e-04 9.98307166e-01 -1.22175201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45864 meters Centerline goodness [0,1] 0.9996070147860687 Centerline is valid? [True, True] Translation: X:236.76, Y:-156.18, Z:-12.22 [[ 7.01867713e-01 7.11147142e-01 4.06381100e-02 2.36761418e+02] [-7.10013391e-01 7.03042875e-01 -4.01459833e-02 -1.56179677e+02] [-5.71200350e-02 -6.76432800e-04 9.98367089e-01 -1.22173067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48864000000003 meters Centerline goodness [0,1] 0.9994111007508465 Centerline is valid? [True, True] Translation: X:236.78, Y:-156.20, Z:-12.22 [[ 7.00972159e-01 7.11947654e-01 4.20543746e-02 2.36784405e+02] [-7.10732263e-01 7.02232152e-01 -4.15891290e-02 -1.56202009e+02] [-5.91412168e-02 -7.36579304e-04 9.98249355e-01 -1.22199450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51864 meters Centerline goodness [0,1] 0.9994111007508465 Centerline is valid? [True, True] Translation: X:236.81, Y:-156.22, Z:-12.22 [[ 7.00589527e-01 7.12325396e-01 4.20338404e-02 2.36807724e+02] [-7.11109440e-01 7.01848975e-01 -4.16098757e-02 -1.56224646e+02] [-5.91411790e-02 -7.39217510e-04 9.98249355e-01 -1.22212537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54864 meters Centerline goodness [0,1] 0.9992647779629448 Centerline is valid? [True, True] Translation: X:236.83, Y:-156.25, Z:-12.22 [[ 6.99625264e-01 7.13238032e-01 4.26145542e-02 2.36830249e+02] [-7.11987319e-01 7.00921446e-01 -4.22277637e-02 -1.56246869e+02] [-5.99879020e-02 -7.97411843e-04 9.98198786e-01 -1.22223468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57864 meters Centerline goodness [0,1] 0.9989686164726683 Centerline is valid? [True, True] Translation: X:236.85, Y:-156.27, Z:-12.22 [[ 6.97942541e-01 7.14907814e-01 4.22259144e-02 2.36853321e+02] [-7.13680552e-01 6.99218134e-01 -4.18816281e-02 -1.56270387e+02] [-5.94666282e-02 -9.04843987e-04 9.98229884e-01 -1.22237452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60864 meters Centerline goodness [0,1] 0.9991165644171779 Centerline is valid? [True, True] Translation: X:236.88, Y:-156.29, Z:-12.22 [[ 6.96276775e-01 7.16591242e-01 4.11782034e-02 2.36876940e+02] [-7.15424618e-01 6.97492657e-01 -4.08853196e-02 -1.56294047e+02] [-5.80195564e-02 -9.92401932e-04 9.98314953e-01 -1.22246273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63864 meters Centerline goodness [0,1] 0.9992633698374502 Centerline is valid? [True, True] Translation: X:236.90, Y:-156.32, Z:-12.23 [[ 6.94164715e-01 7.18687040e-01 4.03024441e-02 2.36900256e+02] [-7.17570681e-01 6.95332798e-01 -4.00576839e-02 -1.56317380e+02] [-5.68125495e-02 -1.11322156e-03 9.98384242e-01 -1.22253282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66864 meters Centerline goodness [0,1] 0.9990176817288802 Centerline is valid? [True, True] Translation: X:236.92, Y:-156.34, Z:-12.23 [[ 6.90592814e-01 7.22082855e-01 4.09623690e-02 2.36923651e+02] [-7.20933108e-01 6.91805197e-01 -4.07556454e-02 -1.56339500e+02] [-5.77669325e-02 -1.38557214e-03 9.98329135e-01 -1.22258428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69864 meters Centerline goodness [0,1] 0.9991161306162534 Centerline is valid? [True, True] Translation: X:236.95, Y:-156.36, Z:-12.23 [[ 6.89179265e-01 7.23437825e-01 4.08614015e-02 2.36946680e+02] [-7.22293959e-01 6.90387974e-01 -4.06925365e-02 -1.56361769e+02] [-5.76487403e-02 -1.46949106e-03 9.98335847e-01 -1.22272749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72864 meters Centerline goodness [0,1] 0.9989704873026767 Centerline is valid? [True, True] Translation: X:236.97, Y:-156.38, Z:-12.23 [[ 6.86597072e-01 7.25908491e-01 4.05132529e-02 2.36970008e+02] [-7.24786259e-01 6.87789344e-01 -4.03818813e-02 -1.56383328e+02] [-5.71781342e-02 -1.63736756e-03 9.98362650e-01 -1.22281070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75864 meters Centerline goodness [0,1] 0.9991179064980888 Centerline is valid? [True, True] Translation: X:236.99, Y:-156.41, Z:-12.23 [[ 6.85869360e-01 7.26640883e-01 3.97020050e-02 2.36993591e+02] [-7.25562434e-01 6.87015529e-01 -3.96083000e-02 -1.56406409e+02] [-5.60569040e-02 -1.64016402e-03 9.98426228e-01 -1.22290554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78864 meters Centerline goodness [0,1] 0.9989690721649485 Centerline is valid? [True, True] Translation: X:237.02, Y:-156.43, Z:-12.23 [[ 6.85384286e-01 7.27098242e-01 3.97055066e-02 2.37017101e+02] [-7.26018059e-01 6.86531445e-01 -3.96528954e-02 -1.56429249e+02] [-5.60906294e-02 -1.64944353e-03 9.98424319e-01 -1.22305779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81864 meters Centerline goodness [0,1] 0.9989708404802744 Centerline is valid? [True, True] Translation: X:237.04, Y:-156.45, Z:-12.23 [[ 6.85837888e-01 7.26555530e-01 4.17546754e-02 2.37041604e+02] [-7.25357283e-01 6.87105751e-01 -4.17432513e-02 -1.56450626e+02] [-5.90186676e-02 -1.65795461e-03 9.98255502e-01 -1.22328747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84864 meters Centerline goodness [0,1] 0.999019319407669 Centerline is valid? [True, True] Translation: X:237.11, Y:-156.52, Z:-10.59 [[ 7.74210238e-01 -6.32803517e-01 -1.25783967e-02 2.37110853e+02] [-6.32640489e-01 -7.74304567e-01 1.47800384e-02 -1.56523475e+02] [-1.90923703e-02 -3.48525399e-03 -9.99811649e-01 -1.05881287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87864 meters Centerline goodness [0,1] 0.9988239329641789 Centerline is valid? [True, True] Translation: X:237.08, Y:-156.50, Z:-12.24 [[ 7.38899243e-01 6.72174028e-01 4.70104730e-02 2.37083321e+02] [-6.70952765e-01 7.40391477e-01 -4.05320682e-02 -1.56503922e+02] [-6.20507571e-02 -1.59269232e-03 9.98071724e-01 -1.22366171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90864 meters Centerline goodness [0,1] 0.9989210397253556 Centerline is valid? [True, True] Translation: X:237.11, Y:-156.52, Z:-12.24 [[ 7.39587144e-01 6.71572178e-01 4.47399855e-02 2.37109733e+02] [-6.70462811e-01 7.40937742e-01 -3.86119354e-02 -1.56522547e+02] [-5.90802454e-02 -1.43960549e-03 9.98252199e-01 -1.22367745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93864 meters Centerline goodness [0,1] 0.998919715197643 Centerline is valid? [True, True] Translation: X:237.14, Y:-156.54, Z:-12.24 [[ 7.39440475e-01 6.71799834e-01 4.37351821e-02 2.37135654e+02] [-6.70738198e-01 7.40731411e-01 -3.77789050e-02 -1.56541554e+02] [-5.77758853e-02 -1.39960577e-03 9.98328597e-01 -1.22382479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96864 meters Centerline goodness [0,1] 0.9987742694646009 Centerline is valid? [True, True] Translation: X:237.16, Y:-156.56, Z:-12.24 [[ 7.38076841e-01 6.73312982e-01 4.34994833e-02 2.37162183e+02] [-6.72263390e-01 7.39356089e-01 -3.76099512e-02 -1.56560545e+02] [-5.74848762e-02 -1.48407612e-03 9.98345274e-01 -1.22399039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99864 meters Centerline goodness [0,1] 0.9989684138134303 Centerline is valid? [True, True] Translation: X:237.19, Y:-156.58, Z:-12.24 [[ 7.36898096e-01 6.74566241e-01 4.40633902e-02 2.37187964e+02] [-6.73489393e-01 7.38212641e-01 -3.81331118e-02 -1.56580330e+02] [-5.82514615e-02 -1.57600850e-03 9.98300698e-01 -1.22405631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02864 meters Centerline goodness [0,1] 0.9988214496169712 Centerline is valid? [True, True] Translation: X:237.21, Y:-156.60, Z:-12.24 [[ 7.35637694e-01 6.75966198e-01 4.36678622e-02 2.37213267e+02] [-6.74909069e-01 7.36930790e-01 -3.78253702e-02 -1.56599941e+02] [-5.77488639e-02 -1.64606817e-03 9.98329785e-01 -1.22419280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05864 meters Centerline goodness [0,1] 0.9987731867700461 Centerline is valid? [True, True] Translation: X:237.24, Y:-156.62, Z:-12.24 [[ 7.34877120e-01 6.76721937e-01 4.47553131e-02 2.37239139e+02] [-6.75610712e-01 7.36236685e-01 -3.88034707e-02 -1.56619573e+02] [-5.92096632e-02 -1.72138618e-03 9.98244085e-01 -1.22439948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08864 meters Centerline goodness [0,1] 0.9987721021611002 Centerline is valid? [True, True] Translation: X:237.26, Y:-156.64, Z:-12.25 [[ 7.35879928e-01 6.75668499e-01 4.41906215e-02 2.37264873e+02] [-6.74581227e-01 7.37203873e-01 -3.83486350e-02 -1.56638673e+02] [-5.84884619e-02 -1.59017292e-03 9.98286818e-01 -1.22457389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11864 meters Centerline goodness [0,1] 0.9988231832892027 Centerline is valid? [True, True] Translation: X:237.29, Y:-156.66, Z:-12.25 [[ 7.36704015e-01 6.74748035e-01 4.45228466e-02 2.37290003e+02] [-6.73640548e-01 7.38046633e-01 -3.86727109e-02 -1.56658493e+02] [-5.89542727e-02 -1.50205340e-03 9.98259554e-01 -1.22469353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14864 meters Centerline goodness [0,1] 0.9989207750797154 Centerline is valid? [True, True] Translation: X:237.32, Y:-156.68, Z:-12.25 [[ 7.40203362e-01 6.70822556e-01 4.57829724e-02 2.37317756e+02] [-6.69642116e-01 7.41616920e-01 -3.97967383e-02 -1.56676278e+02] [-6.06499767e-02 -1.20052703e-03 9.98158374e-01 -1.22479161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17864000000003 meters Centerline goodness [0,1] 0.9988220280749975 Centerline is valid? [True, True] Translation: X:237.34, Y:-156.70, Z:-12.25 [[ 7.40889999e-01 6.69974034e-01 4.70829412e-02 2.37344115e+02] [-6.68722297e-01 7.42383649e-01 -4.09512754e-02 -1.56696259e+02] [-6.23898969e-02 -1.14502221e-03 9.98051196e-01 -1.22496422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20864 meters Centerline goodness [0,1] 0.9990178746808093 Centerline is valid? [True, True] Translation: X:237.37, Y:-156.72, Z:-12.25 [[ 7.41246672e-01 6.69689526e-01 4.54896590e-02 2.37369810e+02] [-6.68518217e-01 7.42640443e-01 -3.96051123e-02 -1.56716382e+02] [-6.03055895e-02 -1.05350804e-03 9.98179406e-01 -1.22494659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23864000000003 meters Centerline goodness [0,1] 0.9990192713185897 Centerline is valid? [True, True] Translation: X:237.40, Y:-156.74, Z:-12.25 [[ 7.40531295e-01 6.70482041e-01 4.54668428e-02 2.37397545e+02] [-6.69311042e-01 7.41924961e-01 -3.96242473e-02 -1.56735022e+02] [-6.03003318e-02 -1.08846475e-03 9.98179686e-01 -1.22508604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26864 meters Centerline goodness [0,1] 0.9990658800393314 Centerline is valid? [True, True] Translation: X:237.42, Y:-156.75, Z:-12.25 [[ 7.39562133e-01 6.71517448e-01 4.59583362e-02 2.37423723e+02] [-6.70320430e-01 7.40987843e-01 -4.00941061e-02 -1.56754007e+02] [-6.09784603e-02 -1.15472906e-03 9.98138414e-01 -1.22516861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29864 meters Centerline goodness [0,1] 0.9988234717388107 Centerline is valid? [True, True] Translation: X:237.45, Y:-156.77, Z:-12.25 [[ 7.37506068e-01 6.73761580e-01 4.61533622e-02 2.37451730e+02] [-6.72556422e-01 7.38947628e-01 -4.03021238e-02 -1.56771189e+02] [-6.12589402e-02 -1.31767926e-03 9.98121038e-01 -1.22528266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32864 meters Centerline goodness [0,1] 0.9987224215026289 Centerline is valid? [True, True] Translation: X:237.48, Y:-156.79, Z:-12.25 [[ 7.37087948e-01 6.74214651e-01 4.62164695e-02 2.37478471e+02] [-6.73004651e-01 7.38534252e-01 -4.03967634e-02 -1.56790475e+02] [-6.13685354e-02 -1.32793151e-03 9.98114292e-01 -1.22544198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35864 meters Centerline goodness [0,1] 0.9988714425907753 Centerline is valid? [True, True] Translation: X:237.50, Y:-156.81, Z:-12.26 [[ 7.36754431e-01 6.74601573e-01 4.58870926e-02 2.37504883e+02] [-6.73406924e-01 7.38180857e-01 -4.01514211e-02 -1.56810302e+02] [-6.09591852e-02 -1.31894851e-03 9.98139388e-01 -1.22561071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38864 meters Centerline goodness [0,1] 0.9987742694646009 Centerline is valid? [True, True] Translation: X:237.53, Y:-156.83, Z:-12.26 [[ 7.37161102e-01 6.74101349e-01 4.66998903e-02 2.37533669e+02] [-6.72860203e-01 7.38637776e-01 -4.09069967e-02 -1.56828245e+02] [-6.20697648e-02 -1.26745094e-03 9.98071008e-01 -1.22566964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41864 meters Centerline goodness [0,1] 0.9990194155716807 Centerline is valid? [True, True] Translation: X:237.56, Y:-156.85, Z:-12.26 [[ 7.37933613e-01 6.73252820e-01 4.67399498e-02 2.37559792e+02] [-6.72005228e-01 7.39411442e-01 -4.09840594e-02 -1.56847583e+02] [-6.21526873e-02 -1.16597560e-03 9.98065972e-01 -1.22585697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44864 meters Centerline goodness [0,1] 0.9990199441368158 Centerline is valid? [True, True] Translation: X:237.59, Y:-156.87, Z:-12.26 [[ 7.38153261e-01 6.72979125e-01 4.72108096e-02 2.37585711e+02] [-6.71703110e-01 7.39660621e-01 -4.14378928e-02 -1.56868064e+02] [-6.28068135e-02 -1.12413193e-03 9.98025070e-01 -1.22608621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47864 meters Centerline goodness [0,1] 0.9987719815306022 Centerline is valid? [True, True] Translation: X:237.61, Y:-156.89, Z:-12.26 [[ 7.39880000e-01 6.71117904e-01 4.66727502e-02 2.37612175e+02] [-6.69864541e-01 7.41350056e-01 -4.10072002e-02 -1.56886200e+02] [-6.21215122e-02 -9.24013134e-04 9.98068166e-01 -1.22617812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50864 meters Centerline goodness [0,1] 0.9989702348845192 Centerline is valid? [True, True] Translation: X:237.64, Y:-156.91, Z:-12.26 [[ 7.40255653e-01 6.70758301e-01 4.58788691e-02 2.37637540e+02] [-6.69544288e-01 7.41675520e-01 -4.03468501e-02 -1.56905841e+02] [-6.10902187e-02 -8.50950862e-04 9.98131886e-01 -1.22628320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53864 meters Centerline goodness [0,1] 0.9989706386941817 Centerline is valid? [True, True] Translation: X:237.66, Y:-156.93, Z:-12.26 [[ 7.40742550e-01 6.70155620e-01 4.68179419e-02 2.37664211e+02] [-6.68887588e-01 7.42220200e-01 -4.12137039e-02 -1.56925717e+02] [-6.23688175e-02 -7.87196134e-04 9.98052860e-01 -1.22645650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56864 meters Centerline goodness [0,1] 0.9992141839791758 Centerline is valid? [True, True] Translation: X:237.69, Y:-156.95, Z:-12.27 [[ 7.41044602e-01 6.69823165e-01 4.67955696e-02 2.37689879e+02] [-6.68552909e-01 7.42520303e-01 -4.12384268e-02 -1.56946743e+02] [-6.23691141e-02 -7.25800589e-04 9.98052888e-01 -1.22655084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59864 meters Centerline goodness [0,1] 0.9992136819343425 Centerline is valid? [True, True] Translation: X:237.72, Y:-156.97, Z:-12.27 [[ 7.40982708e-01 6.69848159e-01 4.74138261e-02 2.37715479e+02] [-6.68541274e-01 7.42497777e-01 -4.18284167e-02 -1.56967901e+02] [-6.32233483e-02 -7.03966239e-04 9.97999155e-01 -1.22672602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62864 meters Centerline goodness [0,1] 0.9995099240382259 Centerline is valid? [True, True] Translation: X:237.74, Y:-156.99, Z:-12.27 [[ 7.41749576e-01 6.68940664e-01 4.82281610e-02 2.37740944e+02] [-6.67583576e-01 7.43315562e-01 -4.25927674e-02 -1.56989137e+02] [-6.43407767e-02 -6.03161066e-04 9.97927803e-01 -1.22691350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65864 meters Centerline goodness [0,1] 0.999657098069952 Centerline is valid? [True, True] Translation: X:237.76, Y:-157.01, Z:-12.27 [[ 7.42338436e-01 6.68335698e-01 4.75504012e-02 2.37764997e+02] [-6.67012587e-01 7.43859619e-01 -4.20366026e-02 -1.57010356e+02] [-6.34653855e-02 -5.11330242e-04 9.97983909e-01 -1.22696531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:237.79, Y:-157.03, Z:-12.27 [[ 7.44294425e-01 6.66222514e-01 4.66194212e-02 2.37788499e+02] [-6.64944240e-01 7.45752958e-01 -4.12514698e-02 -1.57032228e+02] [-6.22492292e-02 -2.96076593e-04 9.98060592e-01 -1.22714248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71864 meters Centerline goodness [0,1] 0.9998038061604866 Centerline is valid? [True, True] Translation: X:237.81, Y:-157.05, Z:-12.27 [[ 7.44361234e-01 6.66189709e-01 4.60176688e-02 2.37812816e+02] [-6.64941872e-01 7.45782276e-01 -4.07566339e-02 -1.57053238e+02] [-6.14708118e-02 -2.61416533e-04 9.98108847e-01 -1.22721962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:237.84, Y:-157.07, Z:-12.27 [[ 7.43626050e-01 6.67072302e-01 4.51092177e-02 2.37836821e+02] [-6.65872696e-01 7.44992922e-01 -3.99887317e-02 -1.57074432e+02] [-6.02814232e-02 -3.00333763e-04 9.98181376e-01 -1.22726231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:237.86, Y:-157.10, Z:-12.27 [[ 7.42354078e-01 6.68398446e-01 4.64105557e-02 2.37860564e+02] [-6.67128722e-01 7.43803310e-01 -4.11813443e-02 -1.57096392e+02] [-6.20458715e-02 -3.90675887e-04 9.98073222e-01 -1.22737490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80864 meters Centerline goodness [0,1] 0.9997056803688806 Centerline is valid? [True, True] Translation: X:237.88, Y:-157.12, Z:-12.28 [[ 7.41505457e-01 6.69283887e-01 4.72094958e-02 2.37884379e+02] [-6.67969313e-01 7.43006650e-01 -4.19298704e-02 -1.57118238e+02] [-6.31399559e-02 -4.43266775e-04 9.98004584e-01 -1.22762686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:237.91, Y:-157.14, Z:-12.28 [[ 7.39750829e-01 6.71267112e-01 4.65744074e-02 2.37908699e+02] [-6.69989101e-01 7.41215310e-01 -4.14061599e-02 -1.57140113e+02] [-6.23162572e-02 -5.74104229e-04 9.98056288e-01 -1.22783216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86864 meters Centerline goodness [0,1] 0.9998528762689421 Centerline is valid? [True, True] Translation: X:237.93, Y:-157.16, Z:-12.28 [[ 7.39045004e-01 6.72076730e-01 4.61015279e-02 2.37934067e+02] [-6.70823461e-01 7.40481265e-01 -4.10290120e-02 -1.57161347e+02] [-6.17119620e-02 -6.03700171e-04 9.98093818e-01 -1.22800481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89864 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:237.96, Y:-157.18, Z:-12.28 [[ 7.38786667e-01 6.72411565e-01 4.53535921e-02 2.37958775e+02] [-6.71197320e-01 7.40177230e-01 -4.03958690e-02 -1.57182721e+02] [-6.07323457e-02 -5.97280055e-04 9.98153909e-01 -1.22808956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92864000000003 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:237.98, Y:-157.20, Z:-12.28 [[ 7.37796809e-01 6.73565838e-01 4.43275347e-02 2.37983072e+02] [-6.72406705e-01 7.39126935e-01 -3.95043951e-02 -1.57204956e+02] [-5.93724859e-02 -6.59914820e-04 9.98235680e-01 -1.22818563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.01, Y:-157.23, Z:-12.28 [[ 7.36953344e-01 6.74553144e-01 4.33338743e-02 2.38007778e+02] [-6.73444775e-01 7.38225965e-01 -3.86595372e-02 -1.57227118e+02] [-5.80681036e-02 -6.92695972e-04 9.98312384e-01 -1.22835702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.03, Y:-157.25, Z:-12.28 [[ 7.35727684e-01 6.75886023e-01 4.33919234e-02 2.38034052e+02] [-6.74774579e-01 7.37005762e-01 -3.87527306e-02 -1.57247361e+02] [-5.81725266e-02 -7.68310104e-04 9.98306249e-01 -1.22837483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.06, Y:-157.27, Z:-12.28 [[ 7.35196981e-01 6.76493054e-01 4.29248870e-02 2.38060209e+02] [-6.75404111e-01 7.36448602e-01 -3.83763374e-02 -1.57268191e+02] [-5.75732987e-02 -7.77477786e-04 9.98340979e-01 -1.22847367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:238.09, Y:-157.29, Z:-12.29 [[ 7.33526617e-01 6.78300594e-01 4.29768143e-02 2.38085335e+02] [-6.77209806e-01 7.34783989e-01 -3.84625505e-02 -1.57289084e+02] [-5.76678459e-02 -8.91015485e-04 9.98335427e-01 -1.22857178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:238.11, Y:-157.31, Z:-12.29 [[ 7.32808851e-01 6.79047140e-01 4.34300466e-02 2.38110449e+02] [-6.77932288e-01 7.34094077e-01 -3.89062946e-02 -1.57309793e+02] [-5.83009481e-02 -9.31753795e-04 9.98298618e-01 -1.22884377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10864 meters Centerline goodness [0,1] 0.9998038446449589 Centerline is valid? [True, True] Translation: X:238.14, Y:-157.33, Z:-12.29 [[ 7.32364904e-01 6.79460312e-01 4.44447002e-02 2.38136760e+02] [-6.78290998e-01 7.33711639e-01 -3.98566618e-02 -1.57328517e+02] [-5.96906136e-02 -9.56819757e-04 9.98216467e-01 -1.22880165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13864 meters Centerline goodness [0,1] 0.9996565597095476 Centerline is valid? [True, True] Translation: X:238.16, Y:-157.35, Z:-12.29 [[ 7.32575296e-01 6.79144172e-01 4.57889654e-02 2.38162387e+02] [-6.77899973e-01 7.34004310e-01 -4.11010892e-02 -1.57348180e+02] [-6.15228632e-02 -9.30695738e-04 9.98105241e-01 -1.22893418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16864 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:238.19, Y:-157.37, Z:-12.29 [[ 7.32900986e-01 6.78822872e-01 4.53393146e-02 2.38187539e+02] [-6.77600081e-01 7.34301544e-01 -4.07354025e-02 -1.57367698e+02] [-6.09448516e-02 -8.66906636e-04 9.98140758e-01 -1.22916851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:238.21, Y:-157.39, Z:-12.29 [[ 7.33195700e-01 6.78537193e-01 4.48480088e-02 2.38211943e+02] [-6.77337982e-01 7.34565605e-01 -4.03315077e-02 -1.57388758e+02] [-6.03102327e-02 -8.06371706e-04 9.98179355e-01 -1.22927794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22864 meters Centerline goodness [0,1] 0.9999019896108987 Centerline is valid? [True, True] Translation: X:238.24, Y:-157.41, Z:-12.29 [[ 7.33691934e-01 6.78031662e-01 4.43758020e-02 2.38236521e+02] [-6.76854467e-01 7.35032335e-01 -3.99436806e-02 -1.57409311e+02] [-5.97007295e-02 -7.29603566e-04 9.98216054e-01 -1.22938350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:238.26, Y:-157.43, Z:-12.29 [[ 7.34826352e-01 6.76736648e-01 4.53623389e-02 2.38262758e+02] [-6.75501539e-01 7.36224924e-01 -4.08721378e-02 -1.57429150e+02] [-6.10565581e-02 -6.08405810e-04 9.98134123e-01 -1.22934401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28864 meters Centerline goodness [0,1] 0.9997057092407299 Centerline is valid? [True, True] Translation: X:238.29, Y:-157.45, Z:-12.30 [[ 7.35716351e-01 6.75680520e-01 4.66614072e-02 2.38288264e+02] [-6.74368594e-01 7.37194400e-01 -4.20881850e-02 -1.57450686e+02] [-6.28366948e-02 -5.02021685e-04 9.98023696e-01 -1.22950217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31864 meters Centerline goodness [0,1] 0.9998039600078416 Centerline is valid? [True, True] Translation: X:238.31, Y:-157.47, Z:-12.30 [[ 7.36964122e-01 6.74231657e-01 4.79119699e-02 2.38310573e+02] [-6.72842442e-01 7.38519835e-01 -4.32608566e-02 -1.57473442e+02] [-6.45517791e-02 -3.55507683e-04 9.97914296e-01 -1.22981040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:238.33, Y:-157.50, Z:-12.30 [[ 7.36849585e-01 6.74337951e-01 4.81769416e-02 2.38334055e+02] [-6.72930737e-01 7.38422790e-01 -4.35431615e-02 -1.57496208e+02] [-6.49377579e-02 -3.34984356e-04 9.97889260e-01 -1.22991481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37864 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:238.36, Y:-157.52, Z:-12.30 [[ 7.36747630e-01 6.74430363e-01 4.84418796e-02 2.38358077e+02] [-6.73004771e-01 7.38338398e-01 -4.38290812e-02 -1.57518261e+02] [-6.53261629e-02 -3.10644414e-04 9.97863917e-01 -1.22998814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40864 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:238.38, Y:-157.54, Z:-12.30 [[ 7.36396327e-01 6.74815574e-01 4.84189042e-02 2.38382420e+02] [-6.73389146e-01 7.37986345e-01 -4.38544532e-02 -1.57539854e+02] [-6.53261581e-02 -3.10506241e-04 9.97863917e-01 -1.23011866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43864 meters Centerline goodness [0,1] 0.9998530132288094 Centerline is valid? [True, True] Translation: X:238.41, Y:-157.56, Z:-12.30 [[ 7.36566850e-01 6.74558319e-01 4.93998920e-02 2.38405437e+02] [-6.73069843e-01 7.38221516e-01 -4.47881673e-02 -1.57562344e+02] [-6.66802940e-02 -2.60098228e-04 9.97774359e-01 -1.23031667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:238.43, Y:-157.59, Z:-12.30 [[ 7.36493953e-01 6.74653933e-01 4.91805730e-02 2.38429225e+02] [-6.73175993e-01 7.38134145e-01 -4.46325785e-02 -1.57585004e+02] [-6.64134048e-02 -2.35556941e-04 9.97792165e-01 -1.23036354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.45, Y:-157.61, Z:-12.30 [[ 7.35876175e-01 6.75421941e-01 4.78691603e-02 2.38452408e+02] [-6.74020692e-01 7.37431442e-01 -4.34853413e-02 -1.57607335e+02] [-6.46711775e-02 -2.64977896e-04 9.97906593e-01 -1.23045516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52864 meters Centerline goodness [0,1] 0.9999509683746016 Centerline is valid? [True, True] Translation: X:238.48, Y:-157.63, Z:-12.31 [[ 7.35407719e-01 6.76120620e-01 4.51264114e-02 2.38475749e+02] [-6.74874574e-01 7.36790898e-01 -4.10302533e-02 -1.57629555e+02] [-6.09901295e-02 -2.80702700e-04 9.98138330e-01 -1.23051799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55864 meters Centerline goodness [0,1] 0.9999019223224794 Centerline is valid? [True, True] Translation: X:238.50, Y:-157.65, Z:-12.31 [[ 7.34874363e-01 6.76700401e-01 4.51247035e-02 2.38499864e+02] [-6.75453105e-01 7.36258432e-01 -4.10685423e-02 -1.57651821e+02] [-6.10145425e-02 -2.99402195e-04 9.98136832e-01 -1.23071569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:238.52, Y:-157.67, Z:-12.31 [[ 7.34293555e-01 6.77385274e-01 4.42963283e-02 2.38522941e+02] [-6.76182220e-01 7.35628363e-01 -4.03548881e-02 -1.57674192e+02] [-5.99214424e-02 -3.20055355e-04 9.98203045e-01 -1.23075827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61864 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:238.55, Y:-157.70, Z:-12.31 [[ 7.33700068e-01 6.78006544e-01 4.46243958e-02 2.38547400e+02] [-6.76784345e-01 7.35055786e-01 -4.06932778e-02 -1.57696241e+02] [-6.03917289e-02 -3.44431731e-04 9.98174694e-01 -1.23085748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:238.57, Y:-157.72, Z:-12.31 [[ 7.32957726e-01 6.78806073e-01 4.46686431e-02 2.38571428e+02] [-6.77580305e-01 7.34317487e-01 -4.07769377e-02 -1.57719193e+02] [-6.04805987e-02 -3.78821319e-04 9.98169301e-01 -1.23098032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67864000000003 meters Centerline goodness [0,1] 0.9998521730560757 Centerline is valid? [True, True] Translation: X:238.60, Y:-157.74, Z:-12.31 [[ 7.32264251e-01 6.79550357e-01 4.47256007e-02 2.38595438e+02] [-6.78320203e-01 7.33628751e-01 -4.08724494e-02 -1.57741465e+02] [-6.05868742e-02 -4.08845011e-04 9.98162844e-01 -1.23105516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:238.62, Y:-157.76, Z:-12.31 [[ 7.29422120e-01 6.82680437e-01 4.34832293e-02 2.38620207e+02] [-6.81520825e-01 7.30716796e-01 -3.97784936e-02 -1.57764059e+02] [-5.89299254e-02 -6.19413201e-04 9.98261930e-01 -1.23106330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.64, Y:-157.79, Z:-12.31 [[ 7.27031445e-01 6.85204845e-01 4.38132202e-02 2.38644725e+02] [-6.84029667e-01 7.28349971e-01 -4.01214933e-02 -1.57785225e+02] [-5.94027993e-02 -7.99955114e-04 9.98233774e-01 -1.23120145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:238.67, Y:-157.81, Z:-12.31 [[ 7.24082995e-01 6.88313530e-01 4.39124099e-02 2.38668698e+02] [-6.87136474e-01 7.25412589e-01 -4.02497412e-02 -1.57806395e+02] [-5.95590564e-02 -1.02966537e-03 9.98224253e-01 -1.23118968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:238.69, Y:-157.83, Z:-12.31 [[ 7.20565004e-01 6.91900826e-01 4.53797467e-02 2.38692019e+02] [-6.90648402e-01 7.21991306e-01 -4.16333830e-02 -1.57827854e+02] [-6.15699546e-02 -1.34189075e-03 9.98101869e-01 -1.23140863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.72, Y:-157.85, Z:-12.32 [[ 7.19284943e-01 6.93260000e-01 4.49415557e-02 2.38717119e+02] [-6.92031970e-01 7.20686177e-01 -4.12696823e-02 -1.57848876e+02] [-6.09993780e-02 -1.41633224e-03 9.98136799e-01 -1.23150978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85864 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:238.74, Y:-157.87, Z:-12.32 [[ 7.17876928e-01 6.94771860e-01 4.40996510e-02 2.38743424e+02] [-6.93589745e-01 7.19228654e-01 -4.05389839e-02 -1.57868838e+02] [-5.98830779e-02 -1.48506452e-03 9.98204294e-01 -1.23165067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88864 meters Centerline goodness [0,1] 0.9998527318246527 Centerline is valid? [True, True] Translation: X:238.77, Y:-157.89, Z:-12.32 [[ 7.17218457e-01 6.95447459e-01 4.41646561e-02 2.38768245e+02] [-6.94260534e-01 7.18575357e-01 -4.06419495e-02 -1.57890450e+02] [-5.99999740e-02 -1.51262144e-03 9.98197233e-01 -1.23186221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91864 meters Centerline goodness [0,1] 0.9996081120799452 Centerline is valid? [True, True] Translation: X:238.79, Y:-157.91, Z:-12.32 [[ 7.17185680e-01 6.95465314e-01 4.44150629e-02 2.38792986e+02] [-6.94262275e-01 7.18558121e-01 -4.09160210e-02 -1.57911877e+02] [-6.03704775e-02 -1.49131827e-03 9.98174925e-01 -1.23197723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94864 meters Centerline goodness [0,1] 0.9997547456712611 Centerline is valid? [True, True] Translation: X:238.82, Y:-157.93, Z:-12.32 [[ 7.16900219e-01 6.95716090e-01 4.50909959e-02 2.38818719e+02] [-6.94473877e-01 7.18315294e-01 -4.15833233e-02 -1.57933336e+02] [-6.13197391e-02 -1.50342514e-03 9.98117042e-01 -1.23202802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:238.84, Y:-157.95, Z:-12.32 [[ 7.16771394e-01 6.95795824e-01 4.59014140e-02 2.38844828e+02] [-6.94505838e-01 7.18238057e-01 -4.23761044e-02 -1.57953729e+02] [-6.24532588e-02 -1.50482056e-03 9.98046755e-01 -1.23211034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.87, Y:-157.98, Z:-12.32 [[ 7.16912659e-01 6.95634147e-01 4.61451287e-02 2.38869118e+02] [-6.94327223e-01 7.18394728e-01 -4.26464827e-02 -1.57975506e+02] [-6.28167668e-02 -1.46601580e-03 9.98024000e-01 -1.23230548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.89, Y:-158.00, Z:-12.33 [[ 7.17129212e-01 6.95402671e-01 4.62689764e-02 2.38893329e+02] [-6.94085370e-01 7.18618895e-01 -4.28063347e-02 -1.57998425e+02] [-6.30174003e-02 -1.41694654e-03 9.98011423e-01 -1.23253447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06864 meters Centerline goodness [0,1] 0.9997548899455856 Centerline is valid? [True, True] Translation: X:238.92, Y:-158.02, Z:-12.33 [[ 7.16018399e-01 6.96533135e-01 4.64676705e-02 2.38917234e+02] [-6.95204155e-01 7.17523076e-01 -4.30327494e-02 -1.58019310e+02] [-6.33153617e-02 -1.49227733e-03 9.97992454e-01 -1.23254396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09864 meters Centerline goodness [0,1] 0.9997547817557626 Centerline is valid? [True, True] Translation: X:238.94, Y:-158.04, Z:-12.33 [[ 7.14706725e-01 6.97838043e-01 4.70782660e-02 2.38942545e+02] [-6.96474196e-01 7.16253797e-01 -4.36370494e-02 -1.58040016e+02] [-6.41715799e-02 -1.60110481e-03 9.97937596e-01 -1.23263499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:238.97, Y:-158.06, Z:-12.33 [[ 7.12063247e-01 7.00524880e-01 4.72316187e-02 2.38967797e+02] [-6.99155453e-01 7.13625657e-01 -4.38186451e-02 -1.58059478e+02] [-6.44017460e-02 -1.82059710e-03 9.97922392e-01 -1.23281551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.99, Y:-158.08, Z:-12.33 [[ 7.11008171e-01 7.01651165e-01 4.64006718e-02 2.38993003e+02] [-7.00329439e-01 7.12518197e-01 -4.30870760e-02 -1.58081374e+02] [-6.32934201e-02 -1.86049332e-03 9.97993227e-01 -1.23292207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18864 meters Centerline goodness [0,1] 0.9999509491342522 Centerline is valid? [True, True] Translation: X:239.02, Y:-158.10, Z:-12.33 [[ 7.10010608e-01 7.02686923e-01 4.60002657e-02 2.39020254e+02] [-7.01387301e-01 7.11496635e-01 -4.27596933e-02 -1.58100958e+02] [-6.27757115e-02 -1.90416639e-03 9.98025843e-01 -1.23306063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:239.05, Y:-158.12, Z:-12.33 [[ 7.10288278e-01 7.02428169e-01 4.56643097e-02 2.39045101e+02] [-7.01144296e-01 7.11752269e-01 -4.24898086e-02 -1.58120798e+02] [-6.23477145e-02 -1.83725734e-03 9.98052798e-01 -1.23324120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24864 meters Centerline goodness [0,1] 0.9997546132705143 Centerline is valid? [True, True] Translation: X:239.07, Y:-158.14, Z:-12.33 [[ 7.10567088e-01 7.02126683e-01 4.59623096e-02 2.39070429e+02] [-7.00822730e-01 7.12049792e-01 -4.28088206e-02 -1.58142214e+02] [-6.27846682e-02 -1.79289223e-03 9.98025486e-01 -1.23338829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27864 meters Centerline goodness [0,1] 0.9998528546203649 Centerline is valid? [True, True] Translation: X:239.09, Y:-158.16, Z:-12.34 [[ 7.12558967e-01 7.00158361e-01 4.51440776e-02 2.39094967e+02] [-6.98893923e-01 7.13985878e-01 -4.20886055e-02 -1.58163381e+02] [-6.17009229e-02 -1.56030822e-03 9.98093463e-01 -1.23363072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.12, Y:-158.18, Z:-12.34 [[ 7.14134840e-01 6.98609043e-01 4.42361235e-02 2.39119825e+02] [-6.97390251e-01 7.15502278e-01 -4.12713953e-02 -1.58184442e+02] [-6.04836171e-02 -1.37650002e-03 9.98168241e-01 -1.23394395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33864 meters Centerline goodness [0,1] 0.9999020040178352 Centerline is valid? [True, True] Translation: X:239.15, Y:-158.20, Z:-12.34 [[ 7.15021671e-01 6.97740951e-01 4.36070597e-02 2.39145473e+02] [-6.96553721e-01 7.16349046e-01 -4.07057489e-02 -1.58204448e+02] [-5.96399436e-02 -1.26916711e-03 9.98219147e-01 -1.23404064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36864 meters Centerline goodness [0,1] 0.9996567954500882 Centerline is valid? [True, True] Translation: X:239.17, Y:-158.22, Z:-12.34 [[ 7.16667929e-01 6.96007793e-01 4.42745148e-02 2.39172395e+02] [-6.94778253e-01 7.18033364e-01 -4.13674663e-02 -1.58222318e+02] [-6.05826577e-02 -1.11423370e-03 9.98162562e-01 -1.23437156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39864 meters Centerline goodness [0,1] 0.9995582388455309 Centerline is valid? [True, True] Translation: X:239.20, Y:-158.24, Z:-12.35 [[ 7.16965342e-01 6.95727274e-01 4.38663784e-02 2.39196167e+02] [-6.94517520e-01 7.18305263e-01 -4.10239447e-02 -1.58243339e+02] [-6.00509277e-02 -1.05322180e-03 9.98194759e-01 -1.23452572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42864000000003 meters Centerline goodness [0,1] 0.9999019127023051 Centerline is valid? [True, True] Translation: X:239.22, Y:-158.27, Z:-12.35 [[ 7.17018254e-01 6.95634493e-01 4.44688109e-02 2.39221273e+02] [-6.94388595e-01 7.18395149e-01 -4.16279917e-02 -1.58265098e+02] [-6.09040449e-02 -1.03060523e-03 9.98143094e-01 -1.23461907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.25, Y:-158.29, Z:-12.35 [[ 7.16315548e-01 6.96351684e-01 4.45686956e-02 2.39247244e+02] [-6.95098856e-01 7.17699940e-01 -4.17657234e-02 -1.58286107e+02] [-6.10705820e-02 -1.06221228e-03 9.98132885e-01 -1.23468526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48864000000003 meters Centerline goodness [0,1] 0.9998037869125871 Centerline is valid? [True, True] Translation: X:239.27, Y:-158.31, Z:-12.35 [[ 7.16230863e-01 6.96482041e-01 4.38875502e-02 2.39273315e+02] [-6.95265004e-01 7.17573488e-01 -4.11687211e-02 -1.58305872e+02] [-6.01658174e-02 -1.02716915e-03 9.98187868e-01 -1.23471330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51864 meters Centerline goodness [0,1] 0.9996565260058882 Centerline is valid? [True, True] Translation: X:239.30, Y:-158.33, Z:-12.35 [[ 7.15996311e-01 6.96632021e-01 4.53112610e-02 2.39298952e+02] [-6.95332484e-01 7.17427861e-01 -4.25441089e-02 -1.58325384e+02] [-6.21451496e-02 -1.04496663e-03 9.98066575e-01 -1.23497381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54864 meters Centerline goodness [0,1] 0.9996567786222114 Centerline is valid? [True, True] Translation: X:239.32, Y:-158.35, Z:-12.35 [[ 7.16302776e-01 6.96245574e-01 4.63943249e-02 2.39323943e+02] [-6.94879551e-01 7.17802961e-01 -4.36041201e-02 -1.58347661e+02] [-6.36611594e-02 -1.00471529e-03 9.97971065e-01 -1.23521110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57864 meters Centerline goodness [0,1] 0.9999019607843137 Centerline is valid? [True, True] Translation: X:239.35, Y:-158.37, Z:-12.35 [[ 7.17634387e-01 6.94815422e-01 4.72484428e-02 2.39351109e+02] [-6.93392393e-01 7.19187590e-01 -4.44544611e-02 -1.58366763e+02] [-6.48681389e-02 -8.59660838e-04 9.97893474e-01 -1.23520897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60864 meters Centerline goodness [0,1] 0.9997545530410878 Centerline is valid? [True, True] Translation: X:239.38, Y:-158.39, Z:-12.35 [[ 7.18350301e-01 6.94084563e-01 4.71111988e-02 2.39376607e+02] [-6.92665352e-01 7.19893078e-01 -4.43696603e-02 -1.58387154e+02] [-6.47113222e-02 -7.59336252e-04 9.97903737e-01 -1.23538267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63864 meters Centerline goodness [0,1] 0.9997057236745304 Centerline is valid? [True, True] Translation: X:239.40, Y:-158.41, Z:-12.36 [[ 7.19334078e-01 6.93075392e-01 4.69572700e-02 2.39401190e+02] [-6.91660693e-01 7.20864824e-01 -4.42650126e-02 -1.58408253e+02] [-6.45288352e-02 -6.37165862e-04 9.97915639e-01 -1.23550717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66864 meters Centerline goodness [0,1] 0.9996569804478855 Centerline is valid? [True, True] Translation: X:239.43, Y:-158.43, Z:-12.36 [[ 7.22004187e-01 6.90270412e-01 4.72938978e-02 2.39425747e+02] [-6.88826633e-01 7.23551401e-01 -4.46233037e-02 -1.58428599e+02] [-6.50217123e-02 -3.59084288e-04 9.97883785e-01 -1.23571382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69864 meters Centerline goodness [0,1] 0.9997052321296979 Centerline is valid? [True, True] Translation: X:239.45, Y:-158.45, Z:-12.36 [[ 7.23164316e-01 6.88994936e-01 4.81596331e-02 2.39450558e+02] [-6.87491981e-01 7.24766122e-01 -4.54845544e-02 -1.58449831e+02] [-6.62430982e-02 -2.16554832e-04 9.97803490e-01 -1.23590433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72864 meters Centerline goodness [0,1] 0.9995584122467004 Centerline is valid? [True, True] Translation: X:239.48, Y:-158.47, Z:-12.36 [[ 7.25764524e-01 6.86265756e-01 4.80121601e-02 2.39475243e+02] [-6.84762883e-01 7.27350883e-01 -4.53925890e-02 -1.58472205e+02] [-6.60730665e-02 6.73855316e-05 9.97814785e-01 -1.23610572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75864 meters Centerline goodness [0,1] 0.9996074968109115 Centerline is valid? [True, True] Translation: X:239.50, Y:-158.50, Z:-12.36 [[ 7.26839457e-01 6.85131842e-01 4.79454116e-02 2.39498580e+02] [-6.83627567e-01 7.28419053e-01 -4.53765543e-02 -1.58495291e+02] [-6.60132736e-02 2.04664981e-04 9.97818724e-01 -1.23628554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78864 meters Centerline goodness [0,1] 0.9994602021788203 Centerline is valid? [True, True] Translation: X:239.52, Y:-158.52, Z:-12.36 [[ 7.27725081e-01 6.84205833e-01 4.77345248e-02 2.39522236e+02] [-6.82709719e-01 7.29288883e-01 -4.52235083e-02 -1.58518347e+02] [-6.57544464e-02 3.21457258e-04 9.97835783e-01 -1.23637876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81864 meters Centerline goodness [0,1] 0.9992634060106069 Centerline is valid? [True, True] Translation: X:239.55, Y:-158.54, Z:-12.37 [[ 7.27954799e-01 6.83925124e-01 4.82517953e-02 2.39545578e+02] [-6.82392754e-01 7.29552107e-01 -4.57586271e-02 -1.58540915e+02] [-6.64976736e-02 3.83536698e-04 9.97786506e-01 -1.23651220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84864 meters Centerline goodness [0,1] 0.9990197519972553 Centerline is valid? [True, True] Translation: X:239.57, Y:-158.56, Z:-12.37 [[ 7.27547368e-01 6.84339274e-01 4.85240603e-02 2.39569414e+02] [-6.82787518e-01 7.29163640e-01 -4.60607346e-02 -1.58564436e+02] [-6.69031501e-02 3.79743537e-04 9.97759402e-01 -1.23664936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87864 meters Centerline goodness [0,1] 0.9995090819833088 Centerline is valid? [True, True] Translation: X:239.59, Y:-158.59, Z:-12.37 [[ 7.26022179e-01 6.85971354e-01 4.83228504e-02 2.39590297e+02] [-6.84432919e-01 7.27628499e-01 -4.59167341e-02 -1.58589830e+02] [-6.66586473e-02 2.62817744e-04 9.97775804e-01 -1.23674697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90864 meters Centerline goodness [0,1] 0.9993137591294544 Centerline is valid? [True, True] Translation: X:239.61, Y:-158.61, Z:-12.37 [[ 7.25456257e-01 6.86629459e-01 4.74679510e-02 2.39612700e+02] [-6.85143579e-01 7.27007520e-01 -4.51480012e-02 -1.58612918e+02] [-6.55095049e-02 2.30538100e-04 9.97851919e-01 -1.23690039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93864 meters Centerline goodness [0,1] 0.9995586720933654 Centerline is valid? [True, True] Translation: X:239.63, Y:-158.64, Z:-12.37 [[ 7.24797793e-01 6.87378610e-01 4.66776896e-02 2.39634856e+02] [-6.85940831e-01 7.26299257e-01 -4.44360842e-02 -1.58635822e+02] [-6.44463850e-02 1.89042592e-04 9.97921153e-01 -1.23697443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96864 meters Centerline goodness [0,1] 0.9996079007989022 Centerline is valid? [True, True] Translation: X:239.66, Y:-158.66, Z:-12.37 [[ 7.25388030e-01 6.86703214e-01 4.74436644e-02 2.39655898e+02] [-6.85213655e-01 7.26937835e-01 -4.52065383e-02 -1.58660794e+02] [-6.55320698e-02 2.83235086e-04 9.97850423e-01 -1.23716887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99864 meters Centerline goodness [0,1] 0.9993627763344934 Centerline is valid? [True, True] Translation: X:239.68, Y:-158.69, Z:-12.37 [[ 7.26904326e-01 6.85069153e-01 4.78576692e-02 2.39677150e+02] [-6.83547175e-01 7.28477892e-01 -4.56423087e-02 -1.58685798e+02] [-6.61313918e-02 4.64617057e-04 9.97810815e-01 -1.23721478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02864 meters Centerline goodness [0,1] 0.9995575656277652 Centerline is valid? [True, True] Translation: X:239.70, Y:-158.71, Z:-12.37 [[ 7.27216272e-01 6.84750790e-01 4.76744046e-02 2.39700657e+02] [-6.83236935e-01 7.28777114e-01 -4.55105394e-02 -1.58709559e+02] [-6.59073928e-02 5.23090698e-04 9.97825607e-01 -1.23735468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:239.72, Y:-158.73, Z:-12.38 [[ 7.27160137e-01 6.84859886e-01 4.69581946e-02 2.39722886e+02] [-6.83388625e-01 7.28674583e-01 -4.48702451e-02 -1.58732621e+02] [-6.49470738e-02 5.37157500e-04 9.97888565e-01 -1.23750446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08864 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:239.75, Y:-158.76, Z:-12.38 [[ 7.26682655e-01 6.85374982e-01 4.68343174e-02 2.39745148e+02] [-6.83909808e-01 7.28190129e-01 -4.47940961e-02 -1.58757028e+02] [-6.48050405e-02 5.20643689e-04 9.97897808e-01 -1.23759041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11864 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:239.77, Y:-158.78, Z:-12.38 [[ 7.25316152e-01 6.86841625e-01 4.65302216e-02 2.39765540e+02] [-6.85395663e-01 7.26806994e-01 -4.45463526e-02 -1.58782833e+02] [-6.44147797e-02 4.18576974e-04 9.97923124e-01 -1.23763327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.79, Y:-158.81, Z:-12.38 [[ 7.24459254e-01 6.87795015e-01 4.57908990e-02 2.39786878e+02] [-6.86394106e-01 7.25904877e-01 -4.38775750e-02 -1.58806601e+02] [-6.34186143e-02 3.56912147e-04 9.97986950e-01 -1.23779120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17864000000003 meters Centerline goodness [0,1] 0.9999509491342522 Centerline is valid? [True, True] Translation: X:239.81, Y:-158.83, Z:-12.38 [[ 7.23466958e-01 6.88803457e-01 4.63180221e-02 2.39809829e+02] [-6.87369386e-01 7.24948071e-01 -4.44254548e-02 -1.58830822e+02] [-6.41785676e-02 3.02758213e-04 9.97938385e-01 -1.23788194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:239.83, Y:-158.85, Z:-12.38 [[ 7.23131239e-01 6.89183662e-01 4.59030714e-02 2.39832342e+02] [-6.87773052e-01 7.24586634e-01 -4.40731058e-02 -1.58854646e+02] [-6.36352164e-02 2.99744049e-04 9.97973181e-01 -1.23796503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.85, Y:-158.88, Z:-12.38 [[ 7.23130767e-01 6.89101925e-01 4.71214507e-02 2.39852557e+02] [-6.87612202e-01 7.24664347e-01 -4.52884472e-02 -1.58880154e+02] [-6.53555914e-02 3.48185087e-04 9.97861977e-01 -1.23807883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26864 meters Centerline goodness [0,1] 0.9999510044096032 Centerline is valid? [True, True] Translation: X:239.88, Y:-158.90, Z:-12.38 [[ 7.23019197e-01 6.89186300e-01 4.75971063e-02 2.39875149e+02] [-6.87663585e-01 7.24584089e-01 -4.57896432e-02 -1.58904204e+02] [-6.60457007e-02 3.75994240e-04 9.97816528e-01 -1.23828353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29864 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:239.90, Y:-158.93, Z:-12.38 [[ 7.22839603e-01 6.89357796e-01 4.78407450e-02 2.39896372e+02] [-6.87817491e-01 7.24420927e-01 -4.60588753e-02 -1.58928044e+02] [-6.64078816e-02 3.87477967e-04 9.97792485e-01 -1.23845049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32864 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:239.92, Y:-158.95, Z:-12.39 [[ 7.22481034e-01 6.89734555e-01 4.78267755e-02 2.39920032e+02] [-6.88194114e-01 7.24062225e-01 -4.60733772e-02 -1.58950385e+02] [-6.64079618e-02 3.73035776e-04 9.97792485e-01 -1.23858111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:239.94, Y:-158.98, Z:-12.39 [[ 7.22444228e-01 6.89790241e-01 4.75790083e-02 2.39940591e+02] [-6.88262699e-01 7.24009160e-01 -4.58823931e-02 -1.58976016e+02] [-6.60968649e-02 4.00613385e-04 9.97813131e-01 -1.23871730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.96, Y:-159.00, Z:-12.39 [[ 7.22192636e-01 6.90098403e-01 4.69253830e-02 2.39962817e+02] [-6.88610336e-01 7.23715438e-01 -4.52964627e-02 -1.58999561e+02] [-6.52196407e-02 3.99467949e-04 9.97870853e-01 -1.23878942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.98, Y:-159.03, Z:-12.39 [[ 7.22264919e-01 6.90060965e-01 4.63600228e-02 2.39983493e+02] [-6.88605771e-01 7.23751118e-01 -4.47929740e-02 -1.59025163e+02] [-6.44630012e-02 4.28614508e-04 9.97920006e-01 -1.23890632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.00, Y:-159.05, Z:-12.39 [[ 7.21327587e-01 6.91057341e-01 4.61114325e-02 2.40004864e+02] [-6.89616800e-01 7.22799844e-01 -4.45988161e-02 -1.59049883e+02] [-6.41496754e-02 3.71137831e-04 9.97940219e-01 -1.23904707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.03, Y:-159.07, Z:-12.39 [[ 7.20461700e-01 6.92003545e-01 4.54536399e-02 2.40026017e+02] [-6.90602990e-01 7.21894034e-01 -4.40058503e-02 -1.59074534e+02] [-6.32649158e-02 3.14110096e-04 9.97996719e-01 -1.23916055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:240.05, Y:-159.10, Z:-12.39 [[ 7.17697363e-01 6.94941563e-01 4.43477084e-02 2.40045391e+02] [-6.93611597e-01 7.19066212e-01 -4.29736663e-02 -1.59101237e+02] [-6.17531256e-02 8.20021433e-05 9.98091451e-01 -1.23932217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.07, Y:-159.12, Z:-12.39 [[ 7.15864476e-01 6.96868158e-01 4.37358314e-02 2.40066656e+02] [-6.95575899e-01 7.17199252e-01 -4.24193562e-02 -1.59124998e+02] [-6.09280042e-02 -5.50800674e-05 9.98142162e-01 -1.23939580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.09, Y:-159.15, Z:-12.40 [[ 7.11823571e-01 7.00931494e-01 4.47464523e-02 2.40087065e+02] [-6.99584213e-01 7.13228501e-01 -4.34400012e-02 -1.59149550e+02] [-6.23629100e-02 -3.82294863e-04 9.98053466e-01 -1.23952034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.11, Y:-159.17, Z:-12.40 [[ 7.09618989e-01 7.03174851e-01 4.45647814e-02 2.40109989e+02] [-7.01840305e-01 7.11016758e-01 -4.33053811e-02 -1.59173168e+02] [-6.21375613e-02 -5.47039019e-04 9.98067445e-01 -1.23960665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.13, Y:-159.20, Z:-12.40 [[ 7.08122392e-01 7.04714556e-01 4.40462570e-02 2.40133201e+02] [-7.03411663e-01 7.09490644e-01 -4.28375874e-02 -1.59196268e+02] [-6.14386787e-02 -6.48396033e-04 9.98110649e-01 -1.23966744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.16, Y:-159.22, Z:-12.40 [[ 7.05540916e-01 7.07365162e-01 4.29714220e-02 2.40155744e+02] [-7.06128372e-01 7.06847810e-01 -4.18198063e-02 -1.59221015e+02] [-5.99561296e-02 -8.37755786e-04 9.98200662e-01 -1.23974593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.18, Y:-159.24, Z:-12.40 [[ 7.04210679e-01 7.08687214e-01 4.30087341e-02 2.40178928e+02] [-7.07448040e-01 7.05522209e-01 -4.19008749e-02 -1.59244427e+02] [-6.00382313e-02 -9.19401083e-04 9.98195655e-01 -1.23986956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.20, Y:-159.27, Z:-12.40 [[ 7.03341356e-01 7.09522038e-01 4.34673882e-02 2.40201749e+02] [-7.08255107e-01 7.04682580e-01 -4.23929956e-02 -1.59267711e+02] [-6.07094759e-02 -9.69252635e-04 9.98155008e-01 -1.23999721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:240.23, Y:-159.29, Z:-12.40 [[ 7.02366138e-01 7.10448948e-01 4.40919500e-02 2.40225462e+02] [-7.09144404e-01 7.03747984e-01 -4.30463679e-02 -1.59289529e+02] [-6.16118677e-02 -1.03324846e-03 9.98099649e-01 -1.24015203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.25, Y:-159.31, Z:-12.40 [[ 7.01867304e-01 7.10974075e-01 4.35678013e-02 2.40249985e+02] [-7.09698884e-01 7.03217455e-01 -4.25758777e-02 -1.59312352e+02] [-6.09079836e-02 -1.03740349e-03 9.98142846e-01 -1.24029238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.27, Y:-159.33, Z:-12.40 [[ 7.00192310e-01 7.12591643e-01 4.40894515e-02 2.40273752e+02] [-7.11286165e-01 7.01578080e-01 -4.31299080e-02 -1.59334503e+02] [-6.16662048e-02 -1.16098694e-03 9.98096153e-01 -1.24047275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.30, Y:-159.36, Z:-12.41 [[ 6.99325671e-01 7.13446555e-01 4.40184041e-02 2.40298167e+02] [-7.12144383e-01 7.00708614e-01 -4.31023969e-02 -1.59356912e+02] [-6.15953315e-02 -1.20484653e-03 9.98100478e-01 -1.24051531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:240.32, Y:-159.38, Z:-12.41 [[ 6.98680068e-01 7.14083168e-01 4.39476159e-02 2.40323088e+02] [-7.12783610e-01 7.00059801e-01 -4.30789974e-02 -1.59378709e+02] [-6.15279462e-02 -1.22670354e-03 9.98104607e-01 -1.24061580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.35, Y:-159.40, Z:-12.41 [[ 6.99035899e-01 7.13754606e-01 4.36253992e-02 2.40348608e+02] [-7.12470750e-01 7.00394904e-01 -4.28066497e-02 -1.59398338e+02] [-6.11084506e-02 -1.15843603e-03 9.98130460e-01 -1.24078050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.37, Y:-159.42, Z:-12.41 [[ 6.99739201e-01 7.13067730e-01 4.35828147e-02 2.40372412e+02] [-7.11782622e-01 7.01094336e-01 -4.28045639e-02 -1.59419915e+02] [-6.10782177e-02 -1.06945879e-03 9.98132410e-01 -1.24099146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:240.40, Y:-159.44, Z:-12.41 [[ 7.02145589e-01 7.10726724e-01 4.31172360e-02 2.40396063e+02] [-7.09462159e-01 7.03467723e-01 -4.23864142e-02 -1.59442248e+02] [-6.04567412e-02 -8.28613579e-04 9.98170474e-01 -1.24115235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:240.42, Y:-159.46, Z:-12.41 [[ 7.03085663e-01 7.09780097e-01 4.33908415e-02 2.40419708e+02] [-7.08495047e-01 7.04422950e-01 -4.26974950e-02 -1.59464654e+02] [-6.08713367e-02 -7.22199681e-04 9.98145360e-01 -1.24134144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.44, Y:-159.49, Z:-12.41 [[ 7.05452649e-01 7.07375657e-01 4.42294012e-02 2.40443895e+02] [-7.06032734e-01 7.06837633e-01 -4.35699410e-02 -1.59487140e+02] [-6.20833209e-02 -4.90874729e-04 9.98070849e-01 -1.24144016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.47, Y:-159.51, Z:-12.42 [[ 7.06667274e-01 7.06143419e-01 4.45290574e-02 2.40467648e+02] [-7.04776834e-01 7.08068746e-01 -4.39120202e-02 -1.59510189e+02] [-6.25378179e-02 -3.51860462e-04 9.98042533e-01 -1.24156536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:240.49, Y:-159.53, Z:-12.42 [[ 7.08009417e-01 7.04751981e-01 4.52472137e-02 2.40490070e+02] [-7.03335795e-01 7.09453735e-01 -4.46559789e-02 -1.59533385e+02] [-6.35721944e-02 -2.07131364e-04 9.97977221e-01 -1.24174718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.51, Y:-159.56, Z:-12.42 [[ 7.10962938e-01 7.01851487e-01 4.40021744e-02 2.40511237e+02] [-7.00505209e-01 7.12323301e-01 -4.34507360e-02 -1.59557956e+02] [-6.18397379e-02 6.81105458e-05 9.98086090e-01 -1.24202297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13864 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:240.53, Y:-159.58, Z:-12.42 [[ 7.12409736e-01 7.00375298e-01 4.41226741e-02 2.40533835e+02] [-6.99016124e-01 7.13774748e-01 -4.36127031e-02 -1.59582332e+02] [-6.20389105e-02 2.27653658e-04 9.98073706e-01 -1.24216069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16864 meters Centerline goodness [0,1] 0.9999019511716835 Centerline is valid? [True, True] Translation: X:240.55, Y:-159.61, Z:-12.42 [[ 7.14113082e-01 6.98662647e-01 4.37379852e-02 2.40553887e+02] [-6.97321083e-01 7.15451145e-01 -4.32777922e-02 -1.59608994e+02] [-6.15289685e-02 4.05818381e-04 9.98105216e-01 -1.24221246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.58, Y:-159.63, Z:-12.42 [[ 7.13984086e-01 6.98743348e-01 4.45472514e-02 2.40575055e+02] [-6.97348982e-01 7.15372309e-01 -4.41231930e-02 -1.59633559e+02] [-6.26986577e-02 4.38277232e-04 9.98032407e-01 -1.24230103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.59, Y:-159.66, Z:-12.42 [[ 7.13020619e-01 6.99713569e-01 4.47494971e-02 2.40594856e+02] [-6.98305700e-01 7.14423385e-01 -4.43663974e-02 -1.59660966e+02] [-6.30138574e-02 3.85327289e-04 9.98012578e-01 -1.24239923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:240.62, Y:-159.69, Z:-12.43 [[ 7.12011747e-01 7.00712572e-01 4.51792401e-02 2.40616851e+02] [-6.99276482e-01 7.13443607e-01 -4.48399603e-02 -1.59685856e+02] [-6.36527639e-02 3.33798347e-04 9.97972051e-01 -1.24255524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:240.64, Y:-159.71, Z:-12.43 [[ 7.10698144e-01 7.02129253e-01 4.38481555e-02 2.40638137e+02] [-7.00776649e-01 7.12049478e-01 -4.35617885e-02 -1.59710096e+02] [-6.18080622e-02 2.31518795e-04 9.98088027e-01 -1.24259718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31864 meters Centerline goodness [0,1] 0.9998037580336555 Centerline is valid? [True, True] Translation: X:240.66, Y:-159.74, Z:-12.43 [[ 7.08451597e-01 7.04445417e-01 4.30463583e-02 2.40656987e+02] [-7.03143757e-01 7.09758164e-01 -4.28042645e-02 -1.59736228e+02] [-6.07057722e-02 5.69714483e-05 9.98155702e-01 -1.24265472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34864 meters Centerline goodness [0,1] 0.9998037580336555 Centerline is valid? [True, True] Translation: X:240.68, Y:-159.76, Z:-12.43 [[ 7.07164662e-01 7.05696368e-01 4.37124382e-02 2.40678959e+02] [-7.04353803e-01 7.08514386e-01 -4.35095907e-02 -1.59760547e+02] [-6.16754515e-02 -2.05771140e-05 9.98096257e-01 -1.24277913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37864 meters Centerline goodness [0,1] 0.9998525291254977 Centerline is valid? [True, True] Translation: X:240.70, Y:-159.79, Z:-12.43 [[ 7.05945048e-01 7.06909484e-01 4.38243198e-02 2.40699942e+02] [-7.05559464e-01 7.07304017e-01 -4.36677278e-02 -1.59786308e+02] [-6.18662484e-02 -9.36473953e-05 9.98084445e-01 -1.24297188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40864 meters Centerline goodness [0,1] 0.9999017295597484 Centerline is valid? [True, True] Translation: X:240.72, Y:-159.81, Z:-12.43 [[ 7.04641351e-01 7.08242224e-01 4.32841554e-02 2.40722356e+02] [-7.06925006e-01 7.05969490e-01 -4.31753994e-02 -1.59810860e+02] [-6.11359340e-02 -1.75479997e-04 9.98129434e-01 -1.24302878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:240.74, Y:-159.84, Z:-12.43 [[ 7.02628284e-01 7.10238966e-01 4.32909374e-02 2.40744174e+02] [-7.08922273e-01 7.03960589e-01 -4.32284665e-02 -1.59835157e+02] [-6.11776551e-02 -3.16366504e-04 9.98126843e-01 -1.24314724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.77, Y:-159.86, Z:-12.43 [[ 6.99602273e-01 7.13220584e-01 4.32788467e-02 2.40765132e+02] [-7.11907599e-01 7.00939442e-01 -4.32604827e-02 -1.59859114e+02] [-6.11901174e-02 -5.45407851e-04 9.98125980e-01 -1.24330560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:240.84, Y:-159.94, Z:-10.79 [[ 7.64863902e-01 -6.44062111e-01 -1.29309166e-02 2.40838048e+02] [-6.43893777e-01 -7.64966512e-01 1.50678259e-02 -1.59938857e+02] [-1.95963339e-02 -3.19869944e-03 -9.99802857e-01 -1.07939307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.81, Y:-159.92, Z:-12.44 [[ 7.44117217e-01 6.66564878e-01 4.45065321e-02 2.40811688e+02] [-6.65460456e-01 7.45446261e-01 -3.83699502e-02 -1.59918081e+02] [-5.87532891e-02 -1.06559658e-03 9.98271965e-01 -1.24354564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:240.84, Y:-159.94, Z:-12.44 [[ 7.41911891e-01 6.69042606e-01 4.41445051e-02 2.40837168e+02] [-6.67958390e-01 7.43223042e-01 -3.80932906e-02 -1.59937798e+02] [-5.82952478e-02 -1.22482730e-03 9.98298635e-01 -1.24373935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:240.86, Y:-159.96, Z:-12.44 [[ 7.39929370e-01 6.71183904e-01 4.49076219e-02 2.40862489e+02] [-6.70063604e-01 7.41289575e-01 -3.87883121e-02 -1.59957509e+02] [-5.93236427e-02 -1.39035161e-03 9.98237834e-01 -1.24382790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:240.89, Y:-159.98, Z:-12.44 [[ 7.37957990e-01 6.73337190e-01 4.51113472e-02 2.40889259e+02] [-6.72208527e-01 7.39333921e-01 -3.90006280e-02 -1.59975582e+02] [-5.96129225e-02 -1.54340727e-03 9.98220375e-01 -1.24398929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64864 meters Centerline goodness [0,1] 0.9998038831143361 Centerline is valid? [True, True] Translation: X:240.92, Y:-160.00, Z:-12.44 [[ 7.37340771e-01 6.74061144e-01 4.43864985e-02 2.40915758e+02] [-6.72967641e-01 7.38673930e-01 -3.84106678e-02 -1.59995807e+02] [-5.86782879e-02 -1.54892581e-03 9.98275743e-01 -1.24409999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67864000000003 meters Centerline goodness [0,1] 0.9999019030802433 Centerline is valid? [True, True] Translation: X:240.94, Y:-160.01, Z:-12.44 [[ 7.37910640e-01 6.73475573e-01 4.38011446e-02 2.40943152e+02] [-6.72407505e-01 7.39208048e-01 -3.79421881e-02 -1.60013611e+02] [-5.79312955e-02 -1.45427408e-03 9.98319513e-01 -1.24425656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70864 meters Centerline goodness [0,1] 0.9999018549416037 Centerline is valid? [True, True] Translation: X:240.97, Y:-160.03, Z:-12.44 [[ 7.38176990e-01 6.73164631e-01 4.40920758e-02 2.40970062e+02] [-6.72079606e-01 7.39491302e-01 -3.82311036e-02 -1.60033267e+02] [-5.83415333e-02 -1.41206401e-03 9.98295683e-01 -1.24442807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73864 meters Centerline goodness [0,1] 0.9998528257456829 Centerline is valid? [True, True] Translation: X:241.00, Y:-160.05, Z:-12.45 [[ 7.38014811e-01 6.73336352e-01 4.41847910e-02 2.40997110e+02] [-6.72244679e-01 7.39334972e-01 -3.83521975e-02 -1.60052384e+02] [-5.84912900e-02 -1.39850081e-03 9.98286939e-01 -1.24456003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:241.02, Y:-160.07, Z:-12.45 [[ 7.37594022e-01 6.73786454e-01 4.43494401e-02 2.41024419e+02] [-6.72685024e-01 7.38924778e-01 -3.85360967e-02 -1.60070853e+02] [-5.87360001e-02 -1.40920959e-03 9.98272556e-01 -1.24485483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79864 meters Centerline goodness [0,1] 0.9997058246715043 Centerline is valid? [True, True] Translation: X:241.05, Y:-160.09, Z:-12.45 [[ 7.37198468e-01 6.74302379e-01 4.30664681e-02 2.41050007e+02] [-6.73262538e-01 7.38454058e-01 -3.74587553e-02 -1.60090813e+02] [-5.70611359e-02 -1.38050263e-03 9.98369732e-01 -1.24486770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82864 meters Centerline goodness [0,1] 0.9999016715830875 Centerline is valid? [True, True] Translation: X:241.08, Y:-160.11, Z:-12.45 [[ 7.37283708e-01 6.74289016e-01 4.17978211e-02 2.41075695e+02] [-6.73307732e-01 7.38466381e-01 -3.63882090e-02 -1.60109783e+02] [-5.54024553e-02 -1.31436252e-03 9.98463239e-01 -1.24492339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:241.10, Y:-160.13, Z:-12.45 [[ 7.36951612e-01 6.74637786e-01 4.20259262e-02 2.41100775e+02] [-6.73644572e-01 7.38147751e-01 -3.66181529e-02 -1.60130460e+02] [-5.57253325e-02 -1.32473029e-03 9.98445258e-01 -1.24506662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.13, Y:-160.15, Z:-12.45 [[ 7.36689253e-01 6.74879959e-01 4.27315500e-02 2.41127599e+02] [-6.73851816e-01 7.37926308e-01 -3.72625193e-02 -1.60150480e+02] [-5.66804624e-02 -1.34383506e-03 9.98391466e-01 -1.24504265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91864 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:241.16, Y:-160.17, Z:-12.45 [[ 7.35770924e-01 6.75868169e-01 4.29344333e-02 2.41155828e+02] [-6.74829710e-01 7.37021210e-01 -3.74779849e-02 -1.60167666e+02] [-5.69737650e-02 -1.39821960e-03 9.98374697e-01 -1.24504654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94864 meters Centerline goodness [0,1] 0.9996564922956129 Centerline is valid? [True, True] Translation: X:241.18, Y:-160.19, Z:-12.45 [[ 7.35906590e-01 6.75657886e-01 4.39079945e-02 2.41182174e+02] [-6.74569169e-01 7.37214014e-01 -3.83657968e-02 -1.60187469e+02] [-5.82917421e-02 -1.38533667e-03 9.98298629e-01 -1.24519675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97864 meters Centerline goodness [0,1] 0.9995577178239717 Centerline is valid? [True, True] Translation: X:241.21, Y:-160.21, Z:-12.45 [[ 7.35839375e-01 6.75698481e-01 4.44069498e-02 2.41207597e+02] [-6.74582462e-01 7.37176829e-01 -3.88436029e-02 -1.60208412e+02] [-5.89823379e-02 -1.37349704e-03 9.98258082e-01 -1.24545438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.23, Y:-160.23, Z:-12.46 [[ 7.36789979e-01 6.74638735e-01 4.47560623e-02 2.41233273e+02] [-6.73500727e-01 7.38146982e-01 -3.91893235e-02 -1.60228485e+02] [-5.94751880e-02 -1.26893967e-03 9.98228978e-01 -1.24552037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:241.26, Y:-160.25, Z:-12.46 [[ 7.37552219e-01 6.73775110e-01 4.52086812e-02 2.41259684e+02] [-6.72610083e-01 7.38935518e-01 -3.96229415e-02 -1.60247585e+02] [-6.01032520e-02 -1.18382636e-03 9.98191463e-01 -1.24557926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06864 meters Centerline goodness [0,1] 0.9992636591232634 Centerline is valid? [True, True] Translation: X:241.29, Y:-160.26, Z:-12.46 [[ 7.38989276e-01 6.72271844e-01 4.41068922e-02 2.41287580e+02] [-6.71158184e-01 7.40303688e-01 -3.86929123e-02 -1.60264120e+02] [-5.86646504e-02 -1.00905436e-03 9.98277236e-01 -1.24556642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09864 meters Centerline goodness [0,1] 0.9994118223703559 Centerline is valid? [True, True] Translation: X:241.31, Y:-160.29, Z:-12.46 [[ 7.39227199e-01 6.71977196e-01 4.46071327e-02 2.41312980e+02] [-6.70835265e-01 7.40571206e-01 -3.91706015e-02 -1.60285182e+02] [-5.93565090e-02 -9.68063604e-04 9.98236379e-01 -1.24579972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12864 meters Centerline goodness [0,1] 0.9997058679347027 Centerline is valid? [True, True] Translation: X:241.34, Y:-160.30, Z:-12.46 [[ 7.39761020e-01 6.71434479e-01 4.39246420e-02 2.41339523e+02] [-6.70323989e-01 7.41063401e-01 -3.86106990e-02 -1.60303801e+02] [-5.84754992e-02 -8.81051153e-04 9.98288455e-01 -1.24587220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15864 meters Centerline goodness [0,1] 0.9997542393708528 Centerline is valid? [True, True] Translation: X:241.37, Y:-160.32, Z:-12.46 [[ 7.39302288e-01 6.71947311e-01 4.38056844e-02 2.41366430e+02] [-6.70841538e-01 7.40598418e-01 -3.85436793e-02 -1.60323603e+02] [-5.83417422e-02 -8.91242368e-04 9.98296272e-01 -1.24597017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18864 meters Centerline goodness [0,1] 0.9996569131990394 Centerline is valid? [True, True] Translation: X:241.39, Y:-160.34, Z:-12.46 [[ 7.38926165e-01 6.72300100e-01 4.47291712e-02 2.41391879e+02] [-6.71145377e-01 7.40278158e-01 -3.93971113e-02 -1.60343773e+02] [-5.95987103e-02 -9.08220079e-04 9.98222004e-01 -1.24621153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21864 meters Centerline goodness [0,1] 0.9996569131990394 Centerline is valid? [True, True] Translation: X:241.42, Y:-160.37, Z:-12.46 [[ 7.38571382e-01 6.72691106e-01 4.47100639e-02 2.41416491e+02] [-6.71535787e-01 7.39922865e-01 -3.94187869e-02 -1.60365047e+02] [-5.95986659e-02 -9.10820102e-04 9.98222004e-01 -1.24634170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24864 meters Centerline goodness [0,1] 0.9993620884243584 Centerline is valid? [True, True] Translation: X:241.44, Y:-160.39, Z:-12.46 [[ 7.38154311e-01 6.73224672e-01 4.35517496e-02 2.41441715e+02] [-6.72127170e-01 7.39437442e-01 -3.84361325e-02 -1.60385549e+02] [-5.80799470e-02 -9.00517341e-04 9.98311529e-01 -1.24629815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27864 meters Centerline goodness [0,1] 0.9990197519972553 Centerline is valid? [True, True] Translation: X:241.47, Y:-160.41, Z:-12.46 [[ 7.37564925e-01 6.73822909e-01 4.42794495e-02 2.41467756e+02] [-6.72687192e-01 7.38892288e-01 -3.91168559e-02 -1.60406179e+02] [-5.90755774e-02 -9.34997665e-04 9.98253075e-01 -1.24636182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30864 meters Centerline goodness [0,1] 0.9988211601748612 Centerline is valid? [True, True] Translation: X:241.50, Y:-160.42, Z:-12.46 [[ 7.36996422e-01 6.74541945e-01 4.27719433e-02 2.41495750e+02] [-6.73481347e-01 7.38235937e-01 -3.78229743e-02 -1.60423841e+02] [-5.70889682e-02 -9.30709282e-04 9.98368661e-01 -1.24643847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33864 meters Centerline goodness [0,1] 0.999166217077836 Centerline is valid? [True, True] Translation: X:241.52, Y:-160.44, Z:-12.47 [[ 7.36497834e-01 6.75129739e-01 4.20805811e-02 2.41521958e+02] [-6.74102121e-01 7.37698423e-01 -3.72473808e-02 -1.60444408e+02] [-5.61895928e-02 -9.33993680e-04 9.98419680e-01 -1.24653138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36864 meters Centerline goodness [0,1] 0.9989686671250368 Centerline is valid? [True, True] Translation: X:241.55, Y:-160.46, Z:-12.47 [[ 7.35768043e-01 6.75958616e-01 4.15371664e-02 2.41547428e+02] [-6.74956540e-01 7.36938964e-01 -3.68053339e-02 -1.60464762e+02] [-5.54892389e-02 -9.55593621e-04 9.98458828e-01 -1.24664700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39864 meters Centerline goodness [0,1] 0.9988724937496936 Centerline is valid? [True, True] Translation: X:241.58, Y:-160.48, Z:-12.47 [[ 7.34558214e-01 6.77267660e-01 4.16262762e-02 2.41575510e+02] [-6.76261251e-01 7.35735998e-01 -3.69223821e-02 -1.60482345e+02] [-5.56322851e-02 -1.02859858e-03 9.98450795e-01 -1.24663129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42864000000003 meters Centerline goodness [0,1] 0.9990192232247941 Centerline is valid? [True, True] Translation: X:241.60, Y:-160.50, Z:-12.47 [[ 7.33263036e-01 6.78591856e-01 4.28767071e-02 2.41603509e+02] [-6.77524189e-01 7.34514671e-01 -3.80679930e-02 -1.60498880e+02] [-5.73262005e-02 -1.13615404e-03 9.98354855e-01 -1.24674372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45864 meters Centerline goodness [0,1] 0.9988230678697528 Centerline is valid? [True, True] Translation: X:241.63, Y:-160.52, Z:-12.47 [[ 7.32044360e-01 6.79932013e-01 4.24677739e-02 2.41629748e+02] [-6.78884804e-01 7.33274172e-01 -3.77413680e-02 -1.60519682e+02] [-5.68020861e-02 -1.20237077e-03 9.98384734e-01 -1.24681432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48864 meters Centerline goodness [0,1] 0.9988237600470496 Centerline is valid? [True, True] Translation: X:241.66, Y:-160.54, Z:-12.47 [[ 7.30881745e-01 6.81213032e-01 4.19604434e-02 2.41655846e+02] [-6.80190587e-01 7.32084165e-01 -3.73301685e-02 -1.60539761e+02] [-5.61483734e-02 -1.25715993e-03 9.98421644e-01 -1.24681390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51864 meters Centerline goodness [0,1] 0.9988723831936069 Centerline is valid? [True, True] Translation: X:241.69, Y:-160.55, Z:-12.47 [[ 7.29319094e-01 6.82950211e-01 4.08982752e-02 2.41686750e+02] [-6.81979527e-01 7.30463721e-01 -3.64235874e-02 -1.60554707e+02] [-5.47502030e-02 -1.32736856e-03 9.98499200e-01 -1.24684825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54864 meters Centerline goodness [0,1] 0.9985786403960202 Centerline is valid? [True, True] Translation: X:241.71, Y:-160.57, Z:-12.47 [[ 7.29163706e-01 6.83171381e-01 3.99644133e-02 2.41714070e+02] [-6.82242946e-01 7.30256947e-01 -3.56280038e-02 -1.60572688e+02] [-5.35243230e-02 -1.28679174e-03 9.98565717e-01 -1.24694796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57864 meters Centerline goodness [0,1] 0.9981357927786499 Centerline is valid? [True, True] Translation: X:241.74, Y:-160.59, Z:-12.47 [[ 7.30123821e-01 6.82173841e-01 3.94722343e-02 2.41742045e+02] [-6.81264972e-01 7.31189080e-01 -3.52216988e-02 -1.60589122e+02] [-5.28889882e-02 -1.17484928e-03 9.98599707e-01 -1.24701166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60864 meters Centerline goodness [0,1] 0.998480466643792 Centerline is valid? [True, True] Translation: X:241.77, Y:-160.61, Z:-12.47 [[ 7.30863523e-01 6.81310989e-01 4.06675270e-02 2.41769717e+02] [-6.80342902e-01 7.31993226e-01 -3.63242653e-02 -1.60608172e+02] [-5.45164753e-02 -1.11978286e-03 9.98512243e-01 -1.24714994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63864 meters Centerline goodness [0,1] 0.9983821943327778 Centerline is valid? [True, True] Translation: X:241.80, Y:-160.63, Z:-12.47 [[ 7.31731694e-01 6.80412909e-01 4.00874231e-02 2.41797598e+02] [-6.79468938e-01 7.32828255e-01 -3.58428587e-02 -1.60625719e+02] [-5.37651401e-02 -1.01080315e-03 9.98553097e-01 -1.24720241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66864 meters Centerline goodness [0,1] 0.9978360300988541 Centerline is valid? [True, True] Translation: X:241.83, Y:-160.64, Z:-12.47 [[ 7.33574590e-01 6.78401734e-01 4.04896188e-02 2.41827632e+02] [-6.77433804e-01 7.34690663e-01 -3.62363160e-02 -1.60640823e+02] [-5.43301244e-02 -8.46995847e-04 9.98522669e-01 -1.24724650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69864 meters Centerline goodness [0,1] 0.9978940150847292 Centerline is valid? [True, True] Translation: X:241.85, Y:-160.66, Z:-12.47 [[ 7.35237113e-01 6.76589252e-01 4.06616755e-02 2.41853743e+02] [-6.75608760e-01 7.36360307e-01 -3.64184373e-02 -1.60660585e+02] [-5.45819670e-02 -6.95197422e-04 9.98509051e-01 -1.24742633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72864 meters Centerline goodness [0,1] 0.9975033044499927 Centerline is valid? [True, True] Translation: X:241.88, Y:-160.68, Z:-12.48 [[ 7.38649114e-01 6.72796234e-01 4.17458227e-02 2.41883042e+02] [-6.71755963e-01 7.39827719e-01 -3.74014947e-02 -1.60676425e+02] [-5.60483016e-02 -4.16424394e-04 9.98427972e-01 -1.24752321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75864 meters Centerline goodness [0,1] 0.9967069694288804 Centerline is valid? [True, True] Translation: X:241.91, Y:-160.70, Z:-12.48 [[ 7.40689790e-01 6.70524123e-01 4.21430428e-02 2.41908980e+02] [-6.69459686e-01 7.41887689e-01 -3.77675106e-02 -1.60695320e+02] [-5.65894315e-02 -2.39058718e-04 9.98397506e-01 -1.24767276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78864 meters Centerline goodness [0,1] 0.9960327178331783 Centerline is valid? [True, True] Translation: X:241.93, Y:-160.72, Z:-12.48 [[ 7.42688193e-01 6.68268919e-01 4.27890126e-02 2.41934779e+02] [-6.67167137e-01 7.43919786e-01 -3.83583525e-02 -1.60716162e+02] [-5.74652878e-02 -5.91275050e-05 9.98347503e-01 -1.24779870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81864 meters Centerline goodness [0,1] 0.9962302947224126 Centerline is valid? [True, True] Translation: X:241.96, Y:-160.74, Z:-12.48 [[ 7.45796493e-01 6.64867145e-01 4.17045648e-02 2.41959928e+02] [-6.63814460e-01 7.46961603e-01 -3.73995599e-02 -1.60736521e+02] [-5.60174472e-02 2.08367457e-04 9.98429768e-01 -1.24788826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84864 meters Centerline goodness [0,1] 0.9957348759682322 Centerline is valid? [True, True] Translation: X:241.99, Y:-160.76, Z:-12.48 [[ 7.47493268e-01 6.62984290e-01 4.12994616e-02 2.41986032e+02] [-6.61948483e-01 7.48633225e-01 -3.70472779e-02 -1.60757219e+02] [-5.54799124e-02 3.54474881e-04 9.98459741e-01 -1.24796061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87864 meters Centerline goodness [0,1] 0.995686063042306 Centerline is valid? [True, True] Translation: X:242.01, Y:-160.78, Z:-12.48 [[ 7.49146873e-01 6.61137756e-01 4.09369052e-02 2.42011140e+02] [-6.60116591e-01 7.50264367e-01 -3.67350771e-02 -1.60777048e+02] [-5.50004477e-02 4.96837853e-04 9.98486206e-01 -1.24812491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90864 meters Centerline goodness [0,1] 0.9954862133254833 Centerline is valid? [True, True] Translation: X:242.04, Y:-160.80, Z:-12.48 [[ 7.49832759e-01 6.60380477e-01 4.06012105e-02 2.42035580e+02] [-6.59374311e-01 7.50930966e-01 -3.64445141e-02 -1.60798597e+02] [-5.45559519e-02 5.55895337e-04 9.98510560e-01 -1.24825244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93864 meters Centerline goodness [0,1] 0.9953410818498357 Centerline is valid? [True, True] Translation: X:242.06, Y:-160.82, Z:-12.48 [[ 7.50395191e-01 6.59750889e-01 4.04452944e-02 2.42059910e+02] [-6.58750760e-01 7.51484127e-01 -3.63186426e-02 -1.60820236e+02] [-5.43552535e-02 6.09966370e-04 9.98521474e-01 -1.24839464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96864 meters Centerline goodness [0,1] 0.99632425014703 Centerline is valid? [True, True] Translation: X:242.08, Y:-160.84, Z:-12.49 [[ 7.51336230e-01 6.58674818e-01 4.05136176e-02 2.42084294e+02] [-6.57669036e-01 7.52427402e-01 -3.63929077e-02 -1.60841548e+02] [-5.44546479e-02 6.98758187e-04 9.98516000e-01 -1.24854291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99864 meters Centerline goodness [0,1] 0.9965694682675815 Centerline is valid? [True, True] Translation: X:242.11, Y:-160.86, Z:-12.49 [[ 7.52244312e-01 6.57561040e-01 4.17369722e-02 2.42107553e+02] [-6.56491282e-01 7.53400838e-01 -3.75016570e-02 -1.60863377e+02] [-5.61042984e-02 8.10449780e-04 9.98424584e-01 -1.24869920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02864 meters Centerline goodness [0,1] 0.9954438565549677 Centerline is valid? [True, True] Translation: X:242.13, Y:-160.89, Z:-12.49 [[ 7.54468573e-01 6.54953825e-01 4.25753381e-02 2.42127626e+02] [-6.53835521e-01 7.55668188e-01 -3.82714043e-02 -1.60888419e+02] [-5.72388312e-02 1.03730345e-03 9.98359975e-01 -1.24884973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05864 meters Centerline goodness [0,1] 0.9952383289971037 Centerline is valid? [True, True] Translation: X:242.15, Y:-160.91, Z:-12.49 [[ 7.55308637e-01 6.53969992e-01 4.28031883e-02 2.42149486e+02] [-6.52836651e-01 7.56519634e-01 -3.85012937e-02 -1.60912012e+02] [-5.75601431e-02 1.13686957e-03 9.98341393e-01 -1.24903925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08864 meters Centerline goodness [0,1] 0.9942137007796793 Centerline is valid? [True, True] Translation: X:242.17, Y:-160.94, Z:-12.49 [[ 7.56089232e-01 6.53118753e-01 4.20115321e-02 2.42172791e+02] [-6.52024671e-01 7.57254562e-01 -3.78068331e-02 -1.60935613e+02] [-5.65057761e-02 1.19278401e-03 9.98401560e-01 -1.24912405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11864 meters Centerline goodness [0,1] 0.9954375981161695 Centerline is valid? [True, True] Translation: X:242.19, Y:-160.96, Z:-12.49 [[ 7.56399269e-01 6.52922620e-01 3.93979495e-02 2.42192728e+02] [-6.51958529e-01 7.57423734e-01 -3.54875094e-02 -1.60961047e+02] [-5.30115397e-02 1.15689694e-03 9.98593230e-01 -1.24927816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14864 meters Centerline goodness [0,1] 0.9951456310679612 Centerline is valid? [True, True] Translation: X:242.21, Y:-160.99, Z:-12.49 [[ 7.55496801e-01 6.53942936e-01 3.97897089e-02 2.42213829e+02] [-6.52959216e-01 7.56543046e-01 -3.58731370e-02 -1.60986457e+02] [-5.35616121e-02 1.12098310e-03 9.98563917e-01 -1.24932044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17864000000003 meters Centerline goodness [0,1] 0.9963222674447114 Centerline is valid? [True, True] Translation: X:242.23, Y:-161.02, Z:-12.49 [[ 7.51749898e-01 6.58171796e-01 4.10119290e-02 2.42231171e+02] [-6.57130900e-01 7.52867269e-01 -3.70115737e-02 -1.61015558e+02] [-5.52365129e-02 8.73240924e-04 9.98472917e-01 -1.24941075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20864 meters Centerline goodness [0,1] 0.9977424420887319 Centerline is valid? [True, True] Translation: X:242.25, Y:-161.04, Z:-12.49 [[ 7.49074648e-01 6.61262238e-01 4.02420573e-02 2.42252600e+02] [-6.60262802e-01 7.50154531e-01 -3.63484782e-02 -1.61039328e+02] [-5.42236376e-02 6.57389988e-04 9.98528600e-01 -1.24941402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23864 meters Centerline goodness [0,1] 0.9982827142927236 Centerline is valid? [True, True] Translation: X:242.27, Y:-161.06, Z:-12.50 [[ 7.46167485e-01 6.64554353e-01 4.00199533e-02 2.42274439e+02] [-6.63568896e-01 7.47239799e-01 -3.61801303e-02 -1.61063286e+02] [-5.39481650e-02 4.40440574e-04 9.98543640e-01 -1.24962514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26864 meters Centerline goodness [0,1] 0.9985774551162563 Centerline is valid? [True, True] Translation: X:242.29, Y:-161.09, Z:-12.50 [[ 7.41387434e-01 6.69826071e-01 4.09598353e-02 2.42293450e+02] [-6.68799769e-01 7.42518032e-01 -3.70653591e-02 -1.61091709e+02] [-5.52407601e-02 8.58630772e-05 9.98473060e-01 -1.24994303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29864 meters Centerline goodness [0,1] 0.9995095394575506 Centerline is valid? [True, True] Translation: X:242.32, Y:-161.12, Z:-12.50 [[ 7.38653986e-01 6.72802491e-01 4.15583626e-02 2.42315487e+02] [-6.71748405e-01 7.39822138e-01 -3.76468285e-02 -1.61116446e+02] [-5.60746767e-02 -1.08783896e-04 9.98426572e-01 -1.25007983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32864 meters Centerline goodness [0,1] 0.9992151476503482 Centerline is valid? [True, True] Translation: X:242.34, Y:-161.14, Z:-12.50 [[ 7.36703925e-01 6.74917282e-01 4.18806548e-02 2.42339612e+02] [-6.73847904e-01 7.37893355e-01 -3.79789330e-02 -1.61139609e+02] [-5.65360952e-02 -2.41962449e-04 9.98400527e-01 -1.25015238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35864 meters Centerline goodness [0,1] 0.9994608107445714 Centerline is valid? [True, True] Translation: X:242.36, Y:-161.16, Z:-12.50 [[ 7.32899686e-01 6.79072505e-01 4.14558067e-02 2.42364318e+02] [-6.78029205e-01 7.34071015e-01 -3.76316742e-02 -1.61160407e+02] [-5.59861413e-02 -5.28005420e-04 9.98431406e-01 -1.25016657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38864 meters Centerline goodness [0,1] 0.999754649393984 Centerline is valid? [True, True] Translation: X:242.39, Y:-161.18, Z:-12.50 [[ 7.31418800e-01 6.80664475e-01 4.15019485e-02 2.42389321e+02] [-6.79619371e-01 7.32595033e-01 -3.77097822e-02 -1.61182023e+02] [-5.60718304e-02 -6.23884507e-04 9.98426542e-01 -1.25029342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41864 meters Centerline goodness [0,1] 0.9997546012269939 Centerline is valid? [True, True] Translation: X:242.41, Y:-161.20, Z:-12.50 [[ 7.28578986e-01 6.83689493e-01 4.17293476e-02 2.42413557e+02] [-6.82635639e-01 7.29772557e-01 -3.79552320e-02 -1.61202888e+02] [-5.64025260e-02 -8.32555380e-04 9.98407763e-01 -1.25049157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44864 meters Centerline goodness [0,1] 0.9997548418730081 Centerline is valid? [True, True] Translation: X:242.44, Y:-161.22, Z:-12.51 [[ 7.27151218e-01 6.85202123e-01 4.18229255e-02 2.42438554e+02] [-6.84144042e-01 7.28352382e-01 -3.80754151e-02 -1.61223391e+02] [-5.65511827e-02 -9.26320903e-04 9.98399272e-01 -1.25058373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47864 meters Centerline goodness [0,1] 0.9998034204835856 Centerline is valid? [True, True] Translation: X:242.46, Y:-161.24, Z:-12.51 [[ 7.26034335e-01 6.86339495e-01 4.25704305e-02 2.42463981e+02] [-6.85243085e-01 7.27280609e-01 -3.87921545e-02 -1.61243437e+02] [-5.75852363e-02 -1.00665701e-03 9.98340086e-01 -1.25080234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:242.49, Y:-161.26, Z:-12.51 [[ 7.24190083e-01 6.88236437e-01 4.33512389e-02 2.42490801e+02] [-6.87100614e-01 7.25485548e-01 -3.95406823e-02 -1.61261322e+02] [-5.86640356e-02 -1.15169291e-03 9.98277118e-01 -1.25090198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.52, Y:-161.28, Z:-12.51 [[ 7.23265736e-01 6.89190998e-01 4.36170120e-02 2.42516940e+02] [-6.88040740e-01 7.24578709e-01 -3.98200338e-02 -1.61280700e+02] [-5.90475671e-02 -1.20981514e-03 9.98254437e-01 -1.25103987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56864 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:242.55, Y:-161.30, Z:-12.51 [[ 7.22528725e-01 6.90052113e-01 4.21938583e-02 2.42545445e+02] [-6.88975220e-01 7.23758668e-01 -3.85556378e-02 -1.61297321e+02] [-5.71435700e-02 -1.21296695e-03 9.98365234e-01 -1.25113454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59864 meters Centerline goodness [0,1] 0.9997549980399844 Centerline is valid? [True, True] Translation: X:242.57, Y:-161.32, Z:-12.51 [[ 7.21818222e-01 6.90779165e-01 4.24570197e-02 2.42572474e+02] [-6.89687873e-01 7.23064713e-01 -3.88337249e-02 -1.61317178e+02] [-5.75247009e-02 -1.25120135e-03 9.98343299e-01 -1.25134209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62864 meters Centerline goodness [0,1] 0.9999019559782343 Centerline is valid? [True, True] Translation: X:242.60, Y:-161.34, Z:-12.52 [[ 7.21603305e-01 6.90965044e-01 4.30810640e-02 2.42599345e+02] [-6.89839279e-01 7.22887083e-01 -3.94466134e-02 -1.61336478e+02] [-5.83989757e-02 -1.25420351e-03 9.98292536e-01 -1.25156275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65864 meters Centerline goodness [0,1] 0.9998528474027567 Centerline is valid? [True, True] Translation: X:242.63, Y:-161.35, Z:-12.52 [[ 7.22875690e-01 6.89541771e-01 4.45295723e-02 2.42628424e+02] [-6.88333595e-01 7.24245010e-01 -4.08170012e-02 -1.61353825e+02] [-6.03953478e-02 -1.14558270e-03 9.98173877e-01 -1.25182849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:242.65, Y:-161.37, Z:-12.52 [[ 7.23963937e-01 6.88367876e-01 4.50098288e-02 2.42654874e+02] [-6.87129149e-01 7.25361011e-01 -4.12908751e-02 -1.61373315e+02] [-6.10716870e-02 -1.03446084e-03 9.98132846e-01 -1.25196996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71864 meters Centerline goodness [0,1] 0.9997045790251108 Centerline is valid? [True, True] Translation: X:242.68, Y:-161.39, Z:-12.52 [[ 7.27564457e-01 6.84530246e-01 4.54786033e-02 2.42683835e+02] [-6.83256636e-01 7.28984121e-01 -4.17435050e-02 -1.61389083e+02] [-6.17278714e-02 -7.02466952e-04 9.98092769e-01 -1.25212115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74864 meters Centerline goodness [0,1] 0.9994114473490607 Centerline is valid? [True, True] Translation: X:242.71, Y:-161.41, Z:-12.52 [[ 7.29211747e-01 6.82773966e-01 4.54965877e-02 2.42709506e+02] [-6.81494142e-01 7.30629474e-01 -4.17888273e-02 -1.61408697e+02] [-6.17734712e-02 -5.32754194e-04 9.98090053e-01 -1.25230558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77864 meters Centerline goodness [0,1] 0.9996080544804272 Centerline is valid? [True, True] Translation: X:242.73, Y:-161.43, Z:-12.53 [[ 7.30958906e-01 6.80932397e-01 4.50571740e-02 2.42734623e+02] [-6.79673030e-01 7.32346187e-01 -4.13960702e-02 -1.61428730e+02] [-6.11853749e-02 -3.65319835e-04 9.98126353e-01 -1.25256566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80864 meters Centerline goodness [0,1] 0.9994603875398578 Centerline is valid? [True, True] Translation: X:242.76, Y:-161.45, Z:-12.53 [[ 7.34716453e-01 6.76780850e-01 4.64694964e-02 2.42759629e+02] [-6.75432155e-01 7.36184543e-01 -4.27050778e-02 -1.61449152e+02] [-6.31121038e-02 -1.08687507e-05 9.98006444e-01 -1.25286032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83864 meters Centerline goodness [0,1] 0.9992644895557516 Centerline is valid? [True, True] Translation: X:242.78, Y:-161.47, Z:-12.53 [[ 7.36306216e-01 6.75017016e-01 4.69593847e-02 2.42784143e+02] [-6.73635386e-01 7.37802145e-01 -4.31666675e-02 -1.61470708e+02] [-6.37849699e-02 1.50382377e-04 9.97963654e-01 -1.25299837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86864 meters Centerline goodness [0,1] 0.9989210397253556 Centerline is valid? [True, True] Translation: X:242.81, Y:-161.49, Z:-12.53 [[ 7.39414492e-01 6.71686365e-01 4.58654024e-02 2.42809380e+02] [-6.70361316e-01 7.40835499e-01 -4.21719112e-02 -1.61491364e+02] [-6.23050160e-02 4.36130809e-04 9.98057060e-01 -1.25313232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89864 meters Centerline goodness [0,1] 0.9990674388927064 Centerline is valid? [True, True] Translation: X:242.83, Y:-161.51, Z:-12.53 [[ 7.40760892e-01 6.70238660e-01 4.53148978e-02 2.42833695e+02] [-6.68941765e-01 7.42145420e-01 -4.16784075e-02 -1.61514172e+02] [-6.15647238e-02 5.60706631e-04 9.98102936e-01 -1.25326098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92864000000003 meters Centerline goodness [0,1] 0.998479870543814 Centerline is valid? [True, True] Translation: X:242.86, Y:-161.54, Z:-12.54 [[ 7.42293378e-01 6.68550593e-01 4.51735110e-02 2.42855155e+02] [-6.67257785e-01 7.43666324e-01 -4.15625627e-02 -1.61537769e+02] [-6.13806948e-02 7.09238157e-04 9.98114175e-01 -1.25352056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95864 meters Centerline goodness [0,1] 0.9990179229069482 Centerline is valid? [True, True] Translation: X:242.88, Y:-161.56, Z:-12.54 [[ 7.42090846e-01 6.68813848e-01 4.46005961e-02 2.42878825e+02] [-6.67552856e-01 7.43429590e-01 -4.10564208e-02 -1.61560604e+02] [-6.06165056e-02 6.94338763e-04 9.98160887e-01 -1.25360929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98864 meters Centerline goodness [0,1] 0.9989710926016658 Centerline is valid? [True, True] Translation: X:242.90, Y:-161.58, Z:-12.54 [[ 7.41209314e-01 6.69764757e-01 4.49880288e-02 2.42902652e+02] [-6.68481455e-01 7.42573062e-01 -4.14462507e-02 -1.61583324e+02] [-6.11661363e-02 6.46684105e-04 9.98127389e-01 -1.25374397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01864 meters Centerline goodness [0,1] 0.9992141453831042 Centerline is valid? [True, True] Translation: X:242.93, Y:-161.61, Z:-12.54 [[ 7.39415916e-01 6.71730830e-01 4.51862339e-02 2.42925142e+02] [-6.70438910e-01 7.40795144e-01 -4.16439987e-02 -1.61606640e+02] [-6.14473005e-02 4.97626032e-04 9.98110205e-01 -1.25397471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04864 meters Centerline goodness [0,1] 0.9996569300137228 Centerline is valid? [True, True] Translation: X:242.95, Y:-161.63, Z:-12.54 [[ 7.37882141e-01 6.73421937e-01 4.50870316e-02 2.42948516e+02] [-6.72137384e-01 7.39258247e-01 -4.15762190e-02 -1.61629819e+02] [-6.13292979e-02 3.73670058e-04 9.98117517e-01 -1.25409864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07864 meters Centerline goodness [0,1] 0.9995098759986276 Centerline is valid? [True, True] Translation: X:242.97, Y:-161.65, Z:-12.54 [[ 7.37099695e-01 6.74334069e-01 4.42448115e-02 2.42971654e+02] [-6.73096333e-01 7.38426341e-01 -4.08395208e-02 -1.61651626e+02] [-6.02110144e-02 3.21777942e-04 9.98185619e-01 -1.25421311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10864 meters Centerline goodness [0,1] 0.9996077854586459 Centerline is valid? [True, True] Translation: X:243.00, Y:-161.67, Z:-12.54 [[ 7.34569046e-01 6.77079970e-01 4.43962871e-02 2.42996119e+02] [-6.75836378e-01 7.35909436e-01 -4.10181898e-02 -1.61674333e+02] [-6.04442413e-02 1.26066708e-04 9.98171567e-01 -1.25433168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13864 meters Centerline goodness [0,1] 0.9996077854586459 Centerline is valid? [True, True] Translation: X:243.02, Y:-161.70, Z:-12.54 [[ 7.34216584e-01 6.77463553e-01 4.43750184e-02 2.43020258e+02] [-6.76219271e-01 7.35556333e-01 -4.10411902e-02 -1.61696195e+02] [-6.04442363e-02 1.25879925e-04 9.98171568e-01 -1.25446183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16864 meters Centerline goodness [0,1] 0.9992151861480355 Centerline is valid? [True, True] Translation: X:243.04, Y:-161.72, Z:-12.55 [[ 7.33110743e-01 6.78616949e-01 4.50297003e-02 2.43044062e+02] [-6.77335111e-01 7.34492363e-01 -4.16907148e-02 -1.61719133e+02] [-6.13659967e-02 6.37138796e-05 9.98115329e-01 -1.25468991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19864 meters Centerline goodness [0,1] 0.9991669933359467 Centerline is valid? [True, True] Translation: X:243.07, Y:-161.74, Z:-12.55 [[ 7.32814471e-01 6.78827398e-01 4.66509929e-02 2.43066032e+02] [-6.77449116e-01 7.34297867e-01 -4.32358427e-02 -1.61742887e+02] [-6.36053992e-02 8.01772981e-05 9.97975123e-01 -1.25470910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22864 meters Centerline goodness [0,1] 0.9995089373404047 Centerline is valid? [True, True] Translation: X:243.09, Y:-161.76, Z:-12.55 [[ 7.33210117e-01 6.78470493e-01 4.56148393e-02 2.43089402e+02] [-6.77149762e-01 7.34627641e-01 -4.23134614e-02 -1.61764982e+02] [-6.22183568e-02 1.36580461e-04 9.98062552e-01 -1.25477877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25864 meters Centerline goodness [0,1] 0.9996571484547191 Centerline is valid? [True, True] Translation: X:243.11, Y:-161.79, Z:-12.55 [[ 7.32730312e-01 6.78988537e-01 4.56164020e-02 2.43113178e+02] [-6.77666189e-01 7.34148862e-01 -4.23554471e-02 -1.61788058e+02] [-6.22480927e-02 1.22426688e-04 9.98060700e-01 -1.25496119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28864 meters Centerline goodness [0,1] 0.9994114184814596 Centerline is valid? [True, True] Translation: X:243.14, Y:-161.81, Z:-12.55 [[ 7.32175522e-01 6.79526565e-01 4.65043277e-02 2.43135390e+02] [-6.78150512e-01 7.33650894e-01 -4.32232327e-02 -1.61811022e+02] [-6.34892765e-02 1.10059236e-04 9.97982515e-01 -1.25513822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31864 meters Centerline goodness [0,1] 0.9995589748615671 Centerline is valid? [True, True] Translation: X:243.16, Y:-161.83, Z:-12.55 [[ 7.31818668e-01 6.79882798e-01 4.69128786e-02 2.43158949e+02] [-6.78480478e-01 7.33320781e-01 -4.36448396e-02 -1.61834100e+02] [-6.40755645e-02 1.10636050e-04 9.97945043e-01 -1.25529246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34864 meters Centerline goodness [0,1] 0.9991651524824436 Centerline is valid? [True, True] Translation: X:243.18, Y:-161.86, Z:-12.55 [[ 7.31860064e-01 6.79933712e-01 4.55081814e-02 2.43181744e+02] [-6.78611727e-01 7.33273571e-01 -4.23791777e-02 -1.61856840e+02] [-6.21849783e-02 1.33242119e-04 9.98064633e-01 -1.25546491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37864 meters Centerline goodness [0,1] 0.9993627450980392 Centerline is valid? [True, True] Translation: X:243.21, Y:-161.88, Z:-12.56 [[ 7.31712430e-01 6.80096233e-01 4.54536418e-02 2.43205467e+02] [-6.78775218e-01 7.33122835e-01 -4.23687690e-02 -1.61879637e+02] [-6.21379429e-02 1.48949317e-04 9.98067560e-01 -1.25559254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40864 meters Centerline goodness [0,1] 0.9995101161024837 Centerline is valid? [True, True] Translation: X:243.23, Y:-161.90, Z:-12.56 [[ 7.31770667e-01 6.80078240e-01 4.47803367e-02 2.43228994e+02] [-6.78793434e-01 7.33139520e-01 -4.17841868e-02 -1.61903249e+02] [-6.12467508e-02 1.79843674e-04 9.98122639e-01 -1.25575366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43864 meters Centerline goodness [0,1] 0.9995584555757249 Centerline is valid? [True, True] Translation: X:243.25, Y:-161.93, Z:-12.56 [[ 7.31057922e-01 6.80821551e-01 4.51257267e-02 2.43251754e+02] [-6.79515519e-01 7.32449311e-01 -4.21505199e-02 -1.61927219e+02] [-6.17492898e-02 1.50839916e-04 9.98091680e-01 -1.25587686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46864 meters Centerline goodness [0,1] 0.9996076315660405 Centerline is valid? [True, True] Translation: X:243.27, Y:-161.95, Z:-12.56 [[ 7.29675249e-01 6.82208519e-01 4.65356582e-02 2.43274134e+02] [-6.80819523e-01 7.31157665e-01 -4.35114469e-02 -1.61949957e+02] [-6.37087829e-02 6.68412280e-05 9.97968530e-01 -1.25599014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49864 meters Centerline goodness [0,1] 0.9996562223750123 Centerline is valid? [True, True] Translation: X:243.30, Y:-161.97, Z:-12.56 [[ 7.29272792e-01 6.82575606e-01 4.74524629e-02 2.43296726e+02] [-6.81129394e-01 7.30814982e-01 -4.44095808e-02 -1.61972730e+02] [-6.49918673e-02 6.54316866e-05 9.97885792e-01 -1.25615478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52864 meters Centerline goodness [0,1] 0.9997549740272469 Centerline is valid? [True, True] Translation: X:243.32, Y:-162.00, Z:-12.56 [[ 7.29375635e-01 6.82474941e-01 4.73195291e-02 2.43320147e+02] [-6.81033861e-01 7.30908984e-01 -4.43276040e-02 -1.61995610e+02] [-6.48387479e-02 1.05272648e-04 9.97895749e-01 -1.25625712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55864 meters Centerline goodness [0,1] 0.9997060840599589 Centerline is valid? [True, True] Translation: X:243.34, Y:-162.02, Z:-12.56 [[ 7.29595122e-01 6.82271770e-01 4.68635227e-02 2.43344130e+02] [-6.80855021e-01 7.31098631e-01 -4.39457844e-02 -1.62017824e+02] [-6.42448254e-02 1.55365237e-04 9.97934155e-01 -1.25638361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58864 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:243.37, Y:-162.04, Z:-12.57 [[ 7.30545621e-01 6.81300849e-01 4.61762773e-02 2.43368430e+02] [-6.79920632e-01 7.32003470e-01 -4.33457448e-02 -1.62040821e+02] [-6.33326880e-02 2.69840334e-04 9.97992434e-01 -1.25652449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61864 meters Centerline goodness [0,1] 0.9998526667321481 Centerline is valid? [True, True] Translation: X:243.39, Y:-162.07, Z:-12.57 [[ 7.32277738e-01 6.79528645e-01 4.48345320e-02 2.43390218e+02] [-6.78222241e-01 7.33648848e-01 -4.21184064e-02 -1.62065330e+02] [-6.15134664e-02 4.34594593e-04 9.98106159e-01 -1.25666621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64864 meters Centerline goodness [0,1] 0.9998529555925889 Centerline is valid? [True, True] Translation: X:243.41, Y:-162.09, Z:-12.57 [[ 7.32744677e-01 6.79019409e-01 4.49208288e-02 2.43414041e+02] [-6.77705511e-01 7.34120151e-01 -4.22237424e-02 -1.62088398e+02] [-6.16480262e-02 4.96129271e-04 9.98097828e-01 -1.25682214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67864000000003 meters Centerline goodness [0,1] 0.9996563236449332 Centerline is valid? [True, True] Translation: X:243.44, Y:-162.11, Z:-12.57 [[ 7.32921836e-01 6.78793285e-01 4.54451082e-02 2.43438113e+02] [-6.77445408e-01 7.34329198e-01 -4.27591910e-02 -1.62110236e+02] [-6.23963215e-02 5.52564946e-04 9.98051298e-01 -1.25690458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.46, Y:-162.13, Z:-12.57 [[ 7.34950266e-01 6.76505070e-01 4.67867144e-02 2.43461508e+02] [-6.75069121e-01 7.36437541e-01 -4.40616722e-02 -1.62132011e+02] [-6.42634376e-02 7.98871579e-04 9.97932649e-01 -1.25699998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73864 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:243.48, Y:-162.16, Z:-12.57 [[ 7.35916168e-01 6.75435941e-01 4.70497967e-02 2.43483683e+02] [-6.73979030e-01 7.37418084e-01 -4.43490313e-02 -1.62155379e+02] [-6.46503006e-02 9.26592840e-04 9.97907551e-01 -1.25715039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76864 meters Centerline goodness [0,1] 0.9994119376653925 Centerline is valid? [True, True] Translation: X:243.51, Y:-162.18, Z:-12.57 [[ 7.38567653e-01 6.72591260e-01 4.62473563e-02 2.43505063e+02] [-6.71175658e-01 7.40013239e-01 -4.36307479e-02 -1.62179072e+02] [-6.35693157e-02 1.18415932e-03 9.97976723e-01 -1.25721705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79864 meters Centerline goodness [0,1] 0.9993624950961161 Centerline is valid? [True, True] Translation: X:243.53, Y:-162.20, Z:-12.57 [[ 7.40037936e-01 6.71005856e-01 4.57711182e-02 2.43527776e+02] [-6.69613892e-01 7.41450848e-01 -4.32189237e-02 -1.62201462e+02] [-6.29371853e-02 1.33466644e-03 9.98016598e-01 -1.25740677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82864 meters Centerline goodness [0,1] 0.9996076892899176 Centerline is valid? [True, True] Translation: X:243.55, Y:-162.23, Z:-12.58 [[ 7.40567430e-01 6.70381305e-01 4.63550041e-02 2.43550088e+02] [-6.68949888e-01 7.42015397e-01 -4.38086545e-02 -1.62225199e+02] [-6.37646298e-02 1.43408786e-03 9.97963935e-01 -1.25756730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85864 meters Centerline goodness [0,1] 0.9990695396669932 Centerline is valid? [True, True] Translation: X:243.57, Y:-162.25, Z:-12.58 [[ 7.42405662e-01 6.68361512e-01 4.61163884e-02 2.43569592e+02] [-6.66938504e-01 7.43834820e-01 -4.36210009e-02 -1.62251521e+02] [-6.34575736e-02 1.62768297e-03 9.97983210e-01 -1.25767026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88864 meters Centerline goodness [0,1] 0.998725427717045 Centerline is valid? [True, True] Translation: X:243.59, Y:-162.28, Z:-12.58 [[ 7.43298717e-01 6.67352636e-01 4.63408812e-02 2.43590838e+02] [-6.65911393e-01 7.44739819e-01 -4.38704827e-02 -1.62275170e+02] [-6.37889817e-02 1.74995272e-03 9.97961875e-01 -1.25784062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91864 meters Centerline goodness [0,1] 0.998284229619099 Centerline is valid? [True, True] Translation: X:243.61, Y:-162.30, Z:-12.58 [[ 7.45119218e-01 6.65452893e-01 4.43824067e-02 2.43609118e+02] [-6.64125588e-01 7.46437539e-01 -4.20500194e-02 -1.62302541e+02] [-6.11110015e-02 1.85678562e-03 9.98129249e-01 -1.25798865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94864 meters Centerline goodness [0,1] 0.998334313149128 Centerline is valid? [True, True] Translation: X:243.63, Y:-162.33, Z:-12.58 [[ 7.46068598e-01 6.64388204e-01 4.43842602e-02 2.43629049e+02] [-6.63056695e-01 7.47385061e-01 -4.20878747e-02 -1.62328533e+02] [-6.11348205e-02 1.97116082e-03 9.98127571e-01 -1.25821163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97864 meters Centerline goodness [0,1] 0.9989191313746684 Centerline is valid? [True, True] Translation: X:243.65, Y:-162.35, Z:-12.58 [[ 7.47193137e-01 6.63130893e-01 4.42700239e-02 2.43648151e+02] [-6.61802190e-01 7.48500531e-01 -4.20097134e-02 -1.62354503e+02] [-6.09940751e-02 2.09137071e-03 9.98135937e-01 -1.25832150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00864 meters Centerline goodness [0,1] 0.9989211455472734 Centerline is valid? [True, True] Translation: X:243.66, Y:-162.39, Z:-12.58 [[ 7.46543645e-01 6.63825904e-01 4.48079725e-02 2.43662946e+02] [-6.62464225e-01 7.47884244e-01 -4.25477267e-02 -1.62386672e+02] [-6.17554598e-02 2.08005624e-03 9.98089143e-01 -1.25841063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03864 meters Centerline goodness [0,1] 0.9989709917679341 Centerline is valid? [True, True] Translation: X:243.68, Y:-162.41, Z:-12.59 [[ 7.45517022e-01 6.64955163e-01 4.51553048e-02 2.43682301e+02] [-6.63571823e-01 7.46880514e-01 -4.29177490e-02 -1.62413609e+02] [-6.22639960e-02 2.03212453e-03 9.98057646e-01 -1.25854620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06864 meters Centerline goodness [0,1] 0.999166094378495 Centerline is valid? [True, True] Translation: X:243.70, Y:-162.44, Z:-12.59 [[ 7.43922743e-01 6.66829093e-01 4.37939844e-02 2.43700817e+02] [-6.65529434e-01 7.45208409e-01 -4.16533226e-02 -1.62440792e+02] [-6.04112928e-02 1.84066836e-03 9.98171873e-01 -1.25859987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09864 meters Centerline goodness [0,1] 0.9993623074659079 Centerline is valid? [True, True] Translation: X:243.71, Y:-162.47, Z:-12.59 [[ 7.40496095e-01 6.70674658e-01 4.31397326e-02 2.43714972e+02] [-6.69418587e-01 7.41750082e-01 -4.10557114e-02 -1.62472082e+02] [-5.95339254e-02 1.52305515e-03 9.98225121e-01 -1.25876997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12864 meters Centerline goodness [0,1] 0.9996559182068423 Centerline is valid? [True, True] Translation: X:243.73, Y:-162.50, Z:-12.59 [[ 7.35382687e-01 6.76331671e-01 4.22820928e-02 2.43729051e+02] [-6.75132786e-01 7.36596454e-01 -4.02664236e-02 -1.62503465e+02] [-5.83782972e-02 1.06520367e-03 9.98293965e-01 -1.25885501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15864 meters Centerline goodness [0,1] 0.9996568122763152 Centerline is valid? [True, True] Translation: X:243.75, Y:-162.53, Z:-12.59 [[ 7.32304706e-01 6.79622219e-01 4.29354969e-02 2.43748720e+02] [-6.78390449e-01 7.33561825e-01 -4.09077957e-02 -1.62529095e+02] [-5.92976883e-02 8.29940272e-04 9.98239999e-01 -1.25896944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18864 meters Centerline goodness [0,1] 0.9997546132705143 Centerline is valid? [True, True] Translation: X:243.77, Y:-162.56, Z:-12.59 [[ 7.29048218e-01 6.83078252e-01 4.35062920e-02 2.43769048e+02] [-6.81817812e-01 7.30344964e-01 -4.14813659e-02 -1.62555046e+02] [-6.01096201e-02 5.78551036e-04 9.98191614e-01 -1.25911997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21864 meters Centerline goodness [0,1] 0.9997543601080816 Centerline is valid? [True, True] Translation: X:243.79, Y:-162.58, Z:-12.59 [[ 7.25782024e-01 6.86530071e-01 4.37825874e-02 2.43789597e+02] [-6.85258464e-01 7.27101344e-01 -4.17668794e-02 -1.62579711e+02] [-6.05085968e-02 3.11261613e-04 9.98167628e-01 -1.25906894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.81, Y:-162.61, Z:-12.59 [[ 7.20059040e-01 6.92471504e-01 4.47011731e-02 2.43811434e+02] [-6.91154675e-01 7.21445209e-01 -4.26851851e-02 -1.62605178e+02] [-6.18077215e-02 -1.59571374e-04 9.98088062e-01 -1.25911224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.83, Y:-162.63, Z:-12.59 [[ 7.16868012e-01 6.95725576e-01 4.54552138e-02 2.43834045e+02] [-6.94367588e-01 7.18307560e-01 -4.34499926e-02 -1.62628046e+02] [-6.28800949e-02 -4.14717322e-04 9.98021003e-01 -1.25928354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.86, Y:-162.65, Z:-12.59 [[ 7.11680895e-01 7.01109921e-01 4.42174322e-02 2.43855310e+02] [-6.99832871e-01 7.13052718e-01 -4.23057346e-02 -1.62652113e+02] [-6.11903304e-02 -8.36629427e-04 9.98125765e-01 -1.25943973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.88, Y:-162.67, Z:-12.59 [[ 7.09147294e-01 7.03702572e-01 4.37356366e-02 2.43878893e+02] [-7.02455764e-01 7.10493947e-01 -4.18837728e-02 -1.62674696e+02] [-6.05476237e-02 -1.02058586e-03 9.98164788e-01 -1.25943837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.90, Y:-162.70, Z:-12.60 [[ 7.06906790e-01 7.05875308e-01 4.49760043e-02 2.43902831e+02] [-7.04558525e-01 7.08335078e-01 -4.31126659e-02 -1.62695695e+02] [-6.22902478e-02 -1.21159102e-03 9.98057342e-01 -1.25962903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.93, Y:-162.71, Z:-12.60 [[ 7.02256313e-01 7.10508640e-01 4.48725257e-02 2.43930286e+02] [-7.09205438e-01 7.03686666e-01 -4.30432644e-02 -1.62713442e+02] [-6.21588092e-02 -1.59643512e-03 9.98064995e-01 -1.25959268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.96, Y:-162.73, Z:-12.60 [[ 6.99045351e-01 7.13711236e-01 4.41799607e-02 2.43955004e+02] [-7.12453135e-01 7.00437645e-01 -4.23985377e-02 -1.62733454e+02] [-6.12056204e-02 -1.83765078e-03 9.98123487e-01 -1.25974272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.98, Y:-162.75, Z:-12.60 [[ 6.94657057e-01 7.18033040e-01 4.33604310e-02 2.43981192e+02] [-7.16827472e-01 6.96005692e-01 -4.16467572e-02 -1.62751992e+02] [-6.00828545e-02 -2.15173435e-03 9.98191074e-01 -1.25980092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.01, Y:-162.77, Z:-12.60 [[ 6.92911172e-01 7.19734633e-01 4.30832430e-02 2.44006766e+02] [-7.18545610e-01 6.94245598e-01 -4.14156486e-02 -1.62771550e+02] [-5.97186284e-02 -2.25990953e-03 9.98212692e-01 -1.25990281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.03, Y:-162.79, Z:-12.60 [[ 6.91677835e-01 7.20896599e-01 4.34725836e-02 2.44032877e+02] [-7.19685993e-01 6.93038632e-01 -4.18273427e-02 -1.62791060e+02] [-6.02813690e-02 -2.35556367e-03 9.98178645e-01 -1.25996164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.06, Y:-162.81, Z:-12.60 [[ 6.91462350e-01 7.21059098e-01 4.41994936e-02 2.44062588e+02] [-7.19805491e-01 6.92869472e-01 -4.25669959e-02 -1.62808432e+02] [-6.13177994e-02 -2.38156318e-03 9.98115452e-01 -1.26009341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.09, Y:-162.83, Z:-12.60 [[ 6.94516357e-01 7.18148692e-01 4.36976607e-02 2.44088806e+02] [-7.16915786e-01 6.95886583e-01 -4.21143677e-02 -1.62826957e+02] [-6.06529939e-02 -2.07842548e-03 9.98156748e-01 -1.26022042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.11, Y:-162.85, Z:-12.60 [[ 6.96083796e-01 7.16672248e-01 4.29911380e-02 2.44113652e+02] [-7.15475059e-01 6.97407526e-01 -4.14509606e-02 -1.62847007e+02] [-5.96890963e-02 -1.90574500e-03 9.98215197e-01 -1.26025154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.14, Y:-162.87, Z:-12.60 [[ 6.98009941e-01 7.14781225e-01 4.32426010e-02 2.44139145e+02] [-7.13564080e-01 6.99345991e-01 -4.17311483e-02 -1.62866407e+02] [-6.00701809e-02 -1.72761040e-03 9.98192661e-01 -1.26044438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.17, Y:-162.88, Z:-12.61 [[ 7.00758456e-01 7.12036318e-01 4.40666294e-02 2.44166076e+02] [-7.10764453e-01 7.02141049e-01 -4.25657014e-02 -1.62884681e+02] [-6.12493147e-02 -1.49271857e-03 9.98121382e-01 -1.26057790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.19, Y:-162.91, Z:-12.61 [[ 7.01989144e-01 7.10866191e-01 4.33647334e-02 2.44190727e+02] [-7.09630024e-01 7.03325998e-01 -4.19257711e-02 -1.62905627e+02] [-6.03031575e-02 -1.34148062e-03 9.98179207e-01 -1.26069492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.22, Y:-162.93, Z:-12.61 [[ 7.05140680e-01 7.07705303e-01 4.39297785e-02 2.44215455e+02] [-7.06428112e-01 7.06506963e-01 -4.25115814e-02 -1.62926884e+02] [-6.11223659e-02 -1.05658506e-03 9.98129721e-01 -1.26080676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:244.24, Y:-162.95, Z:-12.61 [[ 7.06736948e-01 7.06089155e-01 4.42830752e-02 2.44239513e+02] [-7.04785662e-01 7.08122378e-01 -4.28936832e-02 -1.62947979e+02] [-6.16446011e-02 -8.95525757e-04 9.98097761e-01 -1.26106558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.26, Y:-162.97, Z:-12.61 [[ 7.08662152e-01 7.04194052e-01 4.36885777e-02 2.44263132e+02] [-7.02919361e-01 7.10007224e-01 -4.23569834e-02 -1.62969292e+02] [-6.08467415e-02 -6.92756065e-04 9.98146880e-01 -1.26124896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.29, Y:-162.99, Z:-12.61 [[ 7.12770087e-01 7.00002778e-01 4.42143994e-02 2.44285359e+02] [-6.98686599e-01 7.14140053e-01 -4.29071222e-02 -1.62992131e+02] [-6.16103783e-02 -3.09095151e-04 9.98100228e-01 -1.26148676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.31, Y:-163.02, Z:-12.62 [[ 7.14581705e-01 6.98126007e-01 4.46437563e-02 2.44308674e+02] [-6.96777780e-01 7.15974905e-01 -4.33665867e-02 -1.63015424e+02] [-6.22391512e-02 -1.17807913e-04 9.98061258e-01 -1.26167217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.33, Y:-163.04, Z:-12.62 [[ 7.17568992e-01 6.95134283e-01 4.33943593e-02 2.44330438e+02] [-6.93853003e-01 7.18879894e-01 -4.21865865e-02 -1.63039863e+02] [-6.05206750e-02 1.62479881e-04 9.98166931e-01 -1.26177240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.35, Y:-163.06, Z:-12.62 [[ 7.17915876e-01 6.94808141e-01 4.28770568e-02 2.44353177e+02] [-6.93555245e-01 7.19195110e-01 -4.17075119e-02 -1.63063798e+02] [-5.98156883e-02 2.04877360e-04 9.98209418e-01 -1.26190803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93864 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:244.38, Y:-163.09, Z:-12.62 [[ 7.17882026e-01 6.94850703e-01 4.27539287e-02 2.44375551e+02] [-6.93602448e-01 7.19153980e-01 -4.16316843e-02 -1.63088245e+02] [-5.96744631e-02 2.32408234e-04 9.98217864e-01 -1.26200654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.40, Y:-163.12, Z:-12.62 [[ 7.17244009e-01 6.95533587e-01 4.23563607e-02 2.44395672e+02] [-6.94307085e-01 7.18493554e-01 -4.12878124e-02 -1.63115530e+02] [-5.91498324e-02 2.05114693e-04 9.98249095e-01 -1.26204479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:244.42, Y:-163.14, Z:-12.62 [[ 7.16484263e-01 6.96389008e-01 4.11418288e-02 2.44416973e+02] [-6.95231014e-01 7.17664493e-01 -4.01436663e-02 -1.63140223e+02] [-5.74816377e-02 1.59229768e-04 9.98346551e-01 -1.26205495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:244.44, Y:-163.16, Z:-12.62 [[ 7.16115484e-01 6.96769370e-01 4.11224733e-02 2.44440462e+02] [-6.95610864e-01 7.17295212e-01 -4.01634868e-02 -1.63162703e+02] [-5.74816406e-02 1.56455622e-04 9.98346551e-01 -1.26218509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.46, Y:-163.19, Z:-12.62 [[ 7.14323669e-01 6.98576677e-01 4.16211754e-02 2.44460269e+02] [-6.97390839e-01 7.15535202e-01 -4.06865282e-02 -1.63189176e+02] [-5.82040758e-02 3.71237217e-05 9.98304705e-01 -1.26232303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:244.48, Y:-163.21, Z:-12.63 [[ 7.12899518e-01 7.00037893e-01 4.14876640e-02 2.44482036e+02] [-6.98860574e-01 7.14105696e-01 -4.05826781e-02 -1.63213984e+02] [-5.80359896e-02 -6.27210088e-05 9.98314490e-01 -1.26252638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.50, Y:-163.24, Z:-12.63 [[ 7.09596435e-01 7.03346228e-01 4.21542885e-02 2.44499729e+02] [-7.02133997e-01 7.10847374e-01 -4.12778555e-02 -1.63241219e+02] [-5.89978892e-02 -3.07339962e-04 9.98258060e-01 -1.26270326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.52, Y:-163.27, Z:-12.63 [[ 7.07789261e-01 7.05161714e-01 4.22056783e-02 2.44521469e+02] [-7.03947352e-01 7.09046382e-01 -4.13685077e-02 -1.63266282e+02] [-5.90972713e-02 -4.30389900e-04 9.98252136e-01 -1.26274881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.54, Y:-163.29, Z:-12.63 [[ 7.06340634e-01 7.06645630e-01 4.16516706e-02 2.44544589e+02] [-7.05463008e-01 7.07567443e-01 -4.08687924e-02 -1.63289663e+02] [-5.83511196e-02 -5.16424105e-04 9.98295988e-01 -1.26286000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:244.57, Y:-163.31, Z:-12.63 [[ 6.99861316e-01 7.13104417e-01 4.09417813e-02 2.44566345e+02] [-7.11970381e-01 7.01057116e-01 -4.02131421e-02 -1.63312880e+02] [-5.73786963e-02 -1.00571311e-03 9.98351979e-01 -1.26308356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.59, Y:-163.34, Z:-12.63 [[ 6.96236385e-01 7.16650049e-01 4.08363065e-02 2.44589020e+02] [-7.15525776e-01 6.97431789e-01 -4.01467765e-02 -1.63336066e+02] [-5.72517276e-02 -1.26778334e-03 9.98358970e-01 -1.26317772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.61, Y:-163.36, Z:-12.63 [[ 6.88675135e-01 7.23900426e-01 4.11671150e-02 2.44611727e+02] [-7.22768572e-01 6.89901966e-01 -4.05076436e-02 -1.63357849e+02] [-5.77247740e-02 -1.85768999e-03 9.98330807e-01 -1.26324737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.64, Y:-163.38, Z:-12.63 [[ 6.85203637e-01 7.27206315e-01 4.08283198e-02 2.44636263e+02] [-7.26097451e-01 6.86415735e-01 -4.01986388e-02 -1.63378857e+02] [-5.72579051e-02 -2.10108545e-03 9.98357209e-01 -1.26332019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:244.66, Y:-163.40, Z:-12.63 [[ 6.81889165e-01 7.30357592e-01 4.00618923e-02 2.44660842e+02] [-7.29294462e-01 6.83061092e-01 -3.94605145e-02 -1.63398963e+02] [-5.61850063e-02 -2.30921893e-03 9.98417704e-01 -1.26335107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35864 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:244.69, Y:-163.42, Z:-12.64 [[ 6.77599084e-01 7.34362457e-01 3.96391720e-02 2.44687852e+02] [-7.33326801e-01 6.78752578e-01 -3.90735369e-02 -1.63415380e+02] [-5.55993287e-02 -2.59227436e-03 9.98449796e-01 -1.26357881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:244.71, Y:-163.43, Z:-12.64 [[ 6.76196837e-01 7.35614587e-01 4.03610852e-02 2.44714799e+02] [-7.34541508e-01 6.77394825e-01 -3.98123612e-02 -1.63434273e+02] [-5.66269439e-02 -2.72589973e-03 9.98391686e-01 -1.26366562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41864 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:244.75, Y:-163.45, Z:-12.64 [[ 6.75528934e-01 7.36092616e-01 4.27588509e-02 2.44746879e+02] [-7.34886792e-01 6.76874599e-01 -4.22158772e-02 -1.63448126e+02] [-6.00171755e-02 -2.90486822e-03 9.98193118e-01 -1.26372392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44864 meters Centerline goodness [0,1] 0.9999509491342522 Centerline is valid? [True, True] Translation: X:244.77, Y:-163.47, Z:-12.64 [[ 6.76169752e-01 7.35441940e-01 4.38134566e-02 2.44773835e+02] [-7.34172128e-01 6.77581576e-01 -4.32954320e-02 -1.63466583e+02] [-6.15284674e-02 -2.89155714e-03 9.98101140e-01 -1.26387663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:244.80, Y:-163.49, Z:-12.64 [[ 6.77357185e-01 7.34296343e-01 4.46779975e-02 2.44801085e+02] [-7.32970933e-01 6.78823210e-01 -4.41889219e-02 -1.63485229e+02] [-6.27762254e-02 -2.81598976e-03 9.98023655e-01 -1.26410078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50864 meters Centerline goodness [0,1] 0.999951021207817 Centerline is valid? [True, True] Translation: X:244.83, Y:-163.50, Z:-12.64 [[ 6.81440980e-01 7.30555545e-01 4.38951698e-02 2.44833358e+02] [-7.29266766e-01 6.82849028e-01 -4.34417813e-02 -1.63498168e+02] [-6.17104083e-02 -2.40827854e-03 9.98091191e-01 -1.26423186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.86, Y:-163.52, Z:-12.64 [[ 6.83017375e-01 7.29096315e-01 4.36557933e-02 2.44860136e+02] [-7.27817433e-01 6.84407405e-01 -4.32236963e-02 -1.63517137e+02] [-6.13925859e-02 -2.25091182e-03 9.98111158e-01 -1.26428268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56864 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:244.89, Y:-163.53, Z:-12.64 [[ 6.89815989e-01 7.22608641e-01 4.46167416e-02 2.44890601e+02] [-7.21257183e-01 6.91255314e-01 -4.42059584e-02 -1.63531692e+02] [-6.27851672e-02 -1.68616845e-03 9.98025641e-01 -1.26440891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.92, Y:-163.55, Z:-12.65 [[ 6.93148042e-01 7.19385368e-01 4.50608851e-02 2.44917944e+02] [-7.17998471e-01 6.94609789e-01 -4.46703169e-02 -1.63550313e+02] [-6.34349043e-02 -1.39050388e-03 9.97985010e-01 -1.26454396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.94, Y:-163.57, Z:-12.65 [[ 6.96064055e-01 7.16588369e-01 4.46759626e-02 2.44944967e+02] [-7.15216743e-01 6.97495453e-01 -4.43294889e-02 -1.63569129e+02] [-6.29272769e-02 -1.09683264e-03 9.98017512e-01 -1.26473205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.97, Y:-163.59, Z:-12.65 [[ 7.01749220e-01 7.11078846e-01 4.37596508e-02 2.44971902e+02] [-7.09749733e-01 7.03112054e-01 -4.34598123e-02 -1.63588107e+02] [-6.16712912e-02 -5.60511073e-04 9.98096357e-01 -1.26497835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.00, Y:-163.61, Z:-12.65 [[ 7.04734197e-01 7.08096314e-01 4.41511148e-02 2.44996975e+02] [-7.06734743e-01 7.06115809e-01 -4.38915285e-02 -1.63609560e+02] [-6.22552297e-02 -2.71265744e-04 9.98060225e-01 -1.26517935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.02, Y:-163.63, Z:-12.65 [[ 7.10327058e-01 7.02409558e-01 4.53462608e-02 2.45023822e+02] [-7.00958646e-01 7.11772956e-01 -4.51246739e-02 -1.63627495e+02] [-6.39722444e-02 2.67423293e-04 9.97951642e-01 -1.26527165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.05, Y:-163.65, Z:-12.65 [[ 7.12995454e-01 6.99638591e-01 4.62960455e-02 2.45047294e+02] [-6.98117691e-01 7.14496699e-01 -4.61102683e-02 -1.63649146e+02] [-6.53388948e-02 5.56323354e-04 9.97862976e-01 -1.26540389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77864 meters Centerline goodness [0,1] 0.9999019800039208 Centerline is valid? [True, True] Translation: X:245.07, Y:-163.67, Z:-12.65 [[ 7.17460412e-01 6.95156434e-01 4.48117020e-02 2.45067866e+02] [-6.93720404e-01 7.18857848e-01 -4.46698500e-02 -1.63673468e+02] [-6.32657773e-02 9.62056946e-04 9.97996250e-01 -1.26547907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.09, Y:-163.70, Z:-12.66 [[ 7.19382892e-01 6.93197142e-01 4.43393434e-02 2.45089823e+02] [-6.91785206e-01 7.20747114e-01 -4.42360367e-02 -1.63696475e+02] [-6.26217480e-02 1.14934620e-03 9.98036671e-01 -1.26553034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.11, Y:-163.72, Z:-12.66 [[ 7.21105916e-01 6.91458281e-01 4.34937189e-02 2.45111968e+02] [-6.90094257e-01 7.22415218e-01 -4.34300456e-02 -1.63720428e+02] [-6.14505891e-02 1.30289716e-03 9.98109276e-01 -1.26566291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:245.13, Y:-163.75, Z:-12.66 [[ 7.22909052e-01 6.89470738e-01 4.50844162e-02 2.45130356e+02] [-6.87998572e-01 7.24311869e-01 -4.50586428e-02 -1.63747365e+02] [-6.37217934e-02 1.55528678e-03 9.97966489e-01 -1.26595684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89864 meters Centerline goodness [0,1] 0.9998039311798441 Centerline is valid? [True, True] Translation: X:245.15, Y:-163.77, Z:-12.66 [[ 7.22699107e-01 6.89723773e-01 4.45771072e-02 2.45151493e+02] [-6.88282505e-01 7.24070942e-01 -4.45921879e-02 -1.63773238e+02] [-6.30332801e-02 1.54509128e-03 9.98010230e-01 -1.26596047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92864000000003 meters Centerline goodness [0,1] 0.9998037002502822 Centerline is valid? [True, True] Translation: X:245.09, Y:-163.95, Z:-11.04 [[ 7.39497839e-01 -6.73065429e-01 -1.12194060e-02 2.45087818e+02] [-6.72934312e-01 -7.39578923e-01 1.35066187e-02 -1.63954680e+02] [-1.73884743e-02 -2.43819204e-03 -9.99845836e-01 -1.10379310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.17, Y:-163.82, Z:-12.66 [[ 7.66732845e-01 6.40332729e-01 4.57683388e-02 2.45165010e+02] [-6.39101543e-01 7.68096719e-01 -3.97070205e-02 -1.63816315e+02] [-6.05802157e-02 1.19406083e-03 9.98162618e-01 -1.26617487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98864 meters Centerline goodness [0,1] 0.9998036135113905 Centerline is valid? [True, True] Translation: X:245.19, Y:-163.84, Z:-12.66 [[ 7.65129445e-01 6.42342832e-01 4.44141756e-02 2.45186496e+02] [-6.41185732e-01 7.66416759e-01 -3.85513790e-02 -1.63840717e+02] [-5.88029704e-02 1.01905949e-03 9.98269088e-01 -1.26629350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.21, Y:-163.87, Z:-12.66 [[ 7.62203002e-01 6.45753610e-01 4.52643226e-02 2.45205913e+02] [-6.44555579e-01 7.63545439e-01 -3.93251648e-02 -1.63867322e+02] [-5.99557342e-02 7.98386993e-04 9.98200718e-01 -1.26636182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04864 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:245.23, Y:-163.89, Z:-12.67 [[ 7.61035880e-01 6.47071349e-01 4.60766637e-02 2.45229353e+02] [-6.45829946e-01 7.62429096e-01 -4.00693602e-02 -1.63890848e+02] [-6.10579240e-02 7.36531530e-04 9.98133953e-01 -1.26650995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:245.25, Y:-163.92, Z:-12.67 [[ 7.59477201e-01 6.48845578e-01 4.68379854e-02 2.45249896e+02] [-6.47563479e-01 7.60919845e-01 -4.07741329e-02 -1.63918010e+02] [-6.20960684e-02 6.36455501e-04 9.98069974e-01 -1.26678007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.27, Y:-163.94, Z:-12.67 [[ 7.58583151e-01 6.49895853e-01 4.67651934e-02 2.45272096e+02] [-6.48617104e-01 7.60023054e-01 -4.07530389e-02 -1.63942438e+02] [-6.20278561e-02 5.81864326e-04 9.98074249e-01 -1.26690322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.29, Y:-163.97, Z:-12.67 [[ 7.57379078e-01 6.51343454e-01 4.61371672e-02 2.45294530e+02] [-6.50099094e-01 7.58782886e-01 -4.02455059e-02 -1.63965423e+02] [-6.12217397e-02 4.87373586e-04 9.98124071e-01 -1.26694676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:245.32, Y:-163.99, Z:-12.67 [[ 7.54873674e-01 6.54339105e-01 4.47891991e-02 2.45316669e+02] [-6.53169618e-01 7.56201207e-01 -3.91047962e-02 -1.63988991e+02] [-5.94574438e-02 2.64237100e-04 9.98230806e-01 -1.26704605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.34, Y:-164.01, Z:-12.67 [[ 7.52618361e-01 6.56896158e-01 4.53104949e-02 2.45340405e+02] [-6.55701537e-01 7.53981054e-01 -3.95988071e-02 -1.64012597e+02] [-6.01755590e-02 9.26281688e-05 9.98187805e-01 -1.26720306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.36, Y:-164.04, Z:-12.67 [[ 7.50305878e-01 6.59462200e-01 4.63755901e-02 2.45362674e+02] [-6.58212971e-01 7.51737720e-01 -4.05719803e-02 -1.64035966e+02] [-6.16179678e-02 -8.36196478e-05 9.98099804e-01 -1.26731550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.39, Y:-164.06, Z:-12.67 [[ 7.46588805e-01 6.63588014e-01 4.74984557e-02 2.45385322e+02] [-6.62283298e-01 7.48098111e-01 -4.15938684e-02 -1.64059735e+02] [-6.31346975e-02 -4.03917380e-04 9.98004933e-01 -1.26723987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.41, Y:-164.08, Z:-12.67 [[ 7.44852555e-01 6.65587733e-01 4.67722303e-02 2.45410432e+02] [-6.64324087e-01 7.46319425e-01 -4.09978472e-02 -1.64081106e+02] [-6.21946882e-02 -5.34567968e-04 9.98063893e-01 -1.26731483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.43, Y:-164.10, Z:-12.67 [[ 7.43518013e-01 6.67091132e-01 4.65873911e-02 2.45434575e+02] [-6.65837686e-01 7.44975859e-01 -4.08796411e-02 -1.64103255e+02] [-6.19769278e-02 -6.24891212e-04 9.98077387e-01 -1.26741017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.46, Y:-164.13, Z:-12.68 [[ 7.42094423e-01 6.68693083e-01 4.63187751e-02 2.45457070e+02] [-6.67454484e-01 7.43538190e-01 -4.06874760e-02 -1.64128306e+02] [-6.16472120e-02 -7.21725176e-04 9.98097741e-01 -1.26760118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.48, Y:-164.15, Z:-12.68 [[ 7.41291271e-01 6.69560024e-01 4.66543303e-02 2.45481179e+02] [-6.68302361e-01 7.42757556e-01 -4.10264302e-02 -1.64150677e+02] [-6.21225139e-02 -7.66664427e-04 9.98068237e-01 -1.26772190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.50, Y:-164.17, Z:-12.68 [[ 7.40336541e-01 6.70570442e-01 4.72978683e-02 2.45504966e+02] [-6.69277156e-01 7.41845396e-01 -4.16353000e-02 -1.64172586e+02] [-6.30071074e-02 -8.31248760e-04 9.98012732e-01 -1.26778241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.53, Y:-164.19, Z:-12.68 [[ 7.39450520e-01 6.71549366e-01 4.72692026e-02 2.45529135e+02] [-6.70257044e-01 7.40959290e-01 -4.16512428e-02 -1.64194755e+02] [-6.29954204e-02 -8.83482854e-04 9.98013425e-01 -1.26786205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.55, Y:-164.22, Z:-12.68 [[ 7.39055869e-01 6.71983922e-01 4.72655281e-02 2.45553912e+02] [-6.70689854e-01 7.40565204e-01 -4.16929152e-02 -1.64216792e+02] [-6.30201742e-02 -8.87116443e-04 9.98011859e-01 -1.26807758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.58, Y:-164.24, Z:-12.68 [[ 7.38865786e-01 6.72226161e-01 4.67903667e-02 2.45580267e+02] [-6.70955716e-01 7.40345351e-01 -4.13181348e-02 -1.64237331e+02] [-6.24161616e-02 -8.65707838e-04 9.98049835e-01 -1.26828969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.61, Y:-164.26, Z:-12.68 [[ 7.37958136e-01 6.73235173e-01 4.66067734e-02 2.45605426e+02] [-6.71973937e-01 7.39427864e-01 -4.12002728e-02 -1.64258440e+02] [-6.21998197e-02 -9.14460453e-04 9.98063298e-01 -1.26841766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.63, Y:-164.28, Z:-12.69 [[ 7.37438761e-01 6.73815379e-01 4.64425314e-02 2.45630143e+02] [-6.72561437e-01 7.38899164e-01 -4.10991240e-02 -1.64280088e+02] [-6.20095694e-02 -9.27368589e-04 9.98075124e-01 -1.26852883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58864 meters Centerline goodness [0,1] 0.999951057165231 Centerline is valid? [True, True] Translation: X:245.66, Y:-164.30, Z:-12.69 [[ 7.37600158e-01 6.73633387e-01 4.65195380e-02 2.45655647e+02] [-6.72372149e-01 7.39065142e-01 -4.12117542e-02 -1.64301532e+02] [-6.21425825e-02 -8.80645370e-04 9.98066894e-01 -1.26868531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.68, Y:-164.32, Z:-12.69 [[ 7.37755683e-01 6.73512971e-01 4.57911598e-02 2.45680710e+02] [-6.72288184e-01 7.39174943e-01 -4.06079058e-02 -1.64321298e+02] [-6.11976292e-02 -8.26142421e-04 9.98125327e-01 -1.26887268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:245.71, Y:-164.34, Z:-12.69 [[ 7.37763589e-01 6.73484959e-01 4.60748976e-02 2.45707872e+02] [-6.72242385e-01 7.39200495e-01 -4.08999354e-02 -1.64340670e+02] [-6.16040784e-02 -7.99015885e-04 9.98100345e-01 -1.26914545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.73, Y:-164.36, Z:-12.69 [[ 7.37276263e-01 6.74005657e-01 4.62610594e-02 2.45733348e+02] [-6.72751291e-01 7.38725736e-01 -4.11094583e-02 -1.64361535e+02] [-6.18822426e-02 -8.13159609e-04 9.98083126e-01 -1.26927062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.76, Y:-164.38, Z:-12.69 [[ 7.37593673e-01 6.73728077e-01 4.52332977e-02 2.45758485e+02] [-6.72525885e-01 7.38978976e-01 -4.02368798e-02 -1.64381501e+02] [-6.05351717e-02 -7.42095555e-04 9.98165789e-01 -1.26941594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.79, Y:-164.40, Z:-12.69 [[ 7.38431072e-01 6.72814577e-01 4.51674232e-02 2.45785476e+02] [-6.71611909e-01 7.39810879e-01 -4.02157572e-02 -1.64399363e+02] [-6.04730987e-02 -6.38414639e-04 9.98169623e-01 -1.26947749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.81, Y:-164.42, Z:-12.70 [[ 7.39021546e-01 6.72141443e-01 4.55306092e-02 2.45811909e+02] [-6.70915611e-01 7.40422561e-01 -4.05792221e-02 -1.64419610e+02] [-6.09868672e-02 -5.58277096e-04 9.98138412e-01 -1.26966534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.84, Y:-164.44, Z:-12.70 [[ 7.39340990e-01 6.71764346e-01 4.59082131e-02 2.45837697e+02] [-6.70514614e-01 7.40764750e-01 -4.09602044e-02 -1.64439525e+02] [-6.15227910e-02 -4.98569711e-04 9.98105554e-01 -1.26987031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.86, Y:-164.46, Z:-12.70 [[ 7.39235151e-01 6.71888953e-01 4.57889215e-02 2.45862798e+02] [-6.70643248e-01 7.40651746e-01 -4.08977333e-02 -1.64460682e+02] [-6.13923799e-02 -4.74988948e-04 9.98113596e-01 -1.27004592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.89, Y:-164.48, Z:-12.70 [[ 7.39336913e-01 6.71768463e-01 4.59136376e-02 2.45887932e+02] [-6.70513016e-01 7.40761058e-01 -4.10530241e-02 -1.64481864e+02] [-6.15891616e-02 -4.33675513e-04 9.98101491e-01 -1.27016602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:245.91, Y:-164.50, Z:-12.70 [[ 7.41490001e-01 6.69407495e-01 4.56747570e-02 2.45912745e+02] [-6.68158044e-01 7.42895392e-01 -4.08811073e-02 -1.64501860e+02] [-6.12976862e-02 -2.05023993e-04 9.98119508e-01 -1.27032547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.94, Y:-164.52, Z:-12.70 [[ 7.42689791e-01 6.68065081e-01 4.58358139e-02 2.45937547e+02] [-6.66801736e-01 7.44102845e-01 -4.10658163e-02 -1.64523908e+02] [-6.15411974e-02 -6.42376768e-05 9.98104542e-01 -1.27041551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.96, Y:-164.55, Z:-12.71 [[ 7.46075575e-01 6.64305646e-01 4.54889516e-02 2.45961498e+02] [-6.63051700e-01 7.47460990e-01 -4.07984303e-02 -1.64546180e+02] [-6.11038445e-02 2.77185680e-04 9.98131376e-01 -1.27058694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.99, Y:-164.57, Z:-12.71 [[ 7.45726145e-01 6.64699355e-01 4.54673918e-02 2.45985922e+02] [-6.63444675e-01 7.47110896e-01 -4.08224478e-02 -1.64567659e+02] [-6.11038385e-02 2.77267713e-04 9.98131376e-01 -1.27071675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00864 meters Centerline goodness [0,1] 0.9999017874680809 Centerline is valid? [True, True] Translation: X:246.01, Y:-164.59, Z:-12.71 [[ 7.46784976e-01 6.63579457e-01 4.44354021e-02 2.46010094e+02] [-6.62376663e-01 7.48105709e-01 -3.99375175e-02 -1.64590045e+02] [-5.97440941e-02 3.91764719e-04 9.98213649e-01 -1.27076357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03864 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:246.03, Y:-164.61, Z:-12.71 [[ 7.46796724e-01 6.63521839e-01 4.50934799e-02 2.46033461e+02] [-6.62280390e-01 7.48156789e-01 -4.05722079e-02 -1.64612838e+02] [-6.06575391e-02 4.34664480e-04 9.98158542e-01 -1.27093946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.06, Y:-164.64, Z:-12.71 [[ 7.46932660e-01 6.63316929e-01 4.58503380e-02 2.46056272e+02] [-6.62030443e-01 7.48338434e-01 -4.12950451e-02 -1.64635848e+02] [-6.17032726e-02 4.90298302e-04 9.98094417e-01 -1.27101862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.08, Y:-164.66, Z:-12.71 [[ 7.47092455e-01 6.63107049e-01 4.62807235e-02 2.46077896e+02] [-6.61793361e-01 7.48524380e-01 -4.17228877e-02 -1.64660967e+02] [-6.23089908e-02 5.42579079e-04 9.98056760e-01 -1.27112491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12864 meters Centerline goodness [0,1] 0.9998530995984722 Centerline is valid? [True, True] Translation: X:246.10, Y:-164.68, Z:-12.71 [[ 7.45980418e-01 6.64358492e-01 4.62710453e-02 2.46101077e+02] [-6.63045029e-01 7.47413923e-01 -4.17578419e-02 -1.64684234e+02] [-6.23258004e-02 4.70745812e-04 9.98055746e-01 -1.27123094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.12, Y:-164.71, Z:-12.71 [[ 7.45155561e-01 6.65327133e-01 4.56398632e-02 2.46122508e+02] [-6.64048584e-01 7.46551830e-01 -4.12291637e-02 -1.64708662e+02] [-6.15034046e-02 4.15054074e-04 9.98106787e-01 -1.27135022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.15, Y:-164.73, Z:-12.71 [[ 7.44235486e-01 6.66342474e-01 4.58393859e-02 2.46145273e+02] [-6.65052157e-01 7.45645745e-01 -4.14493817e-02 -1.64732559e+02] [-6.17994266e-02 3.62518275e-04 9.98088523e-01 -1.27148000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.17, Y:-164.76, Z:-12.72 [[ 7.43558194e-01 6.67071414e-01 4.62270512e-02 2.46168566e+02] [-6.65757804e-01 7.44993701e-01 -4.18441394e-02 -1.64756277e+02] [-6.23518912e-02 3.37532649e-04 9.98054171e-01 -1.27167074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.19, Y:-164.78, Z:-12.72 [[ 7.42942451e-01 6.67747297e-01 4.63687543e-02 2.46191215e+02] [-6.66424142e-01 7.44387969e-01 -4.20168485e-02 -1.64779800e+02] [-6.25729799e-02 3.14843141e-04 9.98040341e-01 -1.27182628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.21, Y:-164.80, Z:-12.72 [[ 7.42571990e-01 6.68230746e-01 4.53266880e-02 2.46214436e+02] [-6.66964854e-01 7.43954018e-01 -4.11132922e-02 -1.64802276e+02] [-6.11941375e-02 2.98271380e-04 9.98125838e-01 -1.27197098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30864 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:246.24, Y:-164.83, Z:-12.72 [[ 7.41981309e-01 6.68886629e-01 4.53256515e-02 2.46236040e+02] [-6.67619574e-01 7.43364381e-01 -4.11521905e-02 -1.64826995e+02] [-6.12196248e-02 2.73864049e-04 9.98124282e-01 -1.27208204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33864 meters Centerline goodness [0,1] 0.9997550940438872 Centerline is valid? [True, True] Translation: X:246.26, Y:-164.85, Z:-12.72 [[ 7.41640626e-01 6.69244356e-01 4.56198880e-02 2.46259319e+02] [-6.67958723e-01 7.43042337e-01 -4.14636070e-02 -1.64850362e+02] [-6.16467931e-02 2.78893355e-04 9.98097989e-01 -1.27225699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36864 meters Centerline goodness [0,1] 0.9999019896108987 Centerline is valid? [True, True] Translation: X:246.28, Y:-164.87, Z:-12.72 [[ 7.40801653e-01 6.70202052e-01 4.51898231e-02 2.46283625e+02] [-6.68939673e-01 7.42178655e-01 -4.11163851e-02 -1.64873103e+02] [-6.10952078e-02 2.29820539e-04 9.98131917e-01 -1.27238348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39864 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:246.31, Y:-164.90, Z:-12.73 [[ 7.40007862e-01 6.71086997e-01 4.50622537e-02 2.46307723e+02] [-6.69830722e-01 7.41378586e-01 -4.10438308e-02 -1.64895787e+02] [-6.09521711e-02 1.88675599e-04 9.98140670e-01 -1.27262669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.33, Y:-164.92, Z:-12.73 [[ 7.39062617e-01 6.72133776e-01 4.49737108e-02 2.46331036e+02] [-6.70881706e-01 7.40429719e-01 -4.10069217e-02 -1.64919378e+02] [-6.08620092e-02 1.34643073e-04 9.98146181e-01 -1.27280994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.35, Y:-164.94, Z:-12.73 [[ 7.38996262e-01 6.72331211e-01 4.30728198e-02 2.46352790e+02] [-6.71180881e-01 7.40250446e-01 -3.93128894e-02 -1.64943710e+02] [-5.83159566e-02 1.42425118e-04 9.98298166e-01 -1.27276107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48864 meters Centerline goodness [0,1] 0.9998527535093747 Centerline is valid? [True, True] Translation: X:246.38, Y:-164.97, Z:-12.73 [[ 7.38542387e-01 6.72785416e-01 4.37598873e-02 2.46377162e+02] [-6.71596506e-01 7.39837662e-01 -3.99795968e-02 -1.64966391e+02] [-5.92729023e-02 1.37639478e-04 9.98241806e-01 -1.27297201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51864 meters Centerline goodness [0,1] 0.9999019559782343 Centerline is valid? [True, True] Translation: X:246.40, Y:-164.99, Z:-12.73 [[ 7.36825234e-01 6.74646822e-01 4.40481558e-02 2.46399862e+02] [-6.73442909e-01 7.38140681e-01 -4.02862738e-02 -1.64990119e+02] [-5.96927423e-02 2.00249618e-05 9.98216798e-01 -1.27311238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.42, Y:-165.01, Z:-12.73 [[ 7.35871375e-01 6.75597196e-01 4.54064732e-02 2.46422031e+02] [-6.74317330e-01 7.37270932e-01 -4.15657377e-02 -1.65012821e+02] [-6.15585686e-02 -3.13352352e-05 9.98103472e-01 -1.27326899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.44, Y:-165.04, Z:-12.73 [[ 7.34603053e-01 6.76964145e-01 4.55840044e-02 2.46444892e+02] [-6.75675021e-01 7.36015985e-01 -4.17580553e-02 -1.65036355e+02] [-6.18192621e-02 -1.24378215e-04 9.98087353e-01 -1.27336412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.47, Y:-165.06, Z:-12.74 [[ 7.33826508e-01 6.77792976e-01 4.57748683e-02 2.46467838e+02] [-6.76491795e-01 7.35252784e-01 -4.19785039e-02 -1.65060482e+02] [-6.21088344e-02 -1.61383963e-04 9.98069370e-01 -1.27352950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63864 meters Centerline goodness [0,1] 0.9999020136201068 Centerline is valid? [True, True] Translation: X:246.49, Y:-165.08, Z:-12.74 [[ 7.33465895e-01 6.78178641e-01 4.58422474e-02 2.46491464e+02] [-6.76871554e-01 7.34897071e-01 -4.20855594e-02 -1.65083811e+02] [-6.22308608e-02 -1.60990799e-04 9.98061769e-01 -1.27367230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.51, Y:-165.11, Z:-12.74 [[ 7.33195481e-01 6.78525338e-01 4.50305826e-02 2.46513817e+02] [-6.77262253e-01 7.34576982e-01 -4.13823503e-02 -1.65107232e+02] [-6.11574027e-02 -1.56161619e-04 9.98128122e-01 -1.27374664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.54, Y:-165.13, Z:-12.74 [[ 7.33280478e-01 6.78409047e-01 4.53971965e-02 2.46536092e+02] [-6.77122501e-01 7.34684389e-01 -4.17608431e-02 -1.65132327e+02] [-6.16835454e-02 -1.17052200e-04 9.98095750e-01 -1.27390626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.56, Y:-165.15, Z:-12.74 [[ 7.33019226e-01 6.78758155e-01 4.43867321e-02 2.46559663e+02] [-6.77526404e-01 7.34361869e-01 -4.08731930e-02 -1.65154910e+02] [-6.03389366e-02 -1.12346689e-04 9.98177940e-01 -1.27391424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75864 meters Centerline goodness [0,1] 0.9999019367492032 Centerline is valid? [True, True] Translation: X:246.58, Y:-165.18, Z:-12.74 [[ 7.31903282e-01 6.79913349e-01 4.51156655e-02 2.46582159e+02] [-6.78640402e-01 7.33292441e-01 -4.15860586e-02 -1.65179177e+02] [-6.13578929e-02 -1.80340603e-04 9.98115813e-01 -1.27418149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78864 meters Centerline goodness [0,1] 0.9999015844897156 Centerline is valid? [True, True] Translation: X:246.60, Y:-165.20, Z:-12.74 [[ 7.31241852e-01 6.80579496e-01 4.57919587e-02 2.46604284e+02] [-6.79267197e-01 7.32674214e-01 -4.22441785e-02 -1.65202098e+02] [-6.23011091e-02 -2.14264105e-04 9.98057376e-01 -1.27423858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81864 meters Centerline goodness [0,1] 0.9999510547697127 Centerline is valid? [True, True] Translation: X:246.63, Y:-165.22, Z:-12.74 [[ 7.30506963e-01 6.81314737e-01 4.65811898e-02 2.46626578e+02] [-6.79956705e-01 7.31990546e-01 -4.29967411e-02 -1.65224875e+02] [-6.33913039e-02 -2.63773607e-04 9.97988714e-01 -1.27436768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:246.65, Y:-165.25, Z:-12.74 [[ 7.29088860e-01 6.82813517e-01 4.68522698e-02 2.46650036e+02] [-6.81439920e-01 7.30592614e-01 -4.32904986e-02 -1.65248291e+02] [-6.37892599e-02 -3.64386743e-04 9.97963325e-01 -1.27443121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.67, Y:-165.27, Z:-12.75 [[ 7.27094194e-01 6.84962512e-01 4.64799886e-02 2.46673232e+02] [-6.83612108e-01 7.28578130e-01 -4.29929510e-02 -1.65271860e+02] [-6.33128629e-02 -5.14357946e-04 9.97993596e-01 -1.27457397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90864 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:246.70, Y:-165.30, Z:-12.75 [[ 7.26241470e-01 6.85946775e-01 4.52807802e-02 2.46695911e+02] [-6.84664486e-01 7.27651507e-01 -4.19264432e-02 -1.65295337e+02] [-6.17079364e-02 -5.53420353e-04 9.98094096e-01 -1.27467066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93864 meters Centerline goodness [0,1] 0.9998529555925889 Centerline is valid? [True, True] Translation: X:246.72, Y:-165.32, Z:-12.75 [[ 7.25428292e-01 6.86824311e-01 4.50128838e-02 2.46717144e+02] [-6.85556326e-01 7.26823234e-01 -4.17194262e-02 -1.65320729e+02] [-6.13703259e-02 -5.94415198e-04 9.98114888e-01 -1.27484306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.74, Y:-165.34, Z:-12.75 [[ 7.24571205e-01 6.87708200e-01 4.53210808e-02 2.46739750e+02] [-6.86421686e-01 7.25986929e-01 -4.20505432e-02 -1.65344231e+02] [-6.18210156e-02 -6.40759970e-04 9.98087046e-01 -1.27498760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99864 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:246.76, Y:-165.37, Z:-12.75 [[ 7.24100086e-01 6.88208168e-01 4.52612671e-02 2.46762520e+02] [-6.86923209e-01 7.25512988e-01 -4.20405782e-02 -1.65368687e+02] [-6.17703064e-02 -6.49428590e-04 9.98090180e-01 -1.27508941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.79, Y:-165.39, Z:-12.75 [[ 7.22893009e-01 6.89440263e-01 4.58019824e-02 2.46785345e+02] [-6.88124084e-01 7.24342177e-01 -4.25870461e-02 -1.65391935e+02] [-6.25375319e-02 -7.31569290e-04 9.98042345e-01 -1.27537806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.81, Y:-165.42, Z:-12.76 [[ 7.21518824e-01 6.90942680e-01 4.48196362e-02 2.46808255e+02] [-6.89682821e-01 7.22909088e-01 -4.17139812e-02 -1.65415021e+02] [-6.12224924e-02 -8.13910470e-04 9.98123812e-01 -1.27556045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08864 meters Centerline goodness [0,1] 0.9999016377317661 Centerline is valid? [True, True] Translation: X:246.83, Y:-165.44, Z:-12.76 [[ 7.17976052e-01 6.94584657e-01 4.54152322e-02 2.46829172e+02] [-6.93295611e-01 7.19410125e-01 -4.23115606e-02 -1.65439845e+02] [-6.20611387e-02 -1.10749399e-03 9.98071735e-01 -1.27571929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.85, Y:-165.46, Z:-12.76 [[ 7.15654647e-01 6.96918968e-01 4.62858300e-02 2.46851372e+02] [-6.95582289e-01 7.17148692e-01 -4.31628609e-02 -1.65462736e+02] [-6.32748390e-02 -1.30590158e-03 9.97995285e-01 -1.27583313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:246.87, Y:-165.49, Z:-12.76 [[ 7.12217070e-01 7.00356361e-01 4.74111082e-02 2.46874287e+02] [-6.98959267e-01 7.13791512e-01 -4.42450139e-02 -1.65485223e+02] [-6.48289235e-02 -1.62637929e-03 9.97895067e-01 -1.27580639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.90, Y:-165.51, Z:-12.76 [[ 7.10493633e-01 7.02114475e-01 4.72658568e-02 2.46897892e+02] [-7.00728088e-01 7.12061906e-01 -4.41360220e-02 -1.65507510e+02] [-6.46447560e-02 -1.76215085e-03 9.97906784e-01 -1.27600762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.92, Y:-165.53, Z:-12.76 [[ 7.10197762e-01 7.02465151e-01 4.64956939e-02 2.46921352e+02] [-7.01121909e-01 7.11716020e-01 -4.34554382e-02 -1.65529173e+02] [-6.36176612e-02 -1.73719472e-03 9.97972833e-01 -1.27614138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.94, Y:-165.55, Z:-12.76 [[ 7.08507748e-01 7.04178318e-01 4.63645084e-02 2.46944948e+02] [-7.02843842e-01 7.10020735e-01 -4.33715181e-02 -1.65550551e+02] [-6.34610450e-02 -1.85795265e-03 9.97982587e-01 -1.27626767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.97, Y:-165.57, Z:-12.76 [[ 7.06871895e-01 7.05807309e-01 4.65635729e-02 2.46970326e+02] [-7.04462369e-01 7.08401089e-01 -4.35966620e-02 -1.65571007e+02] [-6.37565285e-02 -1.98502976e-03 9.97963509e-01 -1.27629511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.99, Y:-165.59, Z:-12.76 [[ 7.05267700e-01 7.07390246e-01 4.68669512e-02 2.46994521e+02] [-7.06028656e-01 7.06820041e-01 -4.39199992e-02 -1.65591629e+02] [-6.41950794e-02 -2.11405376e-03 9.97935129e-01 -1.27639945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.02, Y:-165.61, Z:-12.76 [[ 7.01034584e-01 7.11546608e-01 4.74545852e-02 2.47019355e+02] [-7.10158200e-01 7.02634436e-01 -4.44992178e-02 -1.65612215e+02] [-6.50064932e-02 -2.50477212e-03 9.97881697e-01 -1.27649573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.04, Y:-165.63, Z:-12.77 [[ 6.99370500e-01 7.13295180e-01 4.57262521e-02 2.47044874e+02] [-7.12008495e-01 7.00859089e-01 -4.29003516e-02 -1.65633264e+02] [-6.26482734e-02 -2.55423959e-03 9.98032399e-01 -1.27655021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.07, Y:-165.65, Z:-12.77 [[ 6.97726613e-01 7.14920342e-01 4.54585288e-02 2.47070405e+02] [-7.13649597e-01 6.99200866e-01 -4.26895894e-02 -1.65653417e+02] [-6.23042986e-02 -2.65579813e-03 9.98053666e-01 -1.27666700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.10, Y:-165.67, Z:-12.77 [[ 6.96044989e-01 7.16547834e-01 4.56133193e-02 2.47097138e+02] [-7.15269614e-01 6.97532395e-01 -4.28711663e-02 -1.65671355e+02] [-6.25360092e-02 -2.78556079e-03 9.98038821e-01 -1.27676722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.12, Y:-165.69, Z:-12.77 [[ 6.95165958e-01 7.17315655e-01 4.69312500e-02 2.47121814e+02] [-7.15961784e-01 6.96742258e-01 -4.41469036e-02 -1.65692546e+02] [-6.43662502e-02 -2.91155694e-03 9.97922095e-01 -1.27694358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.15, Y:-165.71, Z:-12.77 [[ 6.94449974e-01 7.18054692e-01 4.62243744e-02 2.47147574e+02] [-7.16740482e-01 6.95980606e-01 -4.35210014e-02 -1.65713189e+02] [-6.34217274e-02 -2.90772210e-03 9.97982580e-01 -1.27688697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.18, Y:-165.73, Z:-12.77 [[ 6.93678338e-01 7.18784078e-01 4.64737901e-02 2.47176356e+02] [-7.17454642e-01 6.95227068e-01 -4.37968125e-02 -1.65729287e+02] [-6.37902883e-02 -2.96193638e-03 9.97958930e-01 -1.27701471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:247.20, Y:-165.75, Z:-12.77 [[ 6.93068520e-01 7.19463499e-01 4.50366553e-02 2.47202840e+02] [-7.18214292e-01 6.94524176e-01 -4.24782320e-02 -1.65747635e+02] [-6.18405833e-02 -2.90564415e-03 9.98081810e-01 -1.27712481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.23, Y:-165.76, Z:-12.77 [[ 6.91837650e-01 7.20738525e-01 4.35504795e-02 2.47231135e+02] [-7.19571214e-01 6.93200962e-01 -4.11058987e-02 -1.65763804e+02] [-5.98158391e-02 -2.89906304e-03 9.98205220e-01 -1.27723264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.26, Y:-165.78, Z:-12.77 [[ 6.90765090e-01 7.21759160e-01 4.36727084e-02 2.47256413e+02] [-7.20585790e-01 6.92137880e-01 -4.12465122e-02 -1.65783623e+02] [-5.99975838e-02 -2.97828237e-03 9.98194079e-01 -1.27734817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.28, Y:-165.80, Z:-12.77 [[ 6.89878136e-01 7.22614335e-01 4.35508935e-02 2.47282760e+02] [-7.21447107e-01 6.91244822e-01 -4.11663553e-02 -1.65801881e+02] [-5.98517281e-02 -3.01989761e-03 9.98202710e-01 -1.27743167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.31, Y:-165.82, Z:-12.78 [[ 6.88722786e-01 7.23711580e-01 4.36173498e-02 2.47313427e+02] [-7.22540939e-01 6.90095617e-01 -4.12629492e-02 -1.65816300e+02] [-5.99626161e-02 -3.09658751e-03 9.98195820e-01 -1.27750327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68864 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:247.34, Y:-165.84, Z:-12.78 [[ 6.88419871e-01 7.23981717e-01 4.39153085e-02 2.47340948e+02] [-7.22793291e-01 6.89812124e-01 -4.15823506e-02 -1.65835104e+02] [-6.03981738e-02 -3.11557399e-03 9.98169502e-01 -1.27772778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71864 meters Centerline goodness [0,1] 0.9999510044096032 Centerline is valid? [True, True] Translation: X:247.37, Y:-165.85, Z:-12.78 [[ 6.89270088e-01 7.23233080e-01 4.29028899e-02 2.47367751e+02] [-7.22095620e-01 6.90597683e-01 -4.06540899e-02 -1.65853075e+02] [-5.90310191e-02 -2.95834074e-03 9.98251765e-01 -1.27778227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.40, Y:-165.87, Z:-12.78 [[ 6.92166374e-01 7.20423395e-01 4.35412761e-02 2.47396121e+02] [-7.19245631e-01 6.93529063e-01 -4.12693694e-02 -1.65868611e+02] [-5.99285596e-02 -2.75160277e-03 9.98198876e-01 -1.27797007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.42, Y:-165.89, Z:-12.78 [[ 6.93765417e-01 7.18845219e-01 4.41712287e-02 2.47423408e+02] [-7.17628929e-01 6.95165140e-01 -4.18825462e-02 -1.65886897e+02] [-6.08133665e-02 -2.64188941e-03 9.98145658e-01 -1.27809046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.45, Y:-165.90, Z:-12.78 [[ 6.98190138e-01 7.14567242e-01 4.38655720e-02 2.47453225e+02] [-7.13357679e-01 6.99563198e-01 -4.16191547e-02 -1.65901942e+02] [-6.04264244e-02 -2.23375925e-03 9.98170155e-01 -1.27830679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.48, Y:-165.92, Z:-12.78 [[ 6.97825729e-01 7.14923720e-01 4.38557404e-02 2.47477029e+02] [-7.13714210e-01 6.99198835e-01 -4.16295118e-02 -1.65924135e+02] [-6.04258080e-02 -2.25032072e-03 9.98170155e-01 -1.27843676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.50, Y:-165.94, Z:-12.79 [[ 6.99752902e-01 7.13027204e-01 4.40236658e-02 2.47503087e+02] [-7.11802159e-01 7.01133326e-01 -4.18299545e-02 -1.65943772e+02] [-6.06923547e-02 -2.06550832e-03 9.98154383e-01 -1.27862094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.53, Y:-165.96, Z:-12.79 [[ 7.01803431e-01 7.11065480e-01 4.31025310e-02 2.47528648e+02] [-7.09885812e-01 7.03123398e-01 -4.09831791e-02 -1.65964326e+02] [-5.94481220e-02 -1.83573955e-03 9.98229708e-01 -1.27872263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.56, Y:-165.98, Z:-12.79 [[ 7.05453884e-01 7.07458287e-01 4.28671309e-02 2.47556664e+02] [-7.06283562e-01 7.06753493e-01 -4.07802687e-02 -1.65981205e+02] [-5.91468335e-02 -1.50775096e-03 9.98248155e-01 -1.27875568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.58, Y:-166.00, Z:-12.79 [[ 7.06955181e-01 7.05968848e-01 4.26890924e-02 2.47582728e+02] [-7.04798966e-01 7.08241598e-01 -4.06479619e-02 -1.66000600e+02] [-5.89303858e-02 -1.35094092e-03 9.98261181e-01 -1.27885600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98864 meters Centerline goodness [0,1] 0.9999510355971208 Centerline is valid? [True, True] Translation: X:247.61, Y:-166.02, Z:-12.79 [[ 7.07806135e-01 7.05051713e-01 4.37327820e-02 2.47608399e+02] [-7.03819639e-01 7.09154745e-01 -4.16828914e-02 -1.66021355e+02] [-6.04019039e-02 -1.27658462e-03 9.98173322e-01 -1.27910157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:247.63, Y:-166.04, Z:-12.79 [[ 7.09977706e-01 7.02852741e-01 4.39281300e-02 2.47633507e+02] [-7.01602798e-01 7.11334586e-01 -4.19120568e-02 -1.66041477e+02] [-6.07056022e-02 -1.06347298e-03 9.98155148e-01 -1.27927550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.66, Y:-166.06, Z:-12.79 [[ 7.11271649e-01 7.01506170e-01 4.45166791e-02 2.47658222e+02] [-7.00217372e-01 7.12662770e-01 -4.25136226e-02 -1.66062054e+02] [-6.15489484e-02 -9.32617580e-04 9.98103630e-01 -1.27939636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07864 meters Centerline goodness [0,1] 0.9998526450218577 Centerline is valid? [True, True] Translation: X:247.68, Y:-166.08, Z:-12.79 [[ 7.14472697e-01 6.98284678e-01 4.39007239e-02 2.47684349e+02] [-6.97022872e-01 7.15819898e-01 -4.19641403e-02 -1.66081880e+02] [-6.07279280e-02 -6.17576154e-04 9.98154165e-01 -1.27939915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:247.71, Y:-166.10, Z:-12.80 [[ 7.16378227e-01 6.96281834e-01 4.46524660e-02 2.47708229e+02] [-6.94969874e-01 7.17768366e-01 -4.27252513e-02 -1.66103956e+02] [-6.17989439e-02 -4.24678892e-04 9.98088528e-01 -1.27965187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.73, Y:-166.13, Z:-12.80 [[ 7.17868795e-01 6.94764269e-01 4.43509251e-02 2.47730974e+02] [-6.93464420e-01 7.19237473e-01 -4.24800479e-02 -1.66126645e+02] [-6.14124667e-02 -2.60687836e-04 9.98112439e-01 -1.27972994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16864 meters Centerline goodness [0,1] 0.9999510020089176 Centerline is valid? [True, True] Translation: X:247.75, Y:-166.15, Z:-12.80 [[ 7.18860597e-01 6.93675384e-01 4.53200109e-02 2.47753822e+02] [-6.92313322e-01 7.20287749e-01 -4.34490784e-02 -1.66149671e+02] [-6.27830048e-02 -1.41816898e-04 9.98027191e-01 -1.27990015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.78, Y:-166.17, Z:-12.80 [[ 7.19768154e-01 6.92767510e-01 4.47993381e-02 2.47776219e+02] [-6.91432392e-01 7.21160991e-01 -4.29892086e-02 -1.66172595e+02] [-6.20890620e-02 -3.34501874e-05 9.98070612e-01 -1.28001851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.80, Y:-166.20, Z:-12.80 [[ 7.19734052e-01 6.92847094e-01 4.41112026e-02 2.47799041e+02] [-6.91550497e-01 7.21084533e-01 -4.23675015e-02 -1.66195889e+02] [-6.11621062e-02 -1.17905209e-05 9.98127846e-01 -1.28017864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25864 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:247.82, Y:-166.22, Z:-12.80 [[ 7.18856406e-01 6.93891907e-01 4.19462708e-02 2.47818808e+02] [-6.92719245e-01 7.20079174e-01 -4.03240700e-02 -1.66222063e+02] [-5.81851819e-02 -6.97730061e-05 9.98305805e-01 -1.28026183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28864 meters Centerline goodness [0,1] 0.9997550220480157 Centerline is valid? [True, True] Translation: X:247.84, Y:-166.25, Z:-12.80 [[ 7.17506393e-01 6.95292983e-01 4.18598028e-02 2.47840927e+02] [-6.94125263e-01 7.18726404e-01 -4.02799635e-02 -1.66246867e+02] [-5.80921215e-02 -1.54815250e-04 9.98311215e-01 -1.28031400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31864 meters Centerline goodness [0,1] 0.9998529772114678 Centerline is valid? [True, True] Translation: X:247.86, Y:-166.27, Z:-12.80 [[ 7.16341243e-01 6.96433086e-01 4.28506854e-02 2.47862653e+02] [-6.95208852e-01 7.17621703e-01 -4.12764302e-02 -1.66271394e+02] [-5.94968535e-02 -2.22166472e-04 9.98228468e-01 -1.28042239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34864 meters Centerline goodness [0,1] 0.9999021334899197 Centerline is valid? [True, True] Translation: X:247.88, Y:-166.30, Z:-12.81 [[ 7.15575615e-01 6.97210753e-01 4.29965754e-02 2.47882703e+02] [-6.95977138e-01 7.16866165e-01 -4.14575085e-02 -1.66297965e+02] [-5.97274109e-02 -2.58651374e-04 9.98214691e-01 -1.28054665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.90, Y:-166.32, Z:-12.81 [[ 7.15083415e-01 6.97708740e-01 4.31071202e-02 2.47904709e+02] [-6.96467013e-01 7.16381492e-01 -4.16083888e-02 -1.66322315e+02] [-5.99116795e-02 -2.69218497e-04 9.98203646e-01 -1.28069572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.93, Y:-166.35, Z:-12.81 [[ 7.14370909e-01 6.98479385e-01 4.24352738e-02 2.47925453e+02] [-6.97274893e-01 7.15630114e-01 -4.10032121e-02 -1.66348061e+02] [-5.90078582e-02 -2.97549114e-04 9.98257474e-01 -1.28078825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.95, Y:-166.37, Z:-12.81 [[ 7.13939047e-01 6.98925025e-01 4.23656407e-02 2.47947623e+02] [-6.97722682e-01 7.15194882e-01 -4.09797565e-02 -1.66372695e+02] [-5.89414667e-02 -3.02420145e-04 9.98261395e-01 -1.28100056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.97, Y:-166.40, Z:-12.81 [[ 7.12983251e-01 6.99876387e-01 4.27542658e-02 2.47969732e+02] [-6.98650910e-01 7.14263900e-01 -4.14003274e-02 -1.66397967e+02] [-5.95129402e-02 -3.52566668e-04 9.98227472e-01 -1.28111647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.99, Y:-166.42, Z:-12.81 [[ 7.11659537e-01 7.01205181e-01 4.30348356e-02 2.47990649e+02] [-6.99963300e-01 7.12959399e-01 -4.17165965e-02 -1.66423942e+02] [-5.99339842e-02 -4.34791786e-04 9.98202248e-01 -1.28119692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.01, Y:-166.45, Z:-12.81 [[ 7.10791807e-01 7.02085558e-01 4.30217994e-02 2.48012506e+02] [-7.00843427e-01 7.12092438e-01 -4.17474566e-02 -1.66448084e+02] [-5.99457844e-02 -4.77795246e-04 9.98201520e-01 -1.28135777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:248.03, Y:-166.47, Z:-12.82 [[ 7.10219411e-01 7.02634704e-01 4.35070299e-02 2.48034107e+02] [-7.01362742e-01 7.11550577e-01 -4.22620487e-02 -1.66472545e+02] [-6.06522343e-02 -4.98882429e-04 9.98158834e-01 -1.28155398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.05, Y:-166.50, Z:-12.82 [[ 7.10463756e-01 7.02324742e-01 4.45107555e-02 2.48054863e+02] [-7.00989823e-01 7.11856555e-01 -4.32841095e-02 -1.66498962e+02] [-6.20847741e-02 -4.49795626e-04 9.98070778e-01 -1.28167759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.08, Y:-166.52, Z:-12.82 [[ 7.09888726e-01 7.02900926e-01 4.45901824e-02 2.48077895e+02] [-7.01559468e-01 7.11287614e-01 -4.34078764e-02 -1.66522095e+02] [-6.22278809e-02 -4.67902520e-04 9.98061858e-01 -1.28178917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.10, Y:-166.55, Z:-12.82 [[ 7.07826377e-01 7.05029562e-01 4.37622683e-02 2.48099603e+02] [-7.03738798e-01 7.09177653e-01 -4.26469328e-02 -1.66546770e+02] [-6.11025711e-02 -6.10582155e-04 9.98131305e-01 -1.28198492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.12, Y:-166.57, Z:-12.82 [[ 7.06730526e-01 7.06157352e-01 4.32869320e-02 2.48121447e+02] [-7.04893885e-01 7.08054622e-01 -4.22287091e-02 -1.66571039e+02] [-6.04696257e-02 -6.68375917e-04 9.98169814e-01 -1.28212208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.14, Y:-166.60, Z:-12.82 [[ 7.04918842e-01 7.08028624e-01 4.22480090e-02 2.48142839e+02] [-7.06825894e-01 7.06183307e-01 -4.12588533e-02 -1.66595904e+02] [-5.90472878e-02 -7.77843674e-04 9.98254884e-01 -1.28220553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.16, Y:-166.62, Z:-12.82 [[ 7.00912400e-01 7.11975858e-01 4.25697816e-02 2.48162695e+02] [-7.10759390e-01 7.02203101e-01 -4.16160323e-02 -1.66621142e+02] [-5.95222429e-02 -1.08767898e-03 9.98226387e-01 -1.28231870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:248.18, Y:-166.64, Z:-12.82 [[ 6.98790536e-01 7.14012814e-01 4.33299922e-02 2.48184957e+02] [-7.12753950e-01 7.00131505e-01 -4.23990867e-02 -1.66644225e+02] [-6.06101839e-02 -1.25554250e-03 9.98160723e-01 -1.28240543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.21, Y:-166.67, Z:-12.83 [[ 6.95285986e-01 7.17416603e-01 4.34835102e-02 2.48205953e+02] [-7.16153006e-01 6.96642719e-01 -4.25886535e-02 -1.66669111e+02] [-6.08462779e-02 -1.52955259e-03 9.98145977e-01 -1.28267846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82864 meters Centerline goodness [0,1] 0.9999019800039208 Centerline is valid? [True, True] Translation: X:248.23, Y:-166.69, Z:-12.83 [[ 6.93651418e-01 7.18952503e-01 4.42154906e-02 2.48227774e+02] [-7.17646582e-01 6.95057213e-01 -4.33457437e-02 -1.66693137e+02] [-6.18958265e-02 -1.66425916e-03 9.98081228e-01 -1.28293186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.25, Y:-166.72, Z:-12.83 [[ 6.92431969e-01 7.20177358e-01 4.33882539e-02 2.48251081e+02] [-7.18919845e-01 6.93787893e-01 -4.25748318e-02 -1.66716604e+02] [-6.07636751e-02 -1.71250211e-03 9.98150712e-01 -1.28297775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.27, Y:-166.74, Z:-12.83 [[ 6.89097717e-01 7.23378245e-01 4.32232674e-02 2.48274622e+02] [-7.22134000e-01 6.90449189e-01 -4.24547322e-02 -1.66739052e+02] [-6.05542996e-02 -1.95753197e-03 9.98162985e-01 -1.28306229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.30, Y:-166.76, Z:-12.83 [[ 6.87520127e-01 7.24922151e-01 4.24729297e-02 2.48298381e+02] [-7.23721486e-01 6.88827807e-01 -4.17547823e-02 -1.66760540e+02] [-5.95255017e-02 -2.03131865e-03 9.98224718e-01 -1.28321345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.32, Y:-166.78, Z:-12.83 [[ 6.84535677e-01 7.27667647e-01 4.37115941e-02 2.48323425e+02] [-7.26399095e-01 6.85925987e-01 -4.30104003e-02 -1.66780014e+02] [-6.12801951e-02 -2.30990897e-03 9.98117930e-01 -1.28339885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.35, Y:-166.80, Z:-12.83 [[ 6.83624173e-01 7.28527337e-01 4.36567237e-02 2.48348389e+02] [-7.27261498e-01 6.85012667e-01 -4.29925446e-02 -1.66800355e+02] [-6.12266528e-02 -2.35911156e-03 9.98121101e-01 -1.28344379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.37, Y:-166.82, Z:-12.84 [[ 6.82308854e-01 7.29713479e-01 4.44169680e-02 2.48374267e+02] [-7.28403194e-01 6.83748550e-01 -4.37802145e-02 -1.66820103e+02] [-6.23170501e-02 -2.48183336e-03 9.98053318e-01 -1.28360038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.40, Y:-166.84, Z:-12.84 [[ 6.80842710e-01 7.31056027e-01 4.48362512e-02 2.48401547e+02] [-7.29721284e-01 6.82312474e-01 -4.42327326e-02 -1.66838444e+02] [-6.29289392e-02 -2.60243327e-03 9.98014617e-01 -1.28371957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.43, Y:-166.86, Z:-12.84 [[ 6.81126380e-01 7.30767460e-01 4.52302264e-02 2.48426870e+02] [-7.29405987e-01 6.82621643e-01 -4.46609312e-02 -1.66858709e+02] [-6.35118866e-02 -2.57145952e-03 9.97977769e-01 -1.28392430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.45, Y:-166.88, Z:-12.84 [[ 6.82043305e-01 7.29890399e-01 4.55734162e-02 2.48454643e+02] [-7.28503674e-01 6.83559688e-01 -4.50394251e-02 -1.66876996e+02] [-6.40259942e-02 -2.48156278e-03 9.97945146e-01 -1.28402372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.48, Y:-166.90, Z:-12.84 [[ 6.83512145e-01 7.28540071e-01 4.51720334e-02 2.48480940e+02] [-7.27172663e-01 6.84999285e-01 -4.46754721e-02 -1.66896964e+02] [-6.34906822e-02 -2.31164008e-03 9.97979754e-01 -1.28410430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.51, Y:-166.92, Z:-12.84 [[ 6.83950329e-01 7.28141463e-01 4.49661773e-02 2.48506590e+02] [-7.26783843e-01 6.85423205e-01 -4.45002776e-02 -1.66916832e+02] [-6.32233587e-02 -2.24471168e-03 9.97996878e-01 -1.28429088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.53, Y:-166.93, Z:-12.84 [[ 6.86321151e-01 7.25982274e-01 4.37380440e-02 2.48534531e+02] [-7.24691130e-01 6.87710611e-01 -4.33229884e-02 -1.66934720e+02] [-6.15308386e-02 -1.96308930e-03 9.98103252e-01 -1.28437729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.56, Y:-166.95, Z:-12.84 [[ 6.87379567e-01 7.25013674e-01 4.31798951e-02 2.48559233e+02] [-7.23751072e-01 6.88732051e-01 -4.28082703e-02 -1.66954944e+02] [-6.07759591e-02 -1.82596508e-03 9.98149763e-01 -1.28441482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.58, Y:-166.98, Z:-12.85 [[ 6.88116009e-01 7.24271180e-01 4.39046261e-02 2.48583744e+02] [-7.22961819e-01 6.89512981e-01 -4.35666973e-02 -1.66975541e+02] [-6.18269129e-02 -1.76242645e-03 9.98085330e-01 -1.28464910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.61, Y:-166.99, Z:-12.85 [[ 6.89575662e-01 7.22910899e-01 4.34193334e-02 2.48609474e+02] [-7.21625273e-01 6.90939423e-01 -4.31239893e-02 -1.66994855e+02] [-6.11749311e-02 -1.59523484e-03 9.98125785e-01 -1.28479838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.63, Y:-167.02, Z:-12.85 [[ 6.90687094e-01 7.21814313e-01 4.39935767e-02 2.48634362e+02] [-7.20489705e-01 6.92085166e-01 -4.37345158e-02 -1.67015650e+02] [-6.20155014e-02 -1.49005347e-03 9.98074074e-01 -1.28499951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.66, Y:-167.04, Z:-12.85 [[ 6.92156322e-01 7.20425995e-01 4.36579055e-02 2.48659381e+02] [-7.19116336e-01 6.93530550e-01 -4.34404369e-02 -1.67036616e+02] [-6.15737112e-02 -1.32753999e-03 9.98101656e-01 -1.28498539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.68, Y:-167.06, Z:-12.85 [[ 6.97961114e-01 7.14761481e-01 4.43430736e-02 2.48683863e+02] [-7.13396258e-01 6.99367835e-01 -4.41634470e-02 -1.67057933e+02] [-6.25784502e-02 -8.09814128e-04 9.98039720e-01 -1.28513552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.71, Y:-167.08, Z:-12.85 [[ 7.01090575e-01 7.11667470e-01 4.47372090e-02 2.48707144e+02] [-7.10268879e-01 7.02516302e-01 -4.45978122e-02 -1.67079703e+02] [-6.31674308e-02 -5.08341481e-04 9.98002814e-01 -1.28532563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.73, Y:-167.10, Z:-12.86 [[ 7.06964661e-01 7.05849060e-01 4.44755371e-02 2.48732176e+02] [-7.04453229e-01 7.08362269e-01 -4.43682784e-02 -1.67100743e+02] [-6.28220999e-02 3.58691523e-05 9.98024740e-01 -1.28556589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45864 meters Centerline goodness [0,1] 0.9999510260051913 Centerline is valid? [True, True] Translation: X:248.76, Y:-167.12, Z:-12.86 [[ 7.09367584e-01 7.03493116e-01 4.35323619e-02 2.48755324e+02] [-7.02150039e-01 7.10702026e-01 -4.34505714e-02 -1.67123023e+02] [-6.15057157e-02 2.56177204e-04 9.98106698e-01 -1.28564994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48864 meters Centerline goodness [0,1] 0.9999020184205369 Centerline is valid? [True, True] Translation: X:248.78, Y:-167.15, Z:-12.86 [[ 7.10802827e-01 7.02075327e-01 4.30067032e-02 2.48778462e+02] [-7.00759435e-01 7.12102572e-01 -4.29667412e-02 -1.67147222e+02] [-6.07910728e-02 4.03528051e-04 9.98150431e-01 -1.28581707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51864 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:248.80, Y:-167.17, Z:-12.86 [[ 7.11587670e-01 7.01332588e-01 4.21377370e-02 2.48799406e+02] [-7.00065499e-01 7.12834036e-01 -4.21418321e-02 -1.67173081e+02] [-5.95926533e-02 4.88432170e-04 9.98222659e-01 -1.28572787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54864 meters Centerline goodness [0,1] 0.9999020088192063 Centerline is valid? [True, True] Translation: X:248.77, Y:-167.31, Z:-11.24 [[ 7.49882997e-01 -6.61443519e-01 -1.29600121e-02 2.48773690e+02] [-6.61278710e-01 -7.49990182e-01 1.50064487e-02 -1.67314224e+02] [-1.96458000e-02 -2.68290061e-03 -9.99803403e-01 -1.12386333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.82, Y:-167.21, Z:-12.86 [[ 7.57180727e-01 6.51539591e-01 4.66208966e-02 2.48821524e+02] [-6.50283114e-01 7.58614571e-01 -4.04450936e-02 -1.67211454e+02] [-6.17188712e-02 3.07463613e-04 9.98093526e-01 -1.28599519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.85, Y:-167.23, Z:-12.86 [[ 7.55399326e-01 6.53560519e-01 4.72282474e-02 2.48845265e+02] [-6.52272260e-01 7.56874241e-01 -4.10156336e-02 -1.67234551e+02] [-6.25520427e-02 1.77506322e-04 9.98041688e-01 -1.28626196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.87, Y:-167.26, Z:-12.86 [[ 7.53013034e-01 6.56234459e-01 4.82463009e-02 2.48868776e+02] [-6.54892723e-01 7.54557045e-01 -4.19426639e-02 -1.67256592e+02] [-6.39288076e-02 -1.27788106e-05 9.97954462e-01 -1.28637231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.90, Y:-167.28, Z:-12.86 [[ 7.49494275e-01 6.60289651e-01 4.77064793e-02 2.48895224e+02] [-6.58983998e-01 7.51010964e-01 -4.15044865e-02 -1.67276975e+02] [-6.32330719e-02 -3.30431398e-04 9.97998732e-01 -1.28641796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.92, Y:-167.30, Z:-12.87 [[ 7.48419970e-01 6.61512714e-01 4.76285512e-02 2.48920676e+02] [-6.60211980e-01 7.49933837e-01 -4.14654196e-02 -1.67297787e+02] [-6.31481644e-02 -4.11391971e-04 9.98004078e-01 -1.28668152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.95, Y:-167.32, Z:-12.87 [[ 7.47754447e-01 6.62292257e-01 4.72467285e-02 2.48945982e+02] [-6.61011107e-01 7.49245468e-01 -4.11769847e-02 -1.67318916e+02] [-6.26705954e-02 -4.40338936e-04 9.98034169e-01 -1.28676357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.97, Y:-167.34, Z:-12.87 [[ 7.47869325e-01 6.62159432e-01 4.72901712e-02 2.48972540e+02] [-6.60872881e-01 7.49362883e-01 -4.12589977e-02 -1.67338639e+02] [-6.27575335e-02 -3.96453011e-04 9.98028724e-01 -1.28693229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.00, Y:-167.36, Z:-12.87 [[ 7.47520006e-01 6.62555320e-01 4.72682530e-02 2.48997261e+02] [-6.61267974e-01 7.49012877e-01 -4.12840979e-02 -1.67359788e+02] [-6.27575289e-02 -3.96292798e-04 9.98028725e-01 -1.28706178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81864 meters Centerline goodness [0,1] 0.9998529483848831 Centerline is valid? [True, True] Translation: X:249.02, Y:-167.38, Z:-12.87 [[ 7.48445340e-01 6.61567585e-01 4.64532299e-02 2.49023519e+02] [-6.60319861e-01 7.49885494e-01 -4.06131456e-02 -1.67379041e+02] [-6.17029439e-02 -2.77270701e-04 9.98094519e-01 -1.28718096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84864 meters Centerline goodness [0,1] 0.9999020663989815 Centerline is valid? [True, True] Translation: X:249.05, Y:-167.40, Z:-12.87 [[ 7.50466631e-01 6.59347835e-01 4.53901828e-02 2.49050635e+02] [-6.58150343e-01 7.51838033e-01 -3.97202518e-02 -1.67397286e+02] [-6.03155278e-02 -6.48407975e-05 9.98179359e-01 -1.28729496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87864 meters Centerline goodness [0,1] 0.9999020568070519 Centerline is valid? [True, True] Translation: X:249.08, Y:-167.42, Z:-12.87 [[ 7.51609408e-01 6.58043370e-01 4.54116822e-02 2.49076639e+02] [-6.56840000e-01 7.52980025e-01 -3.97780848e-02 -1.67417274e+02] [-6.03697946e-02 6.93734359e-05 9.98176078e-01 -1.28745677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.10, Y:-167.44, Z:-12.88 [[ 7.53035844e-01 6.56349176e-01 4.62901365e-02 2.49102455e+02] [-6.55092971e-01 7.54457223e-01 -4.05893918e-02 -1.67437090e+02] [-6.15647417e-02 2.40923816e-04 9.98103063e-01 -1.28755873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93864 meters Centerline goodness [0,1] 0.9998040272402136 Centerline is valid? [True, True] Translation: X:249.13, Y:-167.46, Z:-12.88 [[ 7.55927554e-01 6.53015652e-01 4.63043420e-02 2.49128064e+02] [-6.51750094e-01 7.57344218e-01 -4.06392603e-02 -1.67456755e+02] [-6.16063988e-02 5.41477346e-04 9.98100375e-01 -1.28768340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96864 meters Centerline goodness [0,1] 0.9999021047479197 Centerline is valid? [True, True] Translation: X:249.15, Y:-167.48, Z:-12.88 [[ 7.57256018e-01 6.51499539e-01 4.59529416e-02 2.49153824e+02] [-6.50247969e-01 7.58648717e-01 -4.03695904e-02 -1.67477949e+02] [-6.11629097e-02 6.89308378e-04 9.98127559e-01 -1.28785652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99864 meters Centerline goodness [0,1] 0.9998038061604866 Centerline is valid? [True, True] Translation: X:249.18, Y:-167.50, Z:-12.88 [[ 7.58135588e-01 6.50542022e-01 4.50056413e-02 2.49179114e+02] [-6.49337425e-01 7.59469859e-01 -3.95783065e-02 -1.67499265e+02] [-5.99277795e-02 7.81875504e-04 9.98202409e-01 -1.28787304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02864 meters Centerline goodness [0,1] 0.9998040464409935 Centerline is valid? [True, True] Translation: X:249.20, Y:-167.52, Z:-12.88 [[ 7.59861763e-01 6.48577904e-01 4.42357715e-02 2.49202291e+02] [-6.47408622e-01 7.61147686e-01 -3.89393942e-02 -1.67521749e+02] [-5.89251858e-02 9.49936816e-04 9.98261950e-01 -1.28806094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05864 meters Centerline goodness [0,1] 0.9997060120535058 Centerline is valid? [True, True] Translation: X:249.22, Y:-167.54, Z:-12.88 [[ 7.59878295e-01 6.48511791e-01 4.49158416e-02 2.49224606e+02] [-6.47304024e-01 7.61203956e-01 -3.95731944e-02 -1.67544325e+02] [-5.98537996e-02 9.96606529e-04 9.98206657e-01 -1.28824065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08864 meters Centerline goodness [0,1] 0.9999510379945162 Centerline is valid? [True, True] Translation: X:249.25, Y:-167.57, Z:-12.88 [[ 7.59696125e-01 6.48783210e-01 4.40697552e-02 2.49246869e+02] [-6.47619079e-01 7.60972655e-01 -3.88606126e-02 -1.67567388e+02] [-5.87479917e-02 9.81842540e-04 9.98272362e-01 -1.28832627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.27, Y:-167.59, Z:-12.88 [[ 7.56927116e-01 6.51905305e-01 4.56159485e-02 2.49268934e+02] [-6.50661250e-01 7.58299967e-01 -4.02628595e-02 -1.67592829e+02] [-6.08381440e-02 7.95520072e-04 9.98147327e-01 -1.28840711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.29, Y:-167.62, Z:-12.89 [[ 7.55475260e-01 6.53564090e-01 4.59468327e-02 2.49292907e+02] [-6.52302369e-01 7.56870855e-01 -4.05971431e-02 -1.67615697e+02] [-6.13086535e-02 6.98909454e-04 9.98118610e-01 -1.28855803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.31, Y:-167.64, Z:-12.89 [[ 7.52061847e-01 6.57588562e-01 4.45001239e-02 2.49314311e+02] [-6.56410291e-01 7.53377154e-01 -3.93496401e-02 -1.67640391e+02] [-5.94012500e-02 3.83023680e-04 9.98234113e-01 -1.28865877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.34, Y:-167.66, Z:-12.89 [[ 7.50296440e-01 6.59628007e-01 4.41151326e-02 2.49336942e+02] [-6.58472357e-01 7.51592202e-01 -3.90296997e-02 -1.67663280e+02] [-5.89016727e-02 2.35249402e-04 9.98263762e-01 -1.28899856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:249.36, Y:-167.69, Z:-12.89 [[ 7.48710531e-01 6.61384555e-01 4.47550059e-02 2.49359838e+02] [-6.60196208e-01 7.50046968e-01 -3.96296936e-02 -1.67686444e+02] [-5.97788237e-02 1.24083795e-04 9.98211639e-01 -1.28912671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26864 meters Centerline goodness [0,1] 0.9999509875998628 Centerline is valid? [True, True] Translation: X:249.38, Y:-167.71, Z:-12.89 [[ 7.48655377e-01 6.61464841e-01 4.44903394e-02 2.49382994e+02] [-6.60288804e-01 7.49976162e-01 -3.94265230e-02 -1.67710388e+02] [-5.94459528e-02 1.40405489e-04 9.98231516e-01 -1.28920385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.41, Y:-167.73, Z:-12.89 [[ 7.49010652e-01 6.61009713e-01 4.52681133e-02 2.49406592e+02] [-6.59788837e-01 7.50377315e-01 -4.01568950e-02 -1.67732399e+02] [-6.05122629e-02 2.10546294e-04 9.98167432e-01 -1.28934941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.43, Y:-167.76, Z:-12.89 [[ 7.48962586e-01 6.61064833e-01 4.52584801e-02 2.49429950e+02] [-6.59842216e-01 7.50328748e-01 -4.01873113e-02 -1.67755207e+02] [-6.05251570e-02 2.35336874e-04 9.98166644e-01 -1.28945902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35864 meters Centerline goodness [0,1] 0.9999020280199863 Centerline is valid? [True, True] Translation: X:249.45, Y:-167.78, Z:-12.90 [[ 7.48761448e-01 6.61306797e-01 4.50512356e-02 2.49454575e+02] [-6.60093248e-01 7.50115497e-01 -4.00455347e-02 -1.67777044e+02] [-6.02760142e-02 2.46536109e-04 9.98181718e-01 -1.28952934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.48, Y:-167.80, Z:-12.90 [[ 7.48240228e-01 6.61841908e-01 4.58459359e-02 2.49479744e+02] [-6.60583436e-01 7.49643403e-01 -4.07957473e-02 -1.67799081e+02] [-6.13684386e-02 2.39953380e-04 9.98115152e-01 -1.28974553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:249.50, Y:-167.82, Z:-12.90 [[ 7.48408786e-01 6.61644972e-01 4.59371372e-02 2.49504324e+02] [-6.60378435e-01 7.49817209e-01 -4.09203493e-02 -1.67820974e+02] [-6.15191994e-02 2.89254143e-04 9.98105858e-01 -1.28987859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44864 meters Centerline goodness [0,1] 0.9999510427886028 Centerline is valid? [True, True] Translation: X:249.53, Y:-167.84, Z:-12.90 [[ 7.49208887e-01 6.60717785e-01 4.62390821e-02 2.49529766e+02] [-6.59430035e-01 7.50634297e-01 -4.12332581e-02 -1.67842769e+02] [-6.19521879e-02 4.00883852e-04 9.98079038e-01 -1.28987483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47864 meters Centerline goodness [0,1] 0.9999510667449599 Centerline is valid? [True, True] Translation: X:249.55, Y:-167.86, Z:-12.90 [[ 7.49061969e-01 6.60929759e-01 4.55853110e-02 2.49554992e+02] [-6.59675971e-01 7.50447657e-01 -4.06930841e-02 -1.67864763e+02] [-6.11046601e-02 4.10107453e-04 9.98131280e-01 -1.28996756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50864 meters Centerline goodness [0,1] 0.999951021207817 Centerline is valid? [True, True] Translation: X:249.58, Y:-167.89, Z:-12.90 [[ 7.49556397e-01 6.60477245e-01 4.39888221e-02 2.49577118e+02] [-6.59306744e-01 7.50845920e-01 -3.93067594e-02 -1.67887673e+02] [-5.89900478e-02 4.60505870e-04 9.98258465e-01 -1.29013228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.60, Y:-167.91, Z:-12.90 [[ 7.50022719e-01 6.59856794e-01 4.53313500e-02 2.49598762e+02] [-6.58610298e-01 7.51391180e-01 -4.05434405e-02 -1.67911010e+02] [-6.08144412e-02 5.52807609e-04 9.98148936e-01 -1.29023303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:249.62, Y:-167.93, Z:-12.90 [[ 7.51008228e-01 6.58797679e-01 4.44101248e-02 2.49621935e+02] [-6.57597379e-01 7.52319874e-01 -3.97554334e-02 -1.67934179e+02] [-5.96014068e-02 6.52675921e-04 9.98222043e-01 -1.29034468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.64, Y:-167.96, Z:-12.91 [[ 7.52569909e-01 6.56875890e-01 4.63960939e-02 2.49643794e+02] [-6.55559462e-01 7.53998212e-01 -4.15750876e-02 -1.67957324e+02] [-6.22922445e-02 8.72761497e-04 9.98057571e-01 -1.29057849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:249.67, Y:-167.98, Z:-12.91 [[ 7.52618601e-01 6.56857902e-01 4.58578036e-02 2.49666846e+02] [-6.55569531e-01 7.54013859e-01 -4.11301564e-02 -1.67980687e+02] [-6.15940877e-02 8.92341963e-04 9.98100883e-01 -1.29064219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65864 meters Centerline goodness [0,1] 0.9999510355971208 Centerline is valid? [True, True] Translation: X:249.69, Y:-168.01, Z:-12.91 [[ 7.51617605e-01 6.58013107e-01 4.57135383e-02 2.49686317e+02] [-6.56732472e-01 7.53006022e-01 -4.10413384e-02 -1.68007540e+02] [-6.14283082e-02 8.25827447e-04 9.98111157e-01 -1.29068647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68864 meters Centerline goodness [0,1] 0.9998530995984722 Centerline is valid? [True, True] Translation: X:249.71, Y:-168.03, Z:-12.91 [[ 7.50156242e-01 6.59663031e-01 4.59379933e-02 2.49708083e+02] [-6.58370425e-01 7.51561150e-01 -4.12822203e-02 -1.68032011e+02] [-6.17575657e-02 7.23899073e-04 9.98090917e-01 -1.29076683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.73, Y:-168.06, Z:-12.91 [[ 7.46887000e-01 6.63414853e-01 4.51723591e-02 2.49728045e+02] [-6.62169757e-01 7.48251659e-01 -4.06284084e-02 -1.68057840e+02] [-6.07537822e-02 4.33060061e-04 9.98152689e-01 -1.29088840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.75, Y:-168.08, Z:-12.91 [[ 7.44703136e-01 6.65806521e-01 4.60316869e-02 2.49751307e+02] [-6.64516274e-01 7.46124391e-01 -4.14308490e-02 -1.68081881e+02] [-6.19302938e-02 2.64878182e-04 9.98080442e-01 -1.29115772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.77, Y:-168.11, Z:-12.91 [[ 7.42545084e-01 6.68221874e-01 4.58947263e-02 2.49774114e+02] [-6.66941147e-01 7.43962041e-01 -4.13520066e-02 -1.68105275e+02] [-6.17762496e-02 9.66478645e-05 9.98090019e-01 -1.29128049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.80, Y:-168.13, Z:-12.91 [[ 7.39706520e-01 6.71328770e-01 4.63890848e-02 2.49797170e+02] [-6.70023515e-01 7.41159676e-01 -4.18428385e-02 -1.68129502e+02] [-6.24720204e-02 -1.30357241e-04 9.98046707e-01 -1.29135590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.82, Y:-168.15, Z:-12.91 [[ 7.35018706e-01 6.76301297e-01 4.86215672e-02 2.49818462e+02] [-6.74875011e-01 7.36624911e-01 -4.39028539e-02 -1.68154295e+02] [-6.55074147e-02 -5.44061769e-04 9.97851934e-01 -1.29141090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.84, Y:-168.18, Z:-12.92 [[ 7.31403793e-01 6.80178012e-01 4.90546888e-02 2.49841630e+02] [-6.78732056e-01 7.33046464e-01 -4.43359611e-02 -1.68177137e+02] [-6.61157121e-02 -8.67499607e-04 9.97811585e-01 -1.29152678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.87, Y:-168.20, Z:-12.92 [[ 7.29735145e-01 6.81984796e-01 4.88196279e-02 2.49866551e+02] [-6.80553824e-01 7.31365675e-01 -4.41672098e-02 -1.68199033e+02] [-6.58263656e-02 -9.94019170e-04 9.97830598e-01 -1.29161315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.89, Y:-168.22, Z:-12.92 [[ 7.28592307e-01 6.83248494e-01 4.82156301e-02 2.49891664e+02] [-6.81852487e-01 7.30185163e-01 -4.36670837e-02 -1.68220246e+02] [-6.50418068e-02 -1.06044604e-03 9.97881976e-01 -1.29165544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.92, Y:-168.24, Z:-12.92 [[ 7.27717289e-01 6.84218197e-01 4.76760518e-02 2.49917012e+02] [-6.82852405e-01 7.29276524e-01 -4.32243513e-02 -1.68241651e+02] [-6.43439130e-02 -1.10059889e-03 9.97927176e-01 -1.29168336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.94, Y:-168.26, Z:-12.92 [[ 7.27866927e-01 6.84027756e-01 4.81224038e-02 2.49943188e+02] [-6.82632754e-01 7.29455212e-01 -4.36762643e-02 -1.68262025e+02] [-6.49789154e-02 -1.05942075e-03 9.97886075e-01 -1.29201012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.97, Y:-168.28, Z:-12.92 [[ 7.27948342e-01 6.83959608e-01 4.78588111e-02 2.49967999e+02] [-6.82576706e-01 7.29519176e-01 -4.34834851e-02 -1.68283098e+02] [-6.46548679e-02 -1.01357875e-03 9.97907170e-01 -1.29216750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:249.99, Y:-168.30, Z:-12.92 [[ 7.29119134e-01 6.82730796e-01 4.75809724e-02 2.49992765e+02] [-6.81358484e-01 7.30669494e-01 -4.32747912e-02 -1.68304052e+02] [-6.43109976e-02 -8.67220889e-04 9.97929528e-01 -1.29225093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.02, Y:-168.33, Z:-12.92 [[ 7.29296921e-01 6.82573815e-01 4.71061368e-02 2.50017364e+02] [-6.81225922e-01 7.30816203e-01 -4.28826400e-02 -1.68325057e+02] [-6.36964952e-02 -8.15744165e-04 9.97968983e-01 -1.29232222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.04, Y:-168.35, Z:-12.93 [[ 7.29133069e-01 6.82682947e-01 4.80516633e-02 2.50042247e+02] [-6.81277862e-01 7.30714264e-01 -4.37851357e-02 -1.68345350e+02] [-6.50034012e-02 -8.11344038e-04 9.97884713e-01 -1.29252261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13864 meters Centerline goodness [0,1] 0.999951045185294 Centerline is valid? [True, True] Translation: X:250.07, Y:-168.37, Z:-12.93 [[ 7.29961651e-01 6.81793991e-01 4.80930559e-02 2.50068644e+02] [-6.80381699e-01 7.31543890e-01 -4.38666282e-02 -1.68365479e+02] [-6.50901847e-02 -7.00678721e-04 9.97879139e-01 -1.29267053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.09, Y:-168.39, Z:-12.93 [[ 7.29612997e-01 6.82137381e-01 4.85125546e-02 2.50092967e+02] [-6.80697916e-01 7.31223700e-01 -4.42972696e-02 -1.68387474e+02] [-6.56903531e-02 -7.02531179e-04 9.97839809e-01 -1.29284732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.12, Y:-168.41, Z:-12.93 [[ 7.29981973e-01 6.81838260e-01 4.71477121e-02 2.50116386e+02] [-6.80475336e-01 7.31502698e-01 -4.30943100e-02 -1.68408780e+02] [-6.38720279e-02 -6.24785859e-04 9.97957902e-01 -1.29309085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.14, Y:-168.43, Z:-12.93 [[ 7.30089925e-01 6.81726027e-01 4.70991091e-02 2.50140830e+02] [-6.80363580e-01 7.31607324e-01 -4.30827484e-02 -1.68430354e+02] [-6.38286840e-02 -5.90237876e-04 9.97960696e-01 -1.29318576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.17, Y:-168.45, Z:-12.93 [[ 7.29741149e-01 6.82103205e-01 4.70433190e-02 2.50165410e+02] [-6.80742837e-01 7.31255672e-01 -4.30619636e-02 -1.68452388e+02] [-6.37733972e-02 -6.00315656e-04 9.97964225e-01 -1.29323625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.19, Y:-168.47, Z:-12.93 [[ 7.29602555e-01 6.82337517e-01 4.57779986e-02 2.50188674e+02] [-6.81047223e-01 7.31037061e-01 -4.19463278e-02 -1.68474033e+02] [-6.20869667e-02 -5.72830928e-04 9.98070579e-01 -1.29319386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.21, Y:-168.50, Z:-12.93 [[ 7.29265236e-01 6.82762786e-01 4.48017210e-02 2.50213378e+02] [-6.81525466e-01 7.30639895e-01 -4.10899464e-02 -1.68495197e+02] [-6.07886110e-02 -5.68044309e-04 9.98150501e-01 -1.29326453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.24, Y:-168.52, Z:-12.94 [[ 7.28786189e-01 6.83260644e-01 4.50064695e-02 2.50238384e+02] [-6.82010399e-01 7.30174331e-01 -4.13190408e-02 -1.68516352e+02] [-6.10942432e-02 -5.82133956e-04 9.98131832e-01 -1.29352846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.26, Y:-168.54, Z:-12.94 [[ 7.28483656e-01 6.83580572e-01 4.50462419e-02 2.50263401e+02] [-6.82325958e-01 7.29874831e-01 -4.14006939e-02 -1.68537937e+02] [-6.11788282e-02 -5.76491301e-04 9.98126655e-01 -1.29376296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40864 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:250.29, Y:-168.56, Z:-12.94 [[ 7.28603309e-01 6.83434107e-01 4.53325412e-02 2.50287528e+02] [-6.82160392e-01 7.30012011e-01 -4.17092811e-02 -1.68560598e+02] [-6.15988448e-02 -5.34543859e-04 9.98100845e-01 -1.29382558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.31, Y:-168.58, Z:-12.94 [[ 7.28703350e-01 6.83345029e-01 4.50666069e-02 2.50311686e+02] [-6.82083317e-01 7.30095425e-01 -4.15092706e-02 -1.68583442e+02] [-6.12680773e-02 -4.91236132e-04 9.98121226e-01 -1.29385231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:250.34, Y:-168.60, Z:-12.94 [[ 7.29260364e-01 6.82797841e-01 4.43444433e-02 2.50335893e+02] [-6.81572738e-01 7.30607242e-01 -4.08859419e-02 -1.68603978e+02] [-6.03152043e-02 -4.07466701e-04 9.98179298e-01 -1.29390925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.36, Y:-168.63, Z:-12.94 [[ 7.28958471e-01 6.83136402e-01 4.40931236e-02 2.50360801e+02] [-6.81923362e-01 7.30290691e-01 -4.06944112e-02 -1.68625422e+02] [-6.00006314e-02 -4.03595323e-04 9.98198258e-01 -1.29403265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52864 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:250.39, Y:-168.65, Z:-12.94 [[ 7.29040727e-01 6.83071025e-01 4.37446397e-02 2.50386275e+02] [-6.81874403e-01 7.30351862e-01 -4.04160398e-02 -1.68647013e+02] [-5.95560048e-02 -3.63411030e-04 9.98224900e-01 -1.29420810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.41, Y:-168.67, Z:-12.94 [[ 7.28221796e-01 6.83890535e-01 4.45729901e-02 2.50409852e+02] [-6.82647040e-01 7.29584519e-01 -4.12243662e-02 -1.68668652e+02] [-6.07127173e-02 -4.07137782e-04 9.98155198e-01 -1.29432931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.43, Y:-168.69, Z:-12.94 [[ 7.26891590e-01 6.85232535e-01 4.56616844e-02 2.50434007e+02] [-6.83927621e-01 7.28324187e-01 -4.22715950e-02 -1.68689449e+02] [-6.22223813e-02 -5.02420345e-04 9.98062184e-01 -1.29433826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.46, Y:-168.71, Z:-12.95 [[ 7.26002344e-01 6.86171881e-01 4.57027933e-02 2.50459159e+02] [-6.84863851e-01 7.27439237e-01 -4.23516489e-02 -1.68711066e+02] [-6.23065157e-02 -5.52794642e-04 9.98056908e-01 -1.29455310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.48, Y:-168.73, Z:-12.95 [[ 7.25635899e-01 6.86560902e-01 4.56800775e-02 2.50483213e+02] [-6.85252100e-01 7.27072088e-01 -4.23761406e-02 -1.68732936e+02] [-6.23065107e-02 -5.52720208e-04 9.98056909e-01 -1.29468258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.51, Y:-168.75, Z:-12.95 [[ 7.24674205e-01 6.87617123e-01 4.50553940e-02 2.50507962e+02] [-6.86343204e-01 7.26073226e-01 -4.18411006e-02 -1.68754560e+02] [-6.14841724e-02 -6.02297166e-04 9.98107877e-01 -1.29473296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.53, Y:-168.78, Z:-12.95 [[ 7.23429835e-01 6.88889572e-01 4.56117396e-02 2.50531784e+02] [-6.87583756e-01 7.24865977e-01 -4.24015688e-02 -1.68775646e+02] [-6.22723968e-02 -6.87331299e-04 9.98058954e-01 -1.29487010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.56, Y:-168.80, Z:-12.95 [[ 7.22116049e-01 6.90236771e-01 4.60609629e-02 2.50556340e+02] [-6.88905264e-01 7.23583159e-01 -4.28596415e-02 -1.68796510e+02] [-6.29122376e-02 -7.82004821e-04 9.98018757e-01 -1.29491420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.58, Y:-168.82, Z:-12.95 [[ 7.21515001e-01 6.90781422e-01 4.72983153e-02 2.50581498e+02] [-6.89375802e-01 7.23063173e-01 -4.40528245e-02 -1.68816814e+02] [-6.46305427e-02 -8.21540302e-04 9.97908923e-01 -1.29502678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.61, Y:-168.84, Z:-12.95 [[ 7.20359749e-01 6.92050100e-01 4.63518158e-02 2.50607434e+02] [-6.90700164e-01 7.21848928e-01 -4.32135282e-02 -1.68837256e+02] [-6.33649350e-02 -8.85920463e-04 9.97990030e-01 -1.29519787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.63, Y:-168.86, Z:-12.95 [[ 7.19249245e-01 6.93188712e-01 4.65825464e-02 2.50632009e+02] [-6.91824687e-01 7.20755502e-01 -4.34753864e-02 -1.68859125e+02] [-6.37112737e-02 -9.57316756e-04 9.97967914e-01 -1.29539890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.66, Y:-168.88, Z:-12.96 [[ 7.19510047e-01 6.92933757e-01 4.63476192e-02 2.50657332e+02] [-6.91580145e-01 7.21000695e-01 -4.33001323e-02 -1.68879522e+02] [-6.34207890e-02 -8.98212970e-04 9.97986471e-01 -1.29552560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.68, Y:-168.90, Z:-12.96 [[ 7.19007153e-01 6.93448715e-01 4.64499106e-02 2.50682850e+02] [-6.92087443e-01 7.20505409e-01 -4.34387789e-02 -1.68901258e+02] [-6.35899772e-02 -9.14607124e-04 9.97975690e-01 -1.29565232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.71, Y:-168.92, Z:-12.96 [[ 7.18364308e-01 6.94111628e-01 4.64948257e-02 2.50707740e+02] [-6.92746117e-01 7.19866768e-01 -4.35276197e-02 -1.68923287e+02] [-6.36831068e-02 -9.40421553e-04 9.97969728e-01 -1.29584891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.73, Y:-168.94, Z:-12.96 [[ 7.18987662e-01 6.93574170e-01 4.48509934e-02 2.50733357e+02] [-6.92300508e-01 7.20384737e-01 -4.20218656e-02 -1.68943728e+02] [-6.14552517e-02 -8.37162653e-04 9.98109489e-01 -1.29589488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.76, Y:-168.96, Z:-12.96 [[ 7.18746544e-01 6.93811984e-01 4.50370562e-02 2.50759140e+02] [-6.92526633e-01 7.20155691e-01 -4.22213454e-02 -1.68964484e+02] [-6.17273678e-02 -8.42914848e-04 9.98092692e-01 -1.29604348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.78, Y:-168.98, Z:-12.96 [[ 7.18311998e-01 6.94159873e-01 4.65826549e-02 2.50784269e+02] [-6.92782516e-01 7.19820334e-01 -4.37158110e-02 -1.68984972e+02] [-6.38769040e-02 -8.70057364e-04 9.97957406e-01 -1.29613795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.81, Y:-169.00, Z:-12.96 [[ 7.17103439e-01 6.95338908e-01 4.76073611e-02 2.50810152e+02] [-6.93900054e-01 7.18681341e-01 -4.47196248e-02 -1.69004576e+02] [-6.53098172e-02 -9.66153731e-04 9.97864567e-01 -1.29625831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.84, Y:-169.02, Z:-12.96 [[ 7.17328771e-01 6.95141714e-01 4.70896096e-02 2.50835802e+02] [-6.93730944e-01 7.18872153e-01 -4.42742050e-02 -1.69024856e+02] [-6.46282558e-02 -9.08358264e-04 9.97908996e-01 -1.29638687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.86, Y:-169.04, Z:-12.97 [[ 7.17374507e-01 6.95234973e-01 4.49683079e-02 2.50864494e+02] [-6.93946926e-01 7.18782027e-01 -4.23091163e-02 -1.69042004e+02] [-6.17371888e-02 -8.54137551e-04 9.98092075e-01 -1.29654233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.89, Y:-169.06, Z:-12.97 [[ 7.17920220e-01 6.94703362e-01 4.44724253e-02 2.50891239e+02] [-6.93441188e-01 7.19295924e-01 -4.18651701e-02 -1.69060822e+02] [-6.10727087e-02 -7.83159290e-04 9.98133013e-01 -1.29670231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15864 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:250.92, Y:-169.08, Z:-12.97 [[ 7.17607041e-01 6.94988131e-01 4.50736190e-02 2.50917526e+02] [-6.93689528e-01 7.19020776e-01 -4.24730903e-02 -1.69080559e+02] [-6.19271622e-02 -7.88108830e-04 9.98080360e-01 -1.29695984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.95, Y:-169.10, Z:-12.97 [[ 7.18003300e-01 6.94539267e-01 4.56778810e-02 2.50945268e+02] [-6.93201760e-01 7.19454432e-01 -4.30887492e-02 -1.69099137e+02] [-6.27899823e-02 -7.26123396e-04 9.98026498e-01 -1.29692765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.97, Y:-169.12, Z:-12.97 [[ 7.18176556e-01 6.94390396e-01 4.52151793e-02 2.50970991e+02] [-6.93076895e-01 7.19598168e-01 -4.26953645e-02 -1.69118984e+02] [-6.21840112e-02 -6.74786235e-04 9.98064474e-01 -1.29704547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.00, Y:-169.14, Z:-12.97 [[ 7.19128067e-01 6.93414836e-01 4.50631611e-02 2.50999919e+02] [-6.92105788e-01 7.20538376e-01 -4.25914001e-02 -1.69135609e+02] [-6.20032457e-02 -5.59803379e-04 9.98075791e-01 -1.29718152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.03, Y:-169.16, Z:-12.97 [[ 7.19968530e-01 6.92519602e-01 4.54083415e-02 2.51026129e+02] [-6.91185983e-01 7.21398914e-01 -4.29597990e-02 -1.69155858e+02] [-6.25080311e-02 -4.55905813e-04 9.98044357e-01 -1.29737004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.05, Y:-169.18, Z:-12.97 [[ 7.21004915e-01 6.91474370e-01 4.48899615e-02 2.51050656e+02] [-6.90166375e-01 7.22400918e-01 -4.25122017e-02 -1.69176633e+02] [-6.18246473e-02 -3.30035689e-04 9.98086972e-01 -1.29746341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.08, Y:-169.20, Z:-12.98 [[ 7.23463198e-01 6.88905247e-01 4.48392890e-02 2.51075331e+02] [-6.87592688e-01 7.24851402e-01 -4.25057777e-02 -1.69198853e+02] [-6.17842748e-02 -7.98013327e-05 9.98089524e-01 -1.29757277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.10, Y:-169.22, Z:-12.98 [[ 7.24189343e-01 6.88106870e-01 4.53732366e-02 2.51100385e+02] [-6.86758373e-01 7.25609354e-01 -4.30581296e-02 -1.69221129e+02] [-6.25518397e-02 2.17884493e-05 9.98041716e-01 -1.29768678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39864 meters Centerline goodness [0,1] 0.9998531643091381 Centerline is valid? [True, True] Translation: X:251.13, Y:-169.24, Z:-12.98 [[ 7.25672991e-01 6.86583856e-01 4.47360895e-02 2.51126480e+02] [-6.85267342e-01 7.27050600e-01 -4.24981855e-02 -1.69241834e+02] [-6.17039688e-02 1.83604254e-04 9.98094478e-01 -1.29789398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42864000000003 meters Centerline goodness [0,1] 0.9998042190788508 Centerline is valid? [True, True] Translation: X:251.15, Y:-169.26, Z:-12.98 [[ 7.25482915e-01 6.86841527e-01 4.38549413e-02 2.51149864e+02] [-6.85574372e-01 7.26807183e-01 -4.17025221e-02 -1.69264560e+02] [-6.05171102e-02 1.88643481e-04 9.98167142e-01 -1.29802941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.17, Y:-169.29, Z:-12.98 [[ 7.24943581e-01 6.87464823e-01 4.29990940e-02 2.51172128e+02] [-6.86245581e-01 7.26217661e-01 -4.09256739e-02 -1.69288101e+02] [-5.93616627e-02 1.60866322e-04 9.98236529e-01 -1.29818048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:251.19, Y:-169.31, Z:-12.98 [[ 7.24207733e-01 6.88203190e-01 4.35835967e-02 2.51193521e+02] [-6.86949448e-01 7.25517989e-01 -4.15223268e-02 -1.69313114e+02] [-6.01964812e-02 1.31062437e-04 9.98186539e-01 -1.29818224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.22, Y:-169.34, Z:-12.98 [[ 7.22824424e-01 6.89597027e-01 4.45060896e-02 2.51216426e+02] [-6.88289565e-01 7.24193302e-01 -4.24445180e-02 -1.69336227e+02] [-6.15006254e-02 4.68572679e-05 9.98107044e-01 -1.29828540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54864 meters Centerline goodness [0,1] 0.9999021191210297 Centerline is valid? [True, True] Translation: X:251.24, Y:-169.36, Z:-12.98 [[ 7.19102498e-01 6.93497170e-01 4.41958394e-02 2.51239659e+02] [-6.92212717e-01 7.20459305e-01 -4.21893792e-02 -1.69359377e+02] [-6.10995189e-02 -2.54434067e-04 9.98131647e-01 -1.29837439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.26, Y:-169.38, Z:-12.99 [[ 7.17048860e-01 6.95661683e-01 4.35402832e-02 2.51263244e+02] [-6.94416437e-01 7.18369447e-01 -4.16070806e-02 -1.69382112e+02] [-6.02224609e-02 -4.00778684e-04 9.98184900e-01 -1.29858857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.29, Y:-169.40, Z:-12.99 [[ 7.15133591e-01 6.97593264e-01 4.41314487e-02 2.51286264e+02] [-6.96314957e-01 7.16493787e-01 -4.22153280e-02 -1.69403939e+02] [-6.10690372e-02 -5.39788700e-04 9.98133399e-01 -1.29882887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.31, Y:-169.42, Z:-12.99 [[ 7.12759806e-01 7.00012250e-01 4.42301878e-02 2.51311086e+02] [-6.98730424e-01 7.14130472e-01 -4.23492968e-02 -1.69424041e+02] [-6.12311514e-02 -7.20101373e-04 9.98123353e-01 -1.29883214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.34, Y:-169.45, Z:-12.99 [[ 7.12335260e-01 7.00445207e-01 4.42152709e-02 2.51335832e+02] [-6.99162541e-01 7.13705810e-01 -4.23763783e-02 -1.69445451e+02] [-6.12390268e-02 -7.27472667e-04 9.98122864e-01 -1.29894409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.36, Y:-169.47, Z:-12.99 [[ 7.12603836e-01 7.00197689e-01 4.38060440e-02 2.51360000e+02] [-6.98935634e-01 7.13948701e-01 -4.20265602e-02 -1.69466732e+02] [-6.07021685e-02 -6.69317121e-04 9.98155699e-01 -1.29911293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72864 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:251.38, Y:-169.49, Z:-12.99 [[ 7.13362020e-01 6.99439577e-01 4.35764380e-02 2.51384352e+02] [-6.98186975e-01 7.14691506e-01 -4.18449491e-02 -1.69487892e+02] [-6.04117236e-02 -5.73904007e-04 9.98173379e-01 -1.29919293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:251.41, Y:-169.51, Z:-12.99 [[ 7.14170410e-01 6.98585598e-01 4.40316609e-02 2.51410093e+02] [-6.97302488e-01 7.15526334e-01 -4.23238263e-02 -1.69509026e+02] [-6.10726284e-02 -4.76962303e-04 9.98133211e-01 -1.29934081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78864 meters Centerline goodness [0,1] 0.999803854263718 Centerline is valid? [True, True] Translation: X:251.44, Y:-169.53, Z:-12.99 [[ 7.15873375e-01 6.96875823e-01 4.34672053e-02 2.51436164e+02] [-6.95620221e-01 7.17191743e-01 -4.18152114e-02 -1.69528048e+02] [-6.03143306e-02 -3.02270484e-04 9.98179388e-01 -1.29935669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:251.46, Y:-169.55, Z:-13.00 [[ 7.16321194e-01 6.96484847e-01 4.23415289e-02 2.51460801e+02] [-6.95291557e-01 7.17571457e-01 -4.07535774e-02 -1.69549420e+02] [-5.87673218e-02 -2.47056330e-04 9.98271677e-01 -1.29951499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.48, Y:-169.57, Z:-13.00 [[ 7.15886570e-01 6.96976417e-01 4.15967948e-02 2.51484434e+02] [-6.95823460e-01 7.17094003e-01 -4.00737261e-02 -1.69571006e+02] [-5.77592542e-02 -2.55783371e-04 9.98330508e-01 -1.29966546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.51, Y:-169.59, Z:-13.00 [[ 7.15399230e-01 6.97492617e-01 4.13278459e-02 2.51510475e+02] [-6.96353196e-01 7.16591918e-01 -3.98528438e-02 -1.69592251e+02] [-5.74122646e-02 -2.68083829e-04 9.98350520e-01 -1.29971040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90864 meters Centerline goodness [0,1] 0.9997546855068198 Centerline is valid? [True, True] Translation: X:251.54, Y:-169.61, Z:-13.00 [[ 7.14930218e-01 6.97993332e-01 4.09889101e-02 2.51535513e+02] [-6.96870987e-01 7.16104205e-01 -3.95676073e-02 -1.69614145e+02] [-5.69702569e-02 -2.75904046e-04 9.98375838e-01 -1.29982721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93864 meters Centerline goodness [0,1] 0.9998040080356705 Centerline is valid? [True, True] Translation: X:251.56, Y:-169.64, Z:-13.00 [[ 7.15686549e-01 6.97159262e-01 4.19729401e-02 2.51560761e+02] [-6.95978349e-01 7.16916264e-01 -4.05611657e-02 -1.69635984e+02] [-5.83686758e-02 -1.83176903e-04 9.98295079e-01 -1.29999175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:251.59, Y:-169.66, Z:-13.00 [[ 7.16320993e-01 6.96482418e-01 4.23848597e-02 2.51585237e+02] [-6.95274416e-01 7.17573851e-01 -4.10031002e-02 -1.69658248e+02] [-5.89722054e-02 -9.77271327e-05 9.98259620e-01 -1.30008407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.61, Y:-169.68, Z:-13.00 [[ 7.16706897e-01 6.96010664e-01 4.35933280e-02 2.51608800e+02] [-6.94729218e-01 7.18031444e-01 -4.22156329e-02 -1.69680667e+02] [-6.06839109e-02 -2.93234160e-05 9.98157033e-01 -1.30019612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.63, Y:-169.70, Z:-13.00 [[ 7.19356135e-01 6.93233134e-01 4.42105622e-02 2.51632079e+02] [-6.91907387e-01 7.20713373e-01 -4.28532558e-02 -1.69703179e+02] [-6.15704402e-02 2.37137886e-04 9.98102712e-01 -1.30045728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05864 meters Centerline goodness [0,1] 0.9999020136201068 Centerline is valid? [True, True] Translation: X:251.66, Y:-169.73, Z:-13.01 [[ 7.20634919e-01 6.91934444e-01 4.37268572e-02 2.51655810e+02] [-6.90632699e-01 7.21960238e-01 -4.24251169e-02 -1.69725704e+02] [-6.09244520e-02 3.73823271e-04 9.98142310e-01 -1.30053272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08864 meters Centerline goodness [0,1] 0.9999020807833537 Centerline is valid? [True, True] Translation: X:251.68, Y:-169.75, Z:-13.01 [[ 7.23214937e-01 6.89323432e-01 4.23481001e-02 2.51679929e+02] [-6.88095596e-01 7.24453476e-01 -4.11292016e-02 -1.69748079e+02] [-5.90305507e-02 6.05711728e-04 9.98255993e-01 -1.30059880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.70, Y:-169.77, Z:-13.01 [[ 7.23639409e-01 6.88895060e-01 4.20666295e-02 2.51703413e+02] [-6.87680314e-01 7.24860781e-01 -4.08978551e-02 -1.69771931e+02] [-5.86667802e-02 6.66906684e-04 9.98277398e-01 -1.30070796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14864 meters Centerline goodness [0,1] 0.9999510427886028 Centerline is valid? [True, True] Translation: X:251.73, Y:-169.80, Z:-13.01 [[ 7.24428478e-01 6.88040491e-01 4.24695494e-02 2.51725348e+02] [-6.86798443e-01 7.25671885e-01 -4.13305429e-02 -1.69796163e+02] [-5.92560450e-02 7.73001934e-04 9.98242517e-01 -1.30080384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17864000000003 meters Centerline goodness [0,1] 0.9998530060267529 Centerline is valid? [True, True] Translation: X:251.75, Y:-169.82, Z:-13.01 [[ 7.28093962e-01 6.84238453e-01 4.11937101e-02 2.51745203e+02] [-6.83061844e-01 7.29257555e-01 -4.01240150e-02 -1.69821613e+02] [-5.74952182e-02 1.07620146e-03 9.98345202e-01 -1.30091656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20864 meters Centerline goodness [0,1] 0.9996085722673451 Centerline is valid? [True, True] Translation: X:251.77, Y:-169.85, Z:-13.01 [[ 7.28674086e-01 6.83635315e-01 4.09491589e-02 2.51767401e+02] [-6.82469585e-01 7.29822888e-01 -3.99226446e-02 -1.69846116e+02] [-5.71781631e-02 1.14404106e-03 9.98363335e-01 -1.30112047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23864 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:251.79, Y:-169.87, Z:-13.01 [[ 7.30195138e-01 6.82037736e-01 4.04918208e-02 2.51789040e+02] [-6.80893679e-01 7.31315864e-01 -3.95082870e-02 -1.69870316e+02] [-5.65584535e-02 1.27813422e-03 9.98398471e-01 -1.30109698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26864 meters Centerline goodness [0,1] 0.999509611612397 Centerline is valid? [True, True] Translation: X:251.81, Y:-169.90, Z:-13.01 [[ 7.32239548e-01 6.79828582e-01 4.07227731e-02 2.51807986e+02] [-6.78666940e-01 7.33369576e-01 -3.97523481e-02 -1.69896250e+02] [-5.68896253e-02 1.47104162e-03 9.98379390e-01 -1.30122712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29864 meters Centerline goodness [0,1] 0.9995589100176436 Centerline is valid? [True, True] Translation: X:251.83, Y:-169.92, Z:-13.01 [[ 7.32468034e-01 6.79555987e-01 4.11611568e-02 2.51828524e+02] [-6.78366784e-01 7.33622048e-01 -4.02143909e-02 -1.69921258e+02] [-5.75246622e-02 1.53339427e-03 9.98342908e-01 -1.30144772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32864 meters Centerline goodness [0,1] 0.9995591260899382 Centerline is valid? [True, True] Translation: X:251.85, Y:-169.95, Z:-13.02 [[ 7.32223151e-01 6.79890406e-01 3.99786587e-02 2.51845413e+02] [-6.78767231e-01 7.33312226e-01 -3.90925119e-02 -1.69949883e+02] [-5.58954630e-02 1.48823877e-03 9.98435517e-01 -1.30156993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35864 meters Centerline goodness [0,1] 0.9997550100445882 Centerline is valid? [True, True] Translation: X:251.87, Y:-169.98, Z:-13.02 [[ 7.30932666e-01 6.81226677e-01 4.08369050e-02 2.51866188e+02] [-6.80054682e-01 7.32071125e-01 -3.99686994e-02 -1.69976012e+02] [-5.71232632e-02 1.44309955e-03 9.98366090e-01 -1.30185648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38864 meters Centerline goodness [0,1] 0.9999019896108987 Centerline is valid? [True, True] Translation: X:251.89, Y:-170.00, Z:-13.02 [[ 7.29732342e-01 6.82553388e-01 4.01445014e-02 2.51886631e+02] [-6.81420711e-01 7.30834499e-01 -3.93287288e-02 -1.70001664e+02] [-5.61829437e-02 1.34415069e-03 9.98419586e-01 -1.30197372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41864 meters Centerline goodness [0,1] 0.9998039119564684 Centerline is valid? [True, True] Translation: X:251.90, Y:-170.03, Z:-13.02 [[ 7.25709496e-01 6.86839469e-01 3.99658747e-02 2.51904834e+02] [-6.85721738e-01 7.26808424e-01 -3.91817937e-02 -1.70029564e+02] [-5.59591367e-02 1.02913071e-03 9.98432529e-01 -1.30199295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.93, Y:-170.05, Z:-13.02 [[ 7.23130536e-01 6.89522753e-01 4.05043398e-02 2.51925834e+02] [-6.88378136e-01 7.24263532e-01 -3.97225110e-02 -1.70054695e+02] [-5.67253913e-02 8.42258753e-04 9.98389463e-01 -1.30214627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47864 meters Centerline goodness [0,1] 0.9999510619555643 Centerline is valid? [True, True] Translation: X:251.94, Y:-170.08, Z:-13.02 [[ 7.17751992e-01 6.95053198e-01 4.16308828e-02 2.51944267e+02] [-6.93851960e-01 7.18958180e-01 -4.08484170e-02 -1.70081209e+02] [-5.83226866e-02 4.33363017e-04 9.98297689e-01 -1.30231958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.97, Y:-170.11, Z:-13.02 [[ 7.15228070e-01 6.97575787e-01 4.28582396e-02 2.51966320e+02] [-6.96304643e-01 7.16510957e-01 -4.20938543e-02 -1.70105373e+02] [-6.00720518e-02 2.64314939e-04 9.98194009e-01 -1.30240437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53864 meters Centerline goodness [0,1] 0.9999510379945162 Centerline is valid? [True, True] Translation: X:251.99, Y:-170.13, Z:-13.03 [[ 7.12709233e-01 7.00102258e-01 4.36162581e-02 2.51989068e+02] [-6.98787612e-01 7.14042591e-01 -4.28841736e-02 -1.70129005e+02] [-6.11671726e-02 8.54456418e-05 9.98127532e-01 -1.30255146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.01, Y:-170.15, Z:-13.02 [[ 7.07772092e-01 7.05170402e-01 4.23482081e-02 2.52012099e+02] [-7.03937681e-01 7.09037804e-01 -4.16789369e-02 -1.70152213e+02] [-5.94172331e-02 -3.11311004e-04 9.98233187e-01 -1.30247491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.04, Y:-170.17, Z:-13.03 [[ 7.07396192e-01 7.05548709e-01 4.23278572e-02 2.52035490e+02] [-7.04315428e-01 7.08661359e-01 -4.16995977e-02 -1.70174796e+02] [-5.94172141e-02 -3.14026305e-04 9.98233187e-01 -1.30260439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.06, Y:-170.20, Z:-13.03 [[ 7.04857143e-01 7.08078481e-01 4.24414053e-02 2.52059190e+02] [-7.06840579e-01 7.06133569e-01 -4.18542682e-02 -1.70196727e+02] [-5.96054076e-02 -4.98027598e-04 9.98221893e-01 -1.30289189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.08, Y:-170.22, Z:-13.03 [[ 7.01116180e-01 7.11811366e-01 4.19604742e-02 2.52083721e+02] [-7.10605774e-01 7.02370254e-01 -4.14181205e-02 -1.70217126e+02] [-5.89536778e-02 -7.78440824e-04 9.98260416e-01 -1.30291056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.11, Y:-170.24, Z:-13.03 [[ 6.98831056e-01 7.14031836e-01 4.23520075e-02 2.52107946e+02] [-7.12805348e-01 7.00112591e-01 -4.18437151e-02 -1.70238745e+02] [-5.95289184e-02 -9.47049828e-04 9.98226132e-01 -1.30302095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.13, Y:-170.26, Z:-13.03 [[ 6.97026318e-01 7.15780326e-01 4.25774222e-02 2.52132475e+02] [-7.14541629e-01 6.98324688e-01 -4.21056963e-02 -1.70259450e+02] [-5.98712941e-02 -1.07456223e-03 9.98205527e-01 -1.30306917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74864 meters Centerline goodness [0,1] 0.9999019703950593 Centerline is valid? [True, True] Translation: X:252.16, Y:-170.28, Z:-13.03 [[ 6.94634594e-01 7.18028705e-01 4.37899507e-02 2.52158836e+02] [-7.16720360e-01 6.96012320e-01 -4.33448445e-02 -1.70277790e+02] [-6.16011878e-02 -1.27632084e-03 9.98100027e-01 -1.30320240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77864 meters Centerline goodness [0,1] 0.9998039696152904 Centerline is valid? [True, True] Translation: X:252.18, Y:-170.30, Z:-13.03 [[ 6.93731087e-01 7.18932247e-01 4.32851456e-02 2.52183794e+02] [-7.17653236e-01 6.95078917e-01 -4.28851135e-02 -1.70298860e+02] [-6.09180831e-02 -1.31298841e-03 9.98141905e-01 -1.30340608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80864 meters Centerline goodness [0,1] 0.9994121681199177 Centerline is valid? [True, True] Translation: X:252.21, Y:-170.32, Z:-13.04 [[ 6.93151006e-01 7.19445977e-01 4.40359956e-02 2.52210240e+02] [-7.18120397e-01 6.94547092e-01 -4.36741612e-02 -1.70318477e+02] [-6.20062722e-02 -1.35035786e-03 9.98074846e-01 -1.30360828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83864 meters Centerline goodness [0,1] 0.9989709917679341 Centerline is valid? [True, True] Translation: X:252.24, Y:-170.34, Z:-13.04 [[ 6.93336375e-01 7.19297332e-01 4.35433036e-02 2.52236142e+02] [-7.17998538e-01 6.94701140e-01 -4.32252931e-02 -1.70338331e+02] [-6.13414206e-02 -1.29436026e-03 9.98116003e-01 -1.30363236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86864 meters Centerline goodness [0,1] 0.9992166079122601 Centerline is valid? [True, True] Translation: X:252.26, Y:-170.36, Z:-13.04 [[ 6.93311696e-01 7.19269757e-01 4.43836591e-02 2.52262320e+02] [-7.17917512e-01 6.94729704e-01 -4.41031135e-02 -1.70358444e+02] [-6.25566821e-02 -1.28660165e-03 9.98040583e-01 -1.30386275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89864 meters Centerline goodness [0,1] 0.9986285938188765 Centerline is valid? [True, True] Translation: X:252.29, Y:-170.38, Z:-13.04 [[ 6.94782209e-01 7.17830189e-01 4.46934119e-02 2.52289850e+02] [-7.16453135e-01 6.96217304e-01 -4.44563934e-02 -1.70376190e+02] [-6.30284681e-02 -1.13322384e-03 9.98011086e-01 -1.30393081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92864000000003 meters Centerline goodness [0,1] 0.9979894076108278 Centerline is valid? [True, True] Translation: X:252.31, Y:-170.40, Z:-13.04 [[ 6.95468519e-01 7.17114479e-01 4.55012508e-02 2.52314860e+02] [-7.15682715e-01 6.96954596e-01 -4.53049932e-02 -1.70398068e+02] [-6.42011724e-02 -1.05626220e-03 9.97936418e-01 -1.30416641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95864 meters Centerline goodness [0,1] 0.9976906446540881 Centerline is valid? [True, True] Translation: X:252.34, Y:-170.42, Z:-13.04 [[ 6.98029496e-01 7.14717779e-01 4.39695336e-02 2.52341455e+02] [-7.13373388e-01 6.99412535e-01 -4.38236774e-02 -1.70416931e+02] [-6.20744043e-02 -7.76475765e-04 9.98071223e-01 -1.30435918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98864 meters Centerline goodness [0,1] 0.9976981095112156 Centerline is valid? [True, True] Translation: X:252.37, Y:-170.44, Z:-13.04 [[ 6.99587282e-01 7.13228142e-01 4.33964570e-02 2.52366734e+02] [-7.11913276e-01 7.00931700e-01 -4.32924837e-02 -1.70437793e+02] [-6.12953701e-02 -6.07642860e-04 9.98119486e-01 -1.30449609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01864 meters Centerline goodness [0,1] 0.9984813599176995 Centerline is valid? [True, True] Translation: X:252.39, Y:-170.46, Z:-13.05 [[ 7.02348799e-01 7.10520360e-01 4.32085933e-02 2.52391611e+02] [-7.09209274e-01 7.03676561e-01 -4.31451389e-02 -1.70458185e+02] [-6.10603739e-02 -3.40998647e-04 9.98134016e-01 -1.30468086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04864 meters Centerline goodness [0,1] 0.997106424717999 Centerline is valid? [True, True] Translation: X:252.42, Y:-170.48, Z:-13.05 [[ 7.02962475e-01 7.09943974e-01 4.27002632e-02 2.52415163e+02] [-7.08660136e-01 7.04258111e-01 -4.26769740e-02 -1.70479885e+02] [-6.03702672e-02 -2.59663084e-04 9.98176018e-01 -1.30469281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07864 meters Centerline goodness [0,1] 0.9972587987664594 Centerline is valid? [True, True] Translation: X:252.43, Y:-170.48, Z:-13.05 [[ 6.54405865e-01 7.55086944e-01 3.99583548e-02 2.52431246e+02] [-7.53708969e-01 6.55624610e-01 -4.55978174e-02 -1.70475742e+02] [-6.06279974e-02 -2.77491207e-04 9.98160392e-01 -1.30475648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10864 meters Centerline goodness [0,1] 0.9972594695115983 Centerline is valid? [True, True] Translation: X:252.37, Y:-170.63, Z:-11.44 [[ 7.10864281e-01 -7.03235493e-01 -1.14811026e-02 2.52369492e+02] [-7.03072733e-01 -7.10951176e-01 1.53999262e-02 -1.70633197e+02] [-1.89922781e-02 -2.87520728e-03 -9.99815496e-01 -1.14391475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13864 meters Centerline goodness [0,1] 0.997109260166585 Centerline is valid? [True, True] Translation: X:252.45, Y:-170.51, Z:-13.05 [[ 7.07340545e-01 7.05565241e-01 4.29772572e-02 2.52449332e+02] [-7.04274679e-01 7.08644961e-01 -4.26555462e-02 -1.70508128e+02] [-6.05518875e-02 -9.57966903e-05 9.98165046e-01 -1.30495745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16864 meters Centerline goodness [0,1] 0.9967669246595474 Centerline is valid? [True, True] Translation: X:252.47, Y:-170.53, Z:-13.05 [[ 7.08739576e-01 7.04158408e-01 4.30017464e-02 2.52472042e+02] [-7.02861032e-01 7.10042910e-01 -4.27251269e-02 -1.70532664e+02] [-6.06183424e-02 5.67365007e-05 9.98161016e-01 -1.30514779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19864 meters Centerline goodness [0,1] 0.9964728359378827 Centerline is valid? [True, True] Translation: X:252.50, Y:-170.56, Z:-13.05 [[ 7.09333019e-01 7.03574404e-01 4.27752976e-02 2.52495107e+02] [-7.02286895e-01 7.10621587e-01 -4.25450037e-02 -1.70556100e+02] [-6.03306255e-02 1.38044972e-04 9.98178439e-01 -1.30527242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22864 meters Centerline goodness [0,1] 0.996515850426931 Centerline is valid? [True, True] Translation: X:252.52, Y:-170.58, Z:-13.05 [[ 7.10088975e-01 7.02816471e-01 4.26925611e-02 2.52518536e+02] [-7.01529877e-01 7.11371178e-01 -4.25073998e-02 -1.70579760e+02] [-6.02451582e-02 2.33928809e-04 9.98183583e-01 -1.30531444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25864 meters Centerline goodness [0,1] 0.9962770647594787 Centerline is valid? [True, True] Translation: X:252.54, Y:-170.60, Z:-13.05 [[ 7.11142556e-01 7.01749631e-01 4.27050425e-02 2.52541208e+02] [-7.00457651e-01 7.12423560e-01 -4.25646623e-02 -1.70604215e+02] [-6.02938144e-02 3.56468943e-04 9.98180609e-01 -1.30536479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28864 meters Centerline goodness [0,1] 0.9964740450538687 Centerline is valid? [True, True] Translation: X:252.56, Y:-170.63, Z:-13.05 [[ 7.10750634e-01 7.02147867e-01 4.26838303e-02 2.52564230e+02] [-7.00855186e-01 7.12031072e-01 -4.25882742e-02 -1.70627394e+02] [-6.02954793e-02 3.54459102e-04 9.98180509e-01 -1.30546908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31864 meters Centerline goodness [0,1] 0.9953458749755046 Centerline is valid? [True, True] Translation: X:252.59, Y:-170.65, Z:-13.05 [[ 7.09539513e-01 7.03401021e-01 4.21981502e-02 2.52586493e+02] [-7.02137335e-01 7.10793169e-01 -4.21454023e-02 -1.70651180e+02] [-5.96392759e-02 2.74931494e-04 9.98219956e-01 -1.30546609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34864 meters Centerline goodness [0,1] 0.995837618138191 Centerline is valid? [True, True] Translation: X:252.61, Y:-170.68, Z:-13.06 [[ 7.07963016e-01 7.04941102e-01 4.29698865e-02 2.52608217e+02] [-7.03631087e-01 7.09265826e-01 -4.29567363e-02 -1.70675417e+02] [-6.07590410e-02 1.76832591e-04 9.98152447e-01 -1.30569991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37864 meters Centerline goodness [0,1] 0.9951083500464707 Centerline is valid? [True, True] Translation: X:252.57, Y:-170.82, Z:-11.45 [[ 7.54171679e-01 -6.56553898e-01 -1.27302113e-02 2.52570127e+02] [-6.56393305e-01 -7.54273929e-01 1.47874673e-02 -1.70824690e+02] [-1.93108358e-02 -2.79626352e-03 -9.99809618e-01 -1.14513967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40864 meters Centerline goodness [0,1] 0.9943627450980392 Centerline is valid? [True, True] Translation: X:252.63, Y:-170.71, Z:-13.06 [[ 7.54182564e-01 6.55154015e-01 4.45182707e-02 2.52626096e+02] [-6.54015439e-01 7.55495345e-01 -3.86081474e-02 -1.70711447e+02] [-5.89276291e-02 1.95524462e-06 9.98262257e-01 -1.30573358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43864 meters Centerline goodness [0,1] 0.994172094617758 Centerline is valid? [True, True] Translation: X:252.65, Y:-170.73, Z:-13.06 [[ 7.51409855e-01 6.58257503e-01 4.56101968e-02 2.52649356e+02] [-6.57065759e-01 7.52792808e-01 -3.95926281e-02 -1.70733878e+02] [-6.03971726e-02 -2.18607685e-04 9.98174400e-01 -1.30592782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46864 meters Centerline goodness [0,1] 0.9946649698986834 Centerline is valid? [True, True] Translation: X:252.67, Y:-170.76, Z:-13.06 [[ 7.50082750e-01 6.59729717e-01 4.61797449e-02 2.52673237e+02] [-6.58508352e-01 7.51502897e-01 -4.01266373e-02 -1.70757408e+02] [-6.11769471e-02 -3.11449261e-04 9.98126888e-01 -1.30599307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49864 meters Centerline goodness [0,1] 0.9933826773197393 Centerline is valid? [True, True] Translation: X:252.70, Y:-170.78, Z:-13.06 [[ 7.49141009e-01 6.60810004e-01 4.60205088e-02 2.52698063e+02] [-6.59596482e-01 7.50553133e-01 -4.00309304e-02 -1.70779485e+02] [-6.09936763e-02 -3.66154097e-04 9.98138085e-01 -1.30608682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52864 meters Centerline goodness [0,1] 0.993232972098269 Centerline is valid? [True, True] Translation: X:252.72, Y:-170.80, Z:-13.06 [[ 7.48411055e-01 6.61686666e-01 4.52951363e-02 2.52723988e+02] [-6.60510228e-01 7.49780365e-01 -3.94416295e-02 -1.70800446e+02] [-6.00594042e-02 -3.99349313e-04 9.98194725e-01 -1.30617074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55864 meters Centerline goodness [0,1] 0.9933450773145429 Centerline is valid? [True, True] Translation: X:252.75, Y:-170.82, Z:-13.06 [[ 7.47164985e-01 6.63109902e-01 4.50526789e-02 2.52749512e+02] [-6.61946096e-01 7.48521896e-01 -3.92726037e-02 -1.70821379e+02] [-5.97649689e-02 -4.79330572e-04 9.98212362e-01 -1.30640179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58864 meters Centerline goodness [0,1] 0.9929553348662002 Centerline is valid? [True, True] Translation: X:252.78, Y:-170.84, Z:-13.07 [[ 7.43999157e-01 6.66720341e-01 4.41502194e-02 2.52775009e+02] [-6.65606658e-01 7.45307631e-01 -3.85267797e-02 -1.70842972e+02] [-5.85920831e-02 -7.22788340e-04 9.98281746e-01 -1.30651458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61864 meters Centerline goodness [0,1] 0.9927039467241211 Centerline is valid? [True, True] Translation: X:252.80, Y:-170.86, Z:-13.07 [[ 7.41852074e-01 6.69176126e-01 4.31139371e-02 2.52800091e+02] [-6.68116015e-01 7.43103333e-01 -3.76620221e-02 -1.70864200e+02] [-5.72406364e-02 -8.65462591e-04 9.98360036e-01 -1.30657184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64864 meters Centerline goodness [0,1] 0.9922154222766217 Centerline is valid? [True, True] Translation: X:252.83, Y:-170.88, Z:-13.07 [[ 7.37982099e-01 6.73510543e-01 4.20234508e-02 2.52825354e+02] [-6.72508322e-01 7.39176733e-01 -3.67466168e-02 -1.70883992e+02] [-5.58119909e-02 -1.14277498e-03 9.98440642e-01 -1.30660657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67864000000003 meters Centerline goodness [0,1] 0.9920588235294118 Centerline is valid? [True, True] Translation: X:252.85, Y:-170.90, Z:-13.07 [[ 7.36482922e-01 6.75156838e-01 4.19064436e-02 2.52850297e+02] [-6.74160943e-01 7.37673173e-01 -3.66785035e-02 -1.70904137e+02] [-5.56770017e-02 -1.23859610e-03 9.98448064e-01 -1.30679806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70864 meters Centerline goodness [0,1] 0.9922571792610017 Centerline is valid? [True, True] Translation: X:252.88, Y:-170.92, Z:-13.07 [[ 7.33953433e-01 6.77927204e-01 4.15579681e-02 2.52876305e+02] [-6.76950363e-01 7.35127686e-01 -3.64073019e-02 -1.70923017e+02] [-5.52319132e-02 -1.41141737e-03 9.98472555e-01 -1.30691877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73864 meters Centerline goodness [0,1] 0.9918691222570533 Centerline is valid? [True, True] Translation: X:252.90, Y:-170.94, Z:-13.07 [[ 7.33107782e-01 6.78827731e-01 4.17838705e-02 2.52901920e+02] [-6.77839784e-01 7.34296108e-01 -3.66395038e-02 -1.70942899e+02] [-5.55536447e-02 -1.46206435e-03 9.98454633e-01 -1.30705082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76864 meters Centerline goodness [0,1] 0.9914261917593454 Centerline is valid? [True, True] Translation: X:252.93, Y:-170.96, Z:-13.07 [[ 7.32857999e-01 6.79096377e-01 4.18002879e-02 2.52927490e+02] [-6.78106101e-01 7.34047675e-01 -3.66896013e-02 -1.70963241e+02] [-5.55991795e-02 -1.45676251e-03 9.98452107e-01 -1.30718230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79864 meters Centerline goodness [0,1] 0.9914329074264454 Centerline is valid? [True, True] Translation: X:252.95, Y:-170.98, Z:-13.07 [[ 7.33478886e-01 6.78388021e-01 4.24077406e-02 2.52953084e+02] [-6.77365361e-01 7.34702489e-01 -3.72615252e-02 -1.70982435e+02] [-5.64348449e-02 -1.39499256e-03 9.98405310e-01 -1.30724896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82864 meters Centerline goodness [0,1] 0.9919725893294176 Centerline is valid? [True, True] Translation: X:252.98, Y:-171.00, Z:-13.07 [[ 7.33411166e-01 6.78383387e-01 4.36353287e-02 2.52979456e+02] [-6.77298392e-01 7.34706745e-01 -3.83782147e-02 -1.71002172e+02] [-5.80943136e-02 -1.40712679e-03 9.98310107e-01 -1.30733007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85864 meters Centerline goodness [0,1] 0.9922643818849449 Centerline is valid? [True, True] Translation: X:253.01, Y:-171.02, Z:-13.07 [[ 7.31962193e-01 6.79894560e-01 4.44379916e-02 2.53008322e+02] [-6.78769628e-01 7.33308298e-01 -3.91245610e-02 -1.71018453e+02] [-5.91873242e-02 -1.52545955e-03 9.98245728e-01 -1.30742448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88864 meters Centerline goodness [0,1] 0.9921683798335781 Centerline is valid? [True, True] Translation: X:253.04, Y:-171.04, Z:-13.08 [[ 7.30943784e-01 6.81028990e-01 4.38257864e-02 2.53035135e+02] [-6.79934723e-01 7.32254776e-01 -3.86227276e-02 -1.71037876e+02] [-5.83948386e-02 -1.56763125e-03 9.98292335e-01 -1.30757860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91864 meters Centerline goodness [0,1] 0.9918269466059805 Centerline is valid? [True, True] Translation: X:253.06, Y:-171.06, Z:-13.08 [[ 7.30278268e-01 6.81817306e-01 4.26475392e-02 2.53062032e+02] [-6.80780231e-01 7.31520836e-01 -3.76236996e-02 -1.71057614e+02] [-5.68500531e-02 -1.55783143e-03 9.98381513e-01 -1.30778435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94864 meters Centerline goodness [0,1] 0.9910841130652035 Centerline is valid? [True, True] Translation: X:253.09, Y:-171.08, Z:-13.08 [[ 7.30583926e-01 6.81577672e-01 4.12189615e-02 2.53089049e+02] [-6.80606572e-01 7.31744315e-01 -3.63998745e-02 -1.71075723e+02] [-5.49710825e-02 -1.46073288e-03 9.98486878e-01 -1.30799033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97864 meters Centerline goodness [0,1] 0.9927504286064168 Centerline is valid? [True, True] Translation: X:253.11, Y:-171.09, Z:-13.08 [[ 7.31139290e-01 6.80955912e-01 4.16459564e-02 2.53114933e+02] [-6.79961643e-01 7.32323069e-01 -3.68115023e-02 -1.71094537e+02] [-5.55653047e-02 -1.40331734e-03 9.98454069e-01 -1.30805784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00864 meters Centerline goodness [0,1] 0.9946257572796561 Centerline is valid? [True, True] Translation: X:253.14, Y:-171.11, Z:-13.08 [[ 7.33149884e-01 6.78633898e-01 4.41279936e-02 2.53143871e+02] [-6.77511042e-01 7.34475604e-01 -3.90432412e-02 -1.71109946e+02] [-5.89070017e-02 -1.27265522e-03 9.98262664e-01 -1.30815243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03864 meters Centerline goodness [0,1] 0.9950056309063311 Centerline is valid? [True, True] Translation: X:253.17, Y:-171.13, Z:-13.08 [[ 7.34581722e-01 6.77024126e-01 4.50336132e-02 2.53170699e+02] [-6.75849370e-01 7.35959941e-01 -3.98822582e-02 -1.71128659e+02] [-6.01441864e-02 -1.13916116e-03 9.98189050e-01 -1.30831289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06864 meters Centerline goodness [0,1] 0.9949662789561138 Centerline is valid? [True, True] Translation: X:253.20, Y:-171.15, Z:-13.08 [[ 7.35860630e-01 6.75579143e-01 4.58470870e-02 2.53196620e+02] [-6.74356360e-01 7.37286783e-01 -4.06411189e-02 -1.71147415e+02] [-6.12587435e-02 -1.01107528e-03 9.98121407e-01 -1.30839479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09864 meters Centerline goodness [0,1] 0.9969164504918996 Centerline is valid? [True, True] Translation: X:253.23, Y:-171.16, Z:-13.09 [[ 7.39994691e-01 6.71093222e-01 4.51856751e-02 2.53225131e+02] [-6.69894858e-01 7.41372730e-01 -4.00918190e-02 -1.71163333e+02] [-6.04047754e-02 -6.01918192e-04 9.98173783e-01 -1.30867680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12864 meters Centerline goodness [0,1] 0.9969205200899404 Centerline is valid? [True, True] Translation: X:253.25, Y:-171.18, Z:-13.09 [[ 7.41746012e-01 6.69157665e-01 4.51760272e-02 2.53251955e+02] [-6.67953964e-01 7.43120344e-01 -4.01205119e-02 -1.71181588e+02] [-6.04181730e-02 -4.16276752e-04 9.98173067e-01 -1.30890877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15864 meters Centerline goodness [0,1] 0.9979942272882931 Centerline is valid? [True, True] Translation: X:253.28, Y:-171.20, Z:-13.09 [[ 7.45029428e-01 6.65523781e-01 4.48246303e-02 2.53279925e+02] [-6.64329951e-01 7.46376640e-01 -3.98450539e-02 -1.71198160e+02] [-5.99738879e-02 -9.26067081e-05 9.98199942e-01 -1.30903038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18864 meters Centerline goodness [0,1] 0.9982377129430194 Centerline is valid? [True, True] Translation: X:253.31, Y:-171.22, Z:-13.09 [[ 7.45859587e-01 6.64630559e-01 4.42684630e-02 2.53305454e+02] [-6.63462386e-01 7.47172149e-01 -3.93883605e-02 -1.71218799e+02] [-5.92548707e-02 7.72625242e-06 9.98242886e-01 -1.30906274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21864 meters Centerline goodness [0,1] 0.9984824750342667 Centerline is valid? [True, True] Translation: X:253.33, Y:-171.24, Z:-13.09 [[ 7.47247139e-01 6.63049918e-01 4.45703902e-02 2.53331283e+02] [-6.61860421e-01 7.48575165e-01 -3.96989319e-02 -1.71240061e+02] [-5.96866607e-02 1.65536074e-04 9.98217148e-01 -1.30920858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24864 meters Centerline goodness [0,1] 0.9986794483028465 Centerline is valid? [True, True] Translation: X:253.36, Y:-171.26, Z:-13.09 [[ 7.49990450e-01 6.60034496e-01 4.32294910e-02 2.53358243e+02] [-6.58908236e-01 7.51235173e-01 -3.85441634e-02 -1.71259944e+02] [-5.79159916e-02 4.23486806e-04 9.98321370e-01 -1.30921734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27864 meters Centerline goodness [0,1] 0.9985806577916992 Centerline is valid? [True, True] Translation: X:253.38, Y:-171.28, Z:-13.09 [[ 7.51695411e-01 6.58093314e-01 4.32111057e-02 2.53383722e+02] [-6.56963026e-01 7.52936143e-01 -3.85583634e-02 -1.71279672e+02] [-5.79102044e-02 5.96046035e-04 9.98321618e-01 -1.30948754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30864 meters Centerline goodness [0,1] 0.9986782200029373 Centerline is valid? [True, True] Translation: X:253.41, Y:-171.30, Z:-13.10 [[ 7.54172110e-01 6.55221206e-01 4.36989599e-02 2.53408194e+02] [-6.54059373e-01 7.55436606e-01 -3.90111532e-02 -1.71299774e+02] [-5.85727288e-02 8.39409359e-04 9.98282791e-01 -1.30975287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33864 meters Centerline goodness [0,1] 0.9987763093489965 Centerline is valid? [True, True] Translation: X:253.43, Y:-171.32, Z:-13.10 [[ 7.55592196e-01 6.53591145e-01 4.35780691e-02 2.53431973e+02] [-6.52431140e-01 7.56847170e-01 -3.89354309e-02 -1.71320834e+02] [-5.84297912e-02 9.87618441e-04 9.98291032e-01 -1.30973445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36864 meters Centerline goodness [0,1] 0.9989714957390537 Centerline is valid? [True, True] Translation: X:253.46, Y:-171.34, Z:-13.10 [[ 7.56547619e-01 6.52527799e-01 4.29321682e-02 2.53455952e+02] [-6.51398839e-01 7.57764028e-01 -3.83826864e-02 -1.71342507e+02] [-5.75782226e-02 1.07236553e-03 9.98340422e-01 -1.30981755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39864 meters Centerline goodness [0,1] 0.9988745902040417 Centerline is valid? [True, True] Translation: X:253.48, Y:-171.37, Z:-13.10 [[ 7.57100418e-01 6.51850564e-01 4.34718357e-02 2.53478934e+02] [-6.50691323e-01 7.58346577e-01 -3.88750838e-02 -1.71365096e+02] [-5.83074631e-02 1.14559588e-03 9.98298015e-01 -1.31002445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42864000000003 meters Centerline goodness [0,1] 0.9990205201038249 Centerline is valid? [True, True] Translation: X:253.50, Y:-171.39, Z:-13.10 [[ 7.56498233e-01 6.52575049e-01 4.30839889e-02 2.53502308e+02] [-6.51436592e-01 7.57723308e-01 -3.85454932e-02 -1.71387809e+02] [-5.77995696e-02 1.09311058e-03 9.98327609e-01 -1.31015742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45864 meters Centerline goodness [0,1] 0.9990205201038249 Centerline is valid? [True, True] Translation: X:253.53, Y:-171.41, Z:-13.10 [[ 7.56170542e-01 6.52955894e-01 4.30663627e-02 2.53526788e+02] [-6.51816934e-01 7.57395149e-01 -3.85651794e-02 -1.71409289e+02] [-5.77996154e-02 1.09046808e-03 9.98327609e-01 -1.31028656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48864 meters Centerline goodness [0,1] 0.999265102150801 Centerline is valid? [True, True] Translation: X:253.55, Y:-171.43, Z:-13.10 [[ 7.55273997e-01 6.53982691e-01 4.32183967e-02 2.53548528e+02] [-6.52835061e-01 7.56508789e-01 -3.87406162e-02 -1.71434307e+02] [-5.80307894e-02 1.04529545e-03 9.98314247e-01 -1.31047961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51864 meters Centerline goodness [0,1] 0.9995092506257055 Centerline is valid? [True, True] Translation: X:253.57, Y:-171.46, Z:-13.11 [[ 7.54899872e-01 6.54416558e-01 4.31874019e-02 2.53571953e+02] [-6.53269008e-01 7.56133510e-01 -3.87520076e-02 -1.71457684e+02] [-5.80153972e-02 1.04089438e-03 9.98315146e-01 -1.31057932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54864 meters Centerline goodness [0,1] 0.9991658897993229 Centerline is valid? [True, True] Translation: X:253.60, Y:-171.48, Z:-13.11 [[ 7.54630949e-01 6.54691838e-01 4.37118672e-02 2.53595104e+02] [-6.53514337e-01 7.55895144e-01 -3.92624916e-02 -1.71481014e+02] [-5.87464209e-02 1.06235940e-03 9.98272372e-01 -1.31081807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57864 meters Centerline goodness [0,1] 0.9991183817407063 Centerline is valid? [True, True] Translation: X:253.62, Y:-171.50, Z:-13.11 [[ 7.53687447e-01 6.55757516e-01 4.40149122e-02 2.53618407e+02] [-6.54563059e-01 7.54970891e-01 -3.95746751e-02 -1.71504900e+02] [-5.91813682e-02 1.01640027e-03 9.98246729e-01 -1.31089436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60864 meters Centerline goodness [0,1] 0.9997061560311474 Centerline is valid? [True, True] Translation: X:253.64, Y:-171.53, Z:-13.11 [[ 7.52469426e-01 6.57152337e-01 4.40518890e-02 2.53638863e+02] [-6.55955977e-01 7.53757208e-01 -3.96462738e-02 -1.71530705e+02] [-5.92580704e-02 9.36509017e-04 9.98242257e-01 -1.31110037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63864 meters Centerline goodness [0,1] 0.9997550100445882 Centerline is valid? [True, True] Translation: X:253.66, Y:-171.55, Z:-13.11 [[ 7.51588228e-01 6.58148253e-01 4.42268351e-02 2.53662113e+02] [-6.56941878e-01 7.52887831e-01 -3.98407222e-02 -1.71554640e+02] [-5.95189477e-02 8.89357677e-04 9.98226780e-01 -1.31131727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66864 meters Centerline goodness [0,1] 0.9997548418730081 Centerline is valid? [True, True] Translation: X:253.68, Y:-171.58, Z:-13.12 [[ 7.49680240e-01 6.60272973e-01 4.49348330e-02 2.53684165e+02] [-6.59028898e-01 7.51025311e-01 -4.05202986e-02 -1.71579747e+02] [-6.05016550e-02 7.63913672e-04 9.98167805e-01 -1.31153585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69864 meters Centerline goodness [0,1] 0.9998039311798441 Centerline is valid? [True, True] Translation: X:253.71, Y:-171.60, Z:-13.12 [[ 7.48102914e-01 6.62069754e-01 4.47847062e-02 2.53706874e+02] [-6.60834812e-01 7.49441941e-01 -4.04243579e-02 -1.71603317e+02] [-6.03272819e-02 6.46287089e-04 9.98178442e-01 -1.31170369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72864 meters Centerline goodness [0,1] 0.9996561041513142 Centerline is valid? [True, True] Translation: X:253.73, Y:-171.63, Z:-13.12 [[ 7.47162510e-01 6.63124468e-01 4.48789846e-02 2.53729496e+02] [-6.61884497e-01 7.48508917e-01 -4.05378142e-02 -1.71625906e+02] [-6.04739366e-02 5.83630853e-04 9.98169606e-01 -1.31169854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75864 meters Centerline goodness [0,1] 0.9999020040178352 Centerline is valid? [True, True] Translation: X:253.75, Y:-171.65, Z:-13.12 [[ 7.43533118e-01 6.67131925e-01 4.57547462e-02 2.53752951e+02] [-6.65849088e-01 7.44939538e-01 -4.13530693e-02 -1.71648871e+02] [-6.16724722e-02 2.81620487e-04 9.98096402e-01 -1.31178820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78864 meters Centerline goodness [0,1] 0.9999019607843137 Centerline is valid? [True, True] Translation: X:253.78, Y:-171.67, Z:-13.12 [[ 7.41062150e-01 6.69877145e-01 4.57329263e-02 2.53777189e+02] [-6.68598062e-01 7.42471954e-01 -4.13766768e-02 -1.71671189e+02] [-6.16727053e-02 8.57432352e-05 9.98096423e-01 -1.31186641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81864 meters Centerline goodness [0,1] 0.9999510954616588 Centerline is valid? [True, True] Translation: X:253.80, Y:-171.69, Z:-13.12 [[ 7.36692614e-01 6.74732849e-01 4.49396807e-02 2.53801739e+02] [-6.73504209e-01 7.38061991e-01 -4.07010737e-02 -1.71693151e+02] [-6.06306217e-02 -2.82883728e-04 9.98160231e-01 -1.31200300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:253.83, Y:-171.71, Z:-13.12 [[ 7.34156627e-01 6.77417435e-01 4.60398356e-02 2.53826408e+02] [-6.76130454e-01 7.35598657e-01 -4.17399670e-02 -1.71713257e+02] [-6.21422226e-02 -4.85261596e-04 9.98067186e-01 -1.31228595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:253.85, Y:-171.73, Z:-13.12 [[ 7.32556016e-01 6.79182894e-01 4.55222976e-02 2.53852203e+02] [-6.77925674e-01 7.33968826e-01 -4.13103223e-02 -1.71733606e+02] [-6.14692116e-02 -5.98609179e-04 9.98108801e-01 -1.31237245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90864 meters Centerline goodness [0,1] 0.9996081312760225 Centerline is valid? [True, True] Translation: X:253.88, Y:-171.75, Z:-13.13 [[ 7.29763075e-01 6.82156737e-01 4.59134128e-02 2.53879888e+02] [-6.80881046e-01 7.31205515e-01 -4.17072544e-02 -1.71750373e+02] [-6.20230252e-02 -8.25158380e-04 9.98074378e-01 -1.31253831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93864 meters Centerline goodness [0,1] 0.9998530708198649 Centerline is valid? [True, True] Translation: X:253.91, Y:-171.77, Z:-13.13 [[ 7.28371346e-01 6.83649823e-01 4.58050445e-02 2.53906922e+02] [-6.82380608e-01 7.29809614e-01 -4.16489368e-02 -1.71769821e+02] [-6.19022501e-02 -9.20581965e-04 9.98081792e-01 -1.31266386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96864 meters Centerline goodness [0,1] 0.9998528979111503 Centerline is valid? [True, True] Translation: X:253.94, Y:-171.79, Z:-13.13 [[ 7.27645283e-01 6.84384752e-01 4.63665137e-02 2.53935506e+02] [-6.83082997e-01 7.29120417e-01 -4.22023230e-02 -1.71785850e+02] [-6.26893981e-02 -9.63855905e-04 9.98032620e-01 -1.31288606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99864 meters Centerline goodness [0,1] 0.9999019992159938 Centerline is valid? [True, True] Translation: X:253.96, Y:-171.81, Z:-13.13 [[ 7.27682733e-01 6.84370755e-01 4.59838057e-02 2.53961194e+02] [-6.83088008e-01 7.29133603e-01 -4.18922627e-02 -1.71805581e+02] [-6.21981774e-02 -9.26710012e-04 9.98063389e-01 -1.31293814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02864 meters Centerline goodness [0,1] 0.9999021239111285 Centerline is valid? [True, True] Translation: X:253.99, Y:-171.83, Z:-13.13 [[ 7.29170121e-01 6.82793168e-01 4.58740078e-02 2.53987216e+02] [-6.81511589e-01 7.30611319e-01 -4.18216941e-02 -1.71825454e+02] [-6.20716364e-02 -7.68538260e-04 9.98071401e-01 -1.31317936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05864 meters Centerline goodness [0,1] 0.99980419991189 Centerline is valid? [True, True] Translation: X:254.02, Y:-171.84, Z:-13.13 [[ 7.32585853e-01 6.79201910e-01 4.47519109e-02 2.54015714e+02] [-6.77974280e-01 7.33951344e-01 -4.08203470e-02 -1.71842058e+02] [-6.05709828e-02 -4.36235769e-04 9.98163797e-01 -1.31315532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08864 meters Centerline goodness [0,1] 0.9999021287007585 Centerline is valid? [True, True] Translation: X:254.04, Y:-171.86, Z:-13.13 [[ 7.34451783e-01 6.77176735e-01 4.48580839e-02 2.54041942e+02] [-6.75937075e-01 7.35820366e-01 -4.09567963e-02 -1.71862357e+02] [-6.07424813e-02 -2.40449994e-04 9.98153442e-01 -1.31331127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11864 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:254.07, Y:-171.88, Z:-13.13 [[ 7.38030517e-01 6.73340538e-01 4.38574463e-02 2.54066297e+02] [-6.72146966e-01 7.39332476e-01 -4.00742452e-02 -1.71883008e+02] [-5.94088481e-02 9.73664134e-05 9.98233730e-01 -1.31339151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14864 meters Centerline goodness [0,1] 0.9998532720336496 Centerline is valid? [True, True] Translation: X:254.09, Y:-171.90, Z:-13.14 [[ 7.39676680e-01 6.71508307e-01 4.42154002e-02 2.54091104e+02] [-6.70291233e-01 7.40996983e-01 -4.04120591e-02 -1.71904243e+02] [-5.99005116e-02 2.54662611e-04 9.98204320e-01 -1.31354226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17864000000003 meters Centerline goodness [0,1] 0.9997553696364793 Centerline is valid? [True, True] Translation: X:254.12, Y:-171.93, Z:-13.14 [[ 7.40687096e-01 6.70391726e-01 4.42443061e-02 2.54115429e+02] [-6.69170110e-01 7.42007281e-01 -4.04544045e-02 -1.71925830e+02] [-5.99498953e-02 3.57088235e-04 9.98201324e-01 -1.31370299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20864 meters Centerline goodness [0,1] 0.9993138600274456 Centerline is valid? [True, True] Translation: X:254.14, Y:-171.95, Z:-13.14 [[ 7.42858412e-01 6.68060694e-01 4.30846694e-02 2.54138324e+02] [-6.66896651e-01 7.44106580e-01 -3.94240359e-02 -1.71949322e+02] [-5.83972348e-02 5.53454956e-04 9.98293272e-01 -1.31383308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23864 meters Centerline goodness [0,1] 0.9993153029784321 Centerline is valid? [True, True] Translation: X:254.16, Y:-171.97, Z:-13.14 [[ 7.43375000e-01 6.67471724e-01 4.33025199e-02 2.54160996e+02] [-6.66292464e-01 7.44634875e-01 -3.96642875e-02 -1.71973051e+02] [-5.87193569e-02 6.33297049e-04 9.98274329e-01 -1.31392997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26864 meters Centerline goodness [0,1] 0.9990684904642839 Centerline is valid? [True, True] Translation: X:254.18, Y:-172.00, Z:-13.14 [[ 7.44083980e-01 6.66710370e-01 4.28522212e-02 2.54182868e+02] [-6.65551931e-01 7.45316557e-01 -3.92919504e-02 -1.71998615e+02] [-5.81348207e-02 7.16132245e-04 9.98308484e-01 -1.31394302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29864 meters Centerline goodness [0,1] 0.9994615233992559 Centerline is valid? [True, True] Translation: X:254.21, Y:-172.02, Z:-13.14 [[ 7.44460002e-01 6.66292025e-01 4.28280674e-02 2.54206039e+02] [-6.65131852e-01 7.45690507e-01 -3.93101416e-02 -1.72022602e+02] [-5.81285171e-02 7.78516249e-04 9.98308805e-01 -1.31410472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32864 meters Centerline goodness [0,1] 0.9994615497576974 Centerline is valid? [True, True] Translation: X:254.23, Y:-172.05, Z:-13.14 [[ 7.45069019e-01 6.65665910e-01 4.19649116e-02 2.54228016e+02] [-6.64548861e-01 7.46249416e-01 -3.85567033e-02 -1.72046860e+02] [-5.69821737e-02 8.39670857e-04 9.98374843e-01 -1.31422561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35864 meters Centerline goodness [0,1] 0.9994617868675996 Centerline is valid? [True, True] Translation: X:254.25, Y:-172.07, Z:-13.14 [[ 7.44727735e-01 6.66081017e-01 4.14328388e-02 2.54248061e+02] [-6.64990609e-01 7.45878942e-01 -3.81063403e-02 -1.72074156e+02] [-5.62857918e-02 8.26399782e-04 9.98414356e-01 -1.31432073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38864 meters Centerline goodness [0,1] 0.9992652821316614 Centerline is valid? [True, True] Translation: X:254.27, Y:-172.10, Z:-13.14 [[ 7.45000512e-01 6.65818988e-01 4.07346564e-02 2.54270221e+02] [-6.64762566e-01 7.46112817e-01 -3.75019384e-02 -1.72098531e+02] [-5.53621520e-02 8.60088605e-04 9.98465970e-01 -1.31433884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41864 meters Centerline goodness [0,1] 0.9986792545125471 Centerline is valid? [True, True] Translation: X:254.29, Y:-172.13, Z:-13.15 [[ 7.45060418e-01 6.65730366e-01 4.10859392e-02 2.54288481e+02] [-6.64653339e-01 7.46191842e-01 -3.78638818e-02 -1.72127045e+02] [-5.58651285e-02 9.02972868e-04 9.98437916e-01 -1.31451494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44864 meters Centerline goodness [0,1] 0.9989217800431288 Centerline is valid? [True, True] Translation: X:254.31, Y:-172.15, Z:-13.15 [[ 7.45115314e-01 6.65679317e-01 4.09171782e-02 2.54309771e+02] [-6.64608915e-01 7.46237347e-01 -3.77466659e-02 -1.72152851e+02] [-5.56611013e-02 9.31697438e-04 9.98449285e-01 -1.31468954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47864 meters Centerline goodness [0,1] 0.9996079392305808 Centerline is valid? [True, True] Translation: X:254.33, Y:-172.18, Z:-13.15 [[ 7.45636475e-01 6.65007622e-01 4.23215198e-02 2.54328179e+02] [-6.63859073e-01 7.46835840e-01 -3.90814530e-02 -1.72180468e+02] [-5.75966919e-02 1.04503199e-03 9.98339386e-01 -1.31491693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50864 meters Centerline goodness [0,1] 0.9997061128526645 Centerline is valid? [True, True] Translation: X:254.35, Y:-172.21, Z:-13.15 [[ 7.44896830e-01 6.65813188e-01 4.26791771e-02 2.54350164e+02] [-6.64644302e-01 7.46117793e-01 -3.94485771e-02 -1.72205805e+02] [-5.81090763e-02 1.01864811e-03 9.98309720e-01 -1.31505017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53864 meters Centerline goodness [0,1] 0.9997055792727808 Centerline is valid? [True, True] Translation: X:254.37, Y:-172.23, Z:-13.15 [[ 7.43875703e-01 6.66933846e-01 4.29905060e-02 2.54371929e+02] [-6.65747310e-01 7.45116305e-01 -3.97770279e-02 -1.72231610e+02] [-5.85615732e-02 9.68350875e-04 9.98283329e-01 -1.31517527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56864 meters Centerline goodness [0,1] 0.9997055792727808 Centerline is valid? [True, True] Translation: X:254.39, Y:-172.26, Z:-13.15 [[ 7.41665032e-01 6.69410168e-01 4.26966872e-02 2.54390973e+02] [-6.68241647e-01 7.42892585e-01 -3.95437425e-02 -1.72258048e+02] [-5.81900356e-02 7.96506502e-04 9.98305207e-01 -1.31520876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59864 meters Centerline goodness [0,1] 0.9997550220480157 Centerline is valid? [True, True] Translation: X:254.41, Y:-172.28, Z:-13.15 [[ 7.40359206e-01 6.70881314e-01 4.22671123e-02 2.54413877e+02] [-6.69736577e-01 7.41564409e-01 -3.91809375e-02 -1.72281343e+02] [-5.76295450e-02 7.00136704e-04 9.98337791e-01 -1.31531595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:254.44, Y:-172.31, Z:-13.16 [[ 7.37072313e-01 6.74485798e-01 4.23475485e-02 2.54436009e+02] [-6.73340559e-01 7.38287688e-01 -3.92909876e-02 -1.72305359e+02] [-5.77658867e-02 4.45977119e-04 9.98330057e-01 -1.31552162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65864 meters Centerline goodness [0,1] 0.9998035170448963 Centerline is valid? [True, True] Translation: X:254.46, Y:-172.33, Z:-13.16 [[ 7.35268009e-01 6.76439897e-01 4.25443361e-02 2.54459319e+02] [-6.75285065e-01 7.36497768e-01 -3.95109918e-02 -1.72328260e+02] [-5.80606198e-02 3.21613496e-04 9.98313008e-01 -1.31570159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68864 meters Centerline goodness [0,1] 0.9997551659974537 Centerline is valid? [True, True] Translation: X:254.48, Y:-172.35, Z:-13.16 [[ 7.30471794e-01 6.81548720e-01 4.36153721e-02 2.54482149e+02] [-6.80341427e-01 7.31772737e-01 -4.05487787e-02 -1.72351896e+02] [-5.95525085e-02 -5.36054231e-05 9.98225173e-01 -1.31589017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71864 meters Centerline goodness [0,1] 0.9997060120535058 Centerline is valid? [True, True] Translation: X:254.51, Y:-172.37, Z:-13.16 [[ 7.27541066e-01 6.84666348e-01 4.37720175e-02 2.54507203e+02] [-6.83453400e-01 7.28856581e-01 -4.07373955e-02 -1.72373846e+02] [-5.97950468e-02 -2.78006021e-04 9.98210637e-01 -1.31593618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74864 meters Centerline goodness [0,1] 0.9996082464130063 Centerline is valid? [True, True] Translation: X:254.53, Y:-172.39, Z:-13.16 [[ 7.24646077e-01 6.87746448e-01 4.35073027e-02 2.54532203e+02] [-6.86551171e-01 7.25950807e-01 -4.05328878e-02 -1.72394738e+02] [-5.94605111e-02 -4.97991477e-04 9.98230534e-01 -1.31607142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77864 meters Centerline goodness [0,1] 0.9993636497136423 Centerline is valid? [True, True] Translation: X:254.56, Y:-172.41, Z:-13.16 [[ 7.22618642e-01 6.89855318e-01 4.38399180e-02 2.54558424e+02] [-6.88643151e-01 7.23946974e-01 -4.08826316e-02 -1.72414473e+02] [-5.99408768e-02 -6.47507586e-04 9.98201719e-01 -1.31616506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80864 meters Centerline goodness [0,1] 0.9991673605328892 Centerline is valid? [True, True] Translation: X:254.58, Y:-172.44, Z:-13.16 [[ 7.23268650e-01 6.89219623e-01 4.31134563e-02 2.54582803e+02] [-6.88044028e-01 7.24552275e-01 -4.02419743e-02 -1.72435338e+02] [-5.89735112e-02 -5.58197652e-04 9.98259392e-01 -1.31636919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83864 meters Centerline goodness [0,1] 0.9998040752351097 Centerline is valid? [True, True] Translation: X:254.61, Y:-172.46, Z:-13.17 [[ 7.25779157e-01 6.86600966e-01 4.27051397e-02 2.54607507e+02] [-6.85440851e-01 7.27034397e-01 -3.98976878e-02 -1.72455528e+02] [-5.84418965e-02 -3.14937134e-04 9.98290762e-01 -1.31658958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86864 meters Centerline goodness [0,1] 0.9998040752351097 Centerline is valid? [True, True] Translation: X:254.63, Y:-172.48, Z:-13.17 [[ 7.27094530e-01 6.85308031e-01 4.10663788e-02 2.54632321e+02] [-6.84231285e-01 7.28253301e-01 -3.84015268e-02 -1.72476170e+02] [-5.62236007e-02 -1.77361121e-04 9.98418187e-01 -1.31665613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89864 meters Centerline goodness [0,1] 0.9995098279496103 Centerline is valid? [True, True] Translation: X:254.66, Y:-172.50, Z:-13.17 [[ 7.28074122e-01 6.84306017e-01 4.04146942e-02 2.54657772e+02] [-6.83259645e-01 7.29194946e-01 -3.78283999e-02 -1.72497943e+02] [-5.53563924e-02 -7.18505269e-05 9.98466657e-01 -1.31676305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92864000000003 meters Centerline goodness [0,1] 0.9997547095761381 Centerline is valid? [True, True] Translation: X:254.68, Y:-172.52, Z:-13.17 [[ 7.30722011e-01 6.81463034e-01 4.06629645e-02 2.54682919e+02] [-6.80397069e-01 7.31852515e-01 -3.81015176e-02 -1.72519314e+02] [-5.57240686e-02 1.74655694e-04 9.98446192e-01 -1.31698954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95864 meters Centerline goodness [0,1] 0.999314196139904 Centerline is valid? [True, True] Translation: X:254.71, Y:-172.54, Z:-13.17 [[ 7.31744801e-01 6.80322381e-01 4.13642825e-02 2.54706804e+02] [-6.79215205e-01 7.32912935e-01 -3.87986458e-02 -1.72541136e+02] [-5.67120048e-02 2.95457713e-04 9.98390535e-01 -1.31708422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98864 meters Centerline goodness [0,1] 0.9994612068965517 Centerline is valid? [True, True] Translation: X:254.73, Y:-172.56, Z:-13.17 [[ 7.32795203e-01 6.79161577e-01 4.18418780e-02 2.54731348e+02] [-6.78024678e-01 7.33988678e-01 -3.92830446e-02 -1.72562633e+02] [-5.73909992e-02 4.16600753e-04 9.98351691e-01 -1.31726552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01864 meters Centerline goodness [0,1] 0.9994122832794593 Centerline is valid? [True, True] Translation: X:254.76, Y:-172.58, Z:-13.17 [[ 7.34157215e-01 6.77732347e-01 4.11345284e-02 2.54755323e+02] [-6.76629288e-01 7.35308484e-01 -3.86553997e-02 -1.72584841e+02] [-5.64445825e-02 5.46313909e-04 9.98405584e-01 -1.31731184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04864 meters Centerline goodness [0,1] 0.9997054925636872 Centerline is valid? [True, True] Translation: X:254.78, Y:-172.61, Z:-13.17 [[ 7.34452539e-01 6.77402369e-01 4.12976805e-02 2.54778713e+02] [-6.76287713e-01 7.35612443e-01 -3.88492265e-02 -1.72608163e+02] [-5.66956457e-02 6.03799157e-04 9.98391326e-01 -1.31741920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07864 meters Centerline goodness [0,1] 0.9996080736821478 Centerline is valid? [True, True] Translation: X:254.80, Y:-172.63, Z:-13.18 [[ 7.34206257e-01 6.77678344e-01 4.11489393e-02 2.54801609e+02] [-6.76569872e-01 7.35358205e-01 -3.87494253e-02 -1.72631308e+02] [-5.65188566e-02 6.09937895e-04 9.98401346e-01 -1.31757466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:254.82, Y:-172.66, Z:-13.18 [[ 7.33061834e-01 6.78929127e-01 4.09339625e-02 2.54823429e+02] [-6.77832003e-01 7.34203617e-01 -3.85852904e-02 -1.72655564e+02] [-5.62505408e-02 5.39053906e-04 9.98416539e-01 -1.31770697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13864 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:254.85, Y:-172.68, Z:-13.18 [[ 7.32373380e-01 6.79694765e-01 4.05494657e-02 2.54846378e+02] [-6.78617346e-01 7.33494905e-01 -3.82586209e-02 -1.72679223e+02] [-5.57470108e-02 5.02024639e-04 9.98444800e-01 -1.31784099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16864 meters Centerline goodness [0,1] 0.9997059832410448 Centerline is valid? [True, True] Translation: X:254.87, Y:-172.70, Z:-13.18 [[ 7.30554607e-01 6.81647290e-01 4.05824910e-02 2.54868103e+02] [-6.80568885e-01 7.31680822e-01 -3.83297280e-02 -1.72704087e+02] [-5.58207856e-02 3.82778687e-04 9.98440731e-01 -1.31785578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19864 meters Centerline goodness [0,1] 0.9997550460513424 Centerline is valid? [True, True] Translation: X:254.89, Y:-172.73, Z:-13.18 [[ 7.28905435e-01 6.83353975e-01 4.15236186e-02 2.54891617e+02] [-6.82225572e-01 7.30087161e-01 -3.92556544e-02 -1.72726534e+02] [-5.71413683e-02 2.85185453e-04 9.98366056e-01 -1.31800700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22864 meters Centerline goodness [0,1] 0.9997552978025742 Centerline is valid? [True, True] Translation: X:254.91, Y:-172.75, Z:-13.18 [[ 7.24904703e-01 6.87550348e-01 4.22811032e-02 2.54914739e+02] [-6.86385608e-01 7.26136708e-01 -4.00034691e-02 -1.72749626e+02] [-5.82062602e-02 -2.24378806e-05 9.98304578e-01 -1.31808066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.94, Y:-172.77, Z:-13.18 [[ 7.22962374e-01 6.89567828e-01 4.26803952e-02 2.54938140e+02] [-6.88381946e-01 7.24221089e-01 -4.04241321e-02 -1.72772995e+02] [-5.87852233e-02 -1.55286987e-04 9.98270641e-01 -1.31823787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28864 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:254.96, Y:-172.80, Z:-13.18 [[ 7.21406469e-01 6.91176202e-01 4.29902822e-02 2.54961449e+02] [-6.89973292e-01 7.22686233e-01 -4.07610744e-02 -1.72796085e+02] [-5.92415697e-02 -2.56843727e-04 9.98243643e-01 -1.31842345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31864 meters Centerline goodness [0,1] 0.9993630573248408 Centerline is valid? [True, True] Translation: X:254.99, Y:-172.82, Z:-13.18 [[ 7.20773796e-01 6.91938896e-01 4.13001059e-02 2.54985961e+02] [-6.90827822e-01 7.21956014e-01 -3.91973809e-02 -1.72817568e+02] [-5.69390523e-02 -2.78817184e-04 9.98377617e-01 -1.31831065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34864 meters Centerline goodness [0,1] 0.9997060552616108 Centerline is valid? [True, True] Translation: X:255.01, Y:-172.84, Z:-13.18 [[ 7.20320596e-01 6.92390380e-01 4.16389256e-02 2.55011504e+02] [-6.91259527e-01 7.21523026e-01 -3.95574171e-02 -1.72839279e+02] [-5.74326187e-02 -2.89281730e-04 9.98349343e-01 -1.31849539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37864 meters Centerline goodness [0,1] 0.999608323133415 Centerline is valid? [True, True] Translation: X:255.04, Y:-172.86, Z:-13.19 [[ 7.20599796e-01 6.92077751e-01 4.20038059e-02 2.55037967e+02] [-6.90923954e-01 7.21822922e-01 -3.99469629e-02 -1.72859520e+02] [-5.79657141e-02 -2.35662330e-04 9.98318547e-01 -1.31862104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40864 meters Centerline goodness [0,1] 0.999608323133415 Centerline is valid? [True, True] Translation: X:255.06, Y:-172.88, Z:-13.19 [[ 7.20232753e-01 6.92461016e-01 4.19824076e-02 2.55061758e+02] [-6.91306558e-01 7.21455256e-01 -3.99694426e-02 -1.72881711e+02] [-5.79657095e-02 -2.35412021e-04 9.98318547e-01 -1.31875012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43864 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:255.09, Y:-172.90, Z:-13.19 [[ 7.20760509e-01 6.91882046e-01 4.24679057e-02 2.55087258e+02] [-6.90697156e-01 7.22010532e-01 -4.04750626e-02 -1.72902819e+02] [-5.86662443e-02 -1.59634961e-04 9.98277640e-01 -1.31886192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.11, Y:-172.92, Z:-13.19 [[ 7.20665741e-01 6.91934788e-01 4.32104066e-02 2.55112814e+02] [-6.90705503e-01 7.21959993e-01 -4.12271377e-02 -1.72924491e+02] [-5.97226756e-02 -1.34679916e-04 9.98214999e-01 -1.31904859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49864 meters Centerline goodness [0,1] 0.9999510403916768 Centerline is valid? [True, True] Translation: X:255.14, Y:-172.95, Z:-13.19 [[ 7.21500627e-01 6.91014706e-01 4.39945623e-02 2.55138284e+02] [-6.89735891e-01 7.22840698e-01 -4.20205319e-02 -1.72945238e+02] [-6.08378656e-02 -2.67885516e-05 9.98147661e-01 -1.31921930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52864 meters Centerline goodness [0,1] 0.9999020232204967 Centerline is valid? [True, True] Translation: X:255.16, Y:-172.97, Z:-13.19 [[ 7.21408234e-01 6.91077942e-01 4.45133423e-02 2.55162729e+02] [-6.89766071e-01 7.22780242e-01 -4.25615982e-02 -1.72966908e+02] [-6.15867460e-02 4.94218714e-07 9.98101735e-01 -1.31934224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:255.19, Y:-172.99, Z:-13.19 [[ 7.20838039e-01 6.91761822e-01 4.31057275e-02 2.55188444e+02] [-6.90530459e-01 7.22125738e-01 -4.12565683e-02 -1.72986042e+02] [-5.96674742e-02 -2.65139920e-05 9.98218309e-01 -1.31942353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.21, Y:-173.01, Z:-13.20 [[ 7.20308777e-01 6.92363546e-01 4.22845907e-02 2.55212572e+02] [-6.91177570e-01 7.21548833e-01 -4.05073936e-02 -1.73007919e+02] [-5.85562397e-02 -4.83294874e-05 9.98284110e-01 -1.31955207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61864 meters Centerline goodness [0,1] 0.999951021207817 Centerline is valid? [True, True] Translation: X:255.24, Y:-173.03, Z:-13.20 [[ 7.20102306e-01 6.92620467e-01 4.15879454e-02 2.55235941e+02] [-6.91471504e-01 7.21302216e-01 -3.98782134e-02 -1.73030737e+02] [-5.76179440e-02 -4.04857338e-05 9.98338705e-01 -1.31974506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:255.26, Y:-173.05, Z:-13.20 [[ 7.19915876e-01 6.92800026e-01 4.18241015e-02 2.55260423e+02] [-6.91635777e-01 7.21129755e-01 -4.01475819e-02 -1.73053601e+02] [-5.79748498e-02 -2.41633901e-05 9.98318044e-01 -1.31970085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.29, Y:-173.08, Z:-13.20 [[ 7.19896194e-01 6.92783633e-01 4.24300410e-02 2.55285057e+02] [-6.91582771e-01 7.21145504e-01 -4.07729521e-02 -1.73075172e+02] [-5.88450672e-02 8.40771219e-06 9.98267128e-01 -1.31990465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70864 meters Centerline goodness [0,1] 0.9999021191210297 Centerline is valid? [True, True] Translation: X:255.31, Y:-173.10, Z:-13.20 [[ 7.21372643e-01 6.91192367e-01 4.32968987e-02 2.55307937e+02] [-6.89936439e-01 7.22670798e-01 -4.16488746e-02 -1.73097886e+02] [-6.00767886e-02 1.72250613e-04 9.98193744e-01 -1.31996183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73864 meters Centerline goodness [0,1] 0.9998041615667075 Centerline is valid? [True, True] Translation: X:255.33, Y:-173.12, Z:-13.20 [[ 7.22029692e-01 6.90537582e-01 4.27898459e-02 2.55330714e+02] [-6.89307439e-01 7.23296470e-01 -4.12003804e-02 -1.73121432e+02] [-5.94001556e-02 2.52538836e-04 9.98234220e-01 -1.32007409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76864 meters Centerline goodness [0,1] 0.9998530780155738 Centerline is valid? [True, True] Translation: X:255.35, Y:-173.14, Z:-13.20 [[ 7.21939665e-01 6.90599003e-01 4.33144048e-02 2.55354111e+02] [-6.89335952e-01 7.23237815e-01 -4.17493482e-02 -1.73144121e+02] [-6.01586737e-02 2.82333917e-04 9.98188787e-01 -1.32016827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79864 meters Centerline goodness [0,1] 0.9998039600078416 Centerline is valid? [True, True] Translation: X:255.38, Y:-173.17, Z:-13.20 [[ 7.21509128e-01 6.91011315e-01 4.39083298e-02 2.55379309e+02] [-6.89711398e-01 7.22843885e-01 -4.23663138e-02 -1.73165820e+02] [-6.10144699e-02 2.83606612e-04 9.98136841e-01 -1.32020220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.40, Y:-173.19, Z:-13.21 [[ 7.20995294e-01 6.91585703e-01 4.33012896e-02 2.55401650e+02] [-6.90320048e-01 7.22294363e-01 -4.18220622e-02 -1.73188589e+02] [-6.01998177e-02 2.61761747e-04 9.98186312e-01 -1.32050825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85864 meters Centerline goodness [0,1] 0.9999020520103825 Centerline is valid? [True, True] Translation: X:255.42, Y:-173.21, Z:-13.21 [[ 7.20321746e-01 6.92341614e-01 4.24225414e-02 2.55424881e+02] [-6.91125972e-01 7.21569845e-01 -4.10103742e-02 -1.73211550e+02] [-5.90040153e-02 2.21344195e-04 9.98257721e-01 -1.32061544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88864 meters Centerline goodness [0,1] 0.999804084831268 Centerline is valid? [True, True] Translation: X:255.45, Y:-173.23, Z:-13.21 [[ 7.19433093e-01 6.93264924e-01 4.24236988e-02 2.55449546e+02] [-6.92048498e-01 7.20682812e-01 -4.10507202e-02 -1.73234252e+02] [-5.90330549e-02 1.73989608e-04 9.98256013e-01 -1.32060125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91864 meters Centerline goodness [0,1] 0.9998042861336726 Centerline is valid? [True, True] Translation: X:255.47, Y:-173.25, Z:-13.21 [[ 7.16326190e-01 6.96384106e-01 4.38858309e-02 2.55474164e+02] [-6.95085467e-01 7.17669265e-01 -4.25090594e-02 -1.73254723e+02] [-6.10981454e-02 -5.40507034e-05 9.98131762e-01 -1.32073760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94864 meters Centerline goodness [0,1] 0.9999510379945162 Centerline is valid? [True, True] Translation: X:255.50, Y:-173.28, Z:-13.21 [[ 7.14561211e-01 6.98145377e-01 4.46688741e-02 2.55497307e+02] [-6.96800859e-01 7.15956005e-01 -4.33077611e-02 -1.73276805e+02] [-6.22160618e-02 -1.79263591e-04 9.98062688e-01 -1.32087064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97864 meters Centerline goodness [0,1] 0.9997061128526645 Centerline is valid? [True, True] Translation: X:255.52, Y:-173.30, Z:-13.21 [[ 7.12440654e-01 7.00335905e-01 4.42485696e-02 2.55522812e+02] [-6.99018245e-01 7.13813356e-01 -4.29416633e-02 -1.73297684e+02] [-6.16588086e-02 -3.37170790e-04 9.98097229e-01 -1.32107585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00864 meters Centerline goodness [0,1] 0.999902090370588 Centerline is valid? [True, True] Translation: X:255.55, Y:-173.32, Z:-13.21 [[ 7.12205479e-01 7.00601552e-01 4.38271826e-02 2.55548934e+02] [-6.99306664e-01 7.13552633e-01 -4.25773316e-02 -1.73318070e+02] [-6.11027461e-02 -3.24832065e-04 9.98131429e-01 -1.32114490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:255.57, Y:-173.34, Z:-13.21 [[ 7.12006206e-01 7.00840539e-01 4.32400315e-02 2.55574534e+02] [-6.99577933e-01 7.13317911e-01 -4.20508445e-02 -1.73339003e+02] [-6.03148255e-02 -3.09309528e-04 9.98179356e-01 -1.32136320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06864 meters Centerline goodness [0,1] 0.999607746996813 Centerline is valid? [True, True] Translation: X:255.60, Y:-173.36, Z:-13.21 [[ 7.13570180e-01 6.99284175e-01 4.26525594e-02 2.55597916e+02] [-6.98050415e-01 7.14843774e-01 -4.15210298e-02 -1.73361129e+02] [-5.95249156e-02 -1.45468090e-04 9.98226810e-01 -1.32146857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:255.62, Y:-173.38, Z:-13.21 [[ 7.14989364e-01 6.97849734e-01 4.23787491e-02 2.55622283e+02] [-6.96626903e-01 7.16244196e-01 -4.12941824e-02 -1.73383868e+02] [-5.91706672e-02 2.72445613e-06 9.98247881e-01 -1.32148316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12864 meters Centerline goodness [0,1] 0.9999020040178352 Centerline is valid? [True, True] Translation: X:255.65, Y:-173.40, Z:-13.21 [[ 7.17268167e-01 6.95522989e-01 4.21206285e-02 2.55649186e+02] [-6.94308459e-01 7.18503807e-01 -4.10858035e-02 -1.73403787e+02] [-5.88399528e-02 2.24830280e-04 9.98267404e-01 -1.32148414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15864 meters Centerline goodness [0,1] 0.9999020568070519 Centerline is valid? [True, True] Translation: X:255.67, Y:-173.43, Z:-13.22 [[ 7.17452323e-01 6.95295330e-01 4.27383653e-02 2.55673303e+02] [-6.94041834e-01 7.18724096e-01 -4.17325543e-02 -1.73425789e+02] [-5.97335431e-02 2.78904591e-04 9.98214319e-01 -1.32167991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18864 meters Centerline goodness [0,1] 0.9999510595605149 Centerline is valid? [True, True] Translation: X:255.70, Y:-173.45, Z:-13.22 [[ 7.17102747e-01 6.95622876e-01 4.32719814e-02 2.55696869e+02] [-6.94335738e-01 7.18407080e-01 -4.22983515e-02 -1.73449006e+02] [-6.05105987e-02 2.86980896e-04 9.98167514e-01 -1.32185794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.72, Y:-173.47, Z:-13.22 [[ 7.16390830e-01 6.96361660e-01 4.31812071e-02 2.55720158e+02] [-6.95078584e-01 7.17691001e-01 -4.22538805e-02 -1.73472092e+02] [-6.04147461e-02 2.55960246e-04 9.98173328e-01 -1.32205720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.74, Y:-173.49, Z:-13.22 [[ 7.15972672e-01 6.96814932e-01 4.28028504e-02 2.55744084e+02] [-6.95552456e-01 7.17250925e-01 -4.19272223e-02 -1.73494486e+02] [-5.99158986e-02 2.47117696e-04 9.98203398e-01 -1.32209274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27864 meters Centerline goodness [0,1] 0.9997550820475141 Centerline is valid? [True, True] Translation: X:255.77, Y:-173.52, Z:-13.22 [[ 7.17228846e-01 6.95667794e-01 4.03621481e-02 2.55765967e+02] [-6.94541608e-01 7.18363557e-01 -3.95696136e-02 -1.73518866e+02] [-5.65220021e-02 3.47277057e-04 9.98401293e-01 -1.32214080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30864 meters Centerline goodness [0,1] 0.9998528185252417 Centerline is valid? [True, True] Translation: X:255.79, Y:-173.54, Z:-13.22 [[ 7.18481851e-01 6.94433198e-01 3.93238243e-02 2.55788236e+02] [-6.93361035e-01 7.19557038e-01 -3.85764720e-02 -1.73543060e+02] [-5.50845173e-02 4.50887497e-04 9.98481594e-01 -1.32216658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.81, Y:-173.57, Z:-13.22 [[ 7.19500491e-01 6.93359089e-01 3.96511918e-02 2.55810543e+02] [-6.92265173e-01 7.20592016e-01 -3.89368320e-02 -1.73566342e+02] [-5.55695386e-02 5.65930668e-04 9.98454659e-01 -1.32228949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.83, Y:-173.59, Z:-13.22 [[ 7.20207204e-01 6.92604705e-01 4.00038385e-02 2.55833008e+02] [-6.91488058e-01 7.21317055e-01 -3.93188561e-02 -1.73588881e+02] [-5.60878757e-02 6.55546823e-04 9.98425621e-01 -1.32237631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.85, Y:-173.61, Z:-13.23 [[ 7.21549389e-01 6.91164932e-01 4.07126051e-02 2.55853830e+02] [-6.90003999e-01 7.22696607e-01 -4.00511657e-02 -1.73612778e+02] [-5.71048228e-02 8.07033863e-04 9.98367862e-01 -1.32263156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42864000000003 meters Centerline goodness [0,1] 0.9999510715334181 Centerline is valid? [True, True] Translation: X:255.87, Y:-173.64, Z:-13.23 [[ 7.21667453e-01 6.90989579e-01 4.15871283e-02 2.55874700e+02] [-6.89775824e-01 7.22864202e-01 -4.09470017e-02 -1.73637935e+02] [-5.83557978e-02 8.64322746e-04 9.98295474e-01 -1.32274482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45864 meters Centerline goodness [0,1] 0.9999020807833537 Centerline is valid? [True, True] Translation: X:255.90, Y:-173.66, Z:-13.23 [[ 7.20769094e-01 6.91902332e-01 4.19889930e-02 2.55897180e+02] [-6.90664225e-01 7.21990637e-01 -4.13817394e-02 -1.73661692e+02] [-5.89477818e-02 8.26383559e-04 9.98260726e-01 -1.32284944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.92, Y:-173.69, Z:-13.23 [[ 7.20085621e-01 6.92627663e-01 4.17566709e-02 2.55919517e+02] [-6.91401985e-01 7.21294871e-01 -4.11947126e-02 -1.73685517e+02] [-5.86514700e-02 7.93075070e-04 9.98278206e-01 -1.32294933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:255.94, Y:-173.71, Z:-13.23 [[ 7.18859746e-01 6.93856357e-01 4.24737770e-02 2.55939746e+02] [-6.92587727e-01 7.20113056e-01 -4.19455223e-02 -1.73712286e+02] [-5.96900886e-02 7.36130842e-04 9.98216686e-01 -1.32316258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.96, Y:-173.74, Z:-13.23 [[ 7.17914467e-01 6.94870985e-01 4.18704219e-02 2.55961440e+02] [-6.93637520e-01 7.19134107e-01 -4.13899382e-02 -1.73736220e+02] [-5.88711155e-02 6.71539838e-04 9.98265366e-01 -1.32324742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57864 meters Centerline goodness [0,1] 0.999804228660924 Centerline is valid? [True, True] Translation: X:255.98, Y:-173.76, Z:-13.23 [[ 7.16886138e-01 6.95978681e-01 4.10845418e-02 2.55983479e+02] [-6.94790860e-01 7.18062198e-01 -4.06489893e-02 -1.73759390e+02] [-5.77920864e-02 5.95532836e-04 9.98328463e-01 -1.32340427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60864 meters Centerline goodness [0,1] 0.9997551060390851 Centerline is valid? [True, True] Translation: X:256.00, Y:-173.78, Z:-13.24 [[ 7.14629021e-01 6.98359478e-01 3.99925151e-02 2.56004703e+02] [-6.97235752e-01 7.15747068e-01 -3.96035439e-02 -1.73783565e+02] [-5.62820356e-02 4.17630462e-04 9.98414823e-01 -1.32359160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63864 meters Centerline goodness [0,1] 0.999902099955945 Centerline is valid? [True, True] Translation: X:256.03, Y:-173.81, Z:-13.24 [[ 7.12861901e-01 7.00171414e-01 3.98484803e-02 2.56027638e+02] [-6.99056503e-01 7.13974720e-01 -3.94981542e-02 -1.73807767e+02] [-5.61062860e-02 3.00389969e-04 9.98424757e-01 -1.32357330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66864 meters Centerline goodness [0,1] 0.999804151978065 Centerline is valid? [True, True] Translation: X:256.05, Y:-173.83, Z:-13.24 [[ 7.09581463e-01 7.03433786e-01 4.09274479e-02 2.56051021e+02] [-7.02260523e-01 7.10760792e-01 -4.06110194e-02 -1.73830835e+02] [-5.76567884e-02 7.50956139e-05 9.98336461e-01 -1.32369962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69864 meters Centerline goodness [0,1] 0.9999510667449599 Centerline is valid? [True, True] Translation: X:256.07, Y:-173.85, Z:-13.24 [[ 7.07362459e-01 7.05643694e-01 4.12956244e-02 2.56074649e+02] [-7.04450425e-01 7.08566844e-01 -4.10198315e-02 -1.73853314e+02] [-5.82060956e-02 -7.48312854e-05 9.98304585e-01 -1.32383516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.10, Y:-173.88, Z:-13.24 [[ 7.05705644e-01 7.07334335e-01 4.07146487e-02 2.56098559e+02] [-7.06174798e-01 7.06879131e-01 -4.04851650e-02 -1.73875673e+02] [-5.74168828e-02 -1.81049389e-04 9.98350274e-01 -1.32391358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75864 meters Centerline goodness [0,1] 0.9996567112941984 Centerline is valid? [True, True] Translation: X:256.12, Y:-173.90, Z:-13.24 [[ 7.04097265e-01 7.08957740e-01 4.03232410e-02 2.56122230e+02] [-7.07820645e-01 7.05250908e-01 -4.01383922e-02 -1.73898018e+02] [-5.68944262e-02 -2.80290265e-04 9.98380161e-01 -1.32405858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.15, Y:-173.92, Z:-13.24 [[ 7.03201784e-01 7.09846188e-01 4.03192346e-02 2.56146182e+02] [-7.08708335e-01 7.04356647e-01 -4.01772288e-02 -1.73920539e+02] [-5.69187736e-02 -3.21878695e-04 9.98378761e-01 -1.32413750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.17, Y:-173.94, Z:-13.24 [[ 7.03793123e-01 7.09223626e-01 4.09522744e-02 2.56171528e+02] [-7.08046138e-01 7.04983538e-01 -4.08519125e-02 -1.73941687e+02] [-5.78438208e-02 -2.44804631e-04 9.98325614e-01 -1.32430901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:256.20, Y:-173.96, Z:-13.24 [[ 7.03414090e-01 7.09595486e-01 4.10227262e-02 2.56195469e+02] [-7.08412047e-01 7.04609244e-01 -4.09656588e-02 -1.73964424e+02] [-5.79740387e-02 -2.45171784e-04 9.98318061e-01 -1.32447646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87864 meters Centerline goodness [0,1] 0.9998529772114678 Centerline is valid? [True, True] Translation: X:256.22, Y:-173.99, Z:-13.25 [[ 7.03457822e-01 7.09502921e-01 4.18652341e-02 2.56219686e+02] [-7.08267497e-01 7.04702463e-01 -4.18520284e-02 -1.73987178e+02] [-5.91966700e-02 -2.10647753e-04 9.98246317e-01 -1.32470684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:256.18, Y:-174.14, Z:-11.65 [[ 7.56959878e-01 -6.53301310e-01 -1.44617415e-02 2.56177479e+02] [-6.53104736e-01 -7.57092535e-01 1.62818082e-02 -1.74142274e+02] [-2.15858031e-02 -2.87964372e-03 -9.99762852e-01 -1.16511500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.24, Y:-174.02, Z:-13.25 [[ 7.52083273e-01 6.57602567e-01 4.39273759e-02 2.56243744e+02] [-6.56498293e-01 7.53365003e-01 -3.80941356e-02 -1.74019377e+02] [-5.81441491e-02 -1.88285139e-04 9.98308180e-01 -1.32482504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.27, Y:-174.04, Z:-13.25 [[ 7.51802363e-01 6.57909577e-01 4.41383655e-02 2.56270747e+02] [-6.56792771e-01 7.53096910e-01 -3.83184050e-02 -1.74038517e+02] [-5.84505123e-02 -1.81891957e-04 9.98290291e-01 -1.32506895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99864 meters Centerline goodness [0,1] 0.9999509875998628 Centerline is valid? [True, True] Translation: X:256.30, Y:-174.06, Z:-13.25 [[ 7.51423779e-01 6.58303191e-01 4.47125641e-02 2.56296658e+02] [-6.57155312e-01 7.52752865e-01 -3.88589780e-02 -1.74058579e+02] [-5.92384999e-02 -1.83538876e-04 9.98243841e-01 -1.32521560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:256.32, Y:-174.08, Z:-13.25 [[ 7.50777884e-01 6.59025627e-01 4.49198327e-02 2.56322626e+02] [-6.57865868e-01 7.52120455e-01 -3.90809531e-02 -1.74078958e+02] [-5.95404746e-02 -2.10109456e-04 9.98225870e-01 -1.32533565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.35, Y:-174.10, Z:-13.26 [[ 7.50278185e-01 6.59517457e-01 4.60365957e-02 2.56348249e+02] [-6.58297634e-01 7.51689213e-01 -4.00942943e-02 -1.74098994e+02] [-6.10480995e-02 -2.23907636e-04 9.98134800e-01 -1.32558280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.38, Y:-174.12, Z:-13.26 [[ 7.50255360e-01 6.59539939e-01 4.60864793e-02 2.56375092e+02] [-6.58315085e-01 7.51669495e-01 -4.01773391e-02 -1.74118232e+02] [-6.11403604e-02 -1.96160485e-04 9.98129159e-01 -1.32576044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.40, Y:-174.14, Z:-13.26 [[ 7.50298128e-01 6.59598653e-01 4.45234304e-02 2.56401638e+02] [-6.58453354e-01 7.51617981e-01 -3.88534557e-02 -1.74136203e+02] [-5.90922979e-02 -1.64927002e-04 9.98252510e-01 -1.32586266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.43, Y:-174.16, Z:-13.26 [[ 7.49769073e-01 6.60239189e-01 4.39380219e-02 2.56428081e+02] [-6.59122781e-01 7.51055377e-01 -3.83794258e-02 -1.74155922e+02] [-5.83394886e-02 -1.84844623e-04 9.98296784e-01 -1.32590509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.46, Y:-174.18, Z:-13.26 [[ 7.49574929e-01 6.60455069e-01 4.40059920e-02 2.56455064e+02] [-6.59333172e-01 7.50865549e-01 -3.84798197e-02 -1.74175568e+02] [-5.84567753e-02 -1.71102180e-04 9.98289926e-01 -1.32607378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20864 meters Centerline goodness [0,1] 0.9998530924048773 Centerline is valid? [True, True] Translation: X:256.48, Y:-174.20, Z:-13.26 [[ 7.49196045e-01 6.60844386e-01 4.46092296e-02 2.56481996e+02] [-6.59689678e-01 7.50522929e-01 -3.90494763e-02 -1.74195528e+02] [-5.92858769e-02 -1.72535066e-04 9.98241031e-01 -1.32622162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:256.51, Y:-174.21, Z:-13.26 [[ 7.49866528e-01 6.60025794e-01 4.54548251e-02 2.56509942e+02] [-6.58822752e-01 7.51242933e-01 -3.98326045e-02 -1.74214289e+02] [-6.04381626e-02 -7.75361673e-05 9.98171940e-01 -1.32625750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:256.53, Y:-174.24, Z:-13.26 [[ 7.49521067e-01 6.60419513e-01 4.54338718e-02 2.56534634e+02] [-6.59215745e-01 7.50896838e-01 -3.98564943e-02 -1.74235499e+02] [-6.04381572e-02 -7.74414791e-05 9.98171941e-01 -1.32638626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29864 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:256.56, Y:-174.26, Z:-13.26 [[ 7.50235107e-01 6.59572707e-01 4.59470121e-02 2.56560354e+02] [-6.58337350e-01 7.51640768e-01 -4.03496014e-02 -1.74255619e+02] [-6.11491433e-02 2.30533851e-05 9.98128640e-01 -1.32646722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32864 meters Centerline goodness [0,1] 0.9998530852105779 Centerline is valid? [True, True] Translation: X:256.59, Y:-174.28, Z:-13.27 [[ 7.51922863e-01 6.57691364e-01 4.53219229e-02 2.56586740e+02] [-6.56483485e-01 7.53287480e-01 -3.98422714e-02 -1.74275703e+02] [-6.03443549e-02 2.05220824e-04 9.98177598e-01 -1.32656285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35864 meters Centerline goodness [0,1] 0.9999021430668363 Centerline is valid? [True, True] Translation: X:256.61, Y:-174.30, Z:-13.27 [[ 7.53220317e-01 6.56126120e-01 4.64507192e-02 2.56612017e+02] [-6.54851709e-01 7.54651163e-01 -4.08761650e-02 -1.74295877e+02] [-6.18740088e-02 3.70425108e-04 9.98083899e-01 -1.32679270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.64, Y:-174.32, Z:-13.27 [[ 7.54179808e-01 6.55019642e-01 4.64982283e-02 2.56637351e+02] [-6.53738143e-01 7.55611691e-01 -4.09562233e-02 -1.74316391e+02] [-6.19617356e-02 4.90691210e-04 9.98078405e-01 -1.32687641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41864 meters Centerline goodness [0,1] 0.999853063623451 Centerline is valid? [True, True] Translation: X:256.66, Y:-174.34, Z:-13.27 [[ 7.56026700e-01 6.52885055e-01 4.65267116e-02 2.56662429e+02] [-6.51595537e-01 7.57456680e-01 -4.10199274e-02 -1.74336766e+02] [-6.20232660e-02 6.95562653e-04 9.98074461e-01 -1.32702060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:256.69, Y:-174.36, Z:-13.27 [[ 7.56556110e-01 6.52374173e-01 4.50642891e-02 2.56686740e+02] [-6.51161511e-01 7.57896688e-01 -3.97655237e-02 -1.74358195e+02] [-6.00960760e-02 7.40719343e-04 9.98192323e-01 -1.32706043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47864 meters Centerline goodness [0,1] 0.9997552498898624 Centerline is valid? [True, True] Translation: X:256.71, Y:-174.38, Z:-13.27 [[ 7.57815471e-01 6.50871636e-01 4.56270305e-02 2.56710499e+02] [-6.49623526e-01 7.59187267e-01 -4.02984823e-02 -1.74380402e+02] [-6.08685997e-02 8.98420873e-04 9.98145383e-01 -1.32719540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50864 meters Centerline goodness [0,1] 0.9997551899725813 Centerline is valid? [True, True] Translation: X:256.73, Y:-174.40, Z:-13.27 [[ 7.58264821e-01 6.50305944e-01 4.62238050e-02 2.56734764e+02] [-6.49021626e-01 7.59671778e-01 -4.08621852e-02 -1.74401441e+02] [-6.16878421e-02 9.84108415e-04 9.98095006e-01 -1.32734001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53864 meters Centerline goodness [0,1] 0.9999510427886028 Centerline is valid? [True, True] Translation: X:256.76, Y:-174.42, Z:-13.27 [[ 7.58592163e-01 6.49900126e-01 4.65591651e-02 2.56759918e+02] [-6.48594049e-01 7.60018894e-01 -4.11951469e-02 -1.74421976e+02] [-6.21585764e-02 1.05231819e-03 9.98065731e-01 -1.32742650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56864 meters Centerline goodness [0,1] 0.9996572323964352 Centerline is valid? [True, True] Translation: X:256.78, Y:-174.44, Z:-13.28 [[ 7.58073181e-01 6.50511911e-01 4.64683407e-02 2.56784807e+02] [-6.49209700e-01 7.59495355e-01 -4.11530241e-02 -1.74443185e+02] [-6.20630212e-02 1.02930636e-03 9.98071702e-01 -1.32756068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59864 meters Centerline goodness [0,1] 0.9996081312760225 Centerline is valid? [True, True] Translation: X:256.81, Y:-174.47, Z:-13.28 [[ 7.57735060e-01 6.50861116e-01 4.70891299e-02 2.56809634e+02] [-6.49521828e-01 7.59196096e-01 -4.17454498e-02 -1.74465234e+02] [-6.29203737e-02 1.04657320e-03 9.98018001e-01 -1.32778697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62864 meters Centerline goodness [0,1] 0.9994122257053292 Centerline is valid? [True, True] Translation: X:256.83, Y:-174.49, Z:-13.28 [[ 7.57368094e-01 6.51350510e-01 4.62177825e-02 2.56834597e+02] [-6.50058867e-01 7.58776304e-01 -4.10120806e-02 -1.74485730e+02] [-6.17821977e-02 1.01696202e-03 9.98089137e-01 -1.32776542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65864 meters Centerline goodness [0,1] 0.9994607050056381 Centerline is valid? [True, True] Translation: X:256.86, Y:-174.51, Z:-13.28 [[ 7.56638041e-01 6.52146369e-01 4.69466660e-02 2.56859990e+02] [-6.50812683e-01 7.58092422e-01 -4.16981044e-02 -1.74506467e+02] [-6.27831791e-02 9.96886376e-04 9.98026692e-01 -1.32788715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68864 meters Centerline goodness [0,1] 0.9996564417177914 Centerline is valid? [True, True] Translation: X:256.88, Y:-174.53, Z:-13.28 [[ 7.56357662e-01 6.52498002e-01 4.65772874e-02 2.56884965e+02] [-6.51183292e-01 7.57789795e-01 -4.14119137e-02 -1.74528614e+02] [-6.23169840e-02 9.91866868e-04 9.98055915e-01 -1.32804778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71864 meters Centerline goodness [0,1] 0.9996081120799452 Centerline is valid? [True, True] Translation: X:256.91, Y:-174.55, Z:-13.28 [[ 7.55423022e-01 6.53568640e-01 4.67342620e-02 2.56909332e+02] [-6.52244423e-01 7.56866667e-01 -4.15939961e-02 -1.74551139e+02] [-6.25561366e-02 9.38900436e-04 9.98041005e-01 -1.32818172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74864 meters Centerline goodness [0,1] 0.9998528906977885 Centerline is valid? [True, True] Translation: X:256.93, Y:-174.57, Z:-13.28 [[ 7.54485480e-01 6.54606218e-01 4.73535667e-02 2.56934278e+02] [-6.53245924e-01 7.55969506e-01 -4.21884816e-02 -1.74572588e+02] [-6.34146948e-02 8.97072340e-04 9.97986860e-01 -1.32824298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77864 meters Centerline goodness [0,1] 0.9998040944264864 Centerline is valid? [True, True] Translation: X:256.96, Y:-174.59, Z:-13.28 [[ 7.53353472e-01 6.55882363e-01 4.77165839e-02 2.56960698e+02] [-6.54500887e-01 7.54862662e-01 -4.25552659e-02 -1.74592644e+02] [-6.39307159e-02 8.28610901e-04 9.97953995e-01 -1.32841424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80864 meters Centerline goodness [0,1] 0.9997059255991766 Centerline is valid? [True, True] Translation: X:256.99, Y:-174.61, Z:-13.29 [[ 7.52961516e-01 6.56333159e-01 4.77047023e-02 2.56985160e+02] [-6.54950503e-01 7.54470746e-01 -4.25879343e-02 -1.74614723e+02] [-6.39436758e-02 8.22856871e-04 9.97953170e-01 -1.32855802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83864 meters Centerline goodness [0,1] 0.9997062567316166 Centerline is valid? [True, True] Translation: X:257.01, Y:-174.64, Z:-13.29 [[ 7.52005313e-01 6.57259963e-01 4.99735025e-02 2.57007259e+02] [-6.55741562e-01 7.53663506e-01 -4.46578625e-02 -1.74637657e+02] [-6.70150301e-02 8.13247256e-04 9.97751635e-01 -1.32879682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86864 meters Centerline goodness [0,1] 0.9999020472132432 Centerline is valid? [True, True] Translation: X:257.03, Y:-174.66, Z:-13.29 [[ 7.51165543e-01 6.58209857e-01 5.01010038e-02 2.57031936e+02] [-6.56682938e-01 7.52834113e-01 -4.48142472e-02 -1.74659330e+02] [-6.72149241e-02 7.62443994e-04 9.97738229e-01 -1.32888114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89864 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:257.06, Y:-174.68, Z:-13.29 [[ 7.50191010e-01 6.59352121e-01 4.96812713e-02 2.57055539e+02] [-6.57850353e-01 7.51833964e-01 -4.44814973e-02 -1.74680882e+02] [-6.66810367e-02 6.86777498e-04 9.97774107e-01 -1.32903018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.08, Y:-174.70, Z:-13.29 [[ 7.48569155e-01 6.61100510e-01 5.08953350e-02 2.57077997e+02] [-6.59525573e-01 7.50297131e-01 -4.56095860e-02 -1.74704635e+02] [-6.83391444e-02 5.75154289e-04 9.97661982e-01 -1.32931638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95864 meters Centerline goodness [0,1] 0.9999510308016257 Centerline is valid? [True, True] Translation: X:257.10, Y:-174.73, Z:-13.29 [[ 7.47056404e-01 6.62794390e-01 5.10913582e-02 2.57101888e+02] [-6.61208231e-01 7.48801302e-01 -4.58288619e-02 -1.74727270e+02] [-6.86323881e-02 4.54718157e-04 9.97641914e-01 -1.32938956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.13, Y:-174.75, Z:-13.29 [[ 7.44158106e-01 6.66059802e-01 5.09220405e-02 2.57126982e+02] [-6.64489468e-01 7.45898323e-01 -4.57103731e-02 -1.74747224e+02] [-6.84285066e-02 1.78585002e-04 9.97656007e-01 -1.32938078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.15, Y:-174.77, Z:-13.30 [[ 7.41997660e-01 6.68418065e-01 5.15438000e-02 2.57151962e+02] [-6.66812721e-01 7.43785782e-01 -4.62980046e-02 -1.74768729e+02] [-6.92839682e-02 -1.70504561e-05 9.97596978e-01 -1.32961433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04864 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:257.18, Y:-174.79, Z:-13.30 [[ 7.39427369e-01 6.71254592e-01 5.16182040e-02 2.57176868e+02] [-6.69648097e-01 7.41226829e-01 -4.64135023e-02 -1.74789796e+02] [-6.94160742e-02 -2.46618211e-04 9.97587764e-01 -1.32982856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07864 meters Centerline goodness [0,1] 0.9999510595605149 Centerline is valid? [True, True] Translation: X:257.20, Y:-174.81, Z:-13.30 [[ 7.35506141e-01 6.75440201e-01 5.30212371e-02 2.57202947e+02] [-6.73752471e-01 7.37414501e-01 -4.77227516e-02 -1.74808891e+02] [-7.13324941e-02 -6.22812671e-04 9.97452399e-01 -1.32992635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.23, Y:-174.83, Z:-13.30 [[ 7.34405333e-01 6.76591527e-01 5.35976832e-02 2.57229108e+02] [-6.74866721e-01 7.36358202e-01 -4.82856917e-02 -1.74827376e+02] [-7.21367835e-02 -7.10023254e-04 9.97394496e-01 -1.33017498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13864 meters Centerline goodness [0,1] 0.9998529555925889 Centerline is valid? [True, True] Translation: X:257.26, Y:-174.85, Z:-13.30 [[ 7.33066893e-01 6.77979138e-01 5.43803262e-02 2.57255010e+02] [-6.76204053e-01 7.35080680e-01 -4.90354211e-02 -1.74846910e+02] [-7.32189197e-02 -8.25953199e-04 9.97315551e-01 -1.33026412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.28, Y:-174.86, Z:-13.30 [[ 7.33458116e-01 6.77528368e-01 5.47220439e-02 2.57283361e+02] [-6.75726076e-01 7.35496259e-01 -4.93915237e-02 -1.74864865e+02] [-7.37120170e-02 -7.50498098e-04 9.97279287e-01 -1.33045504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:257.31, Y:-174.88, Z:-13.31 [[ 7.33782183e-01 6.77120318e-01 5.54236582e-02 2.57309667e+02] [-6.75266585e-01 7.35872006e-01 -5.00742485e-02 -1.74884234e+02] [-7.46910096e-02 -6.82152962e-04 9.97206492e-01 -1.33057234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.34, Y:-174.90, Z:-13.31 [[ 7.35988418e-01 6.74694476e-01 5.57531405e-02 2.57338448e+02] [-6.72807920e-01 7.38097014e-01 -5.04212301e-02 -1.74901471e+02] [-7.51701520e-02 -4.01713114e-04 9.97170641e-01 -1.33077442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.36, Y:-174.92, Z:-13.31 [[ 7.37202345e-01 6.73438437e-01 5.48942095e-02 2.57364517e+02] [-6.71603559e-01 7.39243270e-01 -4.96794504e-02 -1.74921367e+02] [-7.40362264e-02 -2.43339161e-04 9.97255523e-01 -1.33095946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28864 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:257.39, Y:-174.94, Z:-13.31 [[ 7.39604543e-01 6.70842570e-01 5.43632819e-02 2.57392831e+02] [-6.69033902e-01 7.41599787e-01 -4.92279753e-02 -1.74938343e+02] [-7.33400197e-02 3.83555771e-05 9.97306994e-01 -1.33109095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.42, Y:-174.96, Z:-13.31 [[ 7.40229421e-01 6.70199127e-01 5.37915858e-02 2.57418580e+02] [-6.68423464e-01 7.42181320e-01 -4.87540788e-02 -1.74957469e+02] [-7.25980512e-02 1.33645411e-04 9.97361271e-01 -1.33119791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34864 meters Centerline goodness [0,1] 0.9999510978531958 Centerline is valid? [True, True] Translation: X:257.44, Y:-174.98, Z:-13.31 [[ 7.40385102e-01 6.69997109e-01 5.41643302e-02 2.57444109e+02] [-6.68192691e-01 7.42363683e-01 -4.91394964e-02 -1.74977817e+02] [-7.31329522e-02 1.89941575e-04 9.97322182e-01 -1.33141156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37864 meters Centerline goodness [0,1] 0.9998034204835856 Centerline is valid? [True, True] Translation: X:257.47, Y:-175.00, Z:-13.32 [[ 7.42400862e-01 6.67668089e-01 5.53198292e-02 2.57471050e+02] [-6.65775584e-01 7.44458936e-01 -5.02370843e-02 -1.74995975e+02] [-7.47250392e-02 4.65463051e-04 9.97204067e-01 -1.33166874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40864 meters Centerline goodness [0,1] 0.9998525943396226 Centerline is valid? [True, True] Translation: X:257.50, Y:-175.02, Z:-13.32 [[ 7.43331099e-01 6.66588452e-01 5.58454344e-02 2.57496586e+02] [-6.64653291e-01 7.45425690e-01 -5.07596665e-02 -1.75015465e+02] [-7.54644290e-02 6.13386929e-04 9.97148306e-01 -1.33191126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43864 meters Centerline goodness [0,1] 0.9995098279496103 Centerline is valid? [True, True] Translation: X:257.52, Y:-175.04, Z:-13.32 [[ 7.44026983e-01 6.65861462e-01 5.52481854e-02 2.57522560e+02] [-6.63962001e-01 7.46075064e-01 -5.02638947e-02 -1.75036189e+02] [-7.46880839e-02 7.14998137e-04 9.97206688e-01 -1.33213955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46864 meters Centerline goodness [0,1] 0.9997056659308315 Centerline is valid? [True, True] Translation: X:257.55, Y:-175.06, Z:-13.32 [[ 7.46296562e-01 6.63472964e-01 5.33391795e-02 2.57548194e+02] [-6.61694193e-01 7.48199660e-01 -4.85598908e-02 -1.75056424e+02] [-7.21265306e-02 9.45854222e-04 9.97395042e-01 -1.33243777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49864 meters Centerline goodness [0,1] 0.9996567112941984 Centerline is valid? [True, True] Translation: X:257.57, Y:-175.08, Z:-13.32 [[ 7.46465449e-01 6.63286389e-01 5.32963399e-02 2.57572816e+02] [-6.61508706e-01 7.48365027e-01 -4.85388380e-02 -1.75078336e+02] [-7.20802674e-02 9.76572700e-04 9.97398356e-01 -1.33249467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52864 meters Centerline goodness [0,1] 0.9992649581026118 Centerline is valid? [True, True] Translation: X:257.60, Y:-175.10, Z:-13.33 [[ 7.46542109e-01 6.63174762e-01 5.36107695e-02 2.57596665e+02] [-6.61374453e-01 7.48463909e-01 -4.88427072e-02 -1.75099653e+02] [-7.25169768e-02 1.00634426e-03 9.97366670e-01 -1.33278408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55864 meters Centerline goodness [0,1] 0.9996079392305808 Centerline is valid? [True, True] Translation: X:257.62, Y:-175.12, Z:-13.33 [[ 7.45631574e-01 6.64152286e-01 5.41783801e-02 2.57620362e+02] [-6.62313993e-01 7.47596717e-01 -4.93895099e-02 -1.75122158e+02] [-7.33057350e-02 9.43278704e-04 9.97309069e-01 -1.33296154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58864 meters Centerline goodness [0,1] 0.9998530132288094 Centerline is valid? [True, True] Translation: X:257.64, Y:-175.15, Z:-13.33 [[ 7.43550495e-01 6.66421177e-01 5.49133488e-02 2.57643515e+02] [-6.64534984e-01 7.45575097e-01 -5.01101765e-02 -1.75145826e+02] [-7.43365082e-02 7.67605227e-04 9.97232919e-01 -1.33317390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61864 meters Centerline goodness [0,1] 0.9998041232065031 Centerline is valid? [True, True] Translation: X:257.67, Y:-175.17, Z:-13.33 [[ 7.42546984e-01 6.67540089e-01 5.49017921e-02 2.57667667e+02] [-6.65653970e-01 7.44573535e-01 -5.01502052e-02 -1.75168202e+02] [-7.43556938e-02 6.93287738e-04 9.97231543e-01 -1.33331976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64864 meters Centerline goodness [0,1] 0.999705246610336 Centerline is valid? [True, True] Translation: X:257.69, Y:-175.19, Z:-13.34 [[ 7.41739739e-01 6.68397676e-01 5.53778503e-02 2.57691728e+02] [-6.66477182e-01 7.43803820e-01 -5.06363845e-02 -1.75190571e+02] [-7.50354984e-02 6.50945039e-04 9.97180651e-01 -1.33353549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67864000000003 meters Centerline goodness [0,1] 0.9999019078915101 Centerline is valid? [True, True] Translation: X:257.71, Y:-175.21, Z:-13.34 [[ 7.41551150e-01 6.68455809e-01 5.71727505e-02 2.57714546e+02] [-6.66404882e-01 7.43751529e-01 -5.23277884e-02 -1.75213188e+02] [-7.75011347e-02 7.03531635e-04 9.96992016e-01 -1.33378965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.74, Y:-175.24, Z:-13.34 [[ 7.41366159e-01 6.68674109e-01 5.70188992e-02 2.57738936e+02] [-6.66631041e-01 7.43555260e-01 -5.22362939e-02 -1.75235827e+02] [-7.73257597e-02 7.15652466e-04 9.97005624e-01 -1.33402425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73864 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:257.76, Y:-175.26, Z:-13.34 [[ 7.41074911e-01 6.69048373e-01 5.64114504e-02 2.57762136e+02] [-6.67046006e-01 7.43218526e-01 -5.17286119e-02 -1.75258259e+02] [-7.65349786e-02 7.05743819e-04 9.97066647e-01 -1.33417970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76864 meters Centerline goodness [0,1] 0.9998531571218796 Centerline is valid? [True, True] Translation: X:257.79, Y:-175.28, Z:-13.34 [[ 7.40494144e-01 6.69764396e-01 5.55344683e-02 2.57785530e+02] [-6.67822546e-01 7.42573380e-01 -5.09688390e-02 -1.75280761e+02] [-7.53755315e-02 6.54956826e-04 9.97155003e-01 -1.33426462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.81, Y:-175.30, Z:-13.34 [[ 7.38963349e-01 6.71396741e-01 5.62101815e-02 2.57809665e+02] [-6.69408233e-01 7.41097924e-01 -5.16380148e-02 -1.75303662e+02] [-7.63268437e-02 5.31042103e-04 9.97082710e-01 -1.33449941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.83, Y:-175.33, Z:-13.35 [[ 7.37909265e-01 6.72518972e-01 5.66405252e-02 2.57833820e+02] [-6.70499060e-01 7.40079741e-01 -5.20863477e-02 -1.75325690e+02] [-7.69475622e-02 4.57579648e-04 9.97035036e-01 -1.33481404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.86, Y:-175.35, Z:-13.35 [[ 7.37352821e-01 6.73174846e-01 5.60931700e-02 2.57857802e+02] [-6.71191992e-01 7.39483231e-01 -5.16319818e-02 -1.75347512e+02] [-7.62373100e-02 4.21700875e-04 9.97089612e-01 -1.33500822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.88, Y:-175.37, Z:-13.35 [[ 7.36727826e-01 6.73876006e-01 5.58859387e-02 2.57882046e+02] [-6.71906084e-01 7.38844355e-01 -5.14901357e-02 -1.75370488e+02] [-7.59889774e-02 3.84113552e-04 9.97108584e-01 -1.33521437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.91, Y:-175.39, Z:-13.35 [[ 7.36750430e-01 6.73909611e-01 5.51782543e-02 2.57906147e+02] [-6.71986812e-01 7.38813695e-01 -5.08728696e-02 -1.75392562e+02] [-7.50501657e-02 4.01549387e-04 9.97179679e-01 -1.33528756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.93, Y:-175.41, Z:-13.35 [[ 7.36154455e-01 6.74481074e-01 5.61417824e-02 2.57930439e+02] [-6.72489711e-01 7.38292044e-01 -5.17923345e-02 -1.75414062e+02] [-7.63819807e-02 3.72386708e-04 9.97078560e-01 -1.33549541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.96, Y:-175.44, Z:-13.36 [[ 7.35303141e-01 6.75428113e-01 5.59120249e-02 2.57955900e+02] [-6.73452012e-01 7.37425771e-01 -5.16296328e-02 -1.75435921e+02] [-7.61030735e-02 3.09365511e-04 9.97099908e-01 -1.33560664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.98, Y:-175.46, Z:-13.36 [[ 7.32769910e-01 6.78217996e-01 5.53950212e-02 2.57980567e+02] [-6.76282556e-01 7.34860767e-01 -5.12011567e-02 -1.75457057e+02] [-7.54331737e-02 5.59804329e-05 9.97150858e-01 -1.33588296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.00, Y:-175.48, Z:-13.36 [[ 7.30260441e-01 6.80920017e-01 5.53860885e-02 2.58004712e+02] [-6.78989230e-01 7.32357765e-01 -5.12418781e-02 -1.75479255e+02] [-7.54540525e-02 -1.86641066e-04 9.97149262e-01 -1.33603811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.03, Y:-175.50, Z:-13.36 [[ 7.29010291e-01 6.82242449e-01 5.55809023e-02 2.58029470e+02] [-6.80297850e-01 7.31125953e-01 -5.14750092e-02 -1.75501707e+02] [-7.57550765e-02 -2.85756939e-04 9.97126415e-01 -1.33614340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.05, Y:-175.52, Z:-13.36 [[ 7.28730211e-01 6.82513039e-01 5.59305961e-02 2.58054102e+02] [-6.80540575e-01 7.30873364e-01 -5.18522066e-02 -1.75523283e+02] [-7.62679900e-02 -2.76770613e-04 9.97087317e-01 -1.33629550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.08, Y:-175.54, Z:-13.36 [[ 7.28588327e-01 6.82695572e-01 5.55500321e-02 2.58078020e+02] [-6.80746672e-01 7.30702874e-01 -5.15487941e-02 -1.75544669e+02] [-7.57827015e-02 -2.57649825e-04 9.97124323e-01 -1.33645161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.10, Y:-175.57, Z:-13.37 [[ 7.27864498e-01 6.83295288e-01 5.76265773e-02 2.58102270e+02] [-6.81195768e-01 7.30142083e-01 -5.35244192e-02 -1.75565455e+02] [-7.86485727e-02 -2.96456116e-04 9.96902359e-01 -1.33679927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.13, Y:-175.59, Z:-13.37 [[ 7.27672001e-01 6.83637557e-01 5.59745406e-02 2.58126132e+02] [-6.81655145e-01 7.29821623e-01 -5.20255917e-02 -1.75587887e+02] [-7.64180785e-02 -2.97767159e-04 9.97075819e-01 -1.33684501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.15, Y:-175.61, Z:-13.37 [[ 7.27324039e-01 6.84009332e-01 5.59551311e-02 2.58150221e+02] [-6.82026412e-01 7.29473193e-01 -5.20464621e-02 -1.75609833e+02] [-7.64180339e-02 -3.08234296e-04 9.97075819e-01 -1.33697398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.17, Y:-175.63, Z:-13.37 [[ 7.27047163e-01 6.84302230e-01 5.59721397e-02 2.58173561e+02] [-6.82314881e-01 7.29198442e-01 -5.21156008e-02 -1.75633256e+02] [-7.64776189e-02 -3.00124153e-04 9.97071253e-01 -1.33712701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.20, Y:-175.65, Z:-13.37 [[ 7.27416557e-01 6.83803673e-01 5.72511100e-02 2.58197080e+02] [-6.81718700e-01 7.29666013e-01 -5.33584377e-02 -1.75654747e+02] [-7.82608848e-02 -2.15341262e-04 9.96932890e-01 -1.33733469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:258.22, Y:-175.68, Z:-13.37 [[ 7.27926623e-01 6.83339455e-01 5.63029442e-02 2.58221275e+02] [-6.81319211e-01 7.30100795e-01 -5.25067791e-02 -1.75676756e+02] [-7.69867781e-02 -1.39195133e-04 9.97032104e-01 -1.33742175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.25, Y:-175.70, Z:-13.38 [[ 7.28801767e-01 6.82445097e-01 5.58271771e-02 2.58246165e+02] [-6.80453899e-01 7.30936857e-01 -5.20941691e-02 -1.75697752e+02] [-7.63575517e-02 -2.14977385e-05 9.97080500e-01 -1.33772300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.27, Y:-175.72, Z:-13.38 [[ 7.29541985e-01 6.81687826e-01 5.54093926e-02 2.58268801e+02] [-6.79720672e-01 7.31643151e-01 -5.17504428e-02 -1.75720091e+02] [-7.58175494e-02 9.12112552e-05 9.97121703e-01 -1.33785908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39864 meters Centerline goodness [0,1] 0.9999020520103825 Centerline is valid? [True, True] Translation: X:258.29, Y:-175.74, Z:-13.38 [[ 7.29863796e-01 6.81317434e-01 5.57260617e-02 2.58292794e+02] [-6.79322817e-01 7.31988065e-01 -5.20959116e-02 -1.75743082e+02] [-7.62846648e-02 1.66934630e-04 9.97086066e-01 -1.33800976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42864000000003 meters Centerline goodness [0,1] 0.9998037484054558 Centerline is valid? [True, True] Translation: X:258.32, Y:-175.77, Z:-13.38 [[ 7.30824678e-01 6.80294271e-01 5.56326794e-02 2.58317683e+02] [-6.78299351e-01 7.32939020e-01 -5.20613412e-02 -1.75765221e+02] [-7.61923937e-02 3.12102635e-04 9.97093086e-01 -1.33807051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.34, Y:-175.79, Z:-13.38 [[ 7.31796344e-01 6.79260142e-01 5.54956710e-02 2.58343445e+02] [-6.77268061e-01 7.33897438e-01 -5.19857963e-02 -1.75786372e+02] [-7.60400101e-02 4.57570174e-04 9.97104662e-01 -1.33824558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.37, Y:-175.81, Z:-13.39 [[ 7.33827081e-01 6.77029395e-01 5.59375803e-02 2.58367534e+02] [-6.74995073e-01 7.35955612e-01 -5.24498669e-02 -1.75807500e+02] [-7.66776778e-02 7.31541702e-04 9.97055665e-01 -1.33860305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.39, Y:-175.83, Z:-13.39 [[ 7.34517464e-01 6.76298967e-01 5.57117831e-02 2.58391392e+02] [-6.74275201e-01 7.36626772e-01 -5.22872120e-02 -1.75830664e+02] [-7.64005784e-02 8.40796546e-04 9.97076850e-01 -1.33883798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54864 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:258.41, Y:-175.85, Z:-13.39 [[ 7.35049641e-01 6.75770362e-01 5.51039320e-02 2.58414738e+02] [-6.73785189e-01 7.37111637e-01 -5.17682755e-02 -1.75854824e+02] [-7.56012158e-02 9.24039112e-04 9.97137705e-01 -1.33890839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57864 meters Centerline goodness [0,1] 0.9998039215686274 Centerline is valid? [True, True] Translation: X:258.44, Y:-175.88, Z:-13.39 [[ 7.34262631e-01 6.76619369e-01 5.51780563e-02 2.58438679e+02] [-6.74627275e-01 7.36332439e-01 -5.18900648e-02 -1.75877209e+02] [-7.57392157e-02 8.76313767e-04 9.97127275e-01 -1.33906124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60864 meters Centerline goodness [0,1] 0.9999019367492032 Centerline is valid? [True, True] Translation: X:258.46, Y:-175.90, Z:-13.39 [[ 7.31333716e-01 6.79740492e-01 5.57122882e-02 2.58461470e+02] [-6.77714512e-01 7.33452456e-01 -5.24455351e-02 -1.75901465e+02] [-7.65116685e-02 5.98161863e-04 9.97068507e-01 -1.33942542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.48, Y:-175.92, Z:-13.40 [[ 7.29919063e-01 6.81309409e-01 5.50967445e-02 2.58483362e+02] [-6.79328778e-01 7.31995405e-01 -5.19147207e-02 -1.75924607e+02] [-7.57005514e-02 4.64740169e-04 9.97130488e-01 -1.33954956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:258.51, Y:-175.95, Z:-13.40 [[ 7.28490687e-01 6.82855453e-01 5.48611836e-02 2.58506079e+02] [-6.80892691e-01 7.30553433e-01 -5.17380456e-02 -1.75947616e+02] [-7.54086326e-02 3.36105461e-04 9.97152659e-01 -1.33960923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69864 meters Centerline goodness [0,1] 0.9997549139748052 Centerline is valid? [True, True] Translation: X:258.53, Y:-175.97, Z:-13.40 [[ 7.27140827e-01 6.84241587e-01 5.54947497e-02 2.58528844e+02] [-6.82233629e-01 7.29255372e-01 -5.23820330e-02 -1.75970947e+02] [-7.63118097e-02 2.28730314e-04 9.97083976e-01 -1.33986712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72864 meters Centerline goodness [0,1] 0.9996571148665198 Centerline is valid? [True, True] Translation: X:258.55, Y:-175.99, Z:-13.40 [[ 7.26241990e-01 6.85233931e-01 5.50184561e-02 2.58551291e+02] [-6.83259677e-01 7.28323029e-01 -5.19786480e-02 -1.75993537e+02] [-7.56887419e-02 1.57184316e-04 9.97131481e-01 -1.34004443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.57, Y:-176.02, Z:-13.40 [[ 7.24923425e-01 6.86734485e-01 5.36821629e-02 2.58571823e+02] [-6.84855872e-01 7.26908347e-01 -5.07610957e-02 -1.76018125e+02] [-7.38814072e-02 3.33628999e-05 9.97267034e-01 -1.34035562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.60, Y:-176.04, Z:-13.40 [[ 7.23930675e-01 6.87804246e-01 5.33825524e-02 2.58595858e+02] [-6.85945919e-01 7.25896217e-01 -5.05260195e-02 -1.76041322e+02] [-7.35022036e-02 -4.02085360e-05 9.97295054e-01 -1.34044422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.62, Y:-176.06, Z:-13.41 [[ 7.23237199e-01 6.88506862e-01 5.37238871e-02 2.58619155e+02] [-6.86622790e-01 7.25229823e-01 -5.09003826e-02 -1.76064081e+02] [-7.40074278e-02 -7.49951112e-05 9.97257687e-01 -1.34058847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.64, Y:-176.09, Z:-13.41 [[ 7.22060352e-01 6.89684962e-01 5.44380490e-02 2.58640328e+02] [-6.87750181e-01 7.24109540e-01 -5.16242445e-02 -1.76087883e+02] [-7.50235757e-02 -1.63957866e-04 9.97181747e-01 -1.34073569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.66, Y:-176.11, Z:-13.41 [[ 7.21319195e-01 6.90490443e-01 5.40515255e-02 2.58663781e+02] [-6.88581784e-01 7.23341485e-01 -5.13051916e-02 -1.76111755e+02] [-7.45234552e-02 -2.11476395e-04 9.97219239e-01 -1.34086059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.69, Y:-176.13, Z:-13.41 [[ 7.19725008e-01 6.92186579e-01 5.36064677e-02 2.58685917e+02] [-6.90311018e-01 7.21718514e-01 -5.09223381e-02 -1.76134779e+02] [-7.39365392e-02 -3.55055094e-04 9.97262885e-01 -1.34110391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.71, Y:-176.16, Z:-13.41 [[ 7.18703098e-01 6.93195116e-01 5.42806382e-02 2.58708848e+02] [-6.91272329e-01 7.20749844e-01 -5.15967967e-02 -1.76156688e+02] [-7.48894090e-02 -4.39925501e-04 9.97191748e-01 -1.34131099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.73, Y:-176.18, Z:-13.41 [[ 7.16243678e-01 6.95746830e-01 5.41418774e-02 2.58732514e+02] [-6.93837552e-01 7.18286781e-01 -5.15126293e-02 -1.76179193e+02] [-7.47291434e-02 -6.70072666e-04 9.97203643e-01 -1.34144036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.76, Y:-176.20, Z:-13.41 [[ 7.11671826e-01 7.00371856e-01 5.47948563e-02 2.58756282e+02] [-6.98425938e-01 7.13777264e-01 -5.21845403e-02 -1.76200996e+02] [-7.56599059e-02 -1.13188179e-03 9.97133039e-01 -1.34148868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.78, Y:-176.22, Z:-13.42 [[ 7.09332958e-01 7.02735410e-01 5.48607248e-02 2.58780294e+02] [-7.00788251e-01 7.11450010e-01 -5.22944529e-02 -1.76221935e+02] [-7.57798270e-02 -1.35157243e-03 9.97123659e-01 -1.34158659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.81, Y:-176.24, Z:-13.42 [[ 7.06143833e-01 7.05987837e-01 5.42407689e-02 2.58807658e+02] [-7.04090544e-01 7.08222041e-01 -5.17498383e-02 -1.76240207e+02] [-7.49492645e-02 -1.64758326e-03 9.97185987e-01 -1.34189297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.83, Y:-176.26, Z:-13.42 [[ 7.05015964e-01 7.07193963e-01 5.31901248e-02 2.58833324e+02] [-7.05369643e-01 7.07017523e-01 -5.07926021e-02 -1.76260560e+02] [-7.35265719e-02 -1.70910396e-03 9.97291794e-01 -1.34201000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.86, Y:-176.28, Z:-13.42 [[ 7.04678397e-01 7.07450329e-01 5.42437867e-02 2.58858975e+02] [-7.05550121e-01 7.06760932e-01 -5.18460414e-02 -1.76280680e+02] [-7.50158883e-02 -1.73692482e-03 9.97180826e-01 -1.34216102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.89, Y:-176.30, Z:-13.42 [[ 7.05713671e-01 7.06355959e-01 5.50406573e-02 2.58887846e+02] [-7.04392174e-01 7.07854981e-01 -5.26592044e-02 -1.76297818e+02] [-7.61569463e-02 -1.60788784e-03 9.97094546e-01 -1.34236166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.91, Y:-176.32, Z:-13.43 [[ 7.07430242e-01 7.04616013e-01 5.53057659e-02 2.58914737e+02] [-7.02623928e-01 7.09587445e-01 -5.29648381e-02 -1.76315755e+02] [-7.65641501e-02 -1.39022624e-03 9.97063688e-01 -1.34262325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.94, Y:-176.33, Z:-13.43 [[ 7.12555131e-01 6.99366021e-01 5.61458362e-02 2.58943816e+02] [-6.97292649e-01 7.14763266e-01 -5.38185337e-02 -1.76332391e+02] [-7.77698350e-02 -8.01406562e-04 9.96971018e-01 -1.34291930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.97, Y:-176.35, Z:-13.43 [[ 7.15126931e-01 6.96690794e-01 5.67045799e-02 2.58970127e+02] [-6.94563315e-01 7.17371389e-01 -5.44067251e-02 -1.76353193e+02] [-7.85829077e-02 -4.77206646e-04 9.96907468e-01 -1.34319186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.00, Y:-176.37, Z:-13.43 [[ 7.17837548e-01 6.93946056e-01 5.61081580e-02 2.58995327e+02] [-6.91850748e-01 7.20026980e-01 -5.38859070e-02 -1.76373343e+02] [-7.77933002e-02 -1.37143727e-04 9.96969500e-01 -1.34332595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.02, Y:-176.39, Z:-13.44 [[ 7.22791465e-01 6.88897403e-01 5.47071003e-02 2.59021612e+02] [-6.86888729e-01 7.24858739e-01 -5.25707300e-02 -1.76392680e+02] [-7.58707591e-02 4.19984295e-04 9.97117572e-01 -1.34352153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:259.05, Y:-176.41, Z:-13.44 [[ 7.24569834e-01 6.87020396e-01 5.47862351e-02 2.59045787e+02] [-6.84999506e-01 7.26637862e-01 -5.26601837e-02 -1.76413620e+02] [-7.59883730e-02 6.27436559e-04 9.97108506e-01 -1.34369813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.07, Y:-176.43, Z:-13.44 [[ 7.27293102e-01 6.84139853e-01 5.47485696e-02 2.59070257e+02] [-6.82112558e-01 7.29350247e-01 -5.26372174e-02 -1.76434153e+02] [-7.59421009e-02 9.37998257e-04 9.97111788e-01 -1.34399311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.09, Y:-176.46, Z:-13.44 [[ 7.27384084e-01 6.84061795e-01 5.45147277e-02 2.59093093e+02] [-6.82050597e-01 7.29423440e-01 -5.24254543e-02 -1.76456681e+02] [-7.56265706e-02 9.51638419e-04 9.97135756e-01 -1.34411252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.12, Y:-176.48, Z:-13.44 [[ 7.27616833e-01 6.83837816e-01 5.42179409e-02 2.59116343e+02] [-6.81846893e-01 7.29633389e-01 -5.21529689e-02 -1.76479480e+02] [-7.52233923e-02 9.79043525e-04 9.97166226e-01 -1.34422657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.14, Y:-176.50, Z:-13.45 [[ 7.26380676e-01 6.85195907e-01 5.36440362e-02 2.59137498e+02] [-6.83248593e-01 7.28358323e-01 -5.16286169e-02 -1.76503617e+02] [-7.44477972e-02 8.49817376e-04 9.97224550e-01 -1.34453728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.16, Y:-176.53, Z:-13.45 [[ 7.25523186e-01 6.86104687e-01 5.36326889e-02 2.59160410e+02] [-6.84157102e-01 7.27502393e-01 -5.16655349e-02 -1.76527369e+02] [-7.44658752e-02 7.91358384e-04 9.97223248e-01 -1.34468354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.18, Y:-176.55, Z:-13.45 [[ 7.24211925e-01 6.87463054e-01 5.39595843e-02 2.59183955e+02] [-6.85491464e-01 7.26219022e-01 -5.20325473e-02 -1.76550207e+02] [-7.49569304e-02 6.93756812e-04 9.97186531e-01 -1.34483624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.21, Y:-176.57, Z:-13.45 [[ 7.23197258e-01 6.88518238e-01 5.41143432e-02 2.59207515e+02] [-6.86534306e-01 7.25218758e-01 -5.22340940e-02 -1.76573322e+02] [-7.52088631e-02 6.24200526e-04 9.97167607e-01 -1.34503368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.23, Y:-176.60, Z:-13.45 [[ 7.22310053e-01 6.89486242e-01 5.36368309e-02 2.59229461e+02] [-6.87536246e-01 7.24298568e-01 -5.18217628e-02 -1.76596475e+02] [-7.45794722e-02 5.54114882e-04 9.97214919e-01 -1.34520211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.25, Y:-176.62, Z:-13.45 [[ 7.22136571e-01 6.89564886e-01 5.49457946e-02 2.59252116e+02] [-6.87515005e-01 7.24223664e-01 -5.31338204e-02 -1.76619172e+02] [-7.64322615e-02 5.93816679e-04 9.97074599e-01 -1.34549942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.28, Y:-176.64, Z:-13.46 [[ 7.22379748e-01 6.89396186e-01 5.38553446e-02 2.59275229e+02] [-6.87423115e-01 7.24384220e-01 -5.21244877e-02 -1.76641850e+02] [-7.49463849e-02 6.32265528e-04 9.97187364e-01 -1.34560967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.30, Y:-176.66, Z:-13.46 [[ 7.23855528e-01 6.87917830e-01 5.29361366e-02 2.59298906e+02] [-6.86004406e-01 7.25788132e-01 -5.12790613e-02 -1.76664291e+02] [-7.36962002e-02 8.04209001e-04 9.97280414e-01 -1.34580443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.32, Y:-176.69, Z:-13.46 [[ 7.23929217e-01 6.87841927e-01 5.29147745e-02 2.59322230e+02] [-6.85926332e-01 7.25860019e-01 -5.13059390e-02 -1.76688273e+02] [-7.36990952e-02 8.46231057e-04 9.97280165e-01 -1.34602502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.34, Y:-176.71, Z:-13.46 [[ 7.24133507e-01 6.87669840e-01 5.23531763e-02 2.59341755e+02] [-6.85790849e-01 7.26023003e-01 -5.08085648e-02 -1.76714107e+02] [-7.29491279e-02 8.88854993e-04 9.97335267e-01 -1.34621202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.36, Y:-176.74, Z:-13.46 [[ 7.23319615e-01 6.88497292e-01 5.27277283e-02 2.59363814e+02] [-6.86589979e-01 7.25238418e-01 -5.12195078e-02 -1.76738887e+02] [-7.35046667e-02 8.45744787e-04 9.97294515e-01 -1.34636122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.38, Y:-176.76, Z:-13.47 [[ 7.20782577e-01 6.91194843e-01 5.21743819e-02 2.59383991e+02] [-6.89330994e-01 7.22668202e-01 -5.07291924e-02 -1.76764875e+02] [-7.27685230e-02 5.99299456e-04 9.97348677e-01 -1.34652139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.41, Y:-176.79, Z:-13.47 [[ 7.18607316e-01 6.93475148e-01 5.19205545e-02 2.59405678e+02] [-6.91632132e-01 7.20480437e-01 -5.05265711e-02 -1.76789176e+02] [-7.24466652e-02 3.98839875e-04 9.97372208e-01 -1.34676571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.43, Y:-176.81, Z:-13.47 [[ 7.15526044e-01 6.96680216e-01 5.15670178e-02 2.59426966e+02] [-6.94867310e-01 7.17381813e-01 -5.02270422e-02 -1.76813468e+02] [-7.19854273e-02 1.06521819e-04 9.97405678e-01 -1.34700305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.45, Y:-176.84, Z:-13.47 [[ 7.09669314e-01 7.02641256e-01 5.16210206e-02 2.59448428e+02] [-7.00836804e-01 7.11544131e-01 -5.03261779e-02 -1.76838053e+02] [-7.20918831e-02 -4.62966884e-04 9.97397888e-01 -1.34717688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.47, Y:-176.86, Z:-13.47 [[ 7.05904212e-01 7.06402003e-01 5.19177565e-02 2.59471642e+02] [-7.04583385e-01 7.07810386e-01 -5.06627182e-02 -1.76859837e+02] [-7.25361729e-02 -8.17362447e-04 9.97365447e-01 -1.34721142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.50, Y:-176.88, Z:-13.47 [[ 6.99370418e-01 7.12875387e-01 5.18623309e-02 2.59495353e+02] [-7.11075002e-01 7.01289222e-01 -5.06534090e-02 -1.76881497e+02] [-7.24800622e-02 -1.45251119e-03 9.97368804e-01 -1.34745438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95864 meters Centerline goodness [0,1] 0.9998528690534576 Centerline is valid? [True, True] Translation: X:259.52, Y:-176.90, Z:-13.48 [[ 6.96575309e-01 7.15531401e-01 5.28928526e-02 2.59517694e+02] [-7.13662968e-01 6.98578425e-01 -5.17044679e-02 -1.76903967e+02] [-7.39459760e-02 -1.73161452e-03 9.97260745e-01 -1.34772289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98864 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:259.54, Y:-176.93, Z:-13.48 [[ 6.94844651e-01 7.17236956e-01 5.25553000e-02 2.59540408e+02] [-7.15394932e-01 6.96826820e-01 -5.14050021e-02 -1.76926301e+02] [-7.34915098e-02 -1.87930451e-03 9.97294072e-01 -1.34784686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01864 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:259.57, Y:-176.95, Z:-13.48 [[ 6.94582712e-01 7.17561119e-01 5.15838755e-02 2.59566411e+02] [-7.15785390e-01 6.96493066e-01 -5.04845099e-02 -1.76946289e+02] [-7.21535330e-02 -1.85731664e-03 9.97391808e-01 -1.34803317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04864 meters Centerline goodness [0,1] 0.9998528474027567 Centerline is valid? [True, True] Translation: X:259.59, Y:-176.97, Z:-13.48 [[ 6.94715330e-01 7.17404387e-01 5.19764942e-02 2.59592332e+02] [-7.15597444e-01 6.96654599e-01 -5.09182396e-02 -1.76966828e+02] [-7.27386322e-02 -1.82056477e-03 9.97349376e-01 -1.34819124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07864 meters Centerline goodness [0,1] 0.9998528474027567 Centerline is valid? [True, True] Translation: X:259.62, Y:-176.99, Z:-13.48 [[ 6.94346981e-01 7.17762802e-01 5.19502580e-02 2.59615824e+02] [-7.15954860e-01 6.96285319e-01 -5.09449998e-02 -1.76989419e+02] [-7.27386278e-02 -1.82053288e-03 9.97349376e-01 -1.34832008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.64, Y:-177.01, Z:-13.49 [[ 6.96002751e-01 7.16151216e-01 5.20346651e-02 2.59641687e+02] [-7.14329256e-01 6.97943272e-01 -5.10774178e-02 -1.77008911e+02] [-7.28963994e-02 -1.61986035e-03 9.97338203e-01 -1.34854826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.67, Y:-177.03, Z:-13.49 [[ 6.96481536e-01 7.15623699e-01 5.28790224e-02 2.59666424e+02] [-7.13736781e-01 6.98484290e-01 -5.19567447e-02 -1.77030843e+02] [-7.41166443e-02 -1.55478985e-03 9.97248367e-01 -1.34869956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.69, Y:-177.05, Z:-13.49 [[ 6.97409453e-01 7.14797840e-01 5.18083269e-02 2.59691071e+02] [-7.12980810e-01 6.99329737e-01 -5.09537416e-02 -1.77052165e+02] [-7.26527280e-02 -1.40272178e-03 9.97356312e-01 -1.34885433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19864 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:259.72, Y:-177.07, Z:-13.49 [[ 7.01113823e-01 7.11322723e-01 4.95922570e-02 2.59715999e+02] [-7.09647411e-01 7.02864871e-01 -4.88008637e-02 -1.77071764e+02] [-6.95698186e-02 -9.78056721e-04 9.97576605e-01 -1.34903933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.74, Y:-177.09, Z:-13.49 [[ 7.06072816e-01 7.06384951e-01 4.98144585e-02 2.59739591e+02] [-7.04680617e-01 7.07827716e-01 -4.90423563e-02 -1.77093207e+02] [-6.99028368e-02 -4.75808776e-04 9.97553691e-01 -1.34938367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.76, Y:-177.12, Z:-13.50 [[ 7.08734236e-01 7.03679298e-01 5.03113211e-02 2.59763833e+02] [-7.01930533e-01 7.10517709e-01 -4.95793598e-02 -1.77116297e+02] [-7.06350537e-02 -1.76462748e-04 9.97502210e-01 -1.34958039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.79, Y:-177.14, Z:-13.50 [[ 7.11360591e-01 7.01071104e-01 4.96529640e-02 2.59786605e+02] [-6.99358187e-01 7.13091364e-01 -4.89778818e-02 -1.77138644e+02] [-6.97440775e-02 1.15728016e-04 9.97564910e-01 -1.34970198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.81, Y:-177.16, Z:-13.50 [[ 7.14135796e-01 6.98260879e-01 4.94146801e-02 2.59810256e+02] [-6.96554422e-01 7.15843256e-01 -4.87890394e-02 -1.77161203e+02] [-6.94406430e-02 4.21985594e-04 9.97585996e-01 -1.34980845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.83, Y:-177.19, Z:-13.50 [[ 7.17001610e-01 6.95405341e-01 4.81674444e-02 2.59832704e+02] [-6.93774335e-01 7.18617352e-01 -4.76053835e-02 -1.77185965e+02] [-6.77189993e-02 7.15799896e-04 9.97704177e-01 -1.34999418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.85, Y:-177.21, Z:-13.50 [[ 7.18275608e-01 6.94165435e-01 4.70584713e-02 2.59853499e+02] [-6.92603010e-01 7.19814998e-01 -4.65557744e-02 -1.77211260e+02] [-6.61908028e-02 8.47038347e-04 9.97806625e-01 -1.35023231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.88, Y:-177.23, Z:-13.50 [[ 7.18009220e-01 6.94494886e-01 4.62559634e-02 2.59875096e+02] [-6.92983220e-01 7.19497157e-01 -4.58050077e-02 -1.77234919e+02] [-6.50923777e-02 8.33811403e-04 9.97878894e-01 -1.35026728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.90, Y:-177.26, Z:-13.50 [[ 7.18245688e-01 6.94250557e-01 4.62525167e-02 2.59898630e+02] [-6.92735857e-01 7.19732852e-01 -4.58438103e-02 -1.77258130e+02] [-6.51165466e-02 8.86342286e-04 9.97877272e-01 -1.35039663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.92, Y:-177.28, Z:-13.51 [[ 7.18359924e-01 6.94039440e-01 4.76264196e-02 2.59921072e+02] [-6.92429789e-01 7.19936333e-01 -4.72510592e-02 -1.77280762e+02] [-6.70820885e-02 9.65315586e-04 9.97746993e-01 -1.35054629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.94, Y:-177.30, Z:-13.51 [[ 7.19390656e-01 6.92942364e-01 4.80412694e-02 2.59942769e+02] [-6.91299238e-01 7.20992132e-01 -4.77043952e-02 -1.77304247e+02] [-6.76937736e-02 1.10720323e-03 9.97705531e-01 -1.35064356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.96, Y:-177.33, Z:-13.51 [[ 7.21332560e-01 6.91058638e-01 4.60140983e-02 2.59963760e+02] [-6.89545053e-01 7.22797605e-01 -4.57301028e-02 -1.77328241e+02] [-6.48610625e-02 1.25781824e-03 9.97893512e-01 -1.35079078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.99, Y:-177.35, Z:-13.51 [[ 7.22810762e-01 6.89537881e-01 4.56301764e-02 2.59986274e+02] [-6.88043939e-01 7.24248245e-01 -4.53874224e-02 -1.77351352e+02] [-6.43439223e-02 1.41095108e-03 9.97926785e-01 -1.35099770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:260.01, Y:-177.37, Z:-13.51 [[ 7.23879648e-01 6.88430046e-01 4.54128528e-02 2.60009281e+02] [-6.86945660e-01 7.25301131e-01 -4.52098491e-02 -1.77374404e+02] [-6.40618120e-02 1.53032751e-03 9.97944759e-01 -1.35120198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:260.03, Y:-177.40, Z:-13.51 [[ 7.24802216e-01 6.87579576e-01 4.35439353e-02 2.60031022e+02] [-6.86211224e-01 7.26107345e-01 -4.33852524e-02 -1.77398175e+02] [-6.14483847e-02 1.56538992e-03 9.98109035e-01 -1.35129228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.05, Y:-177.42, Z:-13.51 [[ 7.24050569e-01 6.88436543e-01 4.24958853e-02 2.60052867e+02] [-6.87132677e-01 7.25295064e-01 -4.23763441e-02 -1.77421880e+02] [-5.99954797e-02 1.48230468e-03 9.98197548e-01 -1.35136660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.08, Y:-177.44, Z:-13.52 [[ 7.22821090e-01 6.89757065e-01 4.20102782e-02 2.60075518e+02] [-6.88482970e-01 7.24039556e-01 -4.19275725e-02 -1.77444349e+02] [-5.93369425e-02 1.38277253e-03 9.98237054e-01 -1.35152496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:260.10, Y:-177.47, Z:-13.52 [[ 7.22155962e-01 6.90523254e-01 4.08460934e-02 2.60098456e+02] [-6.89318099e-01 7.23309011e-01 -4.07999227e-02 -1.77466689e+02] [-5.77176429e-02 1.30795598e-03 9.98332091e-01 -1.35153044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.12, Y:-177.49, Z:-13.52 [[ 7.21251707e-01 6.91463046e-01 4.09247149e-02 2.60120774e+02] [-6.90252726e-01 7.22410734e-01 -4.09133969e-02 -1.77489441e+02] [-5.78545553e-02 1.26046132e-03 9.98324227e-01 -1.35169187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.00, Y:-177.74, Z:-11.79 [[ 7.41461415e-01 -6.70877616e-01 -1.25775414e-02 2.59995026e+02] [-6.70722378e-01 -7.41564159e-01 1.46318241e-02 -1.77735487e+02] [-1.91432172e-02 -2.41289448e-03 -9.99813840e-01 -1.17938967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.99, Y:-177.81, Z:-11.80 [[ 7.91772999e-01 -6.10655565e-01 -1.39749836e-02 2.59991747e+02] [-6.10497334e-01 -7.91891797e-01 1.41558311e-02 -1.77811667e+02] [-1.97110120e-02 -2.67651462e-03 -9.99802137e-01 -1.17956920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.11, Y:-177.59, Z:-13.52 [[ 8.13770766e-01 5.79184463e-01 4.81923065e-02 2.60109689e+02] [-5.78089619e-01 8.15195744e-01 -3.56130854e-02 -1.77592534e+02] [-5.99127088e-02 1.12141572e-03 9.98202990e-01 -1.35228286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.13, Y:-177.61, Z:-13.52 [[ 8.13681625e-01 5.79379373e-01 4.73471705e-02 2.60134120e+02] [-5.78320930e-01 8.15057236e-01 -3.50229215e-02 -1.77613138e+02] [-5.88822122e-02 1.11564802e-03 9.98264314e-01 -1.35232178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.16, Y:-177.63, Z:-13.53 [[ 8.13337826e-01 5.79916048e-01 4.66793122e-02 2.60158212e+02] [-5.78886358e-01 8.14675515e-01 -3.45599294e-02 -1.77634586e+02] [-5.80703505e-02 1.08688080e-03 9.98311902e-01 -1.35251530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:260.18, Y:-177.66, Z:-13.53 [[ 8.11463965e-01 5.82516938e-01 4.69068251e-02 2.60181682e+02] [-5.81479643e-01 8.12818030e-01 -3.47602534e-02 -1.77657134e+02] [-5.83751496e-02 9.31329199e-04 9.98294283e-01 -1.35262693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.21, Y:-177.68, Z:-13.53 [[ 8.08628681e-01 5.86372169e-01 4.78261006e-02 2.60205694e+02] [-5.85298953e-01 8.10041485e-01 -3.54672896e-02 -1.77679645e+02] [-5.95381571e-02 6.87301063e-04 9.98225794e-01 -1.35267899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.23, Y:-177.70, Z:-13.53 [[ 8.06910499e-01 5.88722278e-01 4.79742325e-02 2.60229787e+02] [-5.87645402e-01 8.08335201e-01 -3.55961156e-02 -1.77701218e+02] [-5.97354871e-02 5.31042229e-04 9.98214100e-01 -1.35277257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.25, Y:-177.72, Z:-13.53 [[ 8.04975616e-01 5.91336912e-01 4.83209525e-02 2.60254550e+02] [-5.90246969e-01 8.06424529e-01 -3.58886415e-02 -1.77723521e+02] [-6.01894798e-02 3.68185554e-04 9.98186902e-01 -1.35295546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.28, Y:-177.74, Z:-13.53 [[ 8.02228397e-01 5.95072198e-01 4.81526588e-02 2.60278312e+02] [-5.93994330e-01 8.03672238e-01 -3.58004262e-02 -1.77744879e+02] [-6.00027933e-02 1.17712266e-04 9.98198202e-01 -1.35304038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06864 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:260.30, Y:-177.76, Z:-13.53 [[ 8.00521866e-01 5.97353636e-01 4.83050245e-02 2.60304537e+02] [-5.96270912e-01 8.01977950e-01 -3.59494945e-02 -1.77764728e+02] [-6.02141258e-02 -2.45246254e-05 9.98185483e-01 -1.35319691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.33, Y:-177.78, Z:-13.53 [[ 7.98869503e-01 5.99473588e-01 4.93855689e-02 2.60329476e+02] [-5.98343474e-01 8.00394523e-01 -3.67925865e-02 -1.77784503e+02] [-6.15841227e-02 -1.57057574e-04 9.98101884e-01 -1.35337461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12864 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:260.36, Y:-177.80, Z:-13.53 [[ 7.98197905e-01 6.00355774e-01 4.95282757e-02 2.60355847e+02] [-5.99218513e-01 7.99733022e-01 -3.69359849e-02 -1.77804160e+02] [-6.17841294e-02 -1.96033933e-04 9.98089516e-01 -1.35347803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.38, Y:-177.82, Z:-13.54 [[ 7.98388168e-01 6.00034835e-01 5.03441139e-02 2.60382672e+02] [-5.98856511e-01 7.99973860e-01 -3.75859372e-02 -1.77822808e+02] [-6.28268468e-02 -1.40732860e-04 9.98024432e-01 -1.35368061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.41, Y:-177.84, Z:-13.54 [[ 7.99866436e-01 5.98088289e-01 5.00408065e-02 2.60411085e+02] [-5.96917754e-01 8.01430219e-01 -3.74005226e-02 -1.77840710e+02] [-6.24730291e-02 4.51769025e-05 9.98046652e-01 -1.35385500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21864 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:260.44, Y:-177.86, Z:-13.54 [[ 8.00829423e-01 5.96894324e-01 4.88814991e-02 2.60437456e+02] [-5.95772922e-01 8.02319848e-01 -3.65716569e-02 -1.77860000e+02] [-6.10480114e-02 1.65385378e-04 9.98134817e-01 -1.35396714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:260.46, Y:-177.88, Z:-13.54 [[ 8.02621997e-01 5.94519205e-01 4.84235897e-02 2.60463680e+02] [-5.93412235e-01 8.04081325e-01 -3.62648921e-02 -1.77880122e+02] [-6.04966790e-02 3.71849524e-04 9.98168329e-01 -1.35419213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:260.49, Y:-177.90, Z:-13.54 [[ 8.03541535e-01 5.93387943e-01 4.70292566e-02 2.60490316e+02] [-5.92339825e-01 8.04916472e-01 -3.52562878e-02 -1.77899063e+02] [-5.87752794e-02 4.72590014e-04 9.98271127e-01 -1.35421989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30864 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:260.52, Y:-177.92, Z:-13.54 [[ 8.04627825e-01 5.91934264e-01 4.67748910e-02 2.60516946e+02] [-5.90892996e-01 8.05986019e-01 -3.50999233e-02 -1.77917850e+02] [-5.84767554e-02 6.03419466e-04 9.98288588e-01 -1.35436102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:260.54, Y:-177.93, Z:-13.55 [[ 8.08453880e-01 5.86702282e-01 4.67199690e-02 2.60543925e+02] [-5.85652635e-01 8.09802082e-01 -3.50938633e-02 -1.77934819e+02] [-5.84235779e-02 1.01009704e-03 9.98291373e-01 -1.35457410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36864 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:260.57, Y:-177.96, Z:-13.55 [[ 8.12316560e-01 5.81432251e-01 4.55888615e-02 2.60569215e+02] [-5.80422838e-01 8.13593653e-01 -3.42738564e-02 -1.77955288e+02] [-5.70187338e-02 1.38040470e-03 9.98372154e-01 -1.35479799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39864 meters Centerline goodness [0,1] 0.9998031302293533 Centerline is valid? [True, True] Translation: X:260.59, Y:-177.98, Z:-13.55 [[ 8.14115951e-01 5.79030011e-01 4.40393606e-02 2.60594018e+02] [-5.78083011e-01 8.15304813e-01 -3.31375086e-02 -1.77975138e+02] [-5.50931146e-02 1.51936809e-03 9.98480065e-01 -1.35485636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42864000000003 meters Centerline goodness [0,1] 0.9997535974768381 Centerline is valid? [True, True] Translation: X:260.62, Y:-178.00, Z:-13.55 [[ 8.15468501e-01 5.77102875e-01 4.43102254e-02 2.60618588e+02] [-5.76139745e-01 8.16669724e-01 -3.33699776e-02 -1.77995404e+02] [-5.54447296e-02 1.68328358e-03 9.98460339e-01 -1.35512151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45864 meters Centerline goodness [0,1] 0.9995579133510168 Centerline is valid? [True, True] Translation: X:260.64, Y:-178.02, Z:-13.55 [[ 8.16547676e-01 5.75532500e-01 4.48579324e-02 2.60642840e+02] [-5.74541313e-01 8.17776844e-01 -3.38129294e-02 -1.78016459e+02] [-5.61442182e-02 1.83713354e-03 9.98420979e-01 -1.35522009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48864 meters Centerline goodness [0,1] 0.9993606138107417 Centerline is valid? [True, True] Translation: X:260.66, Y:-178.04, Z:-13.55 [[ 8.18642402e-01 5.72524803e-01 4.51659995e-02 2.60664707e+02] [-5.71514018e-01 8.19884769e-01 -3.40689452e-02 -1.78040898e+02] [-5.65362313e-02 2.07728131e-03 9.98398387e-01 -1.35534682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51864 meters Centerline goodness [0,1] 0.9994593797611442 Centerline is valid? [True, True] Translation: X:260.68, Y:-178.07, Z:-13.55 [[ 8.19630615e-01 5.71266104e-01 4.31357489e-02 2.60684716e+02] [-5.70341751e-01 8.20762281e-01 -3.25509646e-02 -1.78068011e+02] [-5.39994584e-02 2.07764856e-03 9.98538803e-01 -1.35538988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54864 meters Centerline goodness [0,1] 0.9994594063298604 Centerline is valid? [True, True] Translation: X:260.71, Y:-178.09, Z:-13.56 [[ 8.19544737e-01 5.71410247e-01 4.28573633e-02 2.60707886e+02] [-5.70496419e-01 8.20661933e-01 -3.23701663e-02 -1.78091771e+02] [-5.36680514e-02 2.07882713e-03 9.98556668e-01 -1.35550543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57864 meters Centerline goodness [0,1] 0.9996554439850365 Centerline is valid? [True, True] Translation: X:260.73, Y:-178.11, Z:-13.56 [[ 8.19385589e-01 5.71658715e-01 4.25860411e-02 2.60731301e+02] [-5.70755043e-01 8.20488881e-01 -3.21974566e-02 -1.78114921e+02] [-5.33473299e-02 2.07593423e-03 9.98573860e-01 -1.35566282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60864 meters Centerline goodness [0,1] 0.9998032754635322 Centerline is valid? [True, True] Translation: X:260.75, Y:-178.14, Z:-13.56 [[ 8.18661274e-01 5.72678694e-01 4.28115739e-02 2.60751666e+02] [-5.71765106e-01 8.19777364e-01 -3.23996547e-02 -1.78141957e+02] [-5.36505512e-02 2.04617853e-03 9.98557676e-01 -1.35602589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63864 meters Centerline goodness [0,1] 0.999705246610336 Centerline is valid? [True, True] Translation: X:260.77, Y:-178.17, Z:-13.56 [[ 8.18004166e-01 5.73612932e-01 4.28647802e-02 2.60774551e+02] [-5.72696809e-01 8.19124020e-01 -3.24685196e-02 -1.78165238e+02] [-5.37359338e-02 2.01086148e-03 9.98553156e-01 -1.35621900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66864 meters Centerline goodness [0,1] 0.9999015748031496 Centerline is valid? [True, True] Translation: X:260.79, Y:-178.19, Z:-13.56 [[ 8.14587143e-01 5.78479120e-01 4.25405019e-02 2.60791997e+02] [-5.77582236e-01 8.15695429e-01 -3.22448223e-02 -1.78194219e+02] [-5.33530493e-02 1.69557950e-03 9.98574272e-01 -1.35631283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69864 meters Centerline goodness [0,1] 0.9999016570782318 Centerline is valid? [True, True] Translation: X:260.81, Y:-178.22, Z:-13.56 [[ 8.12006759e-01 5.82146358e-01 4.18406673e-02 2.60814448e+02] [-5.81283073e-01 8.13082743e-01 -3.17244820e-02 -1.78217829e+02] [-5.24882162e-02 1.43922213e-03 9.98620506e-01 -1.35634884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72864 meters Centerline goodness [0,1] 0.9998030720756204 Centerline is valid? [True, True] Translation: X:260.84, Y:-178.24, Z:-13.57 [[ 8.09765058e-01 5.85178834e-01 4.29683928e-02 2.60837565e+02] [-5.84270982e-01 8.10903225e-01 -3.26095055e-02 -1.78240029e+02] [-5.39256007e-02 1.30085307e-03 9.98544109e-01 -1.35651304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75864 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:260.86, Y:-178.26, Z:-13.56 [[ 8.05104439e-01 5.91593060e-01 4.27140881e-02 2.60859506e+02] [-5.90703646e-01 8.06236235e-01 -3.24397282e-02 -1.78263899e+02] [-5.36287636e-02 8.86001526e-04 9.98560549e-01 -1.35641217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.88, Y:-178.29, Z:-13.57 [[ 8.02392789e-01 5.95339772e-01 4.16697447e-02 2.60883483e+02] [-5.94497754e-01 8.03473807e-01 -3.16585292e-02 -1.78285995e+02] [-5.23281300e-02 6.30005912e-04 9.98629746e-01 -1.35653829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.91, Y:-178.31, Z:-13.57 [[ 7.96845596e-01 6.02758339e-01 4.14666151e-02 2.60906127e+02] [-6.01932950e-01 7.97923779e-01 -3.15335954e-02 -1.78308945e+02] [-5.20943358e-02 1.67284654e-04 9.98642154e-01 -1.35677009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.93, Y:-178.33, Z:-13.57 [[ 7.93732704e-01 6.06904689e-01 4.06828325e-02 2.60931749e+02] [-6.06114113e-01 7.94774617e-01 -3.09675776e-02 -1.78329122e+02] [-5.11280506e-02 -7.84598474e-05 9.98692103e-01 -1.35685315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.96, Y:-178.35, Z:-13.57 [[ 7.90660157e-01 6.10876660e-01 4.10636443e-02 2.60958097e+02] [-6.10074735e-01 7.91725717e-01 -3.12922956e-02 -1.78348650e+02] [-5.16268762e-02 -3.10320550e-04 9.98666395e-01 -1.35700924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.98, Y:-178.37, Z:-13.57 [[ 7.85219478e-01 6.17841739e-01 4.12547718e-02 2.60984989e+02] [-6.17040098e-01 7.86302125e-01 -3.14719702e-02 -1.78366018e+02] [-5.18834116e-02 -7.43444350e-04 9.98652872e-01 -1.35713636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.01, Y:-178.38, Z:-13.57 [[ 7.82875842e-01 6.20824335e-01 4.10190209e-02 2.61011730e+02] [-6.20034357e-01 7.83949178e-01 -3.13222456e-02 -1.78384365e+02] [-5.16024400e-02 -9.11772829e-04 9.98667290e-01 -1.35738901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.04, Y:-178.40, Z:-13.57 [[ 7.80084905e-01 6.24297853e-01 4.14696539e-02 2.61040792e+02] [-6.23493679e-01 7.81185583e-01 -3.16972753e-02 -1.78399034e+02] [-5.21840367e-02 -1.12950103e-03 9.98636846e-01 -1.35746525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.07, Y:-178.42, Z:-13.58 [[ 7.79388659e-01 6.25293125e-01 3.95199486e-02 2.61069312e+02] [-6.24562674e-01 7.80389172e-01 -3.02358420e-02 -1.78415464e+02] [-4.97472040e-02 -1.11721246e-03 9.98761216e-01 -1.35751794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.10, Y:-178.43, Z:-13.58 [[ 7.79057538e-01 6.25706633e-01 3.95039460e-02 2.61095317e+02] [-6.24975654e-01 7.80057666e-01 -3.02567377e-02 -1.78434991e+02] [-4.97471974e-02 -1.11726491e-03 9.98761217e-01 -1.35764599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.13, Y:-178.45, Z:-13.58 [[ 7.79942049e-01 6.24645462e-01 3.88387277e-02 2.61125773e+02] [-6.23936053e-01 7.80907826e-01 -2.97786739e-02 -1.78448567e+02] [-4.89305799e-02 -1.00724257e-03 9.98801674e-01 -1.35779101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.15, Y:-178.47, Z:-13.58 [[ 7.81673494e-01 6.22464736e-01 3.90410069e-02 2.61153921e+02] [-6.21743767e-01 7.82647382e-01 -2.99626959e-02 -1.78465070e+02] [-4.92060635e-02 -8.52457447e-04 9.98788284e-01 -1.35804150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.18, Y:-178.48, Z:-13.58 [[ 7.83468792e-01 6.20239739e-01 3.84619066e-02 2.61181505e+02] [-6.19535952e-01 7.84412012e-01 -2.95465647e-02 -1.78481332e+02] [-4.84959352e-02 -6.79722570e-04 9.98823149e-01 -1.35807007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.21, Y:-178.50, Z:-13.58 [[ 7.87027906e-01 6.15683531e-01 3.89982635e-02 2.61211365e+02] [-6.14952896e-01 7.87993429e-01 -2.99881888e-02 -1.78495059e+02] [-4.91936094e-02 -3.80553609e-04 9.98789189e-01 -1.35823276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.24, Y:-178.51, Z:-13.58 [[ 7.88337893e-01 6.14001978e-01 3.90504586e-02 2.61239466e+02] [-6.13265825e-01 7.89304445e-01 -3.00586118e-02 -1.78512353e+02] [-4.92787477e-02 -2.51969048e-04 9.98785033e-01 -1.35840717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20864 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:261.27, Y:-178.53, Z:-13.59 [[ 7.90795207e-01 6.10872976e-01 3.84336858e-02 2.61268076e+02] [-6.10154614e-01 7.91728619e-01 -2.96165655e-02 -1.78528565e+02] [-4.85210084e-02 -2.98526698e-05 9.98822162e-01 -1.35852590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23864 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:261.30, Y:-178.55, Z:-13.59 [[ 7.92057046e-01 6.09249606e-01 3.82171850e-02 2.61295115e+02] [-6.08535842e-01 7.92978504e-01 -2.94825489e-02 -1.78546880e+02] [-4.82676375e-02 9.53337121e-05 9.98834434e-01 -1.35868348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26864 meters Centerline goodness [0,1] 0.9997051017398997 Centerline is valid? [True, True] Translation: X:261.32, Y:-178.56, Z:-13.59 [[ 7.94905574e-01 6.05527039e-01 3.82378493e-02 2.61323918e+02] [-6.04806639e-01 7.95824657e-01 -2.95304107e-02 -1.78562761e+02] [-4.83120855e-02 3.47382962e-04 9.98832229e-01 -1.35890749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29864 meters Centerline goodness [0,1] 0.9995579784882864 Centerline is valid? [True, True] Translation: X:261.35, Y:-178.58, Z:-13.59 [[ 7.95013093e-01 6.05390603e-01 3.81628019e-02 2.61351404e+02] [-6.04671477e-01 7.95928436e-01 -2.95013455e-02 -1.78580945e+02] [-4.82346966e-02 3.77998192e-04 9.98835958e-01 -1.35895685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32864 meters Centerline goodness [0,1] 0.9996068023198663 Centerline is valid? [True, True] Translation: X:261.38, Y:-178.60, Z:-13.59 [[ 7.95186631e-01 6.05089106e-01 3.93115196e-02 2.61379349e+02] [-6.04323973e-01 7.96157638e-01 -3.04228600e-02 -1.78598354e+02] [-4.97067077e-02 4.34957836e-04 9.98763763e-01 -1.35888943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35864 meters Centerline goodness [0,1] 0.9995567157562921 Centerline is valid? [True, True] Translation: X:261.41, Y:-178.62, Z:-13.59 [[ 7.95101794e-01 6.05167743e-01 3.98138204e-02 2.61406614e+02] [-6.04381336e-01 7.96097851e-01 -3.08449607e-02 -1.78617075e+02] [-5.03620721e-02 4.62153632e-04 9.98730919e-01 -1.35892736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38864 meters Centerline goodness [0,1] 0.9997050147492625 Centerline is valid? [True, True] Translation: X:261.43, Y:-178.64, Z:-13.59 [[ 7.94398534e-01 6.06123239e-01 3.93139776e-02 2.61433440e+02] [-6.05356022e-01 7.95370631e-01 -3.04901020e-02 -1.78636426e+02] [-4.97499426e-02 4.22339187e-04 9.98761616e-01 -1.35916128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41864 meters Centerline goodness [0,1] 0.9997052176476369 Centerline is valid? [True, True] Translation: X:261.46, Y:-178.66, Z:-13.59 [[ 7.94537441e-01 6.05992446e-01 3.85150611e-02 2.61460552e+02] [-6.05254422e-01 7.95470273e-01 -2.99019915e-02 -1.78655496e+02] [-4.87579672e-02 4.46840770e-04 9.98810523e-01 -1.35928691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.49, Y:-178.67, Z:-13.59 [[ 7.94294719e-01 6.06315970e-01 3.84297157e-02 2.61487517e+02] [-6.05580042e-01 7.95223705e-01 -2.98675925e-02 -1.78674795e+02] [-4.86694192e-02 4.51402199e-04 9.98814840e-01 -1.35942075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47864 meters Centerline goodness [0,1] 0.9998031883487503 Centerline is valid? [True, True] Translation: X:261.51, Y:-178.69, Z:-13.59 [[ 7.95575630e-01 6.04620646e-01 3.86431311e-02 2.61514897e+02] [-6.03872968e-01 7.96513361e-01 -3.00650025e-02 -1.78692800e+02] [-4.89576914e-02 5.83440980e-04 9.98800683e-01 -1.35949074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50864 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:261.54, Y:-178.71, Z:-13.60 [[ 7.95499035e-01 6.04678620e-01 3.93071458e-02 2.61541462e+02] [-6.03903596e-01 7.96469328e-01 -3.06113671e-02 -1.78712317e+02] [-4.98169753e-02 6.13586297e-04 9.98758175e-01 -1.35962042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53864 meters Centerline goodness [0,1] 0.999656002751978 Centerline is valid? [True, True] Translation: X:261.57, Y:-178.73, Z:-13.60 [[ 7.95598692e-01 6.04551830e-01 3.92403670e-02 2.61567466e+02] [-6.03777681e-01 7.96565545e-01 -3.05915862e-02 -1.78732233e+02] [-4.97517237e-02 6.46168116e-04 9.98761407e-01 -1.35970781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56864 meters Centerline goodness [0,1] 0.9998033818324813 Centerline is valid? [True, True] Translation: X:261.59, Y:-178.75, Z:-13.60 [[ 7.95326924e-01 6.04706736e-01 4.22474501e-02 2.61591956e+02] [-6.03807804e-01 7.96447901e-01 -3.29678162e-02 -1.78752252e+02] [-5.35837534e-02 7.10851758e-04 9.98563106e-01 -1.36005399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59864 meters Centerline goodness [0,1] 0.9999017102417928 Centerline is valid? [True, True] Translation: X:261.62, Y:-178.77, Z:-13.60 [[ 7.95733120e-01 6.04169885e-01 4.22794470e-02 2.61617710e+02] [-6.03267681e-01 7.96855172e-01 -3.30142455e-02 -1.78772871e+02] [-5.36368090e-02 7.64704627e-04 9.98560217e-01 -1.36010625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.64, Y:-178.79, Z:-13.60 [[ 7.95687693e-01 6.04367481e-01 4.02621813e-02 2.61641259e+02] [-6.03548044e-01 7.96705341e-01 -3.14699573e-02 -1.78794643e+02] [-5.10965137e-02 7.40096964e-04 9.98693446e-01 -1.36020869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65864 meters Centerline goodness [0,1] 0.9997540217444778 Centerline is valid? [True, True] Translation: X:261.67, Y:-178.82, Z:-13.60 [[ 7.95504356e-01 6.04705083e-01 3.87889420e-02 2.61666493e+02] [-6.03943624e-01 7.96449153e-01 -3.03454376e-02 -1.78815400e+02] [-4.92434604e-02 7.13593564e-04 9.98786550e-01 -1.36028324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68864 meters Centerline goodness [0,1] 0.9999017102417928 Centerline is valid? [True, True] Translation: X:261.69, Y:-178.84, Z:-13.60 [[ 7.94768079e-01 6.05856587e-01 3.57979969e-02 2.61689899e+02] [-6.05208160e-01 7.95573643e-01 -2.80296453e-02 -1.78837066e+02] [-4.54618881e-02 6.11827493e-04 9.98965887e-01 -1.36030081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71864 meters Centerline goodness [0,1] 0.9997532813579394 Centerline is valid? [True, True] Translation: X:261.71, Y:-178.86, Z:-13.60 [[ 7.93783940e-01 6.07141269e-01 3.58683324e-02 2.61714406e+02] [-6.06490394e-01 7.94593711e-01 -2.81111423e-02 -1.78858709e+02] [-4.55681860e-02 5.60374253e-04 9.98961074e-01 -1.36043634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74864 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:261.74, Y:-178.88, Z:-13.61 [[ 7.92805693e-01 6.08506412e-01 3.43377378e-02 2.61738183e+02] [-6.07910020e-01 7.93548810e-01 -2.69387083e-02 -1.78880002e+02] [-4.36410477e-02 4.82906379e-04 9.99047159e-01 -1.36053002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77864 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:261.76, Y:-178.90, Z:-13.61 [[ 7.90985361e-01 6.10774306e-01 3.60125748e-02 2.61761886e+02] [-6.10119343e-01 7.91804640e-01 -2.82807119e-02 -1.78903186e+02] [-4.57880561e-02 3.97660652e-04 9.98951098e-01 -1.36058991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80864 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:261.79, Y:-178.92, Z:-13.61 [[ 7.89390625e-01 6.12834718e-01 3.60006914e-02 2.61787693e+02] [-6.12180932e-01 7.90211059e-01 -2.83017442e-02 -1.78923730e+02] [-4.57924359e-02 3.02194771e-04 9.98950930e-01 -1.36061587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83864 meters Centerline goodness [0,1] 0.9999016957483411 Centerline is valid? [True, True] Translation: X:261.81, Y:-178.94, Z:-13.61 [[ 7.86298691e-01 6.16679868e-01 3.79513903e-02 2.61813614e+02] [-6.15956098e-01 7.87214029e-01 -2.98690040e-02 -1.78944630e+02] [-4.82954804e-02 1.09568491e-04 9.98833086e-01 -1.36075073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86864 meters Centerline goodness [0,1] 0.9994585015260411 Centerline is valid? [True, True] Translation: X:261.84, Y:-178.97, Z:-13.61 [[ 7.85228146e-01 6.17980839e-01 3.89415127e-02 2.61838881e+02] [-6.17218685e-01 7.86193156e-01 -3.06824909e-02 -1.78965140e+02] [-4.95767422e-02 5.73261257e-05 9.98770316e-01 -1.36089463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89864 meters Centerline goodness [0,1] 0.9992126759177247 Centerline is valid? [True, True] Translation: X:261.86, Y:-178.99, Z:-13.61 [[ 7.84298214e-01 6.19146377e-01 3.91672833e-02 2.61864211e+02] [-6.18375120e-01 7.85275598e-01 -3.08941164e-02 -1.78986816e+02] [-4.98850921e-02 1.01267943e-05 9.98754964e-01 -1.36083565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92864000000003 meters Centerline goodness [0,1] 0.9993122758756202 Centerline is valid? [True, True] Translation: X:261.89, Y:-179.01, Z:-13.61 [[ 7.83849102e-01 6.19713995e-01 3.91809873e-02 2.61890941e+02] [-6.18941217e-01 7.84827729e-01 -3.09387308e-02 -1.79006786e+02] [-4.99234898e-02 5.68398086e-07 9.98753045e-01 -1.36102076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95864 meters Centerline goodness [0,1] 0.9989679068167298 Centerline is valid? [True, True] Translation: X:261.92, Y:-179.03, Z:-13.61 [[ 7.83625122e-01 6.20025738e-01 3.87266491e-02 2.61917748e+02] [-6.19269529e-01 7.84581471e-01 -3.06131575e-02 -1.79026585e+02] [-4.93651569e-02 7.00556895e-06 9.98780797e-01 -1.36118162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98864 meters Centerline goodness [0,1] 0.9980828786314703 Centerline is valid? [True, True] Translation: X:261.94, Y:-179.05, Z:-13.61 [[ 7.85015497e-01 6.18333427e-01 3.76090894e-02 2.61943549e+02] [-6.17616779e-01 7.85915870e-01 -2.97616967e-02 -1.79047737e+02] [-4.79602322e-02 1.35388448e-04 9.98849237e-01 -1.36137228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01864 meters Centerline goodness [0,1] 0.9981327698884576 Centerline is valid? [True, True] Translation: X:261.97, Y:-179.07, Z:-13.62 [[ 7.85869361e-01 6.17224049e-01 3.79976510e-02 2.61968915e+02] [-6.16489609e-01 7.86787405e-01 -3.01021883e-02 -1.79069212e+02] [-4.84758677e-02 2.31230479e-04 9.98824327e-01 -1.36150425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04864 meters Centerline goodness [0,1] 0.9977875018437484 Centerline is valid? [True, True] Translation: X:261.99, Y:-179.09, Z:-13.62 [[ 7.88207337e-01 6.14184527e-01 3.88144543e-02 2.61993209e+02] [-6.13412825e-01 7.89162316e-01 -3.07822115e-02 -1.79090025e+02] [-4.95368626e-02 4.53480871e-04 9.98772193e-01 -1.36157980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07864 meters Centerline goodness [0,1] 0.9977885891198585 Centerline is valid? [True, True] Translation: X:262.02, Y:-179.11, Z:-13.62 [[ 7.88015784e-01 6.14391784e-01 3.94190254e-02 2.62019003e+02] [-6.13594555e-01 7.89000959e-01 -3.12923201e-02 -1.79111360e+02] [-5.03273932e-02 4.71542748e-04 9.98732663e-01 -1.36167342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10864 meters Centerline goodness [0,1] 0.9977382240141607 Centerline is valid? [True, True] Translation: X:262.04, Y:-179.13, Z:-13.62 [[ 7.87958060e-01 6.14483806e-01 3.91375433e-02 2.62044480e+02] [-6.13696383e-01 7.88929283e-01 -3.11020295e-02 -1.79132739e+02] [-4.99884474e-02 4.88526080e-04 9.98749677e-01 -1.36177869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13864 meters Centerline goodness [0,1] 0.9975398543593781 Centerline is valid? [True, True] Translation: X:262.07, Y:-179.15, Z:-13.62 [[ 7.87580394e-01 6.14880196e-01 4.04903398e-02 2.62069426e+02] [-6.14036050e-01 7.88620370e-01 -3.22124597e-02 -1.79154719e+02] [-5.17383103e-02 5.07373349e-04 9.98660548e-01 -1.36183422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16864 meters Centerline goodness [0,1] 0.9973490427098675 Centerline is valid? [True, True] Translation: X:262.10, Y:-179.18, Z:-13.62 [[ 7.86714345e-01 6.15969856e-01 4.07636568e-02 2.62095454e+02] [-6.15113915e-01 7.87769585e-01 -3.24646363e-02 -1.79175616e+02] [-5.21096064e-02 4.66102578e-04 9.98641263e-01 -1.36190059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19864 meters Centerline goodness [0,1] 0.9972976956713998 Centerline is valid? [True, True] Translation: X:262.12, Y:-179.20, Z:-13.62 [[ 7.86117264e-01 6.16776184e-01 4.00847315e-02 2.62121413e+02] [-6.15947857e-01 7.87138458e-01 -3.19575646e-02 -1.79196807e+02] [-5.12628985e-02 4.32288768e-04 9.98685100e-01 -1.36198347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22864 meters Centerline goodness [0,1] 0.9978870817158862 Centerline is valid? [True, True] Translation: X:262.15, Y:-179.22, Z:-13.62 [[ 7.85855568e-01 6.17173178e-01 3.90934166e-02 2.62146242e+02] [-6.16384189e-01 7.86827230e-01 -3.12000148e-02 -1.79218249e+02] [-5.00155770e-02 4.22141401e-04 9.98748349e-01 -1.36202769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25864 meters Centerline goodness [0,1] 0.997444466286613 Centerline is valid? [True, True] Translation: X:262.17, Y:-179.24, Z:-13.62 [[ 7.85455190e-01 6.17592924e-01 4.04861142e-02 2.62170959e+02] [-6.16745384e-01 7.86497800e-01 -3.23472150e-02 -1.79240435e+02] [-5.18196508e-02 4.37663781e-04 9.98656363e-01 -1.36219767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28864 meters Centerline goodness [0,1] 0.9968088762334921 Centerline is valid? [True, True] Translation: X:262.20, Y:-179.26, Z:-13.62 [[ 7.85907837e-01 6.17014805e-01 4.05166851e-02 2.62195535e+02] [-6.16163414e-01 7.86951382e-01 -3.24063286e-02 -1.79262671e+02] [-5.18798458e-02 5.03488645e-04 9.98653207e-01 -1.36204997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31864 meters Centerline goodness [0,1] 0.9968576619040604 Centerline is valid? [True, True] Translation: X:262.22, Y:-179.29, Z:-13.62 [[ 7.85481928e-01 6.17594144e-01 3.99451391e-02 2.62219994e+02] [-6.16765647e-01 7.86496814e-01 -3.19827958e-02 -1.79285538e+02] [-5.11691120e-02 4.85118497e-04 9.98689885e-01 -1.36214743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34864 meters Centerline goodness [0,1] 0.9970536240424278 Centerline is valid? [True, True] Translation: X:262.24, Y:-179.31, Z:-13.62 [[ 7.85535715e-01 6.17503704e-01 4.02841775e-02 2.62244822e+02] [-6.16659165e-01 7.86567799e-01 -3.22888802e-02 -1.79306711e+02] [-5.16247399e-02 5.22461317e-04 9.98666417e-01 -1.36230960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37864 meters Centerline goodness [0,1] 0.9965627301743187 Centerline is valid? [True, True] Translation: X:262.27, Y:-179.33, Z:-13.62 [[ 7.84745707e-01 6.18551416e-01 3.96020352e-02 2.62268902e+02] [-6.17734934e-01 7.85744185e-01 -3.17746333e-02 -1.79328091e+02] [-5.07713133e-02 4.71446408e-04 9.98710194e-01 -1.36231841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40864 meters Centerline goodness [0,1] 0.9963670283273602 Centerline is valid? [True, True] Translation: X:262.29, Y:-179.35, Z:-13.62 [[ 7.82923376e-01 6.20773497e-01 4.08809716e-02 2.62293395e+02] [-6.19904713e-01 7.83989881e-01 -3.28331063e-02 -1.79349713e+02] [-5.24321903e-02 3.63499487e-04 9.98624421e-01 -1.36231143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43864 meters Centerline goodness [0,1] 0.9967530870271069 Centerline is valid? [True, True] Translation: X:262.32, Y:-179.37, Z:-13.62 [[ 7.81095319e-01 6.22993213e-01 4.20661300e-02 2.62318541e+02] [-6.22074503e-01 7.82227201e-01 -3.38218695e-02 -1.79371059e+02] [-5.39760663e-02 2.49837085e-04 9.98542198e-01 -1.36236071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46864 meters Centerline goodness [0,1] 0.9965615482856862 Centerline is valid? [True, True] Translation: X:262.34, Y:-179.39, Z:-13.62 [[ 7.77702737e-01 6.27284911e-01 4.11350667e-02 2.62342600e+02] [-6.26410622e-01 7.78789857e-01 -3.31072762e-02 -1.79392979e+02] [-5.28032675e-02 -1.98234321e-05 9.98604934e-01 -1.36232284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49864 meters Centerline goodness [0,1] 0.996562392574768 Centerline is valid? [True, True] Translation: X:262.37, Y:-179.41, Z:-13.62 [[ 7.75955958e-01 6.29475183e-01 4.06613514e-02 2.62368366e+02] [-6.28622251e-01 7.77020575e-01 -3.27580679e-02 -1.79413540e+02] [-5.22150974e-02 -1.41812317e-04 9.98635851e-01 -1.36234227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52864 meters Centerline goodness [0,1] 0.9959235793919748 Centerline is valid? [True, True] Translation: X:262.39, Y:-179.43, Z:-13.62 [[ 7.74813678e-01 6.30880654e-01 4.06615991e-02 2.62394936e+02] [-6.30027799e-01 7.75879860e-01 -3.27935274e-02 -1.79432455e+02] [-5.22373178e-02 -2.09064199e-04 9.98634677e-01 -1.36235821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55864 meters Centerline goodness [0,1] 0.9964141860693585 Centerline is valid? [True, True] Translation: X:262.42, Y:-179.45, Z:-13.62 [[ 7.73875189e-01 6.31957920e-01 4.17896929e-02 2.62422609e+02] [-6.31056681e-01 7.75002657e-01 -3.37394045e-02 -1.79450361e+02] [-5.37090069e-02 -2.61576866e-04 9.98556595e-01 -1.36246984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58864 meters Centerline goodness [0,1] 0.9962219714439919 Centerline is valid? [True, True] Translation: X:262.45, Y:-179.47, Z:-13.63 [[ 7.74336289e-01 6.31367649e-01 4.21687575e-02 2.62449081e+02] [-6.30447057e-01 7.75483626e-01 -3.40830440e-02 -1.79470444e+02] [-5.42201123e-02 -1.93431221e-04 9.98528989e-01 -1.36256793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61864 meters Centerline goodness [0,1] 0.9967129470637296 Centerline is valid? [True, True] Translation: X:262.48, Y:-179.49, Z:-13.63 [[ 7.77747277e-01 6.27198683e-01 4.16051078e-02 2.62475432e+02] [-6.26294623e-01 7.78859292e-01 -3.36637588e-02 -1.79490708e+02] [-5.35183900e-02 1.24841416e-04 9.98566856e-01 -1.36266290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64864 meters Centerline goodness [0,1] 0.9966143277723258 Centerline is valid? [True, True] Translation: X:262.50, Y:-179.51, Z:-13.63 [[ 7.79986792e-01 6.24494475e-01 4.03392380e-02 2.62501493e+02] [-6.23639205e-01 7.81029156e-01 -3.26741484e-02 -1.79510802e+02] [-5.19109462e-02 3.28273918e-04 9.98651664e-01 -1.36272533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67864000000003 meters Centerline goodness [0,1] 0.9966502463054188 Centerline is valid? [True, True] Translation: X:262.53, Y:-179.53, Z:-13.63 [[ 7.84657731e-01 6.18790077e-01 3.75644279e-02 2.62526290e+02] [-6.18040458e-01 7.85556094e-01 -3.04567891e-02 -1.79531452e+02] [-4.83553241e-02 6.81818818e-04 9.98829964e-01 -1.36290997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70864 meters Centerline goodness [0,1] 0.9969052414402908 Centerline is valid? [True, True] Translation: X:262.55, Y:-179.55, Z:-13.63 [[ 7.86201210e-01 6.16920075e-01 3.60177464e-02 2.62550785e+02] [-6.16227770e-01 7.87025416e-01 -2.92289370e-02 -1.79552121e+02] [-4.63787999e-02 7.84690076e-04 9.98923616e-01 -1.36300412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73864 meters Centerline goodness [0,1] 0.9966602819114975 Centerline is valid? [True, True] Translation: X:262.58, Y:-179.57, Z:-13.63 [[ 7.86688742e-01 6.16344223e-01 3.52224620e-02 2.62575105e+02] [-6.15680388e-01 7.87476428e-01 -2.86100598e-02 -1.79573774e+02] [-4.53705036e-02 8.21432878e-04 9.98969891e-01 -1.36319410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76864 meters Centerline goodness [0,1] 0.996657983977982 Centerline is valid? [True, True] Translation: X:262.60, Y:-179.60, Z:-13.63 [[ 7.86427048e-01 6.16725708e-01 3.43787539e-02 2.62599994e+02] [-6.16092396e-01 7.87177716e-01 -2.79536015e-02 -1.79596328e+02] [-4.43018936e-02 8.02979427e-04 9.99017866e-01 -1.36315073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79864 meters Centerline goodness [0,1] 0.9965593511919391 Centerline is valid? [True, True] Translation: X:262.62, Y:-179.62, Z:-13.63 [[ 7.85229183e-01 6.18202449e-01 3.52258845e-02 2.62624475e+02] [-6.17537632e-01 7.86018545e-01 -2.86726321e-02 -1.79616957e+02] [-4.54136899e-02 7.61278105e-04 9.98967976e-01 -1.36326502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82864 meters Centerline goodness [0,1] 0.9964577388566368 Centerline is valid? [True, True] Translation: X:262.65, Y:-179.64, Z:-13.63 [[ 7.81642351e-01 6.22642498e-01 3.67634929e-02 2.62648816e+02] [-6.21921873e-01 7.82506242e-01 -2.99527242e-02 -1.79638549e+02] [-4.74175017e-02 5.48297430e-04 9.98875007e-01 -1.36329380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85864 meters Centerline goodness [0,1] 0.9967053501180173 Centerline is valid? [True, True] Translation: X:262.67, Y:-179.66, Z:-13.63 [[ 7.79887428e-01 6.24675729e-01 3.94440423e-02 2.62674195e+02] [-6.23847047e-01 7.80884115e-01 -3.21692409e-02 -1.79660208e+02] [-5.08965701e-02 4.81337280e-04 9.98703814e-01 -1.36342089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88864 meters Centerline goodness [0,1] 0.9967053501180173 Centerline is valid? [True, True] Translation: X:262.70, Y:-179.68, Z:-13.64 [[ 7.79561781e-01 6.25083136e-01 3.94271868e-02 2.62699587e+02] [-6.24253930e-01 7.80558032e-01 -3.21898886e-02 -1.79680516e+02] [-5.08965638e-02 4.81430525e-04 9.98703814e-01 -1.36354892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91864 meters Centerline goodness [0,1] 0.9967585089141004 Centerline is valid? [True, True] Translation: X:262.72, Y:-179.70, Z:-13.63 [[ 7.77926885e-01 6.27117306e-01 3.94163193e-02 2.62724348e+02] [-6.26289463e-01 7.78924736e-01 -3.22143441e-02 -1.79701557e+02] [-5.09045188e-02 3.74378953e-04 9.98703454e-01 -1.36348170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94864 meters Centerline goodness [0,1] 0.9964083640836409 Centerline is valid? [True, True] Translation: X:262.75, Y:-179.72, Z:-13.64 [[ 7.76662777e-01 6.28657781e-01 3.98035860e-02 2.62750757e+02] [-6.27813969e-01 7.77682007e-01 -3.25624995e-02 -1.79721287e+02] [-5.14252013e-02 3.00833960e-04 9.98676804e-01 -1.36355407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97864 meters Centerline goodness [0,1] 0.9965053895752326 Centerline is valid? [True, True] Translation: X:262.78, Y:-179.74, Z:-13.64 [[ 7.75616309e-01 6.29986667e-01 3.91936367e-02 2.62777152e+02] [-6.29168706e-01 7.76605914e-01 -3.20935221e-02 -1.79740596e+02] [-5.06565011e-02 2.32849541e-04 9.98716108e-01 -1.36368749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00864 meters Centerline goodness [0,1] 0.9960738123282293 Centerline is valid? [True, True] Translation: X:262.81, Y:-179.76, Z:-13.64 [[ 7.73222767e-01 6.32937107e-01 3.89508797e-02 2.62805556e+02] [-6.32131960e-01 7.74203213e-01 -3.19150512e-02 -1.79757347e+02] [-5.03561165e-02 5.53482805e-05 9.98731324e-01 -1.36377351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03864 meters Centerline goodness [0,1] 0.9961574461796148 Centerline is valid? [True, True] Translation: X:262.83, Y:-179.78, Z:-13.64 [[ 7.72048734e-01 6.34444019e-01 3.77033164e-02 2.62832946e+02] [-6.33689851e-01 7.72968814e-01 -3.09254833e-02 -1.79776274e+02] [-4.87639757e-02 -1.62287495e-05 9.98810330e-01 -1.36387985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06864 meters Centerline goodness [0,1] 0.9959760526057513 Centerline is valid? [True, True] Translation: X:262.86, Y:-179.80, Z:-13.64 [[ 7.71001401e-01 6.35744351e-01 3.72284698e-02 2.62860191e+02] [-6.35008995e-01 7.71899679e-01 -3.05689686e-02 -1.79795102e+02] [-4.81706930e-02 -7.16955476e-05 9.98839116e-01 -1.36396358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09864 meters Centerline goodness [0,1] 0.9959249803613511 Centerline is valid? [True, True] Translation: X:262.89, Y:-179.81, Z:-13.64 [[ 7.69130689e-01 6.38077147e-01 3.59935868e-02 2.62887706e+02] [-6.37390868e-01 7.69972415e-01 -2.95865093e-02 -1.79813588e+02] [-4.65925444e-02 -1.86091216e-04 9.98913960e-01 -1.36396308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12864 meters Centerline goodness [0,1] 0.9966617574864998 Centerline is valid? [True, True] Translation: X:262.91, Y:-179.83, Z:-13.64 [[ 7.65965207e-01 6.41783825e-01 3.75609228e-02 2.62914997e+02] [-6.41039224e-01 7.66885493e-01 -3.09088013e-02 -1.79830390e+02] [-4.86416955e-02 -4.02958363e-04 9.98816211e-01 -1.36404412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15864 meters Centerline goodness [0,1] 0.9976431307080428 Centerline is valid? [True, True] Translation: X:262.94, Y:-179.85, Z:-13.64 [[ 7.63552403e-01 6.44603527e-01 3.83929858e-02 2.62941708e+02] [-6.43827576e-01 7.64516819e-01 -3.16241383e-02 -1.79848659e+02] [-4.97371145e-02 -5.71776258e-04 9.98762180e-01 -1.36404897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18864 meters Centerline goodness [0,1] 0.9978867701985453 Centerline is valid? [True, True] Translation: X:262.97, Y:-179.87, Z:-13.64 [[ 7.61525123e-01 6.46945925e-01 3.92486568e-02 2.62967788e+02] [-6.46136487e-01 7.62535544e-01 -3.23602327e-02 -1.79867976e+02] [-5.08638165e-02 -7.16859078e-04 9.98705341e-01 -1.36417694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21864 meters Centerline goodness [0,1] 0.9987245523669365 Centerline is valid? [True, True] Translation: X:262.99, Y:-179.89, Z:-13.64 [[ 7.59775690e-01 6.49025156e-01 3.88232744e-02 2.62993395e+02] [-6.48234366e-01 7.60766500e-01 -3.20396395e-02 -1.79887778e+02] [-5.03299787e-02 -8.23641455e-04 9.98732304e-01 -1.36427905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24864 meters Centerline goodness [0,1] 0.9988223748773307 Centerline is valid? [True, True] Translation: X:263.02, Y:-179.91, Z:-13.64 [[ 7.56794175e-01 6.52510383e-01 3.86364699e-02 2.63020632e+02] [-6.51730190e-01 7.57779087e-01 -3.19157314e-02 -1.79905987e+02] [-5.01032550e-02 -1.02691425e-03 9.98743515e-01 -1.36436046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27864 meters Centerline goodness [0,1] 0.9993609909555643 Centerline is valid? [True, True] Translation: X:263.05, Y:-179.92, Z:-13.64 [[ 7.54686881e-01 6.54916060e-01 3.91492792e-02 2.63049112e+02] [-6.54116659e-01 7.55700711e-01 -3.23702319e-02 -1.79922512e+02] [-5.07849228e-02 -1.17880638e-03 9.98708918e-01 -1.36444070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30864 meters Centerline goodness [0,1] 0.9996566102526367 Centerline is valid? [True, True] Translation: X:263.07, Y:-179.94, Z:-13.65 [[ 7.52994540e-01 6.56822170e-01 3.97977393e-02 2.63074480e+02] [-6.55997067e-01 7.54044385e-01 -3.29380290e-02 -1.79942617e+02] [-5.16436895e-02 -1.30504424e-03 9.98664722e-01 -1.36462202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33864 meters Centerline goodness [0,1] 0.9998528257456829 Centerline is valid? [True, True] Translation: X:263.10, Y:-179.96, Z:-13.65 [[ 7.52196259e-01 6.57745496e-01 3.96440429e-02 2.63100273e+02] [-6.56926384e-01 7.53239052e-01 -3.28428998e-02 -1.79963379e+02] [-5.14637108e-02 -1.33891139e-03 9.98673968e-01 -1.36470010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36864 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:263.13, Y:-179.98, Z:-13.65 [[ 7.50261002e-01 6.59909445e-01 4.03479070e-02 2.63126622e+02] [-6.59062237e-01 7.51343672e-01 -3.34612476e-02 -1.79982365e+02] [-5.23965379e-02 -1.48711275e-03 9.98625251e-01 -1.36482797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39864 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:263.15, Y:-180.00, Z:-13.65 [[ 7.49593145e-01 6.60679859e-01 4.01527137e-02 2.63153754e+02] [-6.59840253e-01 7.50666268e-01 -3.33315782e-02 -1.80001871e+02] [-5.21627902e-02 -1.50925425e-03 9.98637454e-01 -1.36490147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42864000000003 meters Centerline goodness [0,1] 0.9999016909162407 Centerline is valid? [True, True] Translation: X:263.18, Y:-180.02, Z:-13.65 [[ 7.49586017e-01 6.60702438e-01 3.99135410e-02 2.63180282e+02] [-6.59871005e-01 7.50646463e-01 -3.31684407e-02 -1.80021076e+02] [-5.18754280e-02 -1.47518903e-03 9.98652474e-01 -1.36501881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45864 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:263.21, Y:-180.04, Z:-13.65 [[ 7.49643444e-01 6.60623898e-01 4.01344282e-02 2.63205800e+02] [-6.59781236e-01 7.50715632e-01 -3.33880154e-02 -1.80042059e+02] [-5.21864635e-02 -1.45083580e-03 9.98636304e-01 -1.36506476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.23, Y:-180.06, Z:-13.65 [[ 7.49448538e-01 6.60836607e-01 4.02724140e-02 2.63231456e+02] [-6.59986550e-01 7.50528410e-01 -3.35389291e-02 -1.80062134e+02] [-5.23893430e-02 -1.44355022e-03 9.98625692e-01 -1.36516199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.26, Y:-180.08, Z:-13.65 [[ 7.50099218e-01 6.60059990e-01 4.08897723e-02 2.63257511e+02] [-6.59180594e-01 7.51211618e-01 -3.40888487e-02 -1.80081627e+02] [-5.32175572e-02 -1.38372566e-03 9.98581983e-01 -1.36521865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54864 meters Centerline goodness [0,1] 0.9999018212164351 Centerline is valid? [True, True] Translation: X:263.28, Y:-180.10, Z:-13.65 [[ 7.50666648e-01 6.59388159e-01 4.13139163e-02 2.63282365e+02] [-6.58487635e-01 7.51801502e-01 -3.44751411e-02 -1.80101970e+02] [-5.37923641e-02 -1.32536445e-03 9.98551263e-01 -1.36541101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.31, Y:-180.12, Z:-13.66 [[ 7.52344294e-01 6.57462167e-01 4.14917259e-02 2.63306289e+02] [-6.56549161e-01 7.53486652e-01 -3.46563602e-02 -1.80122943e+02] [-5.40487073e-02 -1.16784298e-03 9.98537617e-01 -1.36557122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.33, Y:-180.14, Z:-13.66 [[ 7.52176471e-01 6.57650009e-01 4.15574567e-02 2.63331724e+02] [-6.56732543e-01 7.53322723e-01 -3.47453825e-02 -1.80144394e+02] [-5.41564776e-02 -1.15747507e-03 9.98531790e-01 -1.36560020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.36, Y:-180.16, Z:-13.66 [[ 7.52590362e-01 6.57150775e-01 4.19595703e-02 2.63357438e+02] [-6.56212581e-01 7.53758344e-01 -3.51198988e-02 -1.80164429e+02] [-5.47064449e-02 -1.10350057e-03 9.98501871e-01 -1.36571472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66864 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:263.38, Y:-180.18, Z:-13.66 [[ 7.53666765e-01 6.55995954e-01 4.06904895e-02 2.63382146e+02] [-6.55110156e-01 7.54763792e-01 -3.40925433e-02 -1.80184767e+02] [-5.30762786e-02 -9.62336161e-04 9.98589997e-01 -1.36582844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.41, Y:-180.21, Z:-13.66 [[ 7.56407441e-01 6.52849173e-01 4.04442806e-02 2.63406439e+02] [-6.51967871e-01 7.57487591e-01 -3.39182184e-02 -1.80205714e+02] [-5.27795215e-02 -7.12378761e-04 9.98605936e-01 -1.36589678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72864 meters Centerline goodness [0,1] 0.9999018790168277 Centerline is valid? [True, True] Translation: X:263.43, Y:-180.23, Z:-13.66 [[ 7.58221065e-01 6.50710480e-01 4.09473872e-02 2.63430988e+02] [-6.49802227e-01 7.59325736e-01 -3.43728261e-02 -1.80226047e+02] [-5.34591631e-02 -5.45502616e-04 9.98569888e-01 -1.36605694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75864 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:263.46, Y:-180.25, Z:-13.66 [[ 7.59402026e-01 6.49338049e-01 4.08492521e-02 2.63455870e+02] [-6.48430434e-01 7.60499783e-01 -3.43227702e-02 -1.80246959e+02] [-5.33529280e-02 -4.23117090e-04 9.98575629e-01 -1.36621897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78864 meters Centerline goodness [0,1] 0.9999018404907976 Centerline is valid? [True, True] Translation: X:263.48, Y:-180.27, Z:-13.66 [[ 7.61526557e-01 6.46883415e-01 4.02386692e-02 2.63479439e+02] [-6.45997653e-01 7.62588879e-01 -3.38413104e-02 -1.80268307e+02] [-5.25769441e-02 -2.23029298e-04 9.98616851e-01 -1.36627696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81864 meters Centerline goodness [0,1] 0.9999509491342522 Centerline is valid? [True, True] Translation: X:263.50, Y:-180.29, Z:-13.66 [[ 7.62173358e-01 6.46121428e-01 4.02352151e-02 2.63504010e+02] [-6.45233013e-01 7.63234616e-01 -3.38715236e-02 -1.80290654e+02] [-5.25940261e-02 -1.45116244e-04 9.98615966e-01 -1.36644241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:263.53, Y:-180.31, Z:-13.67 [[ 7.63916089e-01 6.44113290e-01 3.93735838e-02 2.63527677e+02] [-6.43258057e-01 7.64930108e-01 -3.31813554e-02 -1.80313416e+02] [-5.14905917e-02 2.03961982e-05 9.98673479e-01 -1.36662659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87864 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:263.55, Y:-180.33, Z:-13.67 [[ 7.64366675e-01 6.43565834e-01 3.95803530e-02 2.63552585e+02] [-6.42698973e-01 7.65390757e-01 -3.33919127e-02 -1.80334949e+02] [-5.17843304e-02 8.54130455e-05 9.98658288e-01 -1.36674111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90864 meters Centerline goodness [0,1] 0.9999019559782343 Centerline is valid? [True, True] Translation: X:263.58, Y:-180.36, Z:-13.67 [[ 7.64275721e-01 6.43533498e-01 4.18002358e-02 2.63577302e+02] [-6.42564461e-01 7.65417940e-01 -3.53028563e-02 -1.80355824e+02] [-5.47132209e-02 1.21769998e-04 9.98502102e-01 -1.36681270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.60, Y:-180.38, Z:-13.67 [[ 7.63297810e-01 6.44628395e-01 4.27865161e-02 2.63602278e+02] [-6.43612763e-01 7.64496061e-01 -3.61715830e-02 -1.80377463e+02] [-5.60273525e-02 7.17421993e-05 9.98429232e-01 -1.36677688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.63, Y:-180.40, Z:-13.67 [[ 7.62708734e-01 6.45310719e-01 4.30053947e-02 2.63627457e+02] [-6.44283546e-01 7.63920201e-01 -3.63955952e-02 -1.80399513e+02] [-5.63391575e-02 5.15701560e-05 9.98411687e-01 -1.36690471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99864 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:263.65, Y:-180.42, Z:-13.67 [[ 7.61833799e-01 6.46370460e-01 4.25968554e-02 2.63652176e+02] [-6.45362232e-01 7.63023741e-01 -3.60882309e-02 -1.80420814e+02] [-5.58287783e-02 2.83232515e-06 9.98440358e-01 -1.36695753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.68, Y:-180.44, Z:-13.67 [[ 7.60554197e-01 6.47875432e-01 4.25997510e-02 2.63677637e+02] [-6.46867252e-01 7.61746295e-01 -3.61294948e-02 -1.80442243e+02] [-5.58576145e-02 -7.79449584e-05 9.98438742e-01 -1.36709686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.70, Y:-180.47, Z:-13.67 [[ 7.59657885e-01 6.48944527e-01 4.23190054e-02 2.63701916e+02] [-6.47949118e-01 7.60835715e-01 -3.59298778e-02 -1.80465367e+02] [-5.55143083e-02 -1.26147221e-04 9.98457884e-01 -1.36722144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08864 meters Centerline goodness [0,1] 0.9999014923902871 Centerline is valid? [True, True] Translation: X:263.73, Y:-180.49, Z:-13.67 [[ 7.59617208e-01 6.49043565e-01 4.15228681e-02 2.63727336e+02] [-6.48083375e-01 7.60751234e-01 -3.52916273e-02 -1.80487014e+02] [-5.44943768e-02 -1.02153053e-04 9.98514072e-01 -1.36731773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.75, Y:-180.51, Z:-13.67 [[ 7.59035102e-01 6.49721911e-01 4.15590235e-02 2.63752741e+02] [-6.48758980e-01 7.60171970e-01 -3.53604685e-02 -1.80508351e+02] [-5.45664759e-02 -1.21952853e-04 9.98510133e-01 -1.36743048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.78, Y:-180.53, Z:-13.67 [[ 7.58120032e-01 6.50878224e-01 4.01441697e-02 2.63777848e+02] [-6.49979571e-01 7.59182131e-01 -3.41913553e-02 -1.80528158e+02] [-5.27311449e-02 -1.71738893e-04 9.98608731e-01 -1.36742973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.80, Y:-180.55, Z:-13.68 [[ 7.56756493e-01 6.52447087e-01 4.04030831e-02 2.63803151e+02] [-6.51537236e-01 7.57834238e-01 -3.44455784e-02 -1.80549583e+02] [-5.30927570e-02 -2.57197986e-04 9.98589552e-01 -1.36752900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.83, Y:-180.57, Z:-13.67 [[ 7.54021666e-01 6.55700412e-01 3.88367830e-02 2.63828142e+02] [-6.54862445e-01 7.55021041e-01 -3.31421855e-02 -1.80571498e+02] [-5.10539331e-02 -4.42824765e-04 9.98695799e-01 -1.36748712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23864 meters Centerline goodness [0,1] 0.9999509057882076 Centerline is valid? [True, True] Translation: X:263.85, Y:-180.59, Z:-13.68 [[ 7.52560276e-01 6.57329510e-01 3.96351551e-02 2.63852903e+02] [-6.56457544e-01 7.53603091e-01 -3.38507587e-02 -1.80592666e+02] [-5.21202780e-02 -5.44060315e-04 9.98640666e-01 -1.36775257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26864 meters Centerline goodness [0,1] 0.9999509346940778 Centerline is valid? [True, True] Translation: X:263.88, Y:-180.61, Z:-13.68 [[ 7.51568311e-01 6.58480108e-01 3.93576046e-02 2.63878250e+02] [-6.57620192e-01 7.52597897e-01 -3.36465279e-02 -1.80614109e+02] [-5.17760198e-02 -5.94691342e-04 9.98658545e-01 -1.36782923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.90, Y:-180.63, Z:-13.68 [[ 7.49225155e-01 6.61116006e-01 3.98408566e-02 2.63904222e+02] [-6.60236649e-01 7.50283313e-01 -3.40957074e-02 -1.80633617e+02] [-5.24331478e-02 -7.59032032e-04 9.98624148e-01 -1.36795838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.93, Y:-180.65, Z:-13.68 [[ 7.47699310e-01 6.62804985e-01 4.04387663e-02 2.63930522e+02] [-6.61899727e-01 7.48791561e-01 -3.46402813e-02 -1.80652947e+02] [-5.32399581e-02 -8.65893938e-04 9.98581372e-01 -1.36800392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.96, Y:-180.67, Z:-13.68 [[ 7.44341182e-01 6.66536480e-01 4.10527205e-02 2.63957341e+02] [-6.65607368e-01 7.45471566e-01 -3.51990889e-02 -1.80670403e+02] [-5.40651126e-02 -1.12486185e-03 9.98536779e-01 -1.36799713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.98, Y:-180.69, Z:-13.68 [[ 7.42741205e-01 6.68384446e-01 3.99716730e-02 2.63984159e+02] [-6.67504676e-01 7.43815022e-01 -3.43033695e-02 -1.80690517e+02] [-5.26593694e-02 -1.20275265e-03 9.98611809e-01 -1.36805673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.01, Y:-180.71, Z:-13.68 [[ 7.41540072e-01 6.69735481e-01 3.96573738e-02 2.64012450e+02] [-6.68869581e-01 7.42598675e-01 -3.40689137e-02 -1.80707240e+02] [-5.22666735e-02 -1.26214624e-03 9.98632366e-01 -1.36818581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44864 meters Centerline goodness [0,1] 0.9998526884360422 Centerline is valid? [True, True] Translation: X:264.04, Y:-180.72, Z:-13.68 [[ 7.42477734e-01 6.68658574e-01 4.02805984e-02 2.64039069e+02] [-6.67761897e-01 7.43568637e-01 -3.46371387e-02 -1.80724995e+02] [-5.31118094e-02 -1.18054448e-03 9.98587874e-01 -1.36830322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.07, Y:-180.74, Z:-13.68 [[ 7.43772115e-01 6.67215245e-01 4.03343219e-02 2.64065379e+02] [-6.66312310e-01 7.44864219e-01 -3.47159990e-02 -1.80743196e+02] [-5.32066370e-02 -1.05446319e-03 9.98582967e-01 -1.36844968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50864 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:264.09, Y:-180.76, Z:-13.69 [[ 7.48718915e-01 6.61530495e-01 4.23956412e-02 2.64094208e+02] [-6.60521678e-01 7.49917978e-01 -3.65258623e-02 -1.80759115e+02] [-5.59562253e-02 -6.55636080e-04 9.98433008e-01 -1.36859520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.12, Y:-180.78, Z:-13.69 [[ 7.51112244e-01 6.58781740e-01 4.28604288e-02 2.64120811e+02] [-6.57744186e-01 7.52333992e-01 -3.69614841e-02 -1.80777676e+02] [-5.65949083e-02 -4.28974644e-04 9.98397132e-01 -1.36872679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.15, Y:-180.80, Z:-13.69 [[ 7.56450912e-01 6.52626660e-01 4.31330512e-02 2.64148382e+02] [-6.51563794e-01 7.57679642e-01 -3.72314697e-02 -1.80795561e+02] [-5.69792844e-02 5.98447200e-05 9.98375359e-01 -1.36891257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.17, Y:-180.82, Z:-13.69 [[ 7.58910995e-01 6.49716920e-01 4.38409065e-02 2.64173380e+02] [-6.48611923e-01 7.60176182e-01 -3.78780417e-02 -1.80815991e+02] [-5.79368175e-02 3.10327624e-04 9.98320204e-01 -1.36916376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.20, Y:-180.84, Z:-13.69 [[ 7.61343259e-01 6.46891509e-01 4.34490303e-02 2.64198265e+02] [-6.45799556e-01 7.62581848e-01 -3.75747065e-02 -1.80836971e+02] [-5.74402005e-02 5.47885010e-04 9.98348798e-01 -1.36925123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65864 meters Centerline goodness [0,1] 0.9999018453082057 Centerline is valid? [True, True] Translation: X:264.22, Y:-180.86, Z:-13.69 [[ 7.63702496e-01 6.44139572e-01 4.29267928e-02 2.64222347e+02] [-6.43067374e-01 7.64907586e-01 -3.71582904e-02 -1.80858064e+02] [-5.67701547e-02 7.73059204e-04 9.98386975e-01 -1.36920978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68864 meters Centerline goodness [0,1] 0.9998036520714706 Centerline is valid? [True, True] Translation: X:264.25, Y:-180.88, Z:-13.69 [[ 7.63826628e-01 6.44027035e-01 4.24035362e-02 2.64246983e+02] [-6.42978741e-01 7.65002314e-01 -3.67396002e-02 -1.80879485e+02] [-5.61000991e-02 7.98112634e-04 9.98424830e-01 -1.36921668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71864 meters Centerline goodness [0,1] 0.9998528906977885 Centerline is valid? [True, True] Translation: X:264.27, Y:-180.90, Z:-13.69 [[ 7.63269076e-01 6.44682698e-01 4.24798311e-02 2.64270411e+02] [-6.43629491e-01 7.64449874e-01 -3.68438354e-02 -1.80903053e+02] [-5.62262847e-02 7.80488152e-04 9.98417746e-01 -1.36927759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.29, Y:-180.93, Z:-13.69 [[ 7.62130827e-01 6.46004055e-01 4.28411501e-02 2.64294411e+02] [-6.44932725e-01 7.63333640e-01 -3.71959075e-02 -1.80926081e+02] [-5.67307981e-02 7.18488053e-04 9.98389253e-01 -1.36939622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:264.32, Y:-180.95, Z:-13.70 [[ 7.61183075e-01 6.47084224e-01 4.33858679e-02 2.64318607e+02] [-6.45984945e-01 7.62418225e-01 -3.77081066e-02 -1.80948684e+02] [-5.74784973e-02 6.76155024e-04 9.98346516e-01 -1.36954674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80864 meters Centerline goodness [0,1] 0.9999019030802433 Centerline is valid? [True, True] Translation: X:264.34, Y:-180.97, Z:-13.70 [[ 7.59490426e-01 6.49049641e-01 4.36904602e-02 2.64342332e+02] [-6.47935804e-01 7.60745850e-01 -3.80124389e-02 -1.80972423e+02] [-5.79092961e-02 5.61469923e-04 9.98321691e-01 -1.36963640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83864 meters Centerline goodness [0,1] 0.9999019030802433 Centerline is valid? [True, True] Translation: X:264.37, Y:-180.99, Z:-13.70 [[ 7.59158670e-01 6.49438959e-01 4.36709608e-02 2.64367091e+02] [-6.48324477e-01 7.60413522e-01 -3.80348314e-02 -1.80993543e+02] [-5.79092904e-02 5.61519161e-04 9.98321691e-01 -1.36976444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.39, Y:-181.02, Z:-13.70 [[ 7.58515275e-01 6.50142770e-01 4.43729158e-02 2.64391128e+02] [-6.48990960e-01 7.59811871e-01 -3.86866212e-02 -1.81016357e+02] [-5.88668953e-02 5.46771924e-04 9.98265691e-01 -1.36990661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.41, Y:-181.04, Z:-13.70 [[ 7.59375219e-01 6.49074822e-01 4.52896449e-02 2.64412447e+02] [-6.47870594e-01 7.60724275e-01 -3.95255679e-02 -1.81040635e+02] [-6.01079832e-02 6.72907648e-04 9.98191654e-01 -1.37014519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92864000000003 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:264.44, Y:-181.06, Z:-13.70 [[ 7.59763505e-01 6.48605792e-01 4.54966308e-02 2.64436000e+02] [-6.47387394e-01 7.61124153e-01 -3.97440098e-02 -1.81063191e+02] [-6.04067796e-02 7.42102974e-04 9.98173567e-01 -1.37033177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.46, Y:-181.09, Z:-13.70 [[ 7.59946009e-01 6.48394541e-01 4.54596830e-02 2.64459676e+02] [-6.47175275e-01 7.61304076e-01 -3.97525756e-02 -1.81085632e+02] [-6.03839949e-02 7.89428346e-04 9.98174910e-01 -1.37048418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98864 meters Centerline goodness [0,1] 0.9998037002502822 Centerline is valid? [True, True] Translation: X:264.48, Y:-181.11, Z:-13.71 [[ 7.60643246e-01 6.47656379e-01 4.43065050e-02 2.64482658e+02] [-6.46494682e-01 7.61932071e-01 -3.87833125e-02 -1.81110144e+02] [-5.88768069e-02 8.56344935e-04 9.98264889e-01 -1.37053675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01864 meters Centerline goodness [0,1] 0.9997053334642962 Centerline is valid? [True, True] Translation: X:264.51, Y:-181.13, Z:-13.71 [[ 7.60604218e-01 6.47678809e-01 4.46473204e-02 2.64506066e+02] [-6.46496781e-01 7.61912964e-01 -3.91222140e-02 -1.81133421e+02] [-5.93560012e-02 8.92172078e-04 9.98236480e-01 -1.37065891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04864 meters Centerline goodness [0,1] 0.9999017199017199 Centerline is valid? [True, True] Translation: X:264.53, Y:-181.16, Z:-13.71 [[ 7.60467875e-01 6.47786050e-01 4.54075376e-02 2.64526771e+02] [-6.46561173e-01 7.61821744e-01 -3.98281404e-02 -1.81158864e+02] [-6.03925633e-02 9.29270484e-04 9.98174271e-01 -1.37073222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07864 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:264.55, Y:-181.18, Z:-13.71 [[ 7.60156517e-01 6.48139382e-01 4.55786148e-02 2.64550304e+02] [-6.46903586e-01 7.61521155e-01 -4.00160071e-02 -1.81182715e+02] [-6.06450295e-02 9.33459198e-04 9.98158960e-01 -1.37087853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:264.57, Y:-181.21, Z:-13.71 [[ 7.60021429e-01 6.48296049e-01 4.56033065e-02 2.64573348e+02] [-6.47056688e-01 7.61387763e-01 -4.00788814e-02 -1.81206548e+02] [-6.07047800e-02 9.52884235e-04 9.98155309e-01 -1.37109606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13864 meters Centerline goodness [0,1] 0.9999018356729165 Centerline is valid? [True, True] Translation: X:264.59, Y:-181.23, Z:-13.71 [[ 7.59441427e-01 6.49083222e-01 4.40419051e-02 2.64591950e+02] [-6.47926489e-01 7.60716888e-01 -3.87437901e-02 -1.81234639e+02] [-5.86513651e-02 8.87722269e-04 9.98278132e-01 -1.37128137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16864 meters Centerline goodness [0,1] 0.9998037291462217 Centerline is valid? [True, True] Translation: X:264.61, Y:-181.26, Z:-13.71 [[ 7.58143327e-01 6.50593427e-01 4.41235509e-02 2.64613222e+02] [-6.49432894e-01 7.59425806e-01 -3.88505052e-02 -1.81259255e+02] [-5.87844466e-02 7.98965923e-04 9.98270379e-01 -1.37136917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19864 meters Centerline goodness [0,1] 0.9999018549416037 Centerline is valid? [True, True] Translation: X:264.63, Y:-181.29, Z:-13.71 [[ 7.55548437e-01 6.53491780e-01 4.57717398e-02 2.64634167e+02] [-6.52245732e-01 7.56933354e-01 -4.03410799e-02 -1.81285401e+02] [-6.10087206e-02 6.25217940e-04 9.98137037e-01 -1.37136626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22864 meters Centerline goodness [0,1] 0.9999019559782343 Centerline is valid? [True, True] Translation: X:264.66, Y:-181.31, Z:-13.71 [[ 7.54079400e-01 6.55218516e-01 4.53095409e-02 2.64656727e+02] [-6.53998235e-01 7.55439233e-01 -3.99734192e-02 -1.81308414e+02] [-6.04199292e-02 5.10772201e-04 9.98172917e-01 -1.37137208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:264.68, Y:-181.33, Z:-13.72 [[ 7.52686170e-01 6.56843507e-01 4.49459352e-02 2.64678124e+02] [-6.55643474e-01 7.54026819e-01 -3.96886720e-02 -1.81332182e+02] [-5.99596870e-02 4.04605394e-04 9.98200717e-01 -1.37153566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.70, Y:-181.36, Z:-13.72 [[ 7.50218248e-01 6.59619588e-01 4.55475574e-02 2.64698884e+02] [-6.58389893e-01 7.51599596e-01 -4.02591000e-02 -1.81358186e+02] [-6.07892167e-02 2.15060048e-04 9.98150602e-01 -1.37170171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:264.72, Y:-181.38, Z:-13.72 [[ 7.49087114e-01 6.60906274e-01 4.55125524e-02 2.64722318e+02] [-6.59678234e-01 7.50468438e-01 -4.02709660e-02 -1.81380875e+02] [-6.07710683e-02 1.42821530e-04 9.98151720e-01 -1.37171626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34864 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:264.74, Y:-181.41, Z:-13.72 [[ 7.46613863e-01 6.63661960e-01 4.60493527e-02 2.64744009e+02] [-6.62407253e-01 7.48032620e-01 -4.07900781e-02 -1.81406711e+02] [-6.15172411e-02 -4.89874481e-05 9.98106020e-01 -1.37194797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.77, Y:-181.43, Z:-13.72 [[ 7.45486391e-01 6.64974097e-01 4.53816047e-02 2.64766926e+02] [-6.63755369e-01 7.46866410e-01 -4.02414569e-02 -1.81430109e+02] [-6.06535227e-02 -1.22825341e-04 9.98158873e-01 -1.37206794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.79, Y:-181.45, Z:-13.72 [[ 7.43749747e-01 6.66894806e-01 4.56906113e-02 2.64790976e+02] [-6.65660357e-01 7.45151834e-01 -4.05590033e-02 -1.81453129e+02] [-6.10950314e-02 -2.48680212e-04 9.98131923e-01 -1.37220213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43864 meters Centerline goodness [0,1] 0.9997547216090262 Centerline is valid? [True, True] Translation: X:264.82, Y:-181.47, Z:-13.72 [[ 7.41397078e-01 6.69450314e-01 4.65472884e-02 2.64816406e+02] [-6.68172012e-01 7.42856703e-01 -4.13531269e-02 -1.81473203e+02] [-6.22618290e-02 -4.42507873e-04 9.98059752e-01 -1.37229483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46864 meters Centerline goodness [0,1] 0.999950937101364 Centerline is valid? [True, True] Translation: X:264.84, Y:-181.49, Z:-13.73 [[ 7.39748554e-01 6.71187388e-01 4.77448116e-02 2.64841130e+02] [-6.69844447e-01 7.41287493e-01 -4.24413685e-02 -1.81493572e+02] [-6.38787430e-02 -5.85655906e-04 9.97957496e-01 -1.37253983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49864 meters Centerline goodness [0,1] 0.9999018260357353 Centerline is valid? [True, True] Translation: X:264.87, Y:-181.52, Z:-13.73 [[ 7.38158313e-01 6.72966486e-01 4.73118727e-02 2.64866219e+02] [-6.71648826e-01 7.39672641e-01 -4.20979574e-02 -1.81515673e+02] [-6.33258123e-02 -7.02006593e-04 9.97992660e-01 -1.37269228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52864 meters Centerline goodness [0,1] 0.9999017971128351 Centerline is valid? [True, True] Translation: X:264.89, Y:-181.54, Z:-13.73 [[ 7.37250490e-01 6.73929797e-01 4.77529493e-02 2.64891537e+02] [-6.72586662e-01 7.38795000e-01 -4.25338725e-02 -1.81535614e+02] [-6.39444842e-02 -7.59878410e-04 9.97953168e-01 -1.37289877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55864 meters Centerline goodness [0,1] 0.9998528979111503 Centerline is valid? [True, True] Translation: X:264.92, Y:-181.56, Z:-13.73 [[ 7.37202875e-01 6.74007990e-01 4.73830187e-02 2.64918014e+02] [-6.72683114e-01 7.38723694e-01 -4.22460829e-02 -1.81556156e+02] [-6.34771561e-02 -7.29822827e-04 9.97983025e-01 -1.37302331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58864 meters Centerline goodness [0,1] 0.9998529772114678 Centerline is valid? [True, True] Translation: X:264.94, Y:-181.58, Z:-13.73 [[ 7.37180576e-01 6.74073872e-01 4.67890275e-02 2.64943808e+02] [-6.72779498e-01 7.38663613e-01 -4.17590027e-02 -1.81575852e+02] [-6.27100047e-02 -6.94772742e-04 9.98031549e-01 -1.37319668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:264.97, Y:-181.59, Z:-13.73 [[ 7.38210150e-01 6.73047394e-01 4.53098089e-02 2.64970949e+02] [-6.71829452e-01 7.39599142e-01 -4.04758756e-02 -1.81593806e+02] [-6.07532783e-02 -5.60761898e-04 9.98152656e-01 -1.37329457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64864 meters Centerline goodness [0,1] 0.9998037195151872 Centerline is valid? [True, True] Translation: X:265.00, Y:-181.61, Z:-13.73 [[ 7.38887050e-01 6.72258288e-01 4.59861035e-02 2.64997126e+02] [-6.70999631e-01 7.40316534e-01 -4.11208691e-02 -1.81613328e+02] [-6.16881178e-02 -4.72980789e-04 9.98095362e-01 -1.37346618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67864000000003 meters Centerline goodness [0,1] 0.9997548899455856 Centerline is valid? [True, True] Translation: X:265.03, Y:-181.63, Z:-13.74 [[ 7.39228001e-01 6.71869842e-01 4.61830942e-02 2.65025798e+02] [-6.70596843e-01 7.40669122e-01 -4.13415884e-02 -1.81630878e+02] [-6.19825583e-02 -4.09377394e-04 9.98077149e-01 -1.37350472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:265.05, Y:-181.65, Z:-13.74 [[ 7.39176315e-01 6.71921258e-01 4.62622826e-02 2.65051288e+02] [-6.70641219e-01 7.40622493e-01 -4.14569410e-02 -1.81651436e+02] [-6.21186871e-02 -3.81404698e-04 9.98068697e-01 -1.37369195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.08, Y:-181.67, Z:-13.74 [[ 7.39073423e-01 6.72000393e-01 4.67541181e-02 2.65076244e+02] [-6.70690277e-01 7.40550703e-01 -4.19429267e-02 -1.81672811e+02] [-6.28094582e-02 -3.58629975e-04 9.98025472e-01 -1.37382366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76864 meters Centerline goodness [0,1] 0.9998039119564684 Centerline is valid? [True, True] Translation: X:265.10, Y:-181.69, Z:-13.74 [[ 7.39414078e-01 6.71679729e-01 4.59691576e-02 2.65101404e+02] [-6.70410080e-01 7.40841586e-01 -4.12803778e-02 -1.81692472e+02] [-6.17830566e-02 -2.94894087e-04 9.98089559e-01 -1.37386253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79864 meters Centerline goodness [0,1] 0.9998037676609105 Centerline is valid? [True, True] Translation: X:265.13, Y:-181.71, Z:-13.74 [[ 7.39140218e-01 6.71997585e-01 4.57272919e-02 2.65128509e+02] [-6.70739402e-01 7.40553281e-01 -4.11034286e-02 -1.81711819e+02] [-6.14849008e-02 -2.89899327e-04 9.98107972e-01 -1.37393067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82864 meters Centerline goodness [0,1] 0.9997546132705143 Centerline is valid? [True, True] Translation: X:265.16, Y:-181.73, Z:-13.74 [[ 7.38835721e-01 6.72357696e-01 4.53531293e-02 2.65155406e+02] [-6.71118071e-01 7.40226349e-01 -4.08103800e-02 -1.81730851e+02] [-6.10107544e-02 -2.85138128e-04 9.98137068e-01 -1.37403061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:265.18, Y:-181.75, Z:-13.74 [[ 7.38788077e-01 6.72403987e-01 4.54428835e-02 2.65181584e+02] [-6.71156864e-01 7.40184310e-01 -4.09347225e-02 -1.81751075e+02] [-6.11607800e-02 -2.57218319e-04 9.98127894e-01 -1.37419770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88864 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:265.21, Y:-181.77, Z:-13.74 [[ 7.40172218e-01 6.70840339e-01 4.60252883e-02 2.65206543e+02] [-6.69555281e-01 7.41601800e-01 -4.15029581e-02 -1.81771961e+02] [-6.19742951e-02 -9.71383337e-05 9.98077741e-01 -1.37430422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91864 meters Centerline goodness [0,1] 0.9997057381069152 Centerline is valid? [True, True] Translation: X:265.23, Y:-181.79, Z:-13.74 [[ 7.40899291e-01 6.69979122e-01 4.68638134e-02 2.65231052e+02] [-6.68642406e-01 7.42379941e-01 -4.23007821e-02 -1.81792219e+02] [-6.31313958e-02 5.48656784e-06 9.98005224e-01 -1.37448760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94864 meters Centerline goodness [0,1] 0.9992643813447109 Centerline is valid? [True, True] Translation: X:265.26, Y:-181.81, Z:-13.75 [[ 7.42984659e-01 6.67664792e-01 4.68777384e-02 2.65256147e+02] [-6.66320043e-01 7.44462001e-01 -4.23547912e-02 -1.81812937e+02] [-6.31774978e-02 2.33383445e-04 9.98002279e-01 -1.37471897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97864 meters Centerline goodness [0,1] 0.9994107248084856 Centerline is valid? [True, True] Translation: X:265.28, Y:-181.84, Z:-13.75 [[ 7.43243896e-01 6.67387059e-01 4.67228373e-02 2.65279929e+02] [-6.66047838e-01 7.44710970e-01 -4.22592940e-02 -1.81835947e+02] [-6.29983155e-02 2.89317575e-04 9.98013591e-01 -1.37479298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00864 meters Centerline goodness [0,1] 0.9999020088192063 Centerline is valid? [True, True] Translation: X:265.30, Y:-181.86, Z:-13.75 [[ 7.43279089e-01 6.67370531e-01 4.63979474e-02 2.65303890e+02] [-6.66047100e-01 7.44725769e-01 -4.20093946e-02 -1.81858853e+02] [-6.25895790e-02 3.21486225e-04 9.98039298e-01 -1.37489413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03864 meters Centerline goodness [0,1] 0.9993140281248469 Centerline is valid? [True, True] Translation: X:265.33, Y:-181.88, Z:-13.75 [[ 7.42659608e-01 6.68040186e-01 4.66799448e-02 2.65328636e+02] [-6.66699102e-01 7.44125138e-01 -4.23094224e-02 -1.81881308e+02] [-6.30001147e-02 3.00021774e-04 9.98013475e-01 -1.37510683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06864 meters Centerline goodness [0,1] 0.9995097077858404 Centerline is valid? [True, True] Translation: X:265.35, Y:-181.90, Z:-13.75 [[ 7.39317353e-01 6.71854735e-01 4.49562741e-02 2.65352472e+02] [-6.70615552e-01 7.40682938e-01 -4.07868507e-02 -1.81903081e+02] [-6.07011840e-02 6.04992829e-06 9.98155983e-01 -1.37508928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09864 meters Centerline goodness [0,1] 0.9993608338659717 Centerline is valid? [True, True] Translation: X:265.38, Y:-181.93, Z:-13.75 [[ 7.36602039e-01 6.74840311e-01 4.48106007e-02 2.65376550e+02] [-6.73612270e-01 7.37963759e-01 -4.06939796e-02 -1.81925358e+02] [-6.05305372e-02 -2.09702103e-04 9.98166324e-01 -1.37525130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12864 meters Centerline goodness [0,1] 0.9995584988962473 Centerline is valid? [True, True] Translation: X:265.40, Y:-181.95, Z:-13.75 [[ 7.32062752e-01 6.79706954e-01 4.56353362e-02 2.65400479e+02] [-6.78440009e-01 7.33483543e-01 -4.14854952e-02 -1.81947490e+02] [-6.16707476e-02 -5.90852186e-04 9.98096373e-01 -1.37525731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15864 meters Centerline goodness [0,1] 0.999607804686734 Centerline is valid? [True, True] Translation: X:265.43, Y:-181.97, Z:-13.75 [[ 7.29936750e-01 6.82027215e-01 4.50690577e-02 2.65425883e+02] [-6.80793527e-01 7.31326411e-01 -4.10104217e-02 -1.81969275e+02] [-6.09304159e-02 -7.47708808e-04 9.98141736e-01 -1.37530961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18864 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:265.45, Y:-181.99, Z:-13.75 [[ 7.28274660e-01 6.83838223e-01 4.45118479e-02 2.65450890e+02] [-6.82635662e-01 7.29633162e-01 -4.05462955e-02 -1.81990623e+02] [-6.02044270e-02 -8.56535224e-04 9.98185701e-01 -1.37534717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:265.48, Y:-182.01, Z:-13.76 [[ 7.27693644e-01 6.84413256e-01 4.51714022e-02 2.65476326e+02] [-6.83173147e-01 7.29093761e-01 -4.11914975e-02 -1.82011421e+02] [-6.11261945e-02 -8.85098098e-04 9.98129653e-01 -1.37563425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24864 meters Centerline goodness [0,1] 0.9997056370504832 Centerline is valid? [True, True] Translation: X:265.50, Y:-182.03, Z:-13.76 [[ 7.28585342e-01 6.83505275e-01 4.45414167e-02 2.65501046e+02] [-6.82295373e-01 7.29945169e-01 -4.06580177e-02 -1.82032295e+02] [-6.03027615e-02 -7.67566736e-04 9.98179837e-01 -1.37574812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27864 meters Centerline goodness [0,1] 0.9997055503754233 Centerline is valid? [True, True] Translation: X:265.53, Y:-182.05, Z:-13.76 [[ 7.31370157e-01 6.80572870e-01 4.37979690e-02 2.65526644e+02] [-6.79395591e-01 7.32680236e-01 -4.00162782e-02 -1.82051450e+02] [-5.93238996e-02 -4.89435372e-04 9.98238667e-01 -1.37598766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30864 meters Centerline goodness [0,1] 0.9995094913425222 Centerline is valid? [True, True] Translation: X:265.55, Y:-182.07, Z:-13.76 [[ 7.33016219e-01 6.78740323e-01 4.47078952e-02 2.65552249e+02] [-6.77507699e-01 7.34378290e-01 -4.08882110e-02 -1.82072812e+02] [-6.05849852e-02 -3.18221321e-04 9.98162992e-01 -1.37626318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33864 meters Centerline goodness [0,1] 0.9998529051238049 Centerline is valid? [True, True] Translation: X:265.58, Y:-182.09, Z:-13.76 [[ 7.34608917e-01 6.77029225e-01 4.45103071e-02 2.65577398e+02] [-6.75801718e-01 7.35956118e-01 -4.07508324e-02 -1.82094742e+02] [-6.03471373e-02 -1.44217179e-04 9.98177440e-01 -1.37644341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36864 meters Centerline goodness [0,1] 0.9997549139748052 Centerline is valid? [True, True] Translation: X:265.60, Y:-182.12, Z:-13.76 [[ 7.35281474e-01 6.76292054e-01 4.46117846e-02 2.65602049e+02] [-6.75054945e-01 7.36633596e-01 -4.08872354e-02 -1.82117322e+02] [-6.05142517e-02 -5.17791142e-05 9.98167332e-01 -1.37645651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39864 meters Centerline goodness [0,1] 0.9998036231528303 Centerline is valid? [True, True] Translation: X:265.63, Y:-182.14, Z:-13.77 [[ 7.36001566e-01 6.75464084e-01 4.52765478e-02 2.65626502e+02] [-6.74185486e-01 7.37392887e-01 -4.15410831e-02 -1.82139740e+02] [-6.14461139e-02 4.95108698e-05 9.98110401e-01 -1.37653215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42864000000003 meters Centerline goodness [0,1] 0.9994607843137255 Centerline is valid? [True, True] Translation: X:265.65, Y:-182.16, Z:-13.77 [[ 7.35568592e-01 6.75949804e-01 4.50633890e-02 2.65650490e+02] [-6.74681463e-01 7.36947665e-01 -4.13891537e-02 -1.82161767e+02] [-6.11863496e-02 4.11282329e-05 9.98126359e-01 -1.37674935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45864 meters Centerline goodness [0,1] 0.9993627450980392 Centerline is valid? [True, True] Translation: X:265.67, Y:-182.18, Z:-13.77 [[ 7.33901920e-01 6.77882407e-01 4.31672905e-02 2.65672747e+02] [-6.76719680e-01 7.35170344e-01 -3.96867578e-02 -1.82184993e+02] [-5.86382667e-02 -8.59673297e-05 9.98279293e-01 -1.37684366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48864 meters Centerline goodness [0,1] 0.9996074390303744 Centerline is valid? [True, True] Translation: X:265.70, Y:-182.21, Z:-13.77 [[ 7.32513721e-01 6.79418236e-01 4.25970578e-02 2.65696856e+02] [-6.78286459e-01 7.33751203e-01 -3.92001324e-02 -1.82208275e+02] [-5.78889272e-02 -1.78372706e-04 9.98323014e-01 -1.37692304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51864 meters Centerline goodness [0,1] 0.9994592202939875 Centerline is valid? [True, True] Translation: X:265.72, Y:-182.23, Z:-13.77 [[ 7.31159108e-01 6.80940822e-01 4.15446264e-02 2.65720069e+02] [-6.79864597e-01 7.32338397e-01 -3.82701123e-02 -1.82230362e+02] [-5.64844068e-02 -2.63179530e-04 9.98403447e-01 -1.37696388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54864 meters Centerline goodness [0,1] 0.9987249901922323 Centerline is valid? [True, True] Translation: X:265.75, Y:-182.25, Z:-13.77 [[ 7.28630945e-01 6.83657051e-01 4.13519442e-02 2.65745185e+02] [-6.82593069e-01 7.29803288e-01 -3.81295558e-02 -1.82252407e+02] [-5.62463245e-02 -4.44176178e-04 9.98416824e-01 -1.37697778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57864 meters Centerline goodness [0,1] 0.9988223748773307 Centerline is valid? [True, True] Translation: X:265.77, Y:-182.27, Z:-13.77 [[ 7.26955921e-01 6.85413125e-01 4.17604582e-02 2.65768308e+02] [-6.84328675e-01 7.28154199e-01 -3.85451460e-02 -1.82274082e+02] [-5.68274020e-02 -5.57256895e-04 9.98383862e-01 -1.37702067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60864 meters Centerline goodness [0,1] 0.9987251152299697 Centerline is valid? [True, True] Translation: X:265.79, Y:-182.30, Z:-13.77 [[ 7.25581819e-01 6.86893904e-01 4.13254073e-02 2.65792611e+02] [-6.85832370e-01 7.26757425e-01 -3.81786071e-02 -1.82297102e+02] [-5.62581991e-02 -6.40598860e-04 9.98416048e-01 -1.37717839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63864 meters Centerline goodness [0,1] 0.998725615135771 Centerline is valid? [True, True] Translation: X:265.82, Y:-182.32, Z:-13.77 [[ 7.24041356e-01 6.88547856e-01 4.08162419e-02 2.65818125e+02] [-6.87512740e-01 7.25190538e-01 -3.77480490e-02 -1.82318065e+02] [-5.55908906e-02 -7.30537793e-04 9.98453364e-01 -1.37706185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66864 meters Centerline goodness [0,1] 0.9993127485150459 Centerline is valid? [True, True] Translation: X:265.84, Y:-182.34, Z:-13.77 [[ 7.22548552e-01 6.90030239e-01 4.22120818e-02 2.65843611e+02] [-6.88923228e-01 7.23780048e-01 -3.90797710e-02 -1.82337504e+02] [-5.75184863e-02 -8.43851700e-04 9.98344085e-01 -1.37722283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69864 meters Centerline goodness [0,1] 0.9988217967599411 Centerline is valid? [True, True] Translation: X:265.87, Y:-182.35, Z:-13.77 [[ 7.19191263e-01 6.93484704e-01 4.29289350e-02 2.65871658e+02] [-6.92343663e-01 7.20470492e-01 -3.97809245e-02 -1.82354282e+02] [-5.85164936e-02 -1.11148281e-03 9.98285823e-01 -1.37722522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72864 meters Centerline goodness [0,1] 0.9988217967599411 Centerline is valid? [True, True] Translation: X:265.90, Y:-182.38, Z:-13.77 [[ 7.18823434e-01 6.93867159e-01 4.29096371e-02 2.65895723e+02] [-6.92725557e-01 7.20102162e-01 -3.98017326e-02 -1.82376178e+02] [-5.85164376e-02 -1.11418424e-03 9.98285823e-01 -1.37735329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75864 meters Centerline goodness [0,1] 0.9985303483074511 Centerline is valid? [True, True] Translation: X:265.92, Y:-182.40, Z:-13.78 [[ 7.17335790e-01 6.95389669e-01 4.31575217e-02 2.65921813e+02] [-6.94235156e-01 7.18631846e-01 -4.00726670e-02 -1.82395284e+02] [-5.88804881e-02 -1.21591061e-03 9.98264299e-01 -1.37750414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78864 meters Centerline goodness [0,1] 0.9984781541482572 Centerline is valid? [True, True] Translation: X:265.95, Y:-182.41, Z:-13.78 [[ 7.16113653e-01 6.96637839e-01 4.33238641e-02 2.65947695e+02] [-6.95474466e-01 7.17421800e-01 -4.02644675e-02 -1.82414203e+02] [-5.91312362e-02 -1.29670637e-03 9.98249375e-01 -1.37762578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81864 meters Centerline goodness [0,1] 0.9987752302567118 Centerline is valid? [True, True] Translation: X:265.98, Y:-182.43, Z:-13.78 [[ 7.17511261e-01 6.95156764e-01 4.39848093e-02 2.65975441e+02] [-6.93952507e-01 7.18857230e-01 -4.09170138e-02 -1.82431717e+02] [-6.00625370e-02 -1.16495049e-03 9.98193936e-01 -1.37795448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84864 meters Centerline goodness [0,1] 0.9984806155957457 Centerline is valid? [True, True] Translation: X:266.00, Y:-182.45, Z:-13.78 [[ 7.18821566e-01 6.93719428e-01 4.52648911e-02 2.66002358e+02] [-6.92438541e-01 7.20244585e-01 -4.21497859e-02 -1.82451612e+02] [-6.18419181e-02 -1.04498005e-03 9.98085410e-01 -1.37804529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87864 meters Centerline goodness [0,1] 0.9991665032359286 Centerline is valid? [True, True] Translation: X:266.03, Y:-182.47, Z:-13.78 [[ 7.20492924e-01 6.91935043e-01 4.59982949e-02 2.66028949e+02] [-6.90605882e-01 7.21959231e-01 -4.28763803e-02 -1.82470617e+02] [-6.28765637e-02 -8.74564378e-04 9.98020928e-01 -1.37814840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90864 meters Centerline goodness [0,1] 0.999215609373468 Centerline is valid? [True, True] Translation: X:266.06, Y:-182.49, Z:-13.78 [[ 7.24934143e-01 6.87229599e-01 4.67543117e-02 2.66059451e+02] [-6.85843881e-01 7.26440143e-01 -4.36221150e-02 -1.82485336e+02] [-6.39426175e-02 -4.42998033e-04 9.97953479e-01 -1.37819165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93864 meters Centerline goodness [0,1] 0.9993130520117762 Centerline is valid? [True, True] Translation: X:266.09, Y:-182.50, Z:-13.79 [[ 7.27164875e-01 6.84852526e-01 4.69921434e-02 2.66086327e+02] [-6.83444891e-01 7.28681670e-01 -4.38874154e-02 -1.82504667e+02] [-6.42987208e-02 -2.03153424e-04 9.97930676e-01 -1.37851018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96864 meters Centerline goodness [0,1] 0.9992640926262081 Centerline is valid? [True, True] Translation: X:266.11, Y:-182.53, Z:-13.79 [[ 7.28929064e-01 6.82976602e-01 4.69614802e-02 2.66112449e+02] [-6.81563925e-01 7.30440251e-01 -4.39050764e-02 -1.82525236e+02] [-6.42886953e-02 -3.56449965e-06 9.97931342e-01 -1.37866912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99864 meters Centerline goodness [0,1] 0.9993622761834683 Centerline is valid? [True, True] Translation: X:266.14, Y:-182.54, Z:-13.79 [[ 7.32470539e-01 6.79262726e-01 4.57062153e-02 2.66138479e+02] [-6.77914751e-01 7.33895108e-01 -4.27733702e-02 -1.82544635e+02] [-6.25979239e-02 3.45315925e-04 9.98038767e-01 -1.37885362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02864 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:266.16, Y:-182.57, Z:-13.79 [[ 7.33736273e-01 6.77929235e-01 4.51999285e-02 2.66164255e+02] [-6.76605947e-01 7.35127008e-01 -4.23399870e-02 -1.82565747e+02] [-6.19312032e-02 4.83843874e-04 9.98080303e-01 -1.37905922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05864 meters Centerline goodness [0,1] 0.9997047679968508 Centerline is valid? [True, True] Translation: X:266.19, Y:-182.59, Z:-13.79 [[ 7.34669941e-01 6.76940790e-01 4.48469107e-02 2.66188716e+02] [-6.75633602e-01 7.36037236e-01 -4.20526222e-02 -1.82587535e+02] [-6.14761315e-02 5.94717673e-04 9.98108377e-01 -1.37917174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08864 meters Centerline goodness [0,1] 0.9994607843137255 Centerline is valid? [True, True] Translation: X:266.21, Y:-182.61, Z:-13.79 [[ 7.36181159e-01 6.75268595e-01 4.52727891e-02 2.66210303e+02] [-6.73930693e-01 7.37571507e-01 -4.24934529e-02 -1.82611377e+02] [-6.20864135e-02 7.72157288e-04 9.98070479e-01 -1.37934489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11864 meters Centerline goodness [0,1] 0.9997547937815703 Centerline is valid? [True, True] Translation: X:266.23, Y:-182.64, Z:-13.79 [[ 7.36667846e-01 6.74729927e-01 4.53873320e-02 2.66233673e+02] [-6.73381730e-01 7.38064228e-01 -4.26408337e-02 -1.82635363e+02] [-6.22698128e-02 8.49130994e-04 9.98058991e-01 -1.37944068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14864 meters Centerline goodness [0,1] 0.9994606785644244 Centerline is valid? [True, True] Translation: X:266.26, Y:-182.66, Z:-13.80 [[ 7.36932047e-01 6.74440826e-01 4.53952790e-02 2.66256508e+02] [-6.73088918e-01 7.38328350e-01 -4.26914020e-02 -1.82658879e+02] [-6.23094459e-02 9.05603017e-04 9.98056468e-01 -1.37954581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17864000000003 meters Centerline goodness [0,1] 0.9997057669674382 Centerline is valid? [True, True] Translation: X:266.28, Y:-182.68, Z:-13.80 [[ 7.35796207e-01 6.75695519e-01 4.51609145e-02 2.66278715e+02] [-6.74357370e-01 7.37180361e-01 -4.25117901e-02 -1.82682852e+02] [-6.20167653e-02 8.25418361e-04 9.98074766e-01 -1.37970943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20864 meters Centerline goodness [0,1] 0.9995091783645823 Centerline is valid? [True, True] Translation: X:266.30, Y:-182.71, Z:-13.80 [[ 7.35155031e-01 6.76408274e-01 4.49324871e-02 2.66300749e+02] [-6.75082546e-01 7.36526458e-01 -4.23359572e-02 -1.82707595e+02] [-6.17303573e-02 7.90354114e-04 9.98092550e-01 -1.37978737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23864 meters Centerline goodness [0,1] 0.9992151476503482 Centerline is valid? [True, True] Translation: X:266.32, Y:-182.73, Z:-13.80 [[ 7.34237058e-01 6.77337691e-01 4.59303240e-02 2.66322410e+02] [-6.75951358e-01 7.35671851e-01 -4.33207604e-02 -1.82733133e+02] [-6.31324303e-02 7.61042812e-04 9.98004868e-01 -1.37999587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26864 meters Centerline goodness [0,1] 0.9998038638815337 Centerline is valid? [True, True] Translation: X:266.34, Y:-182.76, Z:-13.80 [[ 7.33072935e-01 6.78657965e-01 4.50270949e-02 2.66342276e+02] [-6.77325617e-01 7.34454168e-01 -4.25098048e-02 -1.82758954e+02] [-6.19199551e-02 6.64782546e-04 9.98080897e-01 -1.38002337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29864 meters Centerline goodness [0,1] 0.9994606521206177 Centerline is valid? [True, True] Translation: X:266.36, Y:-182.78, Z:-13.80 [[ 7.32393717e-01 6.79439207e-01 4.42923040e-02 2.66364861e+02] [-6.78149195e-01 7.33731548e-01 -4.18531255e-02 -1.82781963e+02] [-6.09353152e-02 6.16175844e-04 9.98141527e-01 -1.38005770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32864 meters Centerline goodness [0,1] 0.9990673931183429 Centerline is valid? [True, True] Translation: X:266.39, Y:-182.81, Z:-13.80 [[ 7.30739618e-01 6.81333307e-01 4.24798166e-02 2.66385312e+02] [-6.80147942e-01 7.31973161e-01 -4.01754797e-02 -1.82807648e+02] [-5.84669780e-02 4.65254852e-04 9.98289235e-01 -1.38027683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35864 meters Centerline goodness [0,1] 0.999557609123083 Centerline is valid? [True, True] Translation: X:266.41, Y:-182.83, Z:-13.80 [[ 7.29399274e-01 6.82797712e-01 4.19998200e-02 2.66406940e+02] [-6.81639368e-01 7.30607383e-01 -3.97570561e-02 -1.82832315e+02] [-5.78314055e-02 3.70037106e-04 9.98326295e-01 -1.38036566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38864 meters Centerline goodness [0,1] 0.999264597734961 Centerline is valid? [True, True] Translation: X:266.43, Y:-182.86, Z:-13.80 [[ 7.27857365e-01 6.84400171e-01 4.26621872e-02 2.66429528e+02] [-6.83205430e-01 7.29106529e-01 -4.04228979e-02 -1.82856725e+02] [-5.87707175e-02 2.75066043e-04 9.98271470e-01 -1.38041396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41864 meters Centerline goodness [0,1] 0.9987256775964319 Centerline is valid? [True, True] Translation: X:266.45, Y:-182.88, Z:-13.80 [[ 7.24580772e-01 6.87869602e-01 4.26393703e-02 2.66450916e+02] [-6.86679630e-01 7.25834286e-01 -4.04434837e-02 -1.82882251e+02] [-5.87689599e-02 2.49836019e-05 9.98271611e-01 -1.38033709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44864 meters Centerline goodness [0,1] 0.9987249901922323 Centerline is valid? [True, True] Translation: X:266.47, Y:-182.91, Z:-13.80 [[ 7.23096368e-01 6.89453761e-01 4.22510891e-02 2.66473911e+02] [-6.88285642e-01 7.24329695e-01 -4.01169445e-02 -1.82906225e+02] [-5.82624967e-02 -7.24010878e-05 9.98301295e-01 -1.38041283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47864 meters Centerline goodness [0,1] 0.9989703863502648 Centerline is valid? [True, True] Translation: X:266.50, Y:-182.93, Z:-13.81 [[ 7.21773792e-01 6.90819018e-01 4.25638122e-02 2.66496762e+02] [-6.89633372e-01 7.23027705e-01 -4.04567799e-02 -1.82930258e+02] [-5.87231284e-02 -1.52781923e-04 9.98274296e-01 -1.38062447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50864 meters Centerline goodness [0,1] 0.9993127485150459 Centerline is valid? [True, True] Translation: X:266.52, Y:-182.95, Z:-13.81 [[ 7.20935635e-01 6.91685266e-01 4.27001614e-02 2.66519440e+02] [-6.90490984e-01 7.22199042e-01 -4.06293628e-02 -1.82954323e+02] [-5.89407473e-02 -1.92920958e-04 9.98261464e-01 -1.38063393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53864 meters Centerline goodness [0,1] 0.998970083374203 Centerline is valid? [True, True] Translation: X:266.54, Y:-182.98, Z:-13.81 [[ 7.20886100e-01 6.91687474e-01 4.34933150e-02 2.66542780e+02] [-6.90445700e-01 7.22196934e-01 -4.14285478e-02 -1.82977584e+02] [-6.00663463e-02 -1.64508123e-04 9.98194373e-01 -1.38080487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56864 meters Centerline goodness [0,1] 0.9992146468364993 Centerline is valid? [True, True] Translation: X:266.57, Y:-183.00, Z:-13.81 [[ 7.21330519e-01 6.91210781e-01 4.37028433e-02 2.66566371e+02] [-6.89953434e-01 7.22653200e-01 -4.16726756e-02 -1.83000757e+02] [-6.03866022e-02 -9.31540574e-05 9.98175060e-01 -1.38107513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59864 meters Centerline goodness [0,1] 0.9995584122467004 Centerline is valid? [True, True] Translation: X:266.59, Y:-183.02, Z:-13.81 [[ 7.21636064e-01 6.90843291e-01 4.44627898e-02 2.66588608e+02] [-6.89538289e-01 7.23004528e-01 -4.24429217e-02 -1.83025000e+02] [-6.14682060e-02 -3.04530316e-05 9.98109042e-01 -1.38127147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62864 meters Centerline goodness [0,1] 0.9998528690534576 Centerline is valid? [True, True] Translation: X:266.61, Y:-183.05, Z:-13.81 [[ 7.20849149e-01 6.91680223e-01 4.42150869e-02 2.66612213e+02] [-6.90388571e-01 7.22203894e-01 -4.22511041e-02 -1.83047931e+02] [-6.11565611e-02 -6.89182363e-05 9.98128183e-01 -1.38137510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65864 meters Centerline goodness [0,1] 0.9996075930740178 Centerline is valid? [True, True] Translation: X:266.64, Y:-183.07, Z:-13.82 [[ 7.19364349e-01 6.93251485e-01 4.37871216e-02 2.66636059e+02] [-6.91984971e-01 7.20695740e-01 -4.18861542e-02 -1.83070578e+02] [-6.05948307e-02 -1.68624013e-04 9.98162431e-01 -1.38150006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68864 meters Centerline goodness [0,1] 0.9998036135113905 Centerline is valid? [True, True] Translation: X:266.66, Y:-183.09, Z:-13.82 [[ 7.17493505e-01 6.95228290e-01 4.31357769e-02 2.66658827e+02] [-6.94000190e-01 7.18788937e-01 -4.13061951e-02 -1.83094032e+02] [-5.97227546e-02 -2.99310616e-04 9.98214958e-01 -1.38158332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71864 meters Centerline goodness [0,1] 0.9998038734984065 Centerline is valid? [True, True] Translation: X:266.68, Y:-183.12, Z:-13.82 [[ 7.13849121e-01 6.98937871e-01 4.36495664e-02 2.66681486e+02] [-6.97684613e-01 7.15182152e-01 -4.18410165e-02 -1.83117027e+02] [-6.04616618e-02 -5.85457975e-04 9.98170349e-01 -1.38174887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:266.71, Y:-183.14, Z:-13.82 [[ 7.12018624e-01 7.00817766e-01 4.34043515e-02 2.66706019e+02] [-6.99579598e-01 7.13339997e-01 -4.16465306e-02 -1.83138619e+02] [-6.01486886e-02 -7.11693377e-04 9.98189175e-01 -1.38174183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77864 meters Centerline goodness [0,1] 0.9999019223224794 Centerline is valid? [True, True] Translation: X:266.73, Y:-183.16, Z:-13.82 [[ 7.10423356e-01 7.02489124e-01 4.25168877e-02 2.66730679e+02] [-7.01301560e-01 7.11694024e-01 -4.08379654e-02 -1.83160164e+02] [-5.89472414e-02 -8.04915180e-04 9.98260775e-01 -1.38186640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80864 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:266.76, Y:-183.18, Z:-13.82 [[ 7.08791649e-01 7.04108692e-01 4.29575147e-02 2.66755346e+02] [-7.02896796e-01 7.10091618e-01 -4.13036135e-02 -1.83180996e+02] [-5.95860044e-02 -9.19043094e-04 9.98222752e-01 -1.38205821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:266.78, Y:-183.20, Z:-13.82 [[ 7.08233532e-01 7.04606051e-01 4.39951976e-02 2.66779634e+02] [-7.03333374e-01 7.09598054e-01 -4.23410627e-02 -1.83202153e+02] [-6.10526756e-02 -9.55930379e-04 9.98134088e-01 -1.38220246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86864 meters Centerline goodness [0,1] 0.9998527968596663 Centerline is valid? [True, True] Translation: X:266.80, Y:-183.22, Z:-13.82 [[ 7.07783247e-01 7.05086948e-01 4.35347105e-02 2.66804431e+02] [-7.03839245e-01 7.09120214e-01 -4.19385134e-02 -1.83223853e+02] [-6.04416416e-02 -9.58060569e-04 9.98171273e-01 -1.38229103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89864 meters Centerline goodness [0,1] 0.9998525653626892 Centerline is valid? [True, True] Translation: X:266.83, Y:-183.24, Z:-13.82 [[ 7.07943064e-01 7.04851009e-01 4.47400697e-02 2.66830036e+02] [-7.03529944e-01 7.09354767e-01 -4.31443208e-02 -1.83244057e+02] [-6.21468997e-02 -9.32256108e-04 9.98066578e-01 -1.38246438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92864000000003 meters Centerline goodness [0,1] 0.9998529772114678 Centerline is valid? [True, True] Translation: X:266.85, Y:-183.26, Z:-13.83 [[ 7.07612401e-01 7.05112818e-01 4.58323496e-02 2.66854693e+02] [-7.03724295e-01 7.09094503e-01 -4.42391652e-02 -1.83264766e+02] [-6.36930696e-02 -9.49156006e-04 9.97969084e-01 -1.38265743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95864 meters Centerline goodness [0,1] 0.9999510020089176 Centerline is valid? [True, True] Translation: X:266.88, Y:-183.28, Z:-13.83 [[ 7.07080292e-01 7.05672755e-01 4.54249215e-02 2.66880989e+02] [-7.04307274e-01 7.08537255e-01 -4.38887585e-02 -1.83284513e+02] [-6.31563502e-02 -9.60226452e-04 9.98003183e-01 -1.38284715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:266.91, Y:-183.31, Z:-13.83 [[ 7.06165082e-01 7.06549437e-01 4.60300938e-02 2.66905428e+02] [-7.05146234e-01 7.07662951e-01 -4.45189398e-02 -1.83305006e+02] [-6.40286239e-02 -1.02022653e-03 9.97947541e-01 -1.38296518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01864 meters Centerline goodness [0,1] 0.9998529988239906 Centerline is valid? [True, True] Translation: X:266.93, Y:-183.33, Z:-13.83 [[ 7.05527404e-01 7.07250654e-01 4.50288161e-02 2.66929343e+02] [-7.05906829e-01 7.06962125e-01 -4.35901532e-02 -1.83326191e+02] [-6.26628320e-02 -1.03210120e-03 9.98034220e-01 -1.38312444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04864 meters Centerline goodness [0,1] 0.9999018886436105 Centerline is valid? [True, True] Translation: X:266.95, Y:-183.35, Z:-13.83 [[ 7.03838289e-01 7.08999828e-01 4.39420993e-02 2.66954803e+02] [-7.07721043e-01 7.05207748e-01 -4.25788518e-02 -1.83346969e+02] [-6.11767075e-02 -1.13012212e-03 9.98126311e-01 -1.38310440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07864 meters Centerline goodness [0,1] 0.9999018693881556 Centerline is valid? [True, True] Translation: X:266.98, Y:-183.37, Z:-13.83 [[ 7.02866820e-01 7.09923429e-01 4.45753229e-02 2.66979250e+02] [-7.08606611e-01 7.04277852e-01 -4.32363089e-02 -1.83368260e+02] [-6.20878813e-02 -1.19700158e-03 9.98069969e-01 -1.38314307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10864 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:267.00, Y:-183.39, Z:-13.83 [[ 7.02562658e-01 7.10168080e-01 4.54643826e-02 2.67003678e+02] [-7.08796044e-01 7.04031125e-01 -4.41400362e-02 -1.83388738e+02] [-6.33551852e-02 -1.21383339e-03 9.97990304e-01 -1.38330702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:267.03, Y:-183.41, Z:-13.83 [[ 7.02638091e-01 7.09986250e-01 4.71087860e-02 2.67029343e+02] [-7.08509807e-01 7.04214499e-01 -4.57798277e-02 -1.83408066e+02] [-6.56777383e-02 -1.21038618e-03 9.97840152e-01 -1.38342819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.05, Y:-183.43, Z:-13.84 [[ 7.01598798e-01 7.11021546e-01 4.69839001e-02 2.67054868e+02] [-7.09552313e-01 7.03169071e-01 -4.57030995e-02 -1.83429629e+02] [-6.55335139e-02 -1.27229528e-03 9.97849558e-01 -1.38367852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.08, Y:-183.45, Z:-13.84 [[ 7.00811741e-01 7.11776456e-01 4.72988450e-02 2.67080419e+02] [-7.10285929e-01 7.02404827e-01 -4.60582003e-02 -1.83451146e+02] [-6.60060796e-02 -1.31757658e-03 9.97818351e-01 -1.38394566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:267.11, Y:-183.47, Z:-13.84 [[ 6.98845000e-01 7.13855543e-01 4.50103350e-02 2.67106003e+02] [-7.12507523e-01 7.00291564e-01 -4.38720273e-02 -1.83471560e+02] [-6.28386478e-02 -1.41045540e-03 9.98022703e-01 -1.38402801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:267.13, Y:-183.49, Z:-13.84 [[ 6.97732669e-01 7.14944814e-01 4.49781619e-02 2.67130849e+02] [-7.13598314e-01 6.99179325e-01 -4.38829881e-02 -1.83493494e+02] [-6.28217157e-02 -1.47774611e-03 9.98023671e-01 -1.38404281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28864 meters Centerline goodness [0,1] 0.9997056948055133 Centerline is valid? [True, True] Translation: X:267.16, Y:-183.51, Z:-13.84 [[ 6.99225919e-01 7.13463555e-01 4.53086165e-02 2.67156596e+02] [-7.12091684e-01 7.00691082e-01 -4.42429691e-02 -1.83513946e+02] [-6.33130895e-02 -1.32805829e-03 9.97992830e-01 -1.38402203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31864 meters Centerline goodness [0,1] 0.9998528040822334 Centerline is valid? [True, True] Translation: X:267.18, Y:-183.54, Z:-13.84 [[ 6.99881777e-01 7.12803751e-01 4.55665566e-02 2.67181356e+02] [-7.11412909e-01 7.01362416e-01 -4.45245375e-02 -1.83535358e+02] [-6.36959275e-02 -1.25472419e-03 9.97968564e-01 -1.38415103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34864 meters Centerline goodness [0,1] 0.9998040080356705 Centerline is valid? [True, True] Translation: X:267.21, Y:-183.56, Z:-13.84 [[ 7.02684291e-01 7.10060347e-01 4.52668771e-02 2.67205470e+02] [-7.08679457e-01 7.04140158e-01 -4.42726244e-02 -1.83556668e+02] [-6.33104610e-02 -9.70028189e-04 9.97993409e-01 -1.38446015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37864 meters Centerline goodness [0,1] 0.9998039407901186 Centerline is valid? [True, True] Translation: X:267.23, Y:-183.58, Z:-13.85 [[ 7.05049190e-01 7.07674435e-01 4.58533979e-02 2.67229627e+02] [-7.06249736e-01 7.06538288e-01 -4.48882743e-02 -1.83578493e+02] [-6.41634654e-02 -7.35508712e-04 9.97939131e-01 -1.38463562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40864 meters Centerline goodness [0,1] 0.9993140953407477 Centerline is valid? [True, True] Translation: X:267.25, Y:-183.60, Z:-13.85 [[ 7.07590903e-01 7.05120329e-01 4.60481778e-02 2.67253984e+02] [-7.03675380e-01 7.09087508e-01 -4.51205578e-02 -1.83600033e+02] [-6.44676102e-02 -4.76072787e-04 9.97919686e-01 -1.38475393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43864 meters Centerline goodness [0,1] 0.9993140281248469 Centerline is valid? [True, True] Translation: X:267.28, Y:-183.62, Z:-13.85 [[ 7.09511953e-01 7.03214489e-01 4.56308056e-02 2.67277793e+02] [-7.01789081e-01 7.10977713e-01 -4.47523936e-02 -1.83621282e+02] [-6.39130175e-02 -2.70842925e-04 9.97955436e-01 -1.38491076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46864 meters Centerline goodness [0,1] 0.9993138600274456 Centerline is valid? [True, True] Translation: X:267.30, Y:-183.64, Z:-13.85 [[ 7.14638259e-01 6.98021449e-01 4.53675467e-02 2.67302932e+02] [-6.96599188e-01 7.16076815e-01 -4.45372357e-02 -1.83642927e+02] [-6.35745942e-02 2.25016354e-04 9.97977064e-01 -1.38503601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49864 meters Centerline goodness [0,1] 0.9993630885306942 Centerline is valid? [True, True] Translation: X:267.33, Y:-183.66, Z:-13.85 [[ 7.16823915e-01 6.95712658e-01 4.63397575e-02 2.67325922e+02] [-6.94220892e-01 7.18320036e-01 -4.55376555e-02 -1.83664860e+02] [-6.49678996e-02 4.72452646e-04 9.97887243e-01 -1.38525215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52864 meters Centerline goodness [0,1] 0.999608323133415 Centerline is valid? [True, True] Translation: X:267.35, Y:-183.69, Z:-13.85 [[ 7.21146414e-01 6.91238290e-01 4.62328427e-02 2.67348388e+02] [-6.89741497e-01 7.22626327e-01 -4.54737192e-02 -1.83687743e+02] [-6.48422453e-02 9.04499406e-04 9.97895117e-01 -1.38543938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55864 meters Centerline goodness [0,1] 0.9993140617344439 Centerline is valid? [True, True] Translation: X:267.37, Y:-183.71, Z:-13.85 [[ 7.22232881e-01 6.90149977e-01 4.55266273e-02 2.67371739e+02] [-6.88693790e-01 7.23665651e-01 -4.48206397e-02 -1.83711827e+02] [-6.38790198e-02 1.01703427e-03 9.97957132e-01 -1.38540354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58864 meters Centerline goodness [0,1] 0.999509900019604 Centerline is valid? [True, True] Translation: X:267.39, Y:-183.74, Z:-13.86 [[ 7.23312343e-01 6.89030658e-01 4.53432052e-02 2.67393604e+02] [-6.87581284e-01 7.24731293e-01 -4.46825652e-02 -1.83735209e+02] [-6.36492971e-02 1.14231170e-03 9.97971674e-01 -1.38556050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61864 meters Centerline goodness [0,1] 0.9989215157605765 Centerline is valid? [True, True] Translation: X:267.41, Y:-183.76, Z:-13.86 [[ 7.22739420e-01 6.89707661e-01 4.41709481e-02 2.67413010e+02] [-6.88331255e-01 7.24087130e-01 -4.35650248e-02 -1.83760850e+02] [-6.20307464e-02 1.08191656e-03 9.98073653e-01 -1.38564261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64864 meters Centerline goodness [0,1] 0.9989215157605765 Centerline is valid? [True, True] Translation: X:267.44, Y:-183.78, Z:-13.86 [[ 7.22394382e-01 6.90070331e-01 4.41508178e-02 2.67436406e+02] [-6.88693356e-01 7.23741510e-01 -4.35854197e-02 -1.83783481e+02] [-6.20307845e-02 1.07948748e-03 9.98073653e-01 -1.38577069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67864000000003 meters Centerline goodness [0,1] 0.9993136918476396 Centerline is valid? [True, True] Translation: X:267.46, Y:-183.81, Z:-13.86 [[ 7.20988838e-01 6.91520889e-01 4.44292177e-02 2.67457623e+02] [-6.90126453e-01 7.22355781e-01 -4.39045018e-02 -1.83809224e+02] [-6.24545823e-02 9.92877306e-04 9.98047313e-01 -1.38590120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70864 meters Centerline goodness [0,1] 0.9993609281289942 Centerline is valid? [True, True] Translation: X:267.48, Y:-183.83, Z:-13.86 [[ 7.19493055e-01 6.93135372e-01 4.35097756e-02 2.67478062e+02] [-6.91798539e-01 7.20806915e-01 -4.30368826e-02 -1.83834382e+02] [-6.11925327e-02 8.64738976e-04 9.98125606e-01 -1.38593181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73864 meters Centerline goodness [0,1] 0.9994115627911538 Centerline is valid? [True, True] Translation: X:267.50, Y:-183.86, Z:-13.86 [[ 7.15953282e-01 6.96777687e-01 4.37236020e-02 2.67495960e+02] [-6.95432028e-01 7.17286911e-01 -4.32871969e-02 -1.83862093e+02] [-6.15239203e-02 5.84817465e-04 9.98105438e-01 -1.38596381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76864 meters Centerline goodness [0,1] 0.9996563236449332 Centerline is valid? [True, True] Translation: X:267.52, Y:-183.89, Z:-13.86 [[ 7.14210927e-01 6.98584985e-01 4.33793689e-02 2.67516660e+02] [-6.97261421e-01 7.15526947e-01 -4.29848596e-02 -1.83886750e+02] [-6.10676849e-02 4.53495969e-04 9.98133524e-01 -1.38609238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.54, Y:-183.91, Z:-13.86 [[ 7.09921335e-01 7.02936004e-01 4.35048555e-02 2.67535761e+02] [-7.01611036e-01 7.11253094e-01 -4.31391875e-02 -1.83912604e+02] [-6.12670511e-02 1.01942853e-04 9.98121404e-01 -1.38619215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82864 meters Centerline goodness [0,1] 0.9999020040178352 Centerline is valid? [True, True] Translation: X:267.56, Y:-183.94, Z:-13.86 [[ 7.06515799e-01 7.06383202e-01 4.31068261e-02 2.67558153e+02] [-7.05087259e-01 7.07829599e-01 -4.27693296e-02 -1.83936612e+02] [-6.07238234e-02 -1.76866762e-04 9.98154590e-01 -1.38620455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85864 meters Centerline goodness [0,1] 0.9999509683746016 Centerline is valid? [True, True] Translation: X:267.58, Y:-183.96, Z:-13.86 [[ 7.02842527e-01 7.10047899e-01 4.29460622e-02 2.67581570e+02] [-7.08765690e-01 7.04153230e-01 -4.26547248e-02 -1.83960422e+02] [-6.05275061e-02 -4.59140820e-04 9.98166424e-01 -1.38620997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.60, Y:-183.98, Z:-13.86 [[ 6.95653512e-01 7.17161255e-01 4.17842849e-02 2.67604270e+02] [-7.15957796e-01 6.96906522e-01 -4.15419565e-02 -1.83983012e+02] [-5.89120223e-02 -1.01697662e-03 9.98262661e-01 -1.38619620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:267.63, Y:-184.01, Z:-13.86 [[ 6.92211394e-01 7.20484425e-01 4.17801378e-02 2.67627091e+02] [-7.19284965e-01 6.93469952e-01 -4.15760021e-02 -1.84005698e+02] [-5.89281321e-02 -1.27244262e-03 9.98261417e-01 -1.38623553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:267.65, Y:-184.03, Z:-13.86 [[ 6.89114755e-01 7.23358682e-01 4.32790125e-02 2.67652240e+02] [-7.22074681e-01 6.90470733e-01 -4.31082548e-02 -1.84026158e+02] [-6.10656219e-02 -1.54414475e-03 9.98132559e-01 -1.38619879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97864 meters Centerline goodness [0,1] 0.9999510020089176 Centerline is valid? [True, True] Translation: X:267.68, Y:-184.05, Z:-13.86 [[ 6.88713003e-01 7.23735781e-01 4.33695524e-02 2.67677768e+02] [-7.22444567e-01 6.90075438e-01 -4.32404521e-02 -1.84046670e+02] [-6.12229253e-02 -1.55183591e-03 9.98122911e-01 -1.38635433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00864 meters Centerline goodness [0,1] 0.999951057165231 Centerline is valid? [True, True] Translation: X:267.70, Y:-184.07, Z:-13.87 [[ 6.89323031e-01 7.23108232e-01 4.41389191e-02 2.67703495e+02] [-7.21766529e-01 6.90733135e-01 -4.40546629e-02 -1.84067566e+02] [-6.23445034e-02 -1.49010072e-03 9.98053577e-01 -1.38654310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.73, Y:-184.09, Z:-13.87 [[ 6.92384534e-01 7.20228404e-01 4.32978391e-02 2.67728346e+02] [-7.18929104e-01 6.93736017e-01 -4.32583181e-02 -1.84087707e+02] [-6.11931399e-02 -1.17668619e-03 9.98125250e-01 -1.38676038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:267.75, Y:-184.11, Z:-13.87 [[ 6.93539765e-01 7.19103242e-01 4.35100129e-02 2.67753258e+02] [-7.17786469e-01 6.94902450e-01 -4.35105783e-02 -1.84108847e+02] [-6.15238125e-02 -1.05458229e-03 9.98105059e-01 -1.38679785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.77, Y:-184.10, Z:-13.87 [[ 6.45860434e-01 7.62250897e-01 4.28703835e-02 2.67768782e+02] [-7.60709418e-01 6.47280357e-01 -4.84697930e-02 -1.84098119e+02] [-6.46953003e-02 -1.30718294e-03 9.97904209e-01 -1.38682996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:267.79, Y:-184.10, Z:-13.87 [[ 5.94010550e-01 8.03409501e-01 4.10443748e-02 2.67787477e+02] [-8.01667567e-01 5.95425039e-01 -5.28973953e-02 -1.84098668e+02] [-6.69371184e-02 -1.48233324e-03 9.97756095e-01 -1.38701625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.80, Y:-184.10, Z:-13.87 [[ 5.40222041e-01 8.40683114e-01 3.75772268e-02 2.67804062e+02] [-8.38844806e-01 5.41525320e-01 -5.55852505e-02 -1.84096795e+02] [-6.70786013e-02 -1.49308403e-03 9.97746577e-01 -1.38707826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:267.71, Y:-184.25, Z:-12.24 [[ 6.14718136e-01 -7.88723379e-01 -6.08645875e-03 2.67706707e+02] [-7.88628713e-01 -6.14741314e-01 1.25646479e-02 -1.84251430e+02] [-1.36516292e-02 -2.92376080e-03 -9.99902538e-01 -1.22387966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21864 meters Centerline goodness [0,1] 0.9998035459947939 Centerline is valid? [True, True] Translation: X:267.71, Y:-184.27, Z:-12.24 [[ 6.68892343e-01 -7.43317098e-01 -7.91996321e-03 2.67709886e+02] [-7.43206248e-01 -6.68932858e-01 1.31645089e-02 -1.84272294e+02] [-1.50833281e-02 -2.91947303e-03 -9.99881978e-01 -1.22393110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24864 meters Centerline goodness [0,1] 0.9997550820475141 Centerline is valid? [True, True] Translation: X:267.71, Y:-184.29, Z:-12.24 [[ 7.20285689e-01 -6.93624264e-01 -8.59691395e-03 2.67713916e+02] [-6.93520905e-01 -7.20331096e-01 1.23234134e-02 -1.84290815e+02] [-1.47404430e-02 -2.91423877e-03 -9.99887107e-01 -1.22392222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.81, Y:-184.15, Z:-13.87 [[ 7.08796483e-01 7.03983040e-01 4.48934938e-02 2.67811426e+02] [-7.02612978e-01 7.10216656e-01 -4.39010806e-02 -1.84145467e+02] [-6.27897232e-02 -4.25819896e-04 9.98026688e-01 -1.38730027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30864 meters Centerline goodness [0,1] 0.9998523839984255 Centerline is valid? [True, True] Translation: X:267.84, Y:-184.17, Z:-13.87 [[ 7.08939481e-01 7.03746540e-01 4.63208350e-02 2.67835310e+02] [-7.02285116e-01 7.10451021e-01 -4.53316953e-02 -1.84166847e+02] [-6.48107082e-02 -3.93004450e-04 9.97897499e-01 -1.38740067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33864 meters Centerline goodness [0,1] 0.9998038638815337 Centerline is valid? [True, True] Translation: X:267.86, Y:-184.19, Z:-13.88 [[ 7.10381388e-01 7.02226511e-01 4.72885931e-02 2.67861352e+02] [-7.00697654e-01 7.11953561e-01 -4.63133404e-02 -1.84187105e+02] [-6.61897376e-02 -2.34871168e-04 9.97807027e-01 -1.38768505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36864 meters Centerline goodness [0,1] 0.9998038734984065 Centerline is valid? [True, True] Translation: X:267.89, Y:-184.21, Z:-13.88 [[ 7.11108215e-01 7.01490748e-01 4.72846314e-02 2.67885090e+02] [-6.99957234e-01 7.12678548e-01 -4.63590035e-02 -1.84210268e+02] [-6.62191545e-02 -1.30951622e-04 9.97805094e-01 -1.38792734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39864 meters Centerline goodness [0,1] 0.9996565091515776 Centerline is valid? [True, True] Translation: X:267.91, Y:-184.23, Z:-13.88 [[ 7.12140671e-01 7.00447864e-01 4.72065103e-02 2.67908362e+02] [-6.98913919e-01 7.13703572e-01 -4.63308185e-02 -1.84233925e+02] [-6.61437779e-02 7.72997807e-07 9.97810102e-01 -1.38809651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.93, Y:-184.26, Z:-13.88 [[ 7.13486302e-01 6.98997775e-01 4.83674247e-02 2.67930664e+02] [-6.97380791e-01 7.15123822e-01 -4.75179080e-02 -1.84256560e+02] [-6.78036096e-02 1.72863589e-04 9.97698672e-01 -1.38824273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45864 meters Centerline goodness [0,1] 0.9997551420176298 Centerline is valid? [True, True] Translation: X:267.95, Y:-184.28, Z:-13.88 [[ 7.13990845e-01 6.98599474e-01 4.66459936e-02 2.67954645e+02] [-6.97092151e-01 7.15512908e-01 -4.58673178e-02 -1.84278082e+02] [-6.54186946e-02 2.32288924e-04 9.97857876e-01 -1.38819981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:267.98, Y:-184.30, Z:-13.89 [[ 7.15233423e-01 6.97268471e-01 4.75166258e-02 2.67976601e+02] [-6.95698499e-01 7.16809965e-01 -4.67661513e-02 -1.84302092e+02] [-6.66689537e-02 3.91469220e-04 9.97775074e-01 -1.38854423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51864 meters Centerline goodness [0,1] 0.9996571820363387 Centerline is valid? [True, True] Translation: X:268.00, Y:-184.33, Z:-13.89 [[ 7.16021781e-01 6.96502356e-01 4.68751283e-02 2.67999139e+02] [-6.94970000e-01 7.17554340e-01 -4.61786624e-02 -1.84326775e+02] [-6.57989989e-02 4.88120183e-04 9.97832778e-01 -1.38871119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54864 meters Centerline goodness [0,1] 0.9998527245949926 Centerline is valid? [True, True] Translation: X:268.02, Y:-184.35, Z:-13.89 [[ 7.16845352e-01 6.95649367e-01 4.69542191e-02 2.68021856e+02] [-6.94106860e-01 7.18381233e-01 -4.63041109e-02 -1.84350507e+02] [-6.59424553e-02 6.01641093e-04 9.97823246e-01 -1.38891697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57864 meters Centerline goodness [0,1] 0.9997060984570169 Centerline is valid? [True, True] Translation: X:268.05, Y:-184.37, Z:-13.89 [[ 7.17451144e-01 6.94999693e-01 4.73210607e-02 2.68045197e+02] [-6.93428523e-01 7.19009692e-01 -4.67113137e-02 -1.84372739e+02] [-6.64886500e-02 6.99312226e-04 9.97786936e-01 -1.38916358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60864 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:268.07, Y:-184.40, Z:-13.89 [[ 7.17211046e-01 6.95232009e-01 4.75475504e-02 2.68067679e+02] [-6.93643286e-01 7.18785048e-01 -4.69792157e-02 -1.84396422e+02] [-6.68379228e-02 7.12973320e-04 9.97763591e-01 -1.38924944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63864 meters Centerline goodness [0,1] 0.9997550580512419 Centerline is valid? [True, True] Translation: X:268.09, Y:-184.42, Z:-13.89 [[ 7.16964952e-01 6.95447831e-01 4.80996091e-02 2.68086950e+02] [-6.93819316e-01 7.18576214e-01 -4.75708053e-02 -1.84423025e+02] [-6.76462484e-02 7.34162224e-04 9.97709099e-01 -1.38938691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.11, Y:-184.45, Z:-13.90 [[ 7.16565441e-01 6.95869941e-01 4.79478165e-02 2.68109396e+02] [-6.94249619e-01 7.18167460e-01 -4.74654254e-02 -1.84447097e+02] [-6.74643243e-02 7.24330181e-04 9.97721424e-01 -1.38952400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69864 meters Centerline goodness [0,1] 0.9999020136201068 Centerline is valid? [True, True] Translation: X:268.13, Y:-184.47, Z:-13.90 [[ 7.15699043e-01 6.96794819e-01 4.74537637e-02 2.68132259e+02] [-6.95206761e-01 7.17270200e-01 -4.70214703e-02 -1.84470093e+02] [-6.68014875e-02 6.63043936e-04 9.97766066e-01 -1.38975555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72864 meters Centerline goodness [0,1] 0.9998529267575252 Centerline is valid? [True, True] Translation: X:268.15, Y:-184.49, Z:-13.90 [[ 7.13416181e-01 6.99169239e-01 4.69012624e-02 2.68153057e+02] [-6.97620865e-01 7.14956057e-01 -4.65076863e-02 -1.84494770e+02] [-6.60490853e-02 4.60036738e-04 9.97816269e-01 -1.38997735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75864 meters Centerline goodness [0,1] 0.9997055792727808 Centerline is valid? [True, True] Translation: X:268.17, Y:-184.52, Z:-13.90 [[ 7.13096611e-01 6.99535630e-01 4.62939076e-02 2.68174609e+02] [-6.98025957e-01 7.14597584e-01 -4.59353494e-02 -1.84519082e+02] [-6.52149282e-02 4.41992842e-04 9.97871143e-01 -1.39013229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78864 meters Centerline goodness [0,1] 0.9997550460513424 Centerline is valid? [True, True] Translation: X:268.19, Y:-184.54, Z:-13.90 [[ 7.13417231e-01 6.99083717e-01 4.81436438e-02 2.68194682e+02] [-6.97446807e-01 7.15039629e-01 -4.78150633e-02 -1.84544442e+02] [-6.78513454e-02 5.34459467e-04 9.97695299e-01 -1.39031909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81864 meters Centerline goodness [0,1] 0.9997056226081837 Centerline is valid? [True, True] Translation: X:268.22, Y:-184.57, Z:-13.90 [[ 7.13917706e-01 6.98578728e-01 4.80548631e-02 2.68217985e+02] [-6.96943616e-01 7.15532936e-01 -4.77725118e-02 -1.84568002e+02] [-6.77576978e-02 6.14111961e-04 9.97701617e-01 -1.39036403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84864 meters Centerline goodness [0,1] 0.9996566102526367 Centerline is valid? [True, True] Translation: X:268.24, Y:-184.59, Z:-13.91 [[ 7.14455498e-01 6.97986677e-01 4.86614886e-02 2.68239930e+02] [-6.96305349e-01 7.16110390e-01 -4.84228252e-02 -1.84591167e+02] [-6.86454844e-02 7.12698937e-04 9.97640862e-01 -1.39051422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87864 meters Centerline goodness [0,1] 0.9993623074659079 Centerline is valid? [True, True] Translation: X:268.26, Y:-184.62, Z:-13.91 [[ 7.16306093e-01 6.96169018e-01 4.74792563e-02 2.68261682e+02] [-6.94561538e-01 7.17877352e-01 -4.72903429e-02 -1.84616701e+02] [-6.70063544e-02 8.97095471e-04 9.97752145e-01 -1.39073055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90864 meters Centerline goodness [0,1] 0.9990687643973926 Centerline is valid? [True, True] Translation: X:268.28, Y:-184.64, Z:-13.91 [[ 7.16465979e-01 6.96050436e-01 4.68005505e-02 2.68284345e+02] [-6.94485267e-01 7.17992289e-01 -4.66614074e-02 -1.84640498e+02] [-6.60811274e-02 9.29018113e-04 9.97813821e-01 -1.39085587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93864 meters Centerline goodness [0,1] 0.9987226098064262 Centerline is valid? [True, True] Translation: X:268.31, Y:-184.66, Z:-13.91 [[ 7.16714977e-01 6.95917597e-01 4.49259383e-02 2.68306489e+02] [-6.94472478e-01 7.18121039e-01 -4.48347147e-02 -1.84663487e+02] [-6.34635284e-02 9.33883824e-04 9.97983722e-01 -1.39086754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96864 meters Centerline goodness [0,1] 0.9990687643973926 Centerline is valid? [True, True] Translation: X:268.33, Y:-184.69, Z:-13.91 [[ 7.15599565e-01 6.97118324e-01 4.40829209e-02 2.68328305e+02] [-6.95726845e-01 7.16955603e-01 -4.40320344e-02 -1.84687219e+02] [-6.23010352e-02 8.39633206e-04 9.98057050e-01 -1.39092084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99864 meters Centerline goodness [0,1] 0.9988731566312282 Centerline is valid? [True, True] Translation: X:268.35, Y:-184.71, Z:-13.91 [[ 7.14630437e-01 6.98149240e-01 4.34853684e-02 2.68350660e+02] [-6.96794808e-01 7.15951849e-01 -4.34734974e-02 -1.84710422e+02] [-6.14844191e-02 7.67105562e-04 9.98107749e-01 -1.39094567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02864 meters Centerline goodness [0,1] 0.9992142611599469 Centerline is valid? [True, True] Translation: X:268.32, Y:-184.85, Z:-12.27 [[ 7.48345572e-01 -6.63264779e-01 -7.66410803e-03 2.68320664e+02] [-6.63189510e-01 -7.48380111e-01 1.03384355e-02 -1.84849722e+02] [-1.25927861e-02 -2.65396635e-03 -9.99917186e-01 -1.22668445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05864 meters Centerline goodness [0,1] 0.9992154170548718 Centerline is valid? [True, True] Translation: X:268.37, Y:-184.75, Z:-13.91 [[ 7.60590373e-01 6.47322757e-01 4.97547254e-02 2.68369359e+02] [-6.45882973e-01 7.62215701e-01 -4.31556445e-02 -1.84745567e+02] [-6.58594637e-02 6.88037776e-04 9.97828671e-01 -1.39115512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08864 meters Centerline goodness [0,1] 0.9989215157605765 Centerline is valid? [True, True] Translation: X:268.39, Y:-184.77, Z:-13.91 [[ 7.61106054e-01 6.46828452e-01 4.82755330e-02 2.68393718e+02] [-6.45469504e-01 7.62635172e-01 -4.19131754e-02 -1.84766490e+02] [-6.39272538e-02 7.39987226e-04 9.97954287e-01 -1.39111168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11864 meters Centerline goodness [0,1] 0.9988719960765081 Centerline is valid? [True, True] Translation: X:268.42, Y:-184.79, Z:-13.91 [[ 7.62347074e-01 6.45348075e-01 4.85056790e-02 2.68417886e+02] [-6.43970670e-01 7.63888118e-01 -4.21511442e-02 -1.84788053e+02] [-6.42550716e-02 8.97566833e-04 9.97933104e-01 -1.39136016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14864 meters Centerline goodness [0,1] 0.9988728805253357 Centerline is valid? [True, True] Translation: X:268.44, Y:-184.81, Z:-13.91 [[ 7.62429854e-01 6.45321956e-01 4.75425076e-02 2.68442267e+02] [-6.43996403e-01 7.63910168e-01 -4.13507912e-02 -1.84809370e+02] [-6.30027785e-02 9.09873841e-04 9.98012937e-01 -1.39144790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17864000000003 meters Centerline goodness [0,1] 0.9978412324600138 Centerline is valid? [True, True] Translation: X:268.47, Y:-184.83, Z:-13.91 [[ 7.63789902e-01 6.43770611e-01 4.67374161e-02 2.68468345e+02] [-6.42484360e-01 7.65217812e-01 -4.06884303e-02 -1.84830490e+02] [-6.19583189e-02 1.04935335e-03 9.98078186e-01 -1.39148145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20864 meters Centerline goodness [0,1] 0.998041807411759 Centerline is valid? [True, True] Translation: X:268.49, Y:-184.85, Z:-13.91 [[ 7.64199882e-01 6.43322331e-01 4.62051847e-02 2.68493002e+02] [-6.42061906e-01 7.65594644e-01 -4.02659976e-02 -1.84852351e+02] [-6.12784574e-02 1.10468162e-03 9.98120098e-01 -1.39145178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23864 meters Centerline goodness [0,1] 0.997794766245222 Centerline is valid? [True, True] Translation: X:268.52, Y:-184.87, Z:-13.92 [[ 7.65200588e-01 6.42206328e-01 4.51563192e-02 2.68517865e+02] [-6.40998203e-01 7.66530886e-01 -3.93916912e-02 -1.84874758e+02] [-5.99113067e-02 1.19742578e-03 9.98202986e-01 -1.39158477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26864 meters Centerline goodness [0,1] 0.997695174578266 Centerline is valid? [True, True] Translation: X:268.54, Y:-184.90, Z:-13.92 [[ 7.65639277e-01 6.41596060e-01 4.63787985e-02 2.68541951e+02] [-6.40317976e-01 7.67041577e-01 -4.04982559e-02 -1.84896467e+02] [-6.15579881e-02 1.30987693e-03 9.98102649e-01 -1.39171921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29864 meters Centerline goodness [0,1] 0.9976966429796619 Centerline is valid? [True, True] Translation: X:268.57, Y:-184.92, Z:-13.92 [[ 7.65558671e-01 6.41704048e-01 4.62151145e-02 2.68566957e+02] [-6.40432861e-01 7.66951210e-01 -4.03929855e-02 -1.84918748e+02] [-6.13650803e-02 1.32552229e-03 9.98114507e-01 -1.39187232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32864 meters Centerline goodness [0,1] 0.9981862745098039 Centerline is valid? [True, True] Translation: X:268.59, Y:-184.94, Z:-13.92 [[ 7.65673407e-01 6.41455814e-01 4.77354373e-02 2.68589973e+02] [-6.40096436e-01 7.67158665e-01 -4.17628430e-02 -1.84940674e+02] [-6.34096729e-02 1.42141495e-03 9.97986570e-01 -1.39211644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35864 meters Centerline goodness [0,1] 0.9983327612416025 Centerline is valid? [True, True] Translation: X:268.61, Y:-184.96, Z:-13.92 [[ 7.65875770e-01 6.41208945e-01 4.78057892e-02 2.68614520e+02] [-6.39842597e-01 7.67364917e-01 -4.18632948e-02 -1.84962237e+02] [-6.35276046e-02 1.47390280e-03 9.97978993e-01 -1.39219623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38864 meters Centerline goodness [0,1] 0.9976968687215171 Centerline is valid? [True, True] Translation: X:268.64, Y:-184.98, Z:-13.92 [[ 7.65576985e-01 6.41602346e-01 4.73107735e-02 2.68638719e+02] [-6.40262317e-01 7.67036051e-01 -4.14712151e-02 -1.84984363e+02] [-6.28970978e-02 1.45810235e-03 9.98018952e-01 -1.39230079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41864 meters Centerline goodness [0,1] 0.9965704767037382 Centerline is valid? [True, True] Translation: X:268.66, Y:-185.01, Z:-13.92 [[ 7.66309774e-01 6.40818933e-01 4.60480824e-02 2.68662545e+02] [-6.39545691e-01 7.67690568e-01 -4.04042239e-02 -1.85007280e+02] [-6.12424701e-02 1.51229901e-03 9.98121773e-01 -1.39240659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44864 meters Centerline goodness [0,1] 0.9967172954434101 Centerline is valid? [True, True] Translation: X:268.69, Y:-185.03, Z:-13.92 [[ 7.67392922e-01 6.39612851e-01 4.47605214e-02 2.68686809e+02] [-6.38405521e-01 7.68695559e-01 -3.93132165e-02 -1.85029449e+02] [-5.95524525e-02 1.59332009e-03 9.98223906e-01 -1.39243450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47864 meters Centerline goodness [0,1] 0.9963244302866945 Centerline is valid? [True, True] Translation: X:268.71, Y:-185.05, Z:-13.93 [[ 7.68623483e-01 6.38149802e-01 4.45283266e-02 2.68710288e+02] [-6.36950311e-01 7.69910287e-01 -3.91465413e-02 -1.85050969e+02] [-5.92641743e-02 1.72661948e-03 9.98240841e-01 -1.39254220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50864 meters Centerline goodness [0,1] 0.9955921245959447 Centerline is valid? [True, True] Translation: X:268.73, Y:-185.07, Z:-13.93 [[ 7.70692752e-01 6.35807508e-01 4.22077565e-02 2.68732137e+02] [-6.34724614e-01 7.71845489e-01 -3.71376705e-02 -1.85074599e+02] [-5.61902762e-02 1.83143154e-03 9.98418399e-01 -1.39261551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53864 meters Centerline goodness [0,1] 0.9955921245959447 Centerline is valid? [True, True] Translation: X:268.76, Y:-185.10, Z:-13.93 [[ 7.70379353e-01 6.36188316e-01 4.21909860e-02 2.68756765e+02] [-6.35104949e-01 7.71531647e-01 -3.71567159e-02 -1.85095863e+02] [-5.61903494e-02 1.82906271e-03 9.98418399e-01 -1.39274278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56864 meters Centerline goodness [0,1] 0.994853950205842 Centerline is valid? [True, True] Translation: X:268.78, Y:-185.12, Z:-13.93 [[ 7.72148459e-01 6.33956794e-01 4.34228017e-02 2.68778863e+02] [-6.32803947e-01 7.73365687e-01 -3.82711128e-02 -1.85118966e+02] [-5.78439368e-02 2.07286051e-03 9.98323486e-01 -1.39287793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59864 meters Centerline goodness [0,1] 0.9954913011516785 Centerline is valid? [True, True] Translation: X:268.80, Y:-185.14, Z:-13.93 [[ 7.72281734e-01 6.33695102e-01 4.48490995e-02 2.68801586e+02] [-6.32463714e-01 7.73579852e-01 -3.95457147e-02 -1.85141181e+02] [-5.97542854e-02 2.17500509e-03 9.98210747e-01 -1.39305034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62864 meters Centerline goodness [0,1] 0.9959285784361817 Centerline is valid? [True, True] Translation: X:268.83, Y:-185.16, Z:-13.93 [[ 7.72007541e-01 6.34017270e-01 4.50161888e-02 2.68825020e+02] [-6.32775166e-01 7.73315801e-01 -3.97273312e-02 -1.85164182e+02] [-5.99995442e-02 2.18467296e-03 9.98196014e-01 -1.39326178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65864 meters Centerline goodness [0,1] 0.9956850053937433 Centerline is valid? [True, True] Translation: X:268.85, Y:-185.19, Z:-13.93 [[ 7.72130717e-01 6.33993968e-01 4.31949566e-02 2.68846949e+02] [-6.32848373e-01 7.73335072e-01 -3.81550010e-02 -1.85187335e+02] [-5.75942154e-02 2.12479023e-03 9.98337814e-01 -1.39331138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68864 meters Centerline goodness [0,1] 0.9958811415122095 Centerline is valid? [True, True] Translation: X:268.87, Y:-185.21, Z:-13.93 [[ 7.70865691e-01 6.35574639e-01 4.25554414e-02 2.68868316e+02] [-6.34463325e-01 7.72036833e-01 -3.76220320e-02 -1.85212052e+02] [-5.67659776e-02 2.00166688e-03 9.98385505e-01 -1.39347495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71864 meters Centerline goodness [0,1] 0.9954425169067921 Centerline is valid? [True, True] Translation: X:268.89, Y:-185.24, Z:-13.94 [[ 7.69906765e-01 6.36617562e-01 4.42905587e-02 2.68890346e+02] [-6.35413248e-01 7.71176991e-01 -3.91925093e-02 -1.85237725e+02] [-5.91064995e-02 2.03177027e-03 9.98249615e-01 -1.39353797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74864 meters Centerline goodness [0,1] 0.9951956074124915 Centerline is valid? [True, True] Translation: X:268.91, Y:-185.26, Z:-13.94 [[ 7.68630375e-01 6.38217175e-01 4.34302197e-02 2.68912474e+02] [-6.37059679e-01 7.69854031e-01 -3.84673387e-02 -1.85261815e+02] [-5.79854459e-02 1.89952314e-03 9.98315621e-01 -1.39357155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77864 meters Centerline goodness [0,1] 0.9953369655917145 Centerline is valid? [True, True] Translation: X:268.94, Y:-185.29, Z:-13.94 [[ 7.68072728e-01 6.38893881e-01 4.33462052e-02 2.68935373e+02] [-6.37739908e-01 7.69292600e-01 -3.84279211e-02 -1.85285141e+02] [-5.78972786e-02 1.87183321e-03 9.98320791e-01 -1.39377678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80864 meters Centerline goodness [0,1] 0.9952446318266497 Centerline is valid? [True, True] Translation: X:268.96, Y:-185.31, Z:-13.94 [[ 7.67608840e-01 6.39530097e-01 4.21654386e-02 2.68957917e+02] [-6.38437164e-01 7.68763950e-01 -3.74162694e-02 -1.85308019e+02] [-5.63440995e-02 1.80107605e-03 9.98409785e-01 -1.39385857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83864 meters Centerline goodness [0,1] 0.9959309736248652 Centerline is valid? [True, True] Translation: X:268.98, Y:-185.33, Z:-13.94 [[ 7.65913200e-01 6.41521803e-01 4.27404455e-02 2.68978870e+02] [-6.40400017e-01 7.67102911e-01 -3.79597500e-02 -1.85332256e+02] [-5.71383275e-02 1.70289157e-03 9.98364819e-01 -1.39405130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86864 meters Centerline goodness [0,1] 0.995735294117647 Centerline is valid? [True, True] Translation: X:269.00, Y:-185.35, Z:-13.94 [[ 7.64437341e-01 6.43292747e-01 4.25440142e-02 2.69002299e+02] [-6.42182110e-01 7.65618650e-01 -3.78182599e-02 -1.85354869e+02] [-5.69007030e-02 1.58868523e-03 9.98378579e-01 -1.39423380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89864 meters Centerline goodness [0,1] 0.9960809288198696 Centerline is valid? [True, True] Translation: X:269.02, Y:-185.38, Z:-13.94 [[ 7.61712632e-01 6.46337334e-01 4.51875834e-02 2.69024686e+02] [-6.45087345e-01 7.63050376e-01 -4.02049883e-02 -1.85377493e+02] [-6.04663875e-02 1.47470926e-03 9.98169145e-01 -1.39424066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92864000000003 meters Centerline goodness [0,1] 0.9965671129419842 Centerline is valid? [True, True] Translation: X:269.05, Y:-185.40, Z:-13.94 [[ 7.60213096e-01 6.48051537e-01 4.58830604e-02 2.69048214e+02] [-6.46763609e-01 7.61595222e-01 -4.08601433e-02 -1.85399879e+02] [-6.14237982e-02 1.38692227e-03 9.98110812e-01 -1.39432493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95864 meters Centerline goodness [0,1] 0.9967131083202512 Centerline is valid? [True, True] Translation: X:269.07, Y:-185.42, Z:-13.94 [[ 7.59070055e-01 6.49452149e-01 4.49950840e-02 2.69070783e+02] [-6.48213964e-01 7.60401393e-01 -4.01045848e-02 -1.85422377e+02] [-6.02603333e-02 1.27574766e-03 9.98181880e-01 -1.39448854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98864 meters Centerline goodness [0,1] 0.9969111590507943 Centerline is valid? [True, True] Translation: X:269.09, Y:-185.45, Z:-13.95 [[ 7.56843045e-01 6.52222322e-01 4.23632955e-02 2.69091874e+02] [-6.51127342e-01 7.58027049e-01 -3.77912392e-02 -1.85447329e+02] [-5.67608137e-02 1.01813650e-03 9.98387286e-01 -1.39457090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01864 meters Centerline goodness [0,1] 0.9968636675487602 Centerline is valid? [True, True] Translation: X:269.12, Y:-185.47, Z:-13.95 [[ 7.55272569e-01 6.54097998e-01 4.14627118e-02 2.69115609e+02] [-6.53050103e-01 7.56409300e-01 -3.70207301e-02 -1.85469402e+02] [-5.55779662e-02 8.83513708e-04 9.98453959e-01 -1.39467545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04864 meters Centerline goodness [0,1] 0.9976961913631684 Centerline is valid? [True, True] Translation: X:269.14, Y:-185.49, Z:-13.95 [[ 7.53164316e-01 6.56552213e-01 4.10207903e-02 2.69140047e+02] [-6.55528352e-01 7.54280235e-01 -3.66593424e-02 -1.85489917e+02] [-5.50099437e-02 7.20217498e-04 9.98485547e-01 -1.39474129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07864 meters Centerline goodness [0,1] 0.9978414442700158 Centerline is valid? [True, True] Translation: X:269.16, Y:-185.51, Z:-13.95 [[ 7.51961222e-01 6.57871564e-01 4.19443131e-02 2.69163933e+02] [-6.56801032e-01 7.53129845e-01 -3.75212114e-02 -1.85511952e+02] [-5.62736520e-02 6.65427877e-04 9.98415161e-01 -1.39492873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10864 meters Centerline goodness [0,1] 0.9983817183209102 Centerline is valid? [True, True] Translation: X:269.19, Y:-185.53, Z:-13.95 [[ 7.50938656e-01 6.59001352e-01 4.25247265e-02 2.69187556e+02] [-6.57900469e-01 7.52141499e-01 -3.80806892e-02 -1.85534736e+02] [-5.70798372e-02 6.19224039e-04 9.98369425e-01 -1.39507246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13864 meters Centerline goodness [0,1] 0.9985766871165644 Centerline is valid? [True, True] Translation: X:269.21, Y:-185.56, Z:-13.95 [[ 7.50087582e-01 6.59947288e-01 4.28741867e-02 2.69212183e+02] [-6.58827417e-01 7.51311678e-01 -3.84343319e-02 -1.85557365e+02] [-5.75765102e-02 5.82425440e-04 9.98340927e-01 -1.39518186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16864 meters Centerline goodness [0,1] 0.9990678506598636 Centerline is valid? [True, True] Translation: X:269.24, Y:-185.58, Z:-13.95 [[ 7.49667125e-01 6.60382267e-01 4.35254259e-02 2.69236750e+02] [-6.59226370e-01 7.50929367e-01 -3.90599444e-02 -1.85579453e+02] [-5.84790152e-02 5.88847760e-04 9.98288464e-01 -1.39534366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19864 meters Centerline goodness [0,1] 0.9987734877103469 Centerline is valid? [True, True] Translation: X:269.26, Y:-185.60, Z:-13.95 [[ 7.49855305e-01 6.60193368e-01 4.31478654e-02 2.69260664e+02] [-6.59054792e-01 7.51095414e-01 -3.87615777e-02 -1.85602761e+02] [-5.79983004e-02 6.28767175e-04 9.98316484e-01 -1.39542114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22864 meters Centerline goodness [0,1] 0.9989159357445551 Centerline is valid? [True, True] Translation: X:269.28, Y:-185.62, Z:-13.96 [[ 7.50049549e-01 6.59852539e-01 4.49477519e-02 2.69284424e+02] [-6.58613776e-01 7.51394781e-01 -4.04200175e-02 -1.85624254e+02] [-6.04447573e-02 7.13807322e-04 9.98171289e-01 -1.39550357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25864 meters Centerline goodness [0,1] 0.9990686731042596 Centerline is valid? [True, True] Translation: X:269.31, Y:-185.65, Z:-13.96 [[ 7.50169018e-01 6.59648535e-01 4.59375120e-02 2.69308694e+02] [-6.58351813e-01 7.51573822e-01 -4.13482885e-02 -1.85645832e+02] [-6.18007694e-02 7.75160665e-04 9.98088205e-01 -1.39566183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28864 meters Centerline goodness [0,1] 0.9986694263749261 Centerline is valid? [True, True] Translation: X:269.33, Y:-185.67, Z:-13.96 [[ 7.50121347e-01 6.59824521e-01 4.41538944e-02 2.69333173e+02] [-6.58624825e-01 7.51419342e-01 -3.97783052e-02 -1.85666951e+02] [-5.94247915e-02 7.57704897e-04 9.98232498e-01 -1.39577015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31864 meters Centerline goodness [0,1] 0.9988732118361748 Centerline is valid? [True, True] Translation: X:269.36, Y:-185.69, Z:-13.96 [[ 7.49717825e-01 6.60415896e-01 4.21191987e-02 2.69357185e+02] [-6.59323323e-01 7.50899694e-01 -3.79790108e-02 -1.85688882e+02] [-5.67092358e-02 7.03371316e-04 9.98390489e-01 -1.39590877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34864 meters Centerline goodness [0,1] 0.9994606785644244 Centerline is valid? [True, True] Translation: X:269.38, Y:-185.71, Z:-13.96 [[ 7.49070675e-01 6.61135045e-01 4.23506361e-02 2.69380447e+02] [-6.60029463e-01 7.50266612e-01 -3.82245718e-02 -1.85712377e+02] [-5.70458723e-02 6.80238200e-04 9.98371327e-01 -1.39595600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37864 meters Centerline goodness [0,1] 0.9995095394575506 Centerline is valid? [True, True] Translation: X:269.40, Y:-185.73, Z:-13.96 [[ 7.48153752e-01 6.62108772e-01 4.33351759e-02 2.69404015e+02] [-6.60950323e-01 7.49407465e-01 -3.91550974e-02 -1.85734840e+02] [-5.84006378e-02 6.51634535e-04 9.98293014e-01 -1.39605271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40864 meters Centerline goodness [0,1] 0.9997548418730081 Centerline is valid? [True, True] Translation: X:269.43, Y:-185.76, Z:-13.96 [[ 7.47700059e-01 6.62523050e-01 4.48088102e-02 2.69427810e+02] [-6.61282605e-01 7.49041225e-01 -4.05285093e-02 -1.85756434e+02] [-6.04147177e-02 6.71882122e-04 9.98173137e-01 -1.39619328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43864 meters Centerline goodness [0,1] 0.9995588235294117 Centerline is valid? [True, True] Translation: X:269.45, Y:-185.78, Z:-13.96 [[ 7.47241917e-01 6.63031965e-01 4.49236154e-02 2.69451520e+02] [-6.61783671e-01 7.48590793e-01 -4.06718204e-02 -1.85778937e+02] [-6.05961219e-02 6.61973948e-04 9.98162147e-01 -1.39623684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46864 meters Centerline goodness [0,1] 0.9998530420299794 Centerline is valid? [True, True] Translation: X:269.48, Y:-185.80, Z:-13.96 [[ 7.47182600e-01 6.63109294e-01 4.47685895e-02 2.69475258e+02] [-6.61867180e-01 7.48522274e-01 -4.05739035e-02 -1.85802466e+02] [-6.04152189e-02 6.85254644e-04 9.98173097e-01 -1.39638759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49864 meters Centerline goodness [0,1] 0.9998035459947939 Centerline is valid? [True, True] Translation: X:269.50, Y:-185.83, Z:-13.96 [[ 7.47079849e-01 6.63261532e-01 4.42248805e-02 2.69498533e+02] [-6.62047198e-01 7.48387370e-01 -4.01229603e-02 -1.85825852e+02] [-5.97093581e-02 6.96096850e-04 9.98215562e-01 -1.39649431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52864 meters Centerline goodness [0,1] 0.9994606785644244 Centerline is valid? [True, True] Translation: X:269.52, Y:-185.85, Z:-13.97 [[ 7.46386520e-01 6.64134598e-01 4.28065225e-02 2.69519960e+02] [-6.62996182e-01 7.47612755e-01 -3.88745521e-02 -1.85849663e+02] [-5.78206373e-02 6.34880698e-04 9.98326786e-01 -1.39654758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55864 meters Centerline goodness [0,1] 0.9992162625520451 Centerline is valid? [True, True] Translation: X:269.54, Y:-185.87, Z:-13.97 [[ 7.45203212e-01 6.65471184e-01 4.26646921e-02 2.69543320e+02] [-6.64340336e-01 7.46423333e-01 -3.87830608e-02 -1.85872510e+02] [-5.76549311e-02 5.57385603e-04 9.98336415e-01 -1.39659258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58864 meters Centerline goodness [0,1] 0.9991180361605174 Centerline is valid? [True, True] Translation: X:269.57, Y:-185.90, Z:-13.97 [[ 7.44079709e-01 6.66707857e-01 4.29653390e-02 2.69566163e+02] [-6.65560644e-01 7.45318984e-01 -3.90978435e-02 -1.85896662e+02] [-5.80897222e-02 4.95873355e-04 9.98311243e-01 -1.39673299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61864 meters Centerline goodness [0,1] 0.9992149165848871 Centerline is valid? [True, True] Translation: X:269.59, Y:-185.92, Z:-13.97 [[ 7.42575123e-01 6.68411572e-01 4.25224347e-02 2.69588600e+02] [-6.67288443e-01 7.43791516e-01 -3.87338964e-02 -1.85919869e+02] [-5.75180108e-02 3.88098666e-04 9.98344393e-01 -1.39676826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64864 meters Centerline goodness [0,1] 0.9992159553094526 Centerline is valid? [True, True] Translation: X:269.61, Y:-185.94, Z:-13.97 [[ 7.38845153e-01 6.72565574e-01 4.19927136e-02 2.69609731e+02] [-6.71474943e-01 7.40037526e-01 -3.82865712e-02 -1.85943927e+02] [-5.68264136e-02 9.07926169e-05 9.98384070e-01 -1.39691700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67864000000003 meters Centerline goodness [0,1] 0.9995099720684079 Centerline is valid? [True, True] Translation: X:269.63, Y:-185.97, Z:-13.97 [[ 7.36536371e-01 6.75012097e-01 4.32763637e-02 2.69632000e+02] [-6.73855692e-01 7.37806658e-01 -3.94948321e-02 -1.85966590e+02] [-5.85890787e-02 -7.26437246e-05 9.98282182e-01 -1.39712039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70864 meters Centerline goodness [0,1] 0.9990688556726293 Centerline is valid? [True, True] Translation: X:269.66, Y:-185.99, Z:-13.97 [[ 7.34516105e-01 6.77226185e-01 4.30207628e-02 2.69655250e+02] [-6.76084931e-01 7.35774861e-01 -3.93003812e-02 -1.85989694e+02] [-5.82688430e-02 -2.18926492e-04 9.98300904e-01 -1.39716309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73864 meters Centerline goodness [0,1] 0.9991669933359467 Centerline is valid? [True, True] Translation: X:269.68, Y:-186.01, Z:-13.97 [[ 7.31205438e-01 6.80755404e-01 4.37114015e-02 2.69676413e+02] [-6.79580971e-01 7.32510650e-01 -3.99731405e-02 -1.86013562e+02] [-5.92309985e-02 -4.76858991e-04 9.98244189e-01 -1.39738356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76864 meters Centerline goodness [0,1] 0.9996564922956129 Centerline is valid? [True, True] Translation: X:269.70, Y:-186.04, Z:-13.98 [[ 7.29565510e-01 6.82539876e-01 4.32837660e-02 2.69700001e+02] [-6.81389170e-01 7.30848119e-01 -3.96210352e-02 -1.86036476e+02] [-5.86767954e-02 -5.86948594e-04 9.98276860e-01 -1.39754291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79864 meters Centerline goodness [0,1] 0.9997059400117624 Centerline is valid? [True, True] Translation: X:269.72, Y:-186.06, Z:-13.98 [[ 7.25876573e-01 6.86543121e-01 4.19731241e-02 2.69722609e+02] [-6.85465535e-01 7.27088587e-01 -3.84601905e-02 -1.86059341e+02] [-5.69227587e-02 -8.53778688e-04 9.98378220e-01 -1.39759458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82864 meters Centerline goodness [0,1] 0.9998528401844403 Centerline is valid? [True, True] Translation: X:269.75, Y:-186.08, Z:-13.98 [[ 7.23979525e-01 6.88535593e-01 4.20997046e-02 2.69745824e+02] [-6.87452831e-01 7.25201877e-01 -3.86114383e-02 -1.86080802e+02] [-5.71161344e-02 -9.87670332e-04 9.98367053e-01 -1.39776577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85864 meters Centerline goodness [0,1] 0.9998039311798441 Centerline is valid? [True, True] Translation: X:269.77, Y:-186.10, Z:-13.98 [[ 7.22366337e-01 6.90295650e-01 4.09730566e-02 2.69769936e+02] [-6.89271046e-01 7.23526618e-01 -3.76119424e-02 -1.86102804e+02] [-5.56084573e-02 -1.07194050e-03 9.98452077e-01 -1.39783772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:269.80, Y:-186.12, Z:-13.98 [[ 7.18857939e-01 6.93881429e-01 4.20930652e-02 2.69795205e+02] [-6.92803828e-01 7.20087995e-01 -3.86799118e-02 -1.86122747e+02] [-5.71499834e-02 -1.35687502e-03 9.98364682e-01 -1.39789356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:269.82, Y:-186.14, Z:-13.98 [[ 7.16437694e-01 6.96373060e-01 4.22089066e-02 2.69820133e+02] [-6.95291783e-01 7.17678346e-01 -3.88217434e-02 -1.86142832e+02] [-5.73268345e-02 -1.53414556e-03 9.98354286e-01 -1.39794317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:269.85, Y:-186.16, Z:-13.98 [[ 7.12558121e-01 7.00354916e-01 4.19989919e-02 2.69846220e+02] [-6.99289692e-01 7.13792449e-01 -3.86557425e-02 -1.86161947e+02] [-5.70513026e-02 -1.82499887e-03 9.98369580e-01 -1.39813499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97864 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:269.87, Y:-186.18, Z:-13.98 [[ 7.10827772e-01 7.02166317e-01 4.10650850e-02 2.69870957e+02] [-7.01150040e-01 7.12010392e-01 -3.78129974e-02 -1.86182017e+02] [-5.57897804e-02 -1.91425733e-03 9.98440702e-01 -1.39834725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:269.90, Y:-186.20, Z:-13.98 [[ 7.10845965e-01 7.02197983e-01 4.01995860e-02 2.69896847e+02] [-7.01222721e-01 7.11979314e-01 -3.70425673e-02 -1.86200787e+02] [-5.46324897e-02 -1.85730360e-03 9.98504803e-01 -1.39842842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03864 meters Centerline goodness [0,1] 0.9997056514913658 Centerline is valid? [True, True] Translation: X:269.92, Y:-186.22, Z:-13.98 [[ 7.12541850e-01 7.00489552e-01 3.99812456e-02 2.69924378e+02] [-6.99521209e-01 7.13660622e-01 -3.68591196e-02 -1.86217812e+02] [-5.43524688e-02 -1.70406401e-03 9.98520358e-01 -1.39845690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06864 meters Centerline goodness [0,1] 0.9999020520103825 Centerline is valid? [True, True] Translation: X:269.95, Y:-186.24, Z:-13.99 [[ 7.14624109e-01 6.98285890e-01 4.13424584e-02 2.69949262e+02] [-6.97244763e-01 7.15817276e-01 -3.81492944e-02 -1.86238461e+02] [-5.62327599e-02 -1.56340702e-03 9.98416462e-01 -1.39867013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09864 meters Centerline goodness [0,1] 0.999754577136406 Centerline is valid? [True, True] Translation: X:269.97, Y:-186.26, Z:-13.99 [[ 7.16989561e-01 6.95874150e-01 4.10504142e-02 2.69974268e+02] [-6.94842090e-01 7.18162491e-01 -3.79091819e-02 -1.86259546e+02] [-5.58608874e-02 -1.34306790e-03 9.98437658e-01 -1.39873642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:270.00, Y:-186.28, Z:-13.99 [[ 7.20279360e-01 6.92366823e-01 4.27296813e-02 2.70000438e+02] [-6.91241292e-01 7.21544849e-01 -3.94779404e-02 -1.86279369e+02] [-5.81645976e-02 -1.10137447e-03 9.98306399e-01 -1.39891296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:270.03, Y:-186.30, Z:-13.99 [[ 7.21111000e-01 6.91476145e-01 4.31238516e-02 2.70025762e+02] [-6.90326897e-01 7.22398570e-01 -3.98632881e-02 -1.86299515e+02] [-5.87171214e-02 -1.02369909e-03 9.98274137e-01 -1.39905519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.05, Y:-186.32, Z:-13.99 [[ 7.21672092e-01 6.90789938e-01 4.47063000e-02 2.70050885e+02] [-6.89550888e-01 7.23054848e-01 -4.13673680e-02 -1.86320889e+02] [-6.09012686e-02 -9.73593804e-04 9.98143320e-01 -1.39917241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21864 meters Centerline goodness [0,1] 0.9999019703950593 Centerline is valid? [True, True] Translation: X:270.07, Y:-186.34, Z:-13.99 [[ 7.21581364e-01 6.90874978e-01 4.48564453e-02 2.70074950e+02] [-6.89625025e-01 7.22973623e-01 -4.15507533e-02 -1.86343207e+02] [-6.11364025e-02 -9.51877992e-04 9.98128967e-01 -1.39927497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24864 meters Centerline goodness [0,1] 0.9998531139835488 Centerline is valid? [True, True] Translation: X:270.10, Y:-186.37, Z:-13.99 [[ 7.20885409e-01 6.91580767e-01 4.51693529e-02 2.70098806e+02] [-6.90311917e-01 7.22298464e-01 -4.18853955e-02 -1.86365529e+02] [-6.15928882e-02 -9.86372112e-04 9.98100868e-01 -1.39934508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27864 meters Centerline goodness [0,1] 0.9999018982685044 Centerline is valid? [True, True] Translation: X:270.12, Y:-186.39, Z:-14.00 [[ 7.20365889e-01 6.92256523e-01 4.30568567e-02 2.70121989e+02] [-6.91102566e-01 7.21650866e-01 -3.99658728e-02 -1.86387526e+02] [-5.87386540e-02 -9.66652609e-04 9.98272927e-01 -1.39952163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.15, Y:-186.41, Z:-14.00 [[ 7.19747167e-01 6.92920052e-01 4.27295868e-02 2.70145182e+02] [-6.91782506e-01 7.21013753e-01 -3.97005350e-02 -1.86410605e+02] [-5.83179165e-02 -9.85233044e-04 9.98297576e-01 -1.39967174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.17, Y:-186.43, Z:-14.00 [[ 7.18259747e-01 6.94506096e-01 4.20025995e-02 2.70168763e+02] [-6.93407294e-01 7.19486030e-01 -3.90663189e-02 -1.86434069e+02] [-5.73520802e-02 -1.06514457e-03 9.98353447e-01 -1.39960560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.19, Y:-186.45, Z:-14.00 [[ 7.17506779e-01 6.95277853e-01 4.21037971e-02 2.70194495e+02] [-6.94172669e-01 7.18740216e-01 -3.92021433e-02 -1.86454789e+02] [-5.75180742e-02 -1.09950159e-03 9.98343860e-01 -1.39967079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.22, Y:-186.48, Z:-14.00 [[ 7.16145282e-01 6.96553005e-01 4.41570720e-02 2.70219920e+02] [-6.95337117e-01 7.17504285e-01 -4.11569491e-02 -1.86475113e+02] [-6.03508849e-02 -1.22969628e-03 9.98176467e-01 -1.39985380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.24, Y:-186.50, Z:-14.00 [[ 7.15870846e-01 6.96835447e-01 4.41507778e-02 2.70243658e+02] [-6.95618033e-01 7.17229991e-01 -4.11909250e-02 -1.86498003e+02] [-6.03695586e-02 -1.22469484e-03 9.98175344e-01 -1.40005073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.27, Y:-186.52, Z:-14.00 [[ 7.15505360e-01 6.97212091e-01 4.41291185e-02 2.70267626e+02] [-6.95993963e-01 7.16863864e-01 -4.12141205e-02 -1.86519954e+02] [-6.03695536e-02 -1.22467593e-03 9.98175344e-01 -1.40017796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.29, Y:-186.54, Z:-14.00 [[ 7.15479044e-01 6.97185655e-01 4.49655516e-02 2.70293229e+02] [-6.95918054e-01 7.16889594e-01 -4.20401221e-02 -1.86540964e+02] [-6.15451061e-02 -1.21351278e-03 9.98103565e-01 -1.40033024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.32, Y:-186.56, Z:-14.01 [[ 7.15678550e-01 6.97050943e-01 4.38656602e-02 2.70318920e+02] [-6.95841939e-01 7.17020694e-01 -4.10526439e-02 -1.86560812e+02] [-6.00683703e-02 -1.14306942e-03 9.98193611e-01 -1.40053726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.34, Y:-186.58, Z:-14.01 [[ 7.15747715e-01 6.97112959e-01 4.16980928e-02 2.70344809e+02] [-6.96018676e-01 7.16960519e-01 -3.90591528e-02 -1.86580550e+02] [-5.71245279e-02 -1.06615202e-03 9.98366492e-01 -1.40058688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.37, Y:-186.60, Z:-14.01 [[ 7.15814218e-01 6.97122730e-01 4.03720836e-02 2.70370861e+02] [-6.96095107e-01 7.16951102e-01 -3.78512731e-02 -1.86599723e+02] [-5.53317927e-02 -1.00833044e-03 9.98467514e-01 -1.40069690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.40, Y:-186.62, Z:-14.01 [[ 7.15631966e-01 6.97366356e-01 3.93834454e-02 2.70395298e+02] [-6.96387027e-01 7.16714176e-01 -3.69580649e-02 -1.86620621e+02] [-5.39999846e-02 -9.77747861e-04 9.98540458e-01 -1.40078607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.42, Y:-186.64, Z:-14.01 [[ 7.15388415e-01 6.97554444e-01 4.04625005e-02 2.70422167e+02] [-6.96518886e-01 7.16531097e-01 -3.80082630e-02 -1.86640303e+02] [-5.55054726e-02 -9.92224749e-04 9.98457890e-01 -1.40072787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.45, Y:-186.66, Z:-14.01 [[ 7.14890898e-01 6.98069478e-01 4.03733481e-02 2.70448236e+02] [-6.97037047e-01 7.16029331e-01 -3.79651596e-02 -1.86660672e+02] [-5.54108206e-02 -1.00077224e-03 9.98463139e-01 -1.40082593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.47, Y:-186.68, Z:-14.01 [[ 7.14800940e-01 6.98132763e-01 4.08688406e-02 2.70473605e+02] [-6.97072577e-01 7.15967645e-01 -3.84727663e-02 -1.86681137e+02] [-5.61198662e-02 -9.88178551e-04 9.98423549e-01 -1.40103875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.50, Y:-186.70, Z:-14.01 [[ 7.12838279e-01 7.00163698e-01 4.04027669e-02 2.70499430e+02] [-6.99128655e-01 7.13981492e-01 -3.80729981e-02 -1.86700337e+02] [-5.55041589e-02 -1.10684165e-03 9.98457843e-01 -1.40106455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.52, Y:-186.72, Z:-14.01 [[ 7.11968017e-01 7.01030682e-01 4.07127337e-02 2.70524719e+02] [-6.99979012e-01 7.13130174e-01 -3.84023122e-02 -1.86722012e+02] [-5.59546780e-02 -1.15684107e-03 9.98432640e-01 -1.40124803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.55, Y:-186.74, Z:-14.01 [[ 7.11353437e-01 7.01667975e-01 4.04764191e-02 2.70553081e+02] [-7.00627274e-01 7.12503110e-01 -3.82196512e-02 -1.86740242e+02] [-5.56570797e-02 -1.17120293e-03 9.98449256e-01 -1.40132828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.58, Y:-186.76, Z:-14.01 [[ 7.12051127e-01 7.00938799e-01 4.08410558e-02 2.70578381e+02] [-6.99875827e-01 7.13220582e-01 -3.86034723e-02 -1.86759820e+02] [-5.61873531e-02 -1.09602180e-03 9.98419641e-01 -1.40147234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.60, Y:-186.78, Z:-14.02 [[ 7.15666201e-01 6.97316930e-01 3.96356824e-02 2.70602912e+02] [-6.96308625e-01 7.16762522e-01 -3.74938154e-02 -1.86781297e+02] [-5.45544439e-02 -7.65611017e-04 9.98510504e-01 -1.40169357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.63, Y:-186.80, Z:-14.02 [[ 7.17870292e-01 6.95047329e-01 3.96415770e-02 2.70627143e+02] [-6.94033950e-01 7.18963754e-01 -3.75232954e-02 -1.86802718e+02] [-5.45813232e-02 -5.75741242e-04 9.98509163e-01 -1.40175442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90864 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:270.65, Y:-186.82, Z:-14.02 [[ 7.18858229e-01 6.93961022e-01 4.07547106e-02 2.70652359e+02] [-6.92885962e-01 7.20012410e-01 -3.86157112e-02 -1.86823604e+02] [-5.61416958e-02 -4.79145096e-04 9.98422696e-01 -1.40187653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93864 meters Centerline goodness [0,1] 0.9999016764170886 Centerline is valid? [True, True] Translation: X:270.68, Y:-186.84, Z:-14.02 [[ 7.21360416e-01 6.91333766e-01 4.11919334e-02 2.70679040e+02] [-6.90228800e-01 7.22535510e-01 -3.90722399e-02 -1.86842879e+02] [-5.67745934e-02 -2.46691507e-04 9.98386991e-01 -1.40199871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96864 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:270.70, Y:-186.86, Z:-14.02 [[ 7.22235928e-01 6.90402352e-01 4.14711470e-02 2.70703471e+02] [-6.89278379e-01 7.23425581e-01 -3.93795059e-02 -1.86864681e+02] [-5.71889921e-02 -1.43871022e-04 9.98363360e-01 -1.40223098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99864 meters Centerline goodness [0,1] 0.9999019607843137 Centerline is valid? [True, True] Translation: X:270.73, Y:-186.89, Z:-14.02 [[ 7.23307167e-01 6.89226683e-01 4.23476245e-02 2.70727604e+02] [-6.88050080e-01 7.24545774e-01 -4.02555347e-02 -1.86886558e+02] [-5.84279810e-02 -2.01696052e-05 9.98291626e-01 -1.40243367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02864 meters Centerline goodness [0,1] 0.9998039888273632 Centerline is valid? [True, True] Translation: X:270.75, Y:-186.91, Z:-14.02 [[ 7.23959679e-01 6.88651791e-01 4.05104094e-02 2.70751138e+02] [-6.87572092e-01 7.25092206e-01 -3.85475230e-02 -1.86908126e+02] [-5.59196029e-02 5.30254405e-05 9.98435273e-01 -1.40247343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05864 meters Centerline goodness [0,1] 0.9999020088192063 Centerline is valid? [True, True] Translation: X:270.78, Y:-186.93, Z:-14.03 [[ 7.24046494e-01 6.88537810e-01 4.08944850e-02 2.70775510e+02] [-6.87435184e-01 7.25200439e-01 -3.89511450e-02 -1.86930876e+02] [-5.64760345e-02 9.01321267e-05 9.98403951e-01 -1.40263067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08864 meters Centerline goodness [0,1] 0.9997550580512419 Centerline is valid? [True, True] Translation: X:270.80, Y:-186.95, Z:-14.03 [[ 7.24193218e-01 6.88395545e-01 4.06910014e-02 2.70798866e+02] [-6.87301326e-01 7.25335479e-01 -3.87985933e-02 -1.86954760e+02] [-5.62234058e-02 1.30698904e-04 9.98418205e-01 -1.40269842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11864 meters Centerline goodness [0,1] 0.9997550460513424 Centerline is valid? [True, True] Translation: X:270.82, Y:-186.98, Z:-14.03 [[ 7.23696507e-01 6.88886985e-01 4.12078506e-02 2.70822378e+02] [-6.87763164e-01 7.24868751e-01 -3.93334947e-02 -1.86977748e+02] [-5.69666158e-02 1.24270976e-04 9.98376076e-01 -1.40285236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14864 meters Centerline goodness [0,1] 0.9998039119564684 Centerline is valid? [True, True] Translation: X:270.84, Y:-187.00, Z:-14.03 [[ 7.22739579e-01 6.89932009e-01 4.05132581e-02 2.70844823e+02] [-6.88845139e-01 7.23874173e-01 -3.87112012e-02 -1.87001911e+02] [-5.60345980e-02 7.07563476e-05 9.98428825e-01 -1.40303697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17864000000003 meters Centerline goodness [0,1] 0.9999019992159938 Centerline is valid? [True, True] Translation: X:270.87, Y:-187.02, Z:-14.03 [[ 7.22258426e-01 6.90365476e-01 4.16926307e-02 2.70867354e+02] [-6.89212661e-01 7.23460783e-01 -3.98798683e-02 -1.87024656e+02] [-5.76946675e-02 6.84819140e-05 9.98334273e-01 -1.40310415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20864 meters Centerline goodness [0,1] 0.9997060120535058 Centerline is valid? [True, True] Translation: X:270.89, Y:-187.05, Z:-14.03 [[ 7.21457081e-01 6.91191817e-01 4.18754304e-02 2.70890928e+02] [-6.90027964e-01 7.22671344e-01 -4.00941247e-02 -1.87048047e+02] [-5.79749045e-02 3.09721962e-05 9.98318040e-01 -1.40316514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23864 meters Centerline goodness [0,1] 0.999656997255978 Centerline is valid? [True, True] Translation: X:270.91, Y:-187.07, Z:-14.03 [[ 7.21748474e-01 6.90834537e-01 4.27408784e-02 2.70913328e+02] [-6.89618896e-01 7.23012886e-01 -4.09651714e-02 -1.87070726e+02] [-5.92023611e-02 9.16326332e-05 9.98245998e-01 -1.40324063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26864 meters Centerline goodness [0,1] 0.999804084831268 Centerline is valid? [True, True] Translation: X:270.94, Y:-187.09, Z:-14.03 [[ 7.22273296e-01 6.90303947e-01 4.24469918e-02 2.70936374e+02] [-6.89101732e-01 7.23519477e-01 -4.07230778e-02 -1.87093661e+02] [-5.88225267e-02 1.62896070e-04 9.98268443e-01 -1.40343784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29864 meters Centerline goodness [0,1] 0.9999021047479197 Centerline is valid? [True, True] Translation: X:270.96, Y:-187.12, Z:-14.04 [[ 7.22600315e-01 6.90002459e-01 4.17778798e-02 2.70958531e+02] [-6.88834928e-01 7.23806991e-01 -4.01233336e-02 -1.87117822e+02] [-5.79243203e-02 2.15070579e-04 9.98320954e-01 -1.40353940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32864 meters Centerline goodness [0,1] 0.9997549740272469 Centerline is valid? [True, True] Translation: X:270.98, Y:-187.14, Z:-14.04 [[ 7.22581076e-01 6.90030403e-01 4.16489046e-02 2.70981791e+02] [-6.88867650e-01 7.23780342e-01 -4.00421980e-02 -1.87140564e+02] [-5.77749924e-02 2.43151470e-04 9.98329600e-01 -1.40368506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35864 meters Centerline goodness [0,1] 0.9993632757016212 Centerline is valid? [True, True] Translation: X:271.01, Y:-187.16, Z:-14.04 [[ 7.22921710e-01 6.89705598e-01 4.11143477e-02 2.71005946e+02] [-6.88569611e-01 7.24089843e-01 -3.95700709e-02 -1.87163396e+02] [-5.70621810e-02 2.95972925e-04 9.98370582e-01 -1.40373826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38864 meters Centerline goodness [0,1] 0.9994116493430084 Centerline is valid? [True, True] Translation: X:271.03, Y:-187.19, Z:-14.04 [[ 7.24284604e-01 6.88411371e-01 3.87504469e-02 2.71029974e+02] [-6.87398525e-01 7.25320359e-01 -3.73315538e-02 -1.87185332e+02] [-5.38059542e-02 4.01669670e-04 9.98551330e-01 -1.40373308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41864 meters Centerline goodness [0,1] 0.9989693251533742 Centerline is valid? [True, True] Translation: X:271.05, Y:-187.21, Z:-14.04 [[ 7.25269170e-01 6.87332777e-01 3.94751146e-02 2.71053524e+02] [-6.86278115e-01 7.26342472e-01 -3.80652372e-02 -1.87207768e+02] [-5.48359375e-02 5.16635721e-04 9.98495244e-01 -1.40389532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44864 meters Centerline goodness [0,1] 0.998823414060202 Centerline is valid? [True, True] Translation: X:271.08, Y:-187.23, Z:-14.04 [[ 7.27542592e-01 6.84958635e-01 3.89030366e-02 2.71076248e+02] [-6.83929094e-01 7.28581611e-01 -3.75477135e-02 -1.87230841e+02] [-5.40626676e-02 7.10642219e-04 9.98537292e-01 -1.40384694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47864 meters Centerline goodness [0,1] 0.9989199803632793 Centerline is valid? [True, True] Translation: X:271.10, Y:-187.25, Z:-14.04 [[ 7.28221518e-01 6.84278914e-01 3.81547986e-02 2.71100221e+02] [-6.83285864e-01 7.29219976e-01 -3.68599326e-02 -1.87253478e+02] [-5.30457159e-02 7.71561570e-04 9.98591787e-01 -1.40393289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50864 meters Centerline goodness [0,1] 0.9988239905919247 Centerline is valid? [True, True] Translation: X:271.12, Y:-187.28, Z:-14.04 [[ 7.28377230e-01 6.84142794e-01 3.76197806e-02 2.71124913e+02] [-6.83175279e-01 7.29347654e-01 -3.63804552e-02 -1.87276083e+02] [-5.23273250e-02 7.97791048e-04 9.98629668e-01 -1.40401804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53864 meters Centerline goodness [0,1] 0.9993135572444226 Centerline is valid? [True, True] Translation: X:271.15, Y:-187.30, Z:-14.04 [[ 7.27952250e-01 6.84745767e-01 3.47671747e-02 2.71148503e+02] [-6.83918815e-01 7.28781668e-01 -3.36501839e-02 -1.87298705e+02] [-4.83795006e-02 7.17802145e-04 9.98828768e-01 -1.40411978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56864 meters Centerline goodness [0,1] 0.9989697296766914 Centerline is valid? [True, True] Translation: X:271.17, Y:-187.32, Z:-14.04 [[ 7.27311180e-01 6.85443416e-01 3.44350239e-02 2.71171604e+02] [-6.84632250e-01 7.28125584e-01 -3.33439146e-02 -1.87322785e+02] [-4.79283886e-02 6.76073935e-04 9.98850546e-01 -1.40424286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59864 meters Centerline goodness [0,1] 0.9992644895557516 Centerline is valid? [True, True] Translation: X:271.19, Y:-187.35, Z:-14.04 [[ 7.25859689e-01 6.87004117e-01 3.39566619e-02 2.71192988e+02] [-6.86215469e-01 7.26653284e-01 -3.29140438e-02 -1.87346625e+02] [-4.72868035e-02 5.89390884e-04 9.98881180e-01 -1.40416283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62864 meters Centerline goodness [0,1] 0.9990199441368158 Centerline is valid? [True, True] Translation: X:271.22, Y:-187.37, Z:-14.04 [[ 7.25302415e-01 6.87650958e-01 3.27500826e-02 2.71216959e+02] [-6.86916724e-01 7.26041224e-01 -3.17734932e-02 -1.87368689e+02] [-4.56269831e-02 5.48811910e-04 9.98958396e-01 -1.40416809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65864 meters Centerline goodness [0,1] 0.9990178264499338 Centerline is valid? [True, True] Translation: X:271.24, Y:-187.39, Z:-14.04 [[ 7.23608037e-01 6.89468509e-01 3.20091316e-02 2.71239958e+02] [-6.88767492e-01 7.24315522e-01 -3.10864281e-02 -1.87391190e+02] [-4.46178241e-02 4.47539908e-04 9.99004029e-01 -1.40416419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68864 meters Centerline goodness [0,1] 0.9989217800431288 Centerline is valid? [True, True] Translation: X:271.26, Y:-187.41, Z:-14.04 [[ 7.22491191e-01 6.90606831e-01 3.26907350e-02 2.71263133e+02] [-6.89875393e-01 7.23230280e-01 -3.17789850e-02 -1.87414991e+02] [-4.55897136e-02 4.07503035e-04 9.98960165e-01 -1.40436030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71864 meters Centerline goodness [0,1] 0.9993137927654152 Centerline is valid? [True, True] Translation: X:271.29, Y:-187.44, Z:-14.04 [[ 7.21389476e-01 6.91837066e-01 3.09628518e-02 2.71285449e+02] [-6.91180762e-01 7.22053573e-01 -3.01295820e-02 -1.87437723e+02] [-4.32015994e-02 3.34235800e-04 9.99066319e-01 -1.40431309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74864 meters Centerline goodness [0,1] 0.9995095394575506 Centerline is valid? [True, True] Translation: X:271.31, Y:-187.46, Z:-14.04 [[ 7.20240619e-01 6.92970071e-01 3.23408725e-02 2.71310518e+02] [-6.92253760e-01 7.20966289e-01 -3.15014509e-02 -1.87459627e+02] [-4.51462415e-02 3.00533950e-04 9.98980343e-01 -1.40448050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77864 meters Centerline goodness [0,1] 0.9994122544938042 Centerline is valid? [True, True] Translation: X:271.33, Y:-187.48, Z:-14.05 [[ 7.19862322e-01 6.93343534e-01 3.27563867e-02 2.71334903e+02] [-6.92607486e-01 7.20607140e-01 -3.19408795e-02 -1.87482511e+02] [-4.57504884e-02 3.05717051e-04 9.98952851e-01 -1.40467881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80864 meters Centerline goodness [0,1] 0.9994598575988215 Centerline is valid? [True, True] Translation: X:271.36, Y:-187.51, Z:-14.05 [[ 7.19156112e-01 6.94194038e-01 3.01516827e-02 2.71356600e+02] [-6.93569977e-01 7.19787868e-01 -2.94297864e-02 -1.87506221e+02] [-4.21327976e-02 2.52308901e-04 9.99111988e-01 -1.40455179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83864 meters Centerline goodness [0,1] 0.9995097798911712 Centerline is valid? [True, True] Translation: X:271.38, Y:-187.53, Z:-14.05 [[ 7.18662023e-01 6.94695784e-01 3.03753737e-02 2.71379943e+02] [-6.94061676e-01 7.19303627e-01 -2.96763081e-02 -1.87529313e+02] [-4.24651226e-02 2.44852864e-04 9.99097920e-01 -1.40472158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86864 meters Centerline goodness [0,1] 0.9997059832410448 Centerline is valid? [True, True] Translation: X:271.40, Y:-187.55, Z:-14.05 [[ 7.18564627e-01 6.94797429e-01 3.03547118e-02 2.71404099e+02] [-6.94162918e-01 7.19205439e-01 -2.96880464e-02 -1.87552122e+02] [-4.24584521e-02 2.61664677e-04 9.99098199e-01 -1.40485455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89864 meters Centerline goodness [0,1] 0.9993136918476396 Centerline is valid? [True, True] Translation: X:271.43, Y:-187.58, Z:-14.05 [[ 7.16540713e-01 6.96925397e-01 2.94006440e-02 2.71426896e+02] [-6.96330710e-01 7.17143617e-01 -2.87849750e-02 -1.87576122e+02] [-4.11454643e-02 1.53035211e-04 9.99153155e-01 -1.40490140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92864000000003 meters Centerline goodness [0,1] 0.9996558843771507 Centerline is valid? [True, True] Translation: X:271.45, Y:-187.60, Z:-14.05 [[ 7.15461365e-01 6.98030735e-01 2.94640287e-02 2.71449813e+02] [-6.97433133e-01 7.16067791e-01 -2.88780886e-02 -1.87599937e+02] [-4.12560353e-02 1.11966862e-04 9.99148601e-01 -1.40502922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95864 meters Centerline goodness [0,1] 0.9998529772114678 Centerline is valid? [True, True] Translation: X:271.47, Y:-187.62, Z:-14.05 [[ 7.11993685e-01 7.01515929e-01 3.06658422e-02 2.71473332e+02] [-7.00870321e-01 7.12653770e-01 -3.00898207e-02 -1.87623471e+02] [-4.29626166e-02 -6.90162657e-05 9.99076678e-01 -1.40499525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98864 meters Centerline goodness [0,1] 0.9998039311798441 Centerline is valid? [True, True] Translation: X:271.50, Y:-187.65, Z:-14.05 [[ 7.10035303e-01 7.03450820e-01 3.17303212e-02 2.71496964e+02] [-7.02759950e-01 7.10743918e-01 -3.11694872e-02 -1.87646234e+02] [-4.44783341e-02 -1.67362659e-04 9.99010335e-01 -1.40512955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:271.52, Y:-187.67, Z:-14.05 [[ 7.06771012e-01 7.06764010e-01 3.09737063e-02 2.71519864e+02] [-7.06107464e-01 7.07449303e-01 -3.04587235e-02 -1.87670291e+02] [-4.34394565e-02 -3.43422345e-04 9.99056002e-01 -1.40513712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04864 meters Centerline goodness [0,1] 0.999951021207817 Centerline is valid? [True, True] Translation: X:271.54, Y:-187.69, Z:-14.05 [[ 7.04721559e-01 7.08779811e-01 3.16022899e-02 2.71543054e+02] [-7.08096816e-01 7.05429639e-01 -3.11114691e-02 -1.87693272e+02] [-4.43443731e-02 -4.52557832e-04 9.99016202e-01 -1.40528791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:271.57, Y:-187.72, Z:-14.05 [[ 7.03896401e-01 7.09602407e-01 3.15322199e-02 2.71568005e+02] [-7.08921758e-01 7.04602154e-01 -3.10764458e-02 -1.87715105e+02] [-4.42695908e-02 -4.79278382e-04 9.99019506e-01 -1.40535381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10864 meters Centerline goodness [0,1] 0.999901927131859 Centerline is valid? [True, True] Translation: X:271.59, Y:-187.73, Z:-14.05 [[ 7.02097521e-01 7.11445006e-01 3.00844681e-02 2.71594756e+02] [-7.10825825e-01 7.02741564e-01 -2.96806437e-02 -1.87734549e+02] [-4.22577519e-02 -5.46110537e-04 9.99106593e-01 -1.40543391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.62, Y:-187.76, Z:-14.06 [[ 7.01556310e-01 7.11985139e-01 2.99316863e-02 2.71620577e+02] [-7.11371373e-01 7.02194315e-01 -2.95620319e-02 -1.87755646e+02] [-4.20655874e-02 -5.53114787e-04 9.99114698e-01 -1.40565579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16864 meters Centerline goodness [0,1] 0.9998523985239852 Centerline is valid? [True, True] Translation: X:271.65, Y:-187.77, Z:-14.06 [[ 7.01952967e-01 7.11587837e-01 3.00796008e-02 2.71647867e+02] [-7.10966241e-01 7.02596962e-01 -2.97407614e-02 -1.87774584e+02] [-4.22970002e-02 -5.08965002e-04 9.99104952e-01 -1.40570875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:271.67, Y:-187.80, Z:-14.06 [[ 7.02830703e-01 7.10685248e-01 3.09108531e-02 2.71673294e+02] [-7.10026435e-01 7.03509973e-01 -3.05970617e-02 -1.87795222e+02] [-4.34909738e-02 -4.42968480e-04 9.99053722e-01 -1.40584134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22864 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:271.70, Y:-187.82, Z:-14.06 [[ 7.04240112e-01 7.09306878e-01 3.04896141e-02 2.71697647e+02] [-7.08663227e-01 7.04899740e-01 -3.02123802e-02 -1.87815955e+02] [-4.29219702e-02 -3.30098303e-04 9.99078373e-01 -1.40588468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25864 meters Centerline goodness [0,1] 0.9995590828924162 Centerline is valid? [True, True] Translation: X:271.72, Y:-187.84, Z:-14.06 [[ 7.06939991e-01 7.06611541e-01 3.05937746e-02 2.71723847e+02] [-7.05959687e-01 7.07601659e-01 -3.03448943e-02 -1.87835506e+02] [-4.30902582e-02 -1.45952248e-04 9.99071173e-01 -1.40603627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28864 meters Centerline goodness [0,1] 0.9999019559782343 Centerline is valid? [True, True] Translation: X:271.75, Y:-187.86, Z:-14.06 [[ 7.08337142e-01 7.05199035e-01 3.08676946e-02 2.71749295e+02] [-7.04532802e-01 7.09009393e-01 -3.06465635e-02 -1.87856452e+02] [-4.34974124e-02 -3.92041715e-05 9.99053539e-01 -1.40625692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31864 meters Centerline goodness [0,1] 0.9998035942256702 Centerline is valid? [True, True] Translation: X:271.78, Y:-187.88, Z:-14.06 [[ 7.09761236e-01 7.03811684e-01 2.98010269e-02 2.71776031e+02] [-7.03188177e-01 7.10386591e-01 -2.96188945e-02 -1.87876211e+02] [-4.20163740e-02 6.66133943e-05 9.99116920e-01 -1.40630390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34864 meters Centerline goodness [0,1] 0.9998035942256702 Centerline is valid? [True, True] Translation: X:271.80, Y:-187.90, Z:-14.06 [[ 7.09380939e-01 7.04195666e-01 2.97850185e-02 2.71799306e+02] [-7.03571821e-01 7.10005958e-01 -2.96349846e-02 -1.87898913e+02] [-4.20163683e-02 6.65935051e-05 9.99116920e-01 -1.40643108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37864 meters Centerline goodness [0,1] 0.9996557659208262 Centerline is valid? [True, True] Translation: X:271.82, Y:-187.92, Z:-14.07 [[ 7.09940735e-01 7.03614963e-01 3.01684838e-02 2.71823755e+02] [-7.02973019e-01 7.10581430e-01 -3.00493907e-02 -1.87920488e+02] [-4.25803653e-02 1.25656368e-04 9.99093037e-01 -1.40661873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40864 meters Centerline goodness [0,1] 0.999803902343367 Centerline is valid? [True, True] Translation: X:271.85, Y:-187.94, Z:-14.07 [[ 7.10183282e-01 7.03407234e-01 2.92911086e-02 2.71847615e+02] [-7.02800657e-01 7.10787056e-01 -2.92061281e-02 -1.87943897e+02] [-4.13635426e-02 1.55893569e-04 9.99144150e-01 -1.40667467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.87, Y:-187.97, Z:-14.07 [[ 7.10370238e-01 7.03212205e-01 2.94401136e-02 2.71869719e+02] [-7.02597953e-01 7.10979999e-01 -2.93863487e-02 -1.87968048e+02] [-4.15961710e-02 1.90623940e-04 9.99134487e-01 -1.40689543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46864 meters Centerline goodness [0,1] 0.9998530348307452 Centerline is valid? [True, True] Translation: X:271.89, Y:-187.99, Z:-14.07 [[ 7.09160548e-01 7.04408293e-01 3.00045634e-02 2.71892451e+02] [-7.03769920e-01 7.09794995e-01 -2.99827443e-02 -1.87991923e+02] [-4.24171827e-02 1.46270216e-04 9.99099976e-01 -1.40705754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49864 meters Centerline goodness [0,1] 0.9998041615667075 Centerline is valid? [True, True] Translation: X:271.89, Y:-188.09, Z:-12.48 [[ 7.55132323e-01 -6.55042737e-01 -2.63474421e-02 2.71890348e+02] [-6.54511269e-01 -7.55586687e-01 2.65284399e-02 -1.88091753e+02] [-3.72850384e-02 -2.78778465e-03 -9.99300783e-01 -1.24839725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52864 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:271.91, Y:-188.02, Z:-14.07 [[ 7.53537172e-01 6.56731163e-01 2.97642472e-02 2.71910063e+02] [-6.56224274e-01 7.54124772e-01 -2.57978821e-02 -1.88024334e+02] [-3.93882292e-02 -9.23584504e-05 9.99223978e-01 -1.40714976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55864 meters Centerline goodness [0,1] 0.9998526956692527 Centerline is valid? [True, True] Translation: X:271.94, Y:-188.05, Z:-14.07 [[ 7.51355725e-01 6.59190544e-01 3.05352375e-02 2.71935547e+02] [-6.58657860e-01 7.51975920e-01 -2.64960143e-02 -1.88045851e+02] [-4.04276854e-02 -2.04342146e-04 9.99182446e-01 -1.40726801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58864 meters Centerline goodness [0,1] 0.9999509635659295 Centerline is valid? [True, True] Translation: X:271.96, Y:-188.07, Z:-14.07 [[ 7.46515600e-01 6.64634505e-01 3.12319246e-02 2.71961436e+02] [-6.64080700e-01 7.47168480e-01 -2.71309052e-02 -1.88065623e+02] [-4.13676453e-02 -4.86874394e-04 9.99143874e-01 -1.40731736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61864 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:271.99, Y:-188.09, Z:-14.07 [[ 7.43656210e-01 6.67791312e-01 3.20967981e-02 2.71986693e+02] [-6.67208163e-01 7.44348257e-01 -2.79094928e-02 -1.88085366e+02] [-4.25289125e-02 -6.60178090e-04 9.99095018e-01 -1.40746306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:272.01, Y:-188.11, Z:-14.08 [[ 7.40503103e-01 6.71261363e-01 3.26088389e-02 2.72012126e+02] [-6.70661608e-01 7.41220248e-01 -2.83822305e-02 -1.88105578e+02] [-4.32222264e-02 -8.52366595e-04 9.99065119e-01 -1.40751971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.04, Y:-188.13, Z:-14.08 [[ 7.39878876e-01 6.71890033e-01 3.38087694e-02 2.72037716e+02] [-6.71244637e-01 7.40650372e-01 -2.94561365e-02 -1.88126548e+02] [-4.48317621e-02 -8.99981929e-04 9.98994146e-01 -1.40774006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70864 meters Centerline goodness [0,1] 0.9999509659703835 Centerline is valid? [True, True] Translation: X:272.06, Y:-188.15, Z:-14.08 [[ 7.39851150e-01 6.71919915e-01 3.38216510e-02 2.72064130e+02] [-6.71272606e-01 7.40623290e-01 -2.94996916e-02 -1.88146332e+02] [-4.48705327e-02 -8.78166987e-04 9.98992424e-01 -1.40772909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73864 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:272.09, Y:-188.16, Z:-14.08 [[ 7.40986066e-01 6.70657477e-01 3.40323164e-02 2.72091440e+02] [-6.69999301e-01 7.41766766e-01 -2.97153446e-02 -1.88163509e+02] [-4.51728594e-02 -7.82971895e-04 9.98978879e-01 -1.40793651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76864 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:272.12, Y:-188.18, Z:-14.08 [[ 7.41049092e-01 6.70556478e-01 3.46446797e-02 2.72116952e+02] [-6.69872900e-01 7.41858086e-01 -3.02799956e-02 -1.88183942e+02] [-4.60058829e-02 -7.68568866e-04 9.98940873e-01 -1.40807901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79864 meters Centerline goodness [0,1] 0.999755034050267 Centerline is valid? [True, True] Translation: X:272.14, Y:-188.20, Z:-14.08 [[ 7.42546475e-01 6.68822694e-01 3.60684962e-02 2.72142480e+02] [-6.68078018e-01 7.43421661e-01 -3.15594124e-02 -1.88203909e+02] [-4.79217526e-02 -6.62239000e-04 9.98850873e-01 -1.40823407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82864 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:272.17, Y:-188.22, Z:-14.08 [[ 7.43705751e-01 6.67538925e-01 3.59658015e-02 2.72167288e+02] [-6.66795551e-01 7.44574694e-01 -3.14994943e-02 -1.88223871e+02] [-4.78063642e-02 -5.55481297e-04 9.98856468e-01 -1.40845984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85864 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:272.19, Y:-188.24, Z:-14.09 [[ 7.44562347e-01 6.66642153e-01 3.48590155e-02 2.72192492e+02] [-6.65941536e-01 7.45377775e-01 -3.05588510e-02 -1.88244289e+02] [-4.63549537e-02 -4.61096487e-04 9.98924925e-01 -1.40852188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88864 meters Centerline goodness [0,1] 0.9998527318246527 Centerline is valid? [True, True] Translation: X:272.22, Y:-188.26, Z:-14.09 [[ 7.45958844e-01 6.65132364e-01 3.38281199e-02 2.72216908e+02] [-6.64469797e-01 7.46725402e-01 -2.96827202e-02 -1.88264586e+02] [-4.50032543e-02 -3.35676325e-04 9.98986784e-01 -1.40875384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91864 meters Centerline goodness [0,1] 0.9999019127023051 Centerline is valid? [True, True] Translation: X:272.24, Y:-188.29, Z:-14.09 [[ 7.46460698e-01 6.64544851e-01 3.43011373e-02 2.72241642e+02] [-6.63861639e-01 7.47248327e-01 -3.01274357e-02 -1.88286095e+02] [-4.56524997e-02 -2.82262524e-04 9.98957341e-01 -1.40882537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94864 meters Centerline goodness [0,1] 0.9999019223224794 Centerline is valid? [True, True] Translation: X:272.27, Y:-188.31, Z:-14.09 [[ 7.47212169e-01 6.63598397e-01 3.62096953e-02 2.72267050e+02] [-6.62834131e-01 7.48088981e-01 -3.18400936e-02 -1.88307912e+02] [-4.82171091e-02 -2.09716574e-04 9.98836857e-01 -1.40889366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97864 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:272.29, Y:-188.33, Z:-14.09 [[ 7.47769417e-01 6.62961190e-01 3.63780192e-02 2.72292463e+02] [-6.62187343e-01 7.48653752e-01 -3.20231480e-02 -1.88329692e+02] [-4.84646448e-02 -1.43133228e-04 9.98824888e-01 -1.40897463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00864 meters Centerline goodness [0,1] 0.9999018212164351 Centerline is valid? [True, True] Translation: X:272.32, Y:-188.35, Z:-14.09 [[ 7.49625378e-01 6.60920965e-01 3.52883951e-02 2.72316229e+02] [-6.60188989e-01 7.50455513e-01 -3.10969648e-02 -1.88353036e+02] [-4.70350067e-02 1.40640822e-05 9.98893242e-01 -1.40923519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03864 meters Centerline goodness [0,1] 0.9999020136201068 Centerline is valid? [True, True] Translation: X:272.34, Y:-188.37, Z:-14.09 [[ 7.50420753e-01 6.59979276e-01 3.60006756e-02 2.72340674e+02] [-6.59214656e-01 7.51283798e-01 -3.17599143e-02 -1.88374863e+02] [-4.80076095e-02 1.01125843e-04 9.98846965e-01 -1.40936675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06864 meters Centerline goodness [0,1] 0.9997061991969445 Centerline is valid? [True, True] Translation: X:272.37, Y:-188.40, Z:-14.10 [[ 7.50971274e-01 6.59369290e-01 3.56971219e-02 2.72365434e+02] [-6.58615220e-01 7.51819202e-01 -3.15258575e-02 -1.88397234e+02] [-4.76249640e-02 1.64345575e-04 9.98865274e-01 -1.40951494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.39, Y:-188.42, Z:-14.10 [[ 7.50995628e-01 6.59301229e-01 3.64342746e-02 2.72388189e+02] [-6.58513880e-01 7.51878880e-01 -3.22121034e-02 -1.88421269e+02] [-4.86316409e-02 1.98673309e-04 9.98816762e-01 -1.40958853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:272.41, Y:-188.44, Z:-14.10 [[ 7.50406655e-01 6.59898987e-01 3.77250361e-02 2.72412004e+02] [-6.59053723e-01 7.51354304e-01 -3.33901323e-02 -1.88444395e+02] [-5.03789827e-02 1.93352008e-04 9.98730154e-01 -1.40972375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15864 meters Centerline goodness [0,1] 0.9998038734984065 Centerline is valid? [True, True] Translation: X:272.43, Y:-188.47, Z:-14.10 [[ 7.48752911e-01 6.61860212e-01 3.61958242e-02 2.72434808e+02] [-6.61082841e-01 7.49627276e-01 -3.20690537e-02 -1.88467135e+02] [-4.83586078e-02 8.33590090e-05 9.98830035e-01 -1.40967261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18864 meters Centerline goodness [0,1] 0.9993145990404386 Centerline is valid? [True, True] Translation: X:272.46, Y:-188.49, Z:-14.10 [[ 7.47972735e-01 6.62802282e-01 3.50702466e-02 2.72459045e+02] [-6.62072196e-01 7.48794453e-01 -3.11010527e-02 -1.88489834e+02] [-4.68742548e-02 4.37042612e-05 9.98900797e-01 -1.40975134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21864 meters Centerline goodness [0,1] 0.9994613124387856 Centerline is valid? [True, True] Translation: X:272.48, Y:-188.51, Z:-14.10 [[ 7.46838124e-01 6.64111451e-01 3.44789280e-02 2.72482474e+02] [-6.63405677e-01 7.47633587e-01 -3.06092700e-02 -1.88513078e+02] [-4.61055713e-02 -1.33467710e-05 9.98936573e-01 -1.40994022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24864 meters Centerline goodness [0,1] 0.9998038734984065 Centerline is valid? [True, True] Translation: X:272.51, Y:-188.53, Z:-14.10 [[ 7.46429202e-01 6.64527532e-01 3.53073061e-02 2.72507589e+02] [-6.63786249e-01 7.47263781e-01 -3.13792410e-02 -1.88534693e+02] [-4.72362406e-02 -1.41224924e-05 9.98883746e-01 -1.41016188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27864 meters Centerline goodness [0,1] 0.9998530780155738 Centerline is valid? [True, True] Translation: X:272.53, Y:-188.56, Z:-14.10 [[ 7.46142808e-01 6.64822582e-01 3.58028510e-02 2.72532371e+02] [-6.64059170e-01 7.47001295e-01 -3.18509657e-02 -1.88556012e+02] [-4.79200173e-02 -9.84250258e-06 9.98851176e-01 -1.41015702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30864 meters Centerline goodness [0,1] 0.999804084831268 Centerline is valid? [True, True] Translation: X:272.56, Y:-188.58, Z:-14.10 [[ 7.47023726e-01 6.63866462e-01 3.51692109e-02 2.72556787e+02] [-6.63127934e-01 7.47851133e-01 -3.13053696e-02 -1.88578874e+02] [-4.70839191e-02 6.41676900e-05 9.98890935e-01 -1.41018240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33864 meters Centerline goodness [0,1] 0.9993131868131868 Centerline is valid? [True, True] Translation: X:272.58, Y:-188.60, Z:-14.10 [[ 7.47631713e-01 6.63241984e-01 3.40131265e-02 2.72580511e+02] [-6.62549118e-01 7.48405007e-01 -3.03085995e-02 -1.88601655e+02] [-4.55575299e-02 1.24303169e-04 9.98961709e-01 -1.41033964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36864 meters Centerline goodness [0,1] 0.999313725490196 Centerline is valid? [True, True] Translation: X:272.61, Y:-188.62, Z:-14.10 [[ 7.47313897e-01 6.63629439e-01 3.34351226e-02 2.72605219e+02] [-6.62958906e-01 7.48061464e-01 -2.98250763e-02 -1.88623015e+02] [-4.48043254e-02 1.22581677e-04 9.98995774e-01 -1.41037401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39864 meters Centerline goodness [0,1] 0.9997549259876483 Centerline is valid? [True, True] Translation: X:272.63, Y:-188.64, Z:-14.11 [[ 7.46162424e-01 6.64917808e-01 3.35551216e-02 2.72630471e+02] [-6.64242291e-01 7.46916531e-01 -2.99645602e-02 -1.88643896e+02] [-4.49868447e-02 6.96979851e-05 9.98987577e-01 -1.41055961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42864000000003 meters Centerline goodness [0,1] 0.9995595144870791 Centerline is valid? [True, True] Translation: X:272.65, Y:-188.67, Z:-14.11 [[ 7.45545465e-01 6.65492691e-01 3.57971933e-02 2.72653651e+02] [-6.64722725e-01 7.46404364e-01 -3.20035146e-02 -1.88667177e+02] [-4.80172863e-02 6.48672538e-05 9.98846503e-01 -1.41058628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45864 meters Centerline goodness [0,1] 0.9994603875398578 Centerline is valid? [True, True] Translation: X:272.68, Y:-188.69, Z:-14.11 [[ 7.45634725e-01 6.65341608e-01 3.67341927e-02 2.72677506e+02] [-6.64528794e-01 7.46539037e-01 -3.28777725e-02 -1.88690457e+02] [-4.92984588e-02 1.03880045e-04 9.98784086e-01 -1.41065541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48864 meters Centerline goodness [0,1] 0.9991188133352915 Centerline is valid? [True, True] Translation: X:272.70, Y:-188.71, Z:-14.11 [[ 7.45298905e-01 6.65771707e-01 3.57431979e-02 2.72702144e+02] [-6.65001048e-01 7.46155496e-01 -3.20246999e-02 -1.88712693e+02] [-4.79911227e-02 9.87096986e-05 9.98847757e-01 -1.41073850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51864 meters Centerline goodness [0,1] 0.9992161089608544 Centerline is valid? [True, True] Translation: X:272.73, Y:-188.73, Z:-14.11 [[ 7.44919520e-01 6.66237337e-01 3.49674048e-02 2.72728174e+02] [-6.65498735e-01 7.45739769e-01 -3.13628983e-02 -1.88733190e+02] [-4.69717182e-02 9.20714615e-05 9.98896215e-01 -1.41095453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54864 meters Centerline goodness [0,1] 0.9996574504526547 Centerline is valid? [True, True] Translation: X:272.75, Y:-188.76, Z:-14.11 [[ 7.44492559e-01 6.66744084e-01 3.43970323e-02 2.72752610e+02] [-6.66028410e-01 7.45286736e-01 -3.08842672e-02 -1.88755215e+02] [-4.62275544e-02 8.37064494e-05 9.98930932e-01 -1.41111433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57864 meters Centerline goodness [0,1] 0.9992657856093979 Centerline is valid? [True, True] Translation: X:272.78, Y:-188.78, Z:-14.11 [[ 7.43173090e-01 6.68229425e-01 3.41056450e-02 2.72776630e+02] [-6.67525884e-01 7.43955265e-01 -3.06554842e-02 -1.88778313e+02] [-4.58579707e-02 1.59300956e-05 9.98947970e-01 -1.41120955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60864 meters Centerline goodness [0,1] 0.9993635250917993 Centerline is valid? [True, True] Translation: X:272.80, Y:-188.80, Z:-14.11 [[ 7.42919381e-01 6.68455826e-01 3.51795590e-02 2.72801775e+02] [-6.67705835e-01 7.43751845e-01 -3.16561297e-02 -1.88799050e+02] [-4.73255863e-02 2.83554616e-05 9.98879516e-01 -1.41134015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63864 meters Centerline goodness [0,1] 0.9991182953710507 Centerline is valid? [True, True] Translation: X:272.83, Y:-188.82, Z:-14.11 [[ 7.42638643e-01 6.68790818e-01 3.47374192e-02 2.72827394e+02] [-6.68058367e-01 7.43450631e-01 -3.12918116e-02 -1.88819615e+02] [-4.67532325e-02 3.18849263e-05 9.98906469e-01 -1.41136549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66864 meters Centerline goodness [0,1] 0.9994595656873342 Centerline is valid? [True, True] Translation: X:272.85, Y:-188.84, Z:-14.12 [[ 7.42339995e-01 6.69123254e-01 3.47189175e-02 2.72852891e+02] [-6.68390364e-01 7.43151445e-01 -3.13089603e-02 -1.88840866e+02] [-4.67509672e-02 3.61035414e-05 9.98906575e-01 -1.41152795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69864 meters Centerline goodness [0,1] 0.9991182521798766 Centerline is valid? [True, True] Translation: X:272.88, Y:-188.86, Z:-14.12 [[ 7.40755062e-01 6.70907727e-01 3.41285841e-02 2.72876328e+02] [-6.70199934e-01 7.41540841e-01 -3.08095635e-02 -1.88864067e+02] [-4.59781132e-02 -5.06347486e-05 9.98942446e-01 -1.41165109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72864 meters Centerline goodness [0,1] 0.9994127434667711 Centerline is valid? [True, True] Translation: X:272.90, Y:-188.89, Z:-14.12 [[ 7.39709080e-01 6.72086680e-01 3.36150330e-02 2.72900585e+02] [-6.71399772e-01 7.40472474e-01 -3.03786306e-02 -1.88885774e+02] [-4.53080796e-02 -9.77765540e-05 9.98973057e-01 -1.41171937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75864 meters Centerline goodness [0,1] 0.999607554574442 Centerline is valid? [True, True] Translation: X:272.93, Y:-188.91, Z:-14.12 [[ 7.38616563e-01 6.73306894e-01 3.32174511e-02 2.72927333e+02] [-6.72635921e-01 7.39363108e-01 -3.00518424e-02 -1.88905943e+02] [-4.47938705e-02 -1.46462210e-04 9.98996240e-01 -1.41166120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78864 meters Centerline goodness [0,1] 0.9995097318233074 Centerline is valid? [True, True] Translation: X:272.95, Y:-188.93, Z:-14.12 [[ 7.37526544e-01 6.74470473e-01 3.38257153e-02 2.72952231e+02] [-6.73774357e-01 7.38301797e-01 -3.06361240e-02 -1.88927211e+02] [-4.56367474e-02 -1.95944921e-04 9.98958082e-01 -1.41184230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81864 meters Centerline goodness [0,1] 0.9992167229647035 Centerline is valid? [True, True] Translation: X:272.98, Y:-188.95, Z:-14.12 [[ 7.36658730e-01 6.75397736e-01 3.42317564e-02 2.72976626e+02] [-6.74684215e-01 7.37453622e-01 -3.10381422e-02 -1.88949411e+02] [-4.62074237e-02 -2.31107282e-04 9.98931840e-01 -1.41196469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84864 meters Centerline goodness [0,1] 0.9995592124595944 Centerline is valid? [True, True] Translation: X:273.00, Y:-188.97, Z:-14.12 [[ 7.37028957e-01 6.74906285e-01 3.59141190e-02 2.73001703e+02] [-6.74118474e-01 7.37903431e-01 -3.26007596e-02 -1.88970472e+02] [-4.85036092e-02 -1.82667288e-04 9.98822991e-01 -1.41215817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87864 meters Centerline goodness [0,1] 0.999853135555882 Centerline is valid? [True, True] Translation: X:273.03, Y:-188.99, Z:-14.12 [[ 7.37616658e-01 6.74262770e-01 3.59358203e-02 2.73027791e+02] [-6.73471499e-01 7.38491506e-01 -3.26563356e-02 -1.88991361e+02] [-4.85572493e-02 -1.13893639e-04 9.98820395e-01 -1.41230858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90864 meters Centerline goodness [0,1] 0.9997058967697662 Centerline is valid? [True, True] Translation: X:273.05, Y:-189.01, Z:-14.12 [[ 7.38199531e-01 6.73703961e-01 3.44154784e-02 2.73052533e+02] [-6.72976163e-01 7.39001333e-01 -3.13067613e-02 -1.89011897e+02] [-4.65245735e-02 -5.01600705e-05 9.98917144e-01 -1.41248529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93864 meters Centerline goodness [0,1] 0.9997061416397296 Centerline is valid? [True, True] Translation: X:273.08, Y:-189.03, Z:-14.13 [[ 7.38205189e-01 6.73667796e-01 3.49971380e-02 2.73076954e+02] [-6.72913655e-01 7.39034302e-01 -3.18671139e-02 -1.89033873e+02] [-4.73319338e-02 -2.55832395e-05 9.98879216e-01 -1.41261360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96864 meters Centerline goodness [0,1] 0.999558693733451 Centerline is valid? [True, True] Translation: X:273.10, Y:-189.06, Z:-14.13 [[ 7.37823258e-01 6.74042981e-01 3.58175976e-02 2.73102397e+02] [-6.73251737e-01 7.38692128e-01 -3.26502546e-02 -1.89055399e+02] [-4.84658523e-02 -2.41426037e-05 9.98824840e-01 -1.41261000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99864 meters Centerline goodness [0,1] 0.999853135555882 Centerline is valid? [True, True] Translation: X:273.13, Y:-189.08, Z:-14.13 [[ 7.37237905e-01 6.74599283e-01 3.73641523e-02 2.73127726e+02] [-6.73736974e-01 7.38184128e-01 -3.40981361e-02 -1.89076199e+02] [-5.05842024e-02 -3.51725171e-05 9.98719799e-01 -1.41279140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:273.15, Y:-189.10, Z:-14.13 [[ 7.36704497e-01 6.75157872e-01 3.77932787e-02 2.73153848e+02] [-6.74274429e-01 7.37673265e-01 -3.45275174e-02 -1.89096684e+02] [-5.11906165e-02 -4.64640632e-05 9.98688900e-01 -1.41279097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.18, Y:-189.12, Z:-14.13 [[ 7.36222000e-01 6.75639658e-01 3.85774570e-02 2.73179863e+02] [-6.74717773e-01 7.37232019e-01 -3.52828113e-02 -1.89116708e+02] [-5.22790031e-02 -5.29139956e-05 9.98632517e-01 -1.41289991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08864 meters Centerline goodness [0,1] 0.9999510595605149 Centerline is valid? [True, True] Translation: X:273.21, Y:-189.14, Z:-14.13 [[ 7.35245393e-01 6.76735747e-01 3.79860547e-02 2.73206030e+02] [-6.75841466e-01 7.36225997e-01 -3.47792295e-02 -1.89137390e+02] [-5.15026688e-02 -1.01282602e-04 9.98672852e-01 -1.41313566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11864 meters Centerline goodness [0,1] 0.9998531858666928 Centerline is valid? [True, True] Translation: X:273.23, Y:-189.16, Z:-14.13 [[ 7.35097226e-01 6.76948436e-01 3.70524513e-02 2.73229866e+02] [-6.76096043e-01 7.36030440e-01 -3.39607455e-02 -1.89159632e+02] [-5.02614056e-02 -8.65659094e-05 9.98736093e-01 -1.41331625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14864 meters Centerline goodness [0,1] 0.9999510403916768 Centerline is valid? [True, True] Translation: X:273.26, Y:-189.18, Z:-14.13 [[ 7.35848020e-01 6.76128403e-01 3.71224161e-02 2.73255781e+02] [-6.75269873e-01 7.36783810e-01 -3.40619479e-02 -1.89180583e+02] [-5.03814455e-02 -3.23225644e-06 9.98730049e-01 -1.41345902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17864000000003 meters Centerline goodness [0,1] 0.999902099955945 Centerline is valid? [True, True] Translation: X:273.28, Y:-189.20, Z:-14.14 [[ 7.36246467e-01 6.75672831e-01 3.75148617e-02 2.73281751e+02] [-6.74793523e-01 7.37201615e-01 -3.44598360e-02 -1.89200634e+02] [-5.09395916e-02 5.61468534e-05 9.98701735e-01 -1.41356447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20864 meters Centerline goodness [0,1] 0.9998532433225712 Centerline is valid? [True, True] Translation: X:273.31, Y:-189.22, Z:-14.14 [[ 7.36185103e-01 6.75751458e-01 3.73022809e-02 2.73306634e+02] [-6.74880331e-01 7.37129541e-01 -3.43012892e-02 -1.89222226e+02] [-5.06757594e-02 7.75224396e-05 9.98715155e-01 -1.41366317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23864 meters Centerline goodness [0,1] 0.9998532433225712 Centerline is valid? [True, True] Translation: X:273.33, Y:-189.24, Z:-14.14 [[ 7.35824174e-01 6.76145461e-01 3.72840622e-02 2.73330786e+02] [-6.75273836e-01 7.36768152e-01 -3.43210832e-02 -1.89244012e+02] [-5.06757542e-02 7.73309770e-05 9.98715156e-01 -1.41379004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26864 meters Centerline goodness [0,1] 0.9999510643503793 Centerline is valid? [True, True] Translation: X:273.35, Y:-189.27, Z:-14.14 [[ 7.37029116e-01 6.74771878e-01 3.83535445e-02 2.73351859e+02] [-6.73845708e-01 7.38026335e-01 -3.53424845e-02 -1.89267778e+02] [-5.21540405e-02 2.04068839e-04 9.98639031e-01 -1.41408503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.38, Y:-189.29, Z:-14.14 [[ 7.36902909e-01 6.74911943e-01 3.83141356e-02 2.73375552e+02] [-6.73986174e-01 7.37898247e-01 -3.53385690e-02 -1.89291499e+02] [-5.21223558e-02 2.17896629e-04 9.98640682e-01 -1.41414254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32864 meters Centerline goodness [0,1] 0.9999510427886028 Centerline is valid? [True, True] Translation: X:273.40, Y:-189.31, Z:-14.14 [[ 7.36333526e-01 6.75487547e-01 3.91089771e-02 2.73399406e+02] [-6.74521674e-01 7.37371365e-01 -3.61106789e-02 -1.89313777e+02] [-5.32301537e-02 2.09650794e-04 9.98582248e-01 -1.41429745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.42, Y:-189.34, Z:-14.14 [[ 7.35846256e-01 6.76043251e-01 3.86757126e-02 2.73422657e+02] [-6.75097450e-01 7.36861917e-01 -3.57484132e-02 -1.89336698e+02] [-5.26661332e-02 1.95461115e-04 9.98612157e-01 -1.41441267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38864 meters Centerline goodness [0,1] 0.9999510739272959 Centerline is valid? [True, True] Translation: X:273.44, Y:-189.36, Z:-14.15 [[ 7.34887978e-01 6.77084353e-01 3.86838172e-02 2.73444805e+02] [-6.76137590e-01 7.35905399e-01 -3.57939052e-02 -1.89361305e+02] [-5.27031231e-02 1.48927680e-04 9.98610214e-01 -1.41454997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.47, Y:-189.39, Z:-14.15 [[ 7.33853045e-01 6.78225254e-01 3.83433709e-02 2.73465009e+02] [-6.77294671e-01 7.34854065e-01 -3.55166489e-02 -1.89388022e+02] [-5.22650702e-02 9.42401782e-05 9.98633243e-01 -1.41460547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44864 meters Centerline goodness [0,1] 0.9999510379945162 Centerline is valid? [True, True] Translation: X:273.49, Y:-189.41, Z:-14.15 [[ 7.33007096e-01 6.79153399e-01 3.80953934e-02 2.73488359e+02] [-6.78234111e-01 7.33996361e-01 -3.53246772e-02 -1.89411354e+02] [-5.19527547e-02 5.56438151e-05 9.98649542e-01 -1.41468142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47864 meters Centerline goodness [0,1] 0.9999510595605149 Centerline is valid? [True, True] Translation: X:273.51, Y:-189.44, Z:-14.15 [[ 7.32188467e-01 6.80016200e-01 3.84449733e-02 2.73510294e+02] [-6.79079115e-01 7.33197086e-01 -3.56873643e-02 -1.89436637e+02] [-5.24557283e-02 2.26980946e-05 9.98623250e-01 -1.41505068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.53, Y:-189.46, Z:-14.15 [[ 7.31857217e-01 6.80399704e-01 3.79638944e-02 2.73532633e+02] [-6.79484505e-01 7.32841212e-01 -3.52783935e-02 -1.89460646e+02] [-5.18249149e-02 2.28688756e-05 9.98656186e-01 -1.41519432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.56, Y:-189.48, Z:-14.15 [[ 7.31341955e-01 6.80937434e-01 3.82512214e-02 2.73555432e+02] [-6.80007036e-01 7.32341594e-01 -3.55839953e-02 -1.89484967e+02] [-5.22434349e-02 1.29690207e-05 9.98634379e-01 -1.41524499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.58, Y:-189.51, Z:-14.15 [[ 7.30191813e-01 6.82118316e-01 3.91729494e-02 2.73578740e+02] [-6.81142056e-01 7.31241821e-01 -3.64814737e-02 -1.89508277e+02] [-5.35295803e-02 -4.38698748e-05 9.98566263e-01 -1.41524522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.60, Y:-189.53, Z:-14.15 [[ 7.28901401e-01 6.83467829e-01 3.96796537e-02 2.73603014e+02] [-6.82465948e-01 7.29980626e-01 -3.69934526e-02 -1.89530856e+02] [-5.42492131e-02 -1.15433086e-04 9.98527421e-01 -1.41545390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.63, Y:-189.55, Z:-14.16 [[ 7.26575121e-01 6.85782092e-01 4.23263029e-02 2.73625585e+02] [-6.84643421e-01 7.27806874e-01 -3.95036691e-02 -1.89554179e+02] [-5.78962831e-02 -2.76041655e-04 9.98322565e-01 -1.41585739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.65, Y:-189.58, Z:-14.16 [[ 7.25900338e-01 6.86531877e-01 4.17454457e-02 2.73649882e+02] [-6.85423334e-01 7.27099643e-01 -3.89995251e-02 -1.89577105e+02] [-5.71275158e-02 -3.03534196e-04 9.98366844e-01 -1.41594153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68864 meters Centerline goodness [0,1] 0.9999510475817506 Centerline is valid? [True, True] Translation: X:273.67, Y:-189.60, Z:-14.16 [[ 7.25172611e-01 6.87382393e-01 4.03748655e-02 2.73674017e+02] [-6.86344690e-01 7.26295626e-01 -3.77575150e-02 -1.89598933e+02] [-5.52779392e-02 -3.30358775e-04 9.98470951e-01 -1.41601095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71864 meters Centerline goodness [0,1] 0.9999510499779725 Centerline is valid? [True, True] Translation: X:273.70, Y:-189.62, Z:-14.16 [[ 7.24569117e-01 6.88056626e-01 3.97199474e-02 2.73700996e+02] [-6.87051379e-01 7.25656914e-01 -3.71812418e-02 -1.89618967e+02] [-5.44058543e-02 -3.49265099e-04 9.98518844e-01 -1.41611068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74864 meters Centerline goodness [0,1] 0.9999510811075237 Centerline is valid? [True, True] Translation: X:273.73, Y:-189.64, Z:-14.16 [[ 7.24353968e-01 6.88239749e-01 4.04645098e-02 2.73725797e+02] [-6.87194412e-01 7.25483241e-01 -3.79197459e-02 -1.89640471e+02] [-5.54542001e-02 -3.39666680e-04 9.98461174e-01 -1.41628809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.75, Y:-189.66, Z:-14.16 [[ 7.25037026e-01 6.87367947e-01 4.29722882e-02 2.73750582e+02] [-6.86184825e-01 7.26309328e-01 -4.03131025e-02 -1.89660943e+02] [-5.89211083e-02 -2.58440139e-04 9.98262609e-01 -1.41644373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.78, Y:-189.68, Z:-14.17 [[ 7.26207705e-01 6.86085231e-01 4.36969622e-02 2.73775874e+02] [-6.84857049e-01 7.27521161e-01 -4.10339208e-02 -1.89682206e+02] [-5.99432317e-02 -1.27023113e-04 9.98201780e-01 -1.41666477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.80, Y:-189.70, Z:-14.17 [[ 7.27759410e-01 6.84447935e-01 4.35576133e-02 2.73800925e+02] [-6.83222011e-01 7.29061741e-01 -4.09470512e-02 -1.89703320e+02] [-5.97823141e-02 4.00816722e-05 9.98211437e-01 -1.41684425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.83, Y:-189.72, Z:-14.17 [[ 7.31258898e-01 6.80758300e-01 4.27616818e-02 2.73826359e+02] [-6.79567983e-01 7.32508022e-01 -4.02411939e-02 -1.89724515e+02] [-5.87178017e-02 3.67261250e-04 9.98274554e-01 -1.41710123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89864 meters Centerline goodness [0,1] 0.9999510739272959 Centerline is valid? [True, True] Translation: X:273.85, Y:-189.75, Z:-14.17 [[ 7.31855658e-01 6.80096383e-01 4.30836924e-02 2.73851347e+02] [-6.78884349e-01 7.33122570e-01 -4.05874144e-02 -1.89746408e+02] [-5.91889810e-02 4.55284415e-04 9.98246692e-01 -1.41724053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.88, Y:-189.77, Z:-14.17 [[ 7.32115370e-01 6.79754965e-01 4.40485184e-02 2.73876142e+02] [-6.78484809e-01 7.33439099e-01 -4.15385508e-02 -1.89767556e+02] [-6.05429419e-02 5.24760890e-04 9.98165456e-01 -1.41745543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95864 meters Centerline goodness [0,1] 0.9999510308016257 Centerline is valid? [True, True] Translation: X:273.90, Y:-189.79, Z:-14.18 [[ 7.32066986e-01 6.79801709e-01 4.41312113e-02 2.73900691e+02] [-6.78524423e-01 7.33395754e-01 -4.16566457e-02 -1.89789885e+02] [-6.06839020e-02 5.51350377e-04 9.98156881e-01 -1.41762646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98864 meters Centerline goodness [0,1] 0.9999511313101695 Centerline is valid? [True, True] Translation: X:273.92, Y:-189.81, Z:-14.18 [[ 7.32197551e-01 6.79724831e-01 4.31381549e-02 2.73924510e+02] [-6.78501912e-01 7.33466989e-01 -4.07594362e-02 -1.89811668e+02] [-5.93456134e-02 5.74638805e-04 9.98237330e-01 -1.41775971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01864 meters Centerline goodness [0,1] 0.9999021765712888 Centerline is valid? [True, True] Translation: X:273.95, Y:-189.83, Z:-14.18 [[ 7.31655593e-01 6.80262894e-01 4.38461840e-02 2.73950163e+02] [-6.78998023e-01 7.32967988e-01 -4.14682277e-02 -1.89832640e+02] [-6.03471459e-02 5.68988466e-04 9.98177288e-01 -1.41792066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04864 meters Centerline goodness [0,1] 0.9998532720336496 Centerline is valid? [True, True] Translation: X:273.98, Y:-189.85, Z:-14.18 [[ 7.30895747e-01 6.81019200e-01 4.47689163e-02 2.73975393e+02] [-6.79699153e-01 7.32265353e-01 -4.23853033e-02 -1.89853909e+02] [-6.16479316e-02 5.49843400e-04 9.98097806e-01 -1.41804057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07864 meters Centerline goodness [0,1] 0.9998533007334963 Centerline is valid? [True, True] Translation: X:274.00, Y:-189.87, Z:-14.18 [[ 7.29298209e-01 6.82689690e-01 4.53752183e-02 2.74001891e+02] [-6.81334019e-01 7.30708278e-01 -4.30042671e-02 -1.89873553e+02] [-6.25146174e-02 4.47255076e-04 9.98043948e-01 -1.41826140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10864 meters Centerline goodness [0,1] 0.9997548058061985 Centerline is valid? [True, True] Translation: X:274.03, Y:-189.89, Z:-14.18 [[ 7.28582620e-01 6.83504601e-01 4.45962541e-02 2.74027416e+02] [-6.82194093e-01 7.29946093e-01 -4.23074461e-02 -1.89893891e+02] [-6.14701956e-02 4.01168826e-04 9.98108839e-01 -1.41838108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13864 meters Centerline goodness [0,1] 0.9998533150792098 Centerline is valid? [True, True] Translation: X:274.05, Y:-189.91, Z:-14.19 [[ 7.28453166e-01 6.83706456e-01 4.36058152e-02 2.74052849e+02] [-6.82451689e-01 7.29757028e-01 -4.14049792e-02 -1.89913615e+02] [-6.01305017e-02 4.02725983e-04 9.98190443e-01 -1.41851144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:274.08, Y:-189.93, Z:-14.19 [[ 7.29563307e-01 6.82543603e-01 4.32621191e-02 2.74079841e+02] [-6.81304159e-01 7.30844687e-01 -4.11179674e-02 -1.89932712e+02] [-5.96826955e-02 5.23498545e-04 9.98217262e-01 -1.41883120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19864 meters Centerline goodness [0,1] 0.99980419991189 Centerline is valid? [True, True] Translation: X:274.10, Y:-189.95, Z:-14.19 [[ 7.30535497e-01 6.81479715e-01 4.36266706e-02 2.74104218e+02] [-6.80214919e-01 7.31836718e-01 -4.15052059e-02 -1.89953003e+02] [-6.02125553e-02 6.45513974e-04 9.98185369e-01 -1.41901415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.13, Y:-189.97, Z:-14.19 [[ 7.31784277e-01 6.80086178e-01 4.44360533e-02 2.74129354e+02] [-6.78769132e-01 7.33131740e-01 -4.23121360e-02 -1.89973922e+02] [-6.13533799e-02 8.01534562e-04 9.98115785e-01 -1.41915165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25864 meters Centerline goodness [0,1] 0.9999510499779725 Centerline is valid? [True, True] Translation: X:274.16, Y:-189.99, Z:-14.19 [[ 7.33770150e-01 6.77887715e-01 4.52726552e-02 2.74156697e+02] [-6.76513912e-01 7.35164729e-01 -4.31479793e-02 -1.89991691e+02] [-6.25323444e-02 1.03311822e-03 9.98042403e-01 -1.41931124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.18, Y:-190.01, Z:-14.20 [[ 7.34289143e-01 6.77296958e-01 4.56977476e-02 2.74181827e+02] [-6.75893585e-01 7.35708890e-01 -4.35923426e-02 -1.90011879e+02] [-6.31452002e-02 1.12256949e-03 9.98003719e-01 -1.41959482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31864 meters Centerline goodness [0,1] 0.9999019703950593 Centerline is valid? [True, True] Translation: X:274.21, Y:-190.03, Z:-14.20 [[ 7.34525043e-01 6.76964401e-01 4.68205191e-02 2.74207372e+02] [-6.75487856e-01 7.36014767e-01 -4.47036743e-02 -1.90032335e+02] [-6.47233896e-02 1.20927624e-03 9.97902511e-01 -1.41976067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34864 meters Centerline goodness [0,1] 0.999804391412783 Centerline is valid? [True, True] Translation: X:274.23, Y:-190.05, Z:-14.20 [[ 7.34396199e-01 6.77116013e-01 4.66489947e-02 2.74232177e+02] [-6.75647894e-01 7.35875269e-01 -4.45815152e-02 -1.90053859e+02] [-6.45146993e-02 1.22220025e-03 9.97916008e-01 -1.41982263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37864 meters Centerline goodness [0,1] 0.9997555012224939 Centerline is valid? [True, True] Translation: X:274.26, Y:-190.07, Z:-14.20 [[ 7.34479268e-01 6.76996015e-01 4.70808009e-02 2.74256827e+02] [-6.75497480e-01 7.35985576e-01 -4.50376202e-02 -1.90074484e+02] [-6.51410797e-02 1.27623599e-03 9.97875248e-01 -1.41991523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40864 meters Centerline goodness [0,1] 0.9998531930511377 Centerline is valid? [True, True] Translation: X:274.28, Y:-190.10, Z:-14.20 [[ 7.33841466e-01 6.77609996e-01 4.81808679e-02 2.74280874e+02] [-6.76039091e-01 7.35420324e-01 -4.61312831e-02 -1.90096367e+02] [-6.66922080e-02 1.28089827e-03 9.97772774e-01 -1.42020743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43864 meters Centerline goodness [0,1] 0.9997059544229355 Centerline is valid? [True, True] Translation: X:274.30, Y:-190.12, Z:-14.20 [[ 7.33051173e-01 6.78514630e-01 4.74749966e-02 2.74303241e+02] [-6.76988736e-01 7.34585892e-01 -4.54952646e-02 -1.90119338e+02] [-6.57436653e-02 1.21031911e-03 9.97835811e-01 -1.42037272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46864 meters Centerline goodness [0,1] 0.9999021430668363 Centerline is valid? [True, True] Translation: X:274.33, Y:-190.14, Z:-14.21 [[ 7.32629968e-01 6.79012243e-01 4.68583408e-02 2.74327067e+02] [-6.77524235e-01 7.34126000e-01 -4.49436029e-02 -1.90140441e+02] [-6.49171829e-02 1.17936890e-03 9.97889958e-01 -1.42050190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49864 meters Centerline goodness [0,1] 0.9998530276308054 Centerline is valid? [True, True] Translation: X:274.35, Y:-190.16, Z:-14.21 [[ 7.32004173e-01 6.79721701e-01 4.63497617e-02 2.74350842e+02] [-6.78264778e-01 7.33469240e-01 -4.44945512e-02 -1.90161822e+02] [-6.42400365e-02 1.13278636e-03 9.97933833e-01 -1.42058576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52864 meters Centerline goodness [0,1] 0.9998043244300949 Centerline is valid? [True, True] Translation: X:274.37, Y:-190.18, Z:-14.21 [[ 7.31122387e-01 6.80611424e-01 4.72032267e-02 2.74374865e+02] [-6.79099343e-01 7.32643752e-01 -4.53565409e-02 -1.90184778e+02] [-6.54533290e-02 1.10550222e-03 9.97855019e-01 -1.42076877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55864 meters Centerline goodness [0,1] 0.9997550100445882 Centerline is valid? [True, True] Translation: X:274.40, Y:-190.21, Z:-14.21 [[ 7.31216667e-01 6.80556671e-01 4.65274429e-02 2.74397241e+02] [-6.79085395e-01 7.32694593e-01 -4.47399157e-02 -1.90208590e+02] [-6.45384540e-02 1.11846509e-03 9.97914594e-01 -1.42091782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58864 meters Centerline goodness [0,1] 0.9999021957063915 Centerline is valid? [True, True] Translation: X:274.42, Y:-190.23, Z:-14.21 [[ 7.30569062e-01 6.81251415e-01 4.65333733e-02 2.74420169e+02] [-6.79779458e-01 7.32048735e-01 -4.47720759e-02 -1.90232132e+02] [-6.45657371e-02 1.07666225e-03 9.97912875e-01 -1.42105496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61864 meters Centerline goodness [0,1] 0.9999021574286973 Centerline is valid? [True, True] Translation: X:274.44, Y:-190.26, Z:-14.21 [[ 7.30004956e-01 6.82059149e-01 4.34520551e-02 2.74442553e+02] [-6.80774946e-01 7.31296371e-01 -4.18460242e-02 -1.90255031e+02] [-6.03177938e-02 9.66734565e-04 9.98178756e-01 -1.42124628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64864 meters Centerline goodness [0,1] 0.9994126284875183 Centerline is valid? [True, True] Translation: X:274.46, Y:-190.28, Z:-14.21 [[ 7.29383633e-01 6.82827150e-01 4.17923325e-02 2.74464994e+02] [-6.81638490e-01 7.30579416e-01 -4.02825760e-02 -1.90277656e+02] [-5.80386545e-02 8.94189205e-04 9.98313936e-01 -1.42134073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67864000000003 meters Centerline goodness [0,1] 0.9987241768487168 Centerline is valid? [True, True] Translation: X:274.49, Y:-190.30, Z:-14.21 [[ 7.28676969e-01 6.83633507e-01 4.09280223e-02 2.74486945e+02] [-6.82493247e-01 7.29825003e-01 -3.94769917e-02 -1.90301543e+02] [-5.68580883e-02 8.32875864e-04 9.98381923e-01 -1.42144381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70864 meters Centerline goodness [0,1] 0.9985299162052237 Centerline is valid? [True, True] Translation: X:274.51, Y:-190.33, Z:-14.21 [[ 7.25688317e-01 6.86796017e-01 4.10815991e-02 2.74508381e+02] [-6.85651062e-01 7.26849963e-01 -3.96453405e-02 -1.90325738e+02] [-5.70884207e-02 6.02518422e-04 9.98368944e-01 -1.42139178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73864 meters Centerline goodness [0,1] 0.9989233103313268 Centerline is valid? [True, True] Translation: X:274.53, Y:-190.35, Z:-14.22 [[ 7.23113604e-01 6.89400695e-01 4.28181966e-02 2.74532432e+02] [-6.88158925e-01 7.24380069e-01 -4.13619340e-02 -1.90348075e+02] [-5.95315943e-02 4.43653087e-04 9.98226323e-01 -1.42153915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76864 meters Centerline goodness [0,1] 0.9978457772337821 Centerline is valid? [True, True] Translation: X:274.56, Y:-190.37, Z:-14.22 [[ 7.17512543e-01 6.95089509e-01 4.50147183e-02 2.74556989e+02] [-6.93725222e-01 7.18923205e-01 -4.35286291e-02 -1.90369389e+02] [-6.26184190e-02 4.49185537e-06 9.98037541e-01 -1.42158059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79864 meters Centerline goodness [0,1] 0.9974042511509452 Centerline is valid? [True, True] Translation: X:274.58, Y:-190.39, Z:-14.22 [[ 7.15055353e-01 6.97532785e-01 4.63017933e-02 2.74579239e+02] [-6.96091678e-01 7.16552845e-01 -4.48151352e-02 -1.90392402e+02] [-6.44377078e-02 -1.84990706e-04 9.97921714e-01 -1.42186143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82864 meters Centerline goodness [0,1] 0.9974066643832264 Centerline is valid? [True, True] Translation: X:274.60, Y:-190.42, Z:-14.22 [[ 7.13024689e-01 6.99627298e-01 4.60156072e-02 2.74601718e+02] [-6.98205545e-01 7.14507892e-01 -4.45812642e-02 -1.90416615e+02] [-6.40687839e-02 -3.40810106e-04 9.97945427e-01 -1.42201323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85864 meters Centerline goodness [0,1] 0.997261881478584 Centerline is valid? [True, True] Translation: X:274.63, Y:-190.44, Z:-14.22 [[ 7.12316099e-01 7.00388449e-01 4.54069973e-02 2.74625836e+02] [-6.99002713e-01 7.13761783e-01 -4.40377577e-02 -1.90439636e+02] [-6.32533161e-02 -3.70810507e-04 9.97997435e-01 -1.42211082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88864 meters Centerline goodness [0,1] 0.9976515485102011 Centerline is valid? [True, True] Translation: X:274.65, Y:-190.46, Z:-14.22 [[ 7.11643601e-01 7.01175909e-01 4.37690592e-02 2.74653422e+02] [-6.99887361e-01 7.12988211e-01 -4.24910954e-02 -1.90458043e+02] [-6.10005556e-02 -3.94895181e-04 9.98137654e-01 -1.42219773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91864 meters Centerline goodness [0,1] 0.996766607877719 Centerline is valid? [True, True] Translation: X:274.68, Y:-190.48, Z:-14.22 [[ 7.11229401e-01 7.01600588e-01 4.36961644e-02 2.74679046e+02] [-7.00314622e-01 7.12570315e-01 -4.24614673e-02 -1.90479224e+02] [-6.09275800e-02 -4.01218902e-04 9.98142109e-01 -1.42224604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94864 meters Centerline goodness [0,1] 0.9974032337089662 Centerline is valid? [True, True] Translation: X:274.70, Y:-190.50, Z:-14.22 [[ 7.11207889e-01 7.01491718e-01 4.57461240e-02 2.74702264e+02] [-7.00078974e-01 7.12677505e-01 -4.44994747e-02 -1.90501744e+02] [-6.38182465e-02 -3.77522124e-04 9.97961467e-01 -1.42243403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97864 meters Centerline goodness [0,1] 0.9974083129584352 Centerline is valid? [True, True] Translation: X:274.73, Y:-190.52, Z:-14.23 [[ 7.11792575e-01 7.00901680e-01 4.56964513e-02 2.74726754e+02] [-6.99488013e-01 7.13257842e-01 -4.44946118e-02 -1.90524020e+02] [-6.37797004e-02 -2.93185647e-04 9.97963959e-01 -1.42256221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00864 meters Centerline goodness [0,1] 0.9983840164536506 Centerline is valid? [True, True] Translation: X:274.75, Y:-190.55, Z:-14.23 [[ 7.12325359e-01 7.00334842e-01 4.60835367e-02 2.74752129e+02] [-6.98892823e-01 7.13814447e-01 -4.49194538e-02 -1.90545601e+02] [-6.43537529e-02 -2.10187019e-04 9.97927127e-01 -1.42269347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03864 meters Centerline goodness [0,1] 0.997945004403562 Centerline is valid? [True, True] Translation: X:274.78, Y:-190.57, Z:-14.23 [[ 7.12640337e-01 7.00016805e-01 4.60458778e-02 2.74777343e+02] [-6.98573424e-01 7.14126355e-01 -4.49301586e-02 -1.90566796e+02] [-6.43344409e-02 -1.47383156e-04 9.97928383e-01 -1.42292539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06864 meters Centerline goodness [0,1] 0.997747968275727 Centerline is valid? [True, True] Translation: X:274.80, Y:-190.59, Z:-14.23 [[ 7.12602692e-01 7.00102891e-01 4.53138581e-02 2.74800129e+02] [-6.98702467e-01 7.14041965e-01 -4.42598595e-02 -1.90589230e+02] [-6.33424519e-02 -1.21209457e-04 9.97991843e-01 -1.42309316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09864 meters Centerline goodness [0,1] 0.9973120907047209 Centerline is valid? [True, True] Translation: X:274.82, Y:-190.61, Z:-14.23 [[ 7.11915237e-01 7.00856927e-01 4.44551772e-02 2.74823821e+02] [-6.99508721e-01 7.13301858e-01 -4.34512146e-02 -1.90611808e+02] [-6.21630453e-02 -1.63202374e-04 9.98065994e-01 -1.42307767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12864 meters Centerline goodness [0,1] 0.9972088923709724 Centerline is valid? [True, True] Translation: X:274.85, Y:-190.63, Z:-14.23 [[ 7.11725974e-01 7.01086186e-01 4.38668273e-02 2.74848357e+02] [-6.99772479e-01 7.13076527e-01 -4.28992357e-02 -1.90632842e+02] [-6.13564664e-02 -1.64298207e-04 9.98115904e-01 -1.42314171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15864 meters Centerline goodness [0,1] 0.9972088923709724 Centerline is valid? [True, True] Translation: X:274.87, Y:-190.66, Z:-14.23 [[ 7.11355306e-01 7.01463575e-01 4.38461167e-02 2.74871843e+02] [-7.00149280e-01 7.12705286e-01 -4.29203967e-02 -1.90655367e+02] [-6.13564541e-02 -1.67175144e-04 9.98115904e-01 -1.42326861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18864 meters Centerline goodness [0,1] 0.9972539596920512 Centerline is valid? [True, True] Translation: X:274.90, Y:-190.68, Z:-14.23 [[ 7.10976686e-01 7.01866032e-01 4.35456686e-02 2.74896664e+02] [-7.00567711e-01 7.12308953e-01 -4.26712751e-02 -1.90677013e+02] [-6.09674881e-02 -1.68407590e-04 9.98139738e-01 -1.42341679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21864 meters Centerline goodness [0,1] 0.9975528582615505 Centerline is valid? [True, True] Translation: X:274.92, Y:-190.70, Z:-14.24 [[ 7.11782494e-01 7.01062709e-01 4.33215882e-02 2.74920815e+02] [-6.99773513e-01 7.13099624e-01 -4.24965426e-02 -1.90699125e+02] [-6.06853495e-02 -6.70049700e-05 9.98156944e-01 -1.42365802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24864 meters Centerline goodness [0,1] 0.9968636675487602 Centerline is valid? [True, True] Translation: X:274.94, Y:-190.72, Z:-14.24 [[ 7.12510485e-01 7.00362473e-01 4.26757078e-02 2.74943655e+02] [-6.99107697e-01 7.13787368e-01 -4.19049019e-02 -1.90721463e+02] [-5.98100018e-02 2.27661784e-05 9.98209779e-01 -1.42378373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27864 meters Centerline goodness [0,1] 0.9970152174976757 Centerline is valid? [True, True] Translation: X:274.97, Y:-190.74, Z:-14.24 [[ 7.13635642e-01 6.99185623e-01 4.31698295e-02 2.74967980e+02] [-6.97896937e-01 7.14940166e-01 -4.24314105e-02 -1.90744140e+02] [-6.05312773e-02 1.52475046e-04 9.98166289e-01 -1.42380823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30864 meters Centerline goodness [0,1] 0.998385518590998 Centerline is valid? [True, True] Translation: X:274.99, Y:-190.76, Z:-14.24 [[ 7.16456518e-01 6.96215303e-01 4.44331913e-02 2.74993080e+02] [-6.94841497e-01 7.17832885e-01 -4.37177642e-02 -1.90764874e+02] [-6.23325824e-02 4.47851926e-04 9.98055333e-01 -1.42387711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33864 meters Centerline goodness [0,1] 0.9985804493612022 Centerline is valid? [True, True] Translation: X:275.02, Y:-190.79, Z:-14.24 [[ 7.17195270e-01 6.95476546e-01 4.40830873e-02 2.75017704e+02] [-6.94120348e-01 7.18548595e-01 -4.34149657e-02 -1.90787476e+02] [-6.18699308e-02 5.38040161e-04 9.98084076e-01 -1.42397002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36864 meters Centerline goodness [0,1] 0.9986787374602398 Centerline is valid? [True, True] Translation: X:275.04, Y:-190.81, Z:-14.24 [[ 7.16960776e-01 6.95797064e-01 4.28216267e-02 2.75041028e+02] [-6.94515536e-01 7.18238240e-01 -4.22137455e-02 -1.90809816e+02] [-6.01283300e-02 5.25314675e-04 9.98190517e-01 -1.42414011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39864 meters Centerline goodness [0,1] 0.9984829206224919 Centerline is valid? [True, True] Translation: X:275.07, Y:-190.83, Z:-14.24 [[ 7.16781797e-01 6.96000383e-01 4.25126132e-02 2.75065246e+02] [-6.94735295e-01 7.18041212e-01 -4.19486368e-02 -1.90832939e+02] [-5.97220756e-02 5.33006354e-04 9.98214902e-01 -1.42426328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42864000000003 meters Centerline goodness [0,1] 0.998434059212136 Centerline is valid? [True, True] Translation: X:275.09, Y:-190.86, Z:-14.24 [[ 7.16110656e-01 6.96690266e-01 4.25229535e-02 2.75089317e+02] [-6.95423461e-01 7.17371884e-01 -4.19975030e-02 -1.90856242e+02] [-5.97640228e-02 5.03399968e-04 9.98212406e-01 -1.42441948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45864 meters Centerline goodness [0,1] 0.9990206639898149 Centerline is valid? [True, True] Translation: X:275.11, Y:-190.88, Z:-14.24 [[ 7.15356071e-01 6.97451501e-01 4.27445293e-02 2.75112746e+02] [-6.96170699e-01 7.16631834e-01 -4.22513041e-02 -1.90879313e+02] [-6.01003259e-02 4.67238060e-04 9.98192232e-01 -1.42447284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48864 meters Centerline goodness [0,1] 0.9989723513579642 Centerline is valid? [True, True] Translation: X:275.14, Y:-190.90, Z:-14.25 [[ 7.15224267e-01 6.97581755e-01 4.28245541e-02 2.75136975e+02] [-6.96293736e-01 7.16505029e-01 -4.23742538e-02 -1.90901819e+02] [-6.02435147e-02 4.88625810e-04 9.98183590e-01 -1.42468742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51864 meters Centerline goodness [0,1] 0.9996078239129369 Centerline is valid? [True, True] Translation: X:275.16, Y:-190.92, Z:-14.25 [[ 7.15346003e-01 6.97494198e-01 4.22130287e-02 2.75162372e+02] [-6.96240022e-01 7.16590241e-01 -4.18121771e-02 -1.90922988e+02] [-5.94131954e-02 5.19773743e-04 9.98233340e-01 -1.42481187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54864 meters Centerline goodness [0,1] 0.9996086488601899 Centerline is valid? [True, True] Translation: X:275.19, Y:-190.95, Z:-14.25 [[ 7.15396540e-01 6.97447187e-01 4.21332741e-02 2.75186617e+02] [-6.96195108e-01 7.16635971e-01 -4.17762562e-02 -1.90945893e+02] [-5.93309522e-02 5.53609760e-04 9.98238214e-01 -1.42497418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57864 meters Centerline goodness [0,1] 0.9994611277127321 Centerline is valid? [True, True] Translation: X:275.21, Y:-190.97, Z:-14.25 [[ 7.15956168e-01 6.96841607e-01 4.26443460e-02 2.75210181e+02] [-6.95555336e-01 7.17224765e-01 -4.23250593e-02 -1.90968404e+02] [-6.00794434e-02 6.41384882e-04 9.98193393e-01 -1.42509744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60864 meters Centerline goodness [0,1] 0.9997552019583843 Centerline is valid? [True, True] Translation: X:275.23, Y:-190.99, Z:-14.25 [[ 7.17544456e-01 6.95151670e-01 4.35213578e-02 2.75233600e+02] [-6.93806381e-01 7.18862623e-01 -4.32346478e-02 -1.90990788e+02] [-6.13405150e-02 8.27386075e-04 9.98116555e-01 -1.42521333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63864 meters Centerline goodness [0,1] 0.9996083806540043 Centerline is valid? [True, True] Translation: X:275.26, Y:-191.01, Z:-14.25 [[ 7.18322453e-01 6.94331927e-01 4.37724589e-02 2.75256680e+02] [-6.92967130e-01 7.19654298e-01 -4.35229623e-02 -1.91013485e+02] [-6.17204205e-02 9.30645874e-04 9.98093044e-01 -1.42529807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66864 meters Centerline goodness [0,1] 0.999902099955945 Centerline is valid? [True, True] Translation: X:275.28, Y:-191.04, Z:-14.25 [[ 7.18677203e-01 6.93936728e-01 4.42141999e-02 2.75278332e+02] [-6.92541016e-01 7.20035285e-01 -4.40014664e-02 -1.91037560e+02] [-6.23700177e-02 1.00270390e-03 9.98052592e-01 -1.42544258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69864 meters Centerline goodness [0,1] 0.9996574839751431 Centerline is valid? [True, True] Translation: X:275.30, Y:-191.06, Z:-14.26 [[ 7.17836082e-01 6.94779977e-01 4.46334291e-02 2.75302154e+02] [-6.93356633e-01 7.19221694e-01 -4.44604752e-02 -1.91060423e+02] [-6.29915785e-02 9.68449157e-04 9.98013589e-01 -1.42551110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72864 meters Centerline goodness [0,1] 0.9996576179995109 Centerline is valid? [True, True] Translation: X:275.33, Y:-191.08, Z:-14.26 [[ 7.16278894e-01 6.96368515e-01 4.48936131e-02 2.75326014e+02] [-6.94928737e-01 7.17683872e-01 -4.47650506e-02 -1.91083059e+02] [-6.33923939e-02 8.66399113e-04 9.97988303e-01 -1.42568839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75864 meters Centerline goodness [0,1] 0.9997060984570169 Centerline is valid? [True, True] Translation: X:275.35, Y:-191.11, Z:-14.26 [[ 7.14230491e-01 6.98557690e-01 4.34966691e-02 2.75348313e+02] [-6.97207715e-01 7.15553415e-01 -4.34132778e-02 -1.91106497e+02] [-6.14508692e-02 6.80873461e-04 9.98109877e-01 -1.42583549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78864 meters Centerline goodness [0,1] 0.999804151978065 Centerline is valid? [True, True] Translation: X:275.37, Y:-191.13, Z:-14.26 [[ 7.13489722e-01 6.99295826e-01 4.37922910e-02 2.75369972e+02] [-6.97926244e-01 7.14832095e-01 -4.37496742e-02 -1.91131074e+02] [-6.18980996e-02 6.51153666e-04 9.98082262e-01 -1.42604176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81864 meters Centerline goodness [0,1] 0.9996085914183669 Centerline is valid? [True, True] Translation: X:275.39, Y:-191.16, Z:-14.26 [[ 7.13871546e-01 6.98951411e-01 4.30620689e-02 2.75392546e+02] [-6.97623872e-01 7.15168815e-01 -4.30639002e-02 -1.91155096e+02] [-6.08962226e-02 7.00965761e-04 9.98143857e-01 -1.42609213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84864 meters Centerline goodness [0,1] 0.9998531786815446 Centerline is valid? [True, True] Translation: X:275.34, Y:-191.32, Z:-12.66 [[ 7.47328256e-01 -6.64370206e-01 -1.06163844e-02 2.75339178e+02] [-6.64250167e-01 -7.47399202e-01 1.28898426e-02 -1.91322287e+02] [-1.64983047e-02 -2.58100851e-03 -9.99860562e-01 -1.26627315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87864 meters Centerline goodness [0,1] 0.9998041232065031 Centerline is valid? [True, True] Translation: X:275.41, Y:-191.19, Z:-14.26 [[ 7.61817129e-01 6.46120494e-01 4.65077406e-02 2.75414208e+02] [-6.44860508e-01 7.63235063e-01 -4.03381177e-02 -1.91191762e+02] [-6.15596228e-02 7.39263784e-04 9.98103134e-01 -1.42619764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90864 meters Centerline goodness [0,1] 0.9995589100176436 Centerline is valid? [True, True] Translation: X:275.44, Y:-191.21, Z:-14.26 [[ 7.62350856e-01 6.45426864e-01 4.73849760e-02 2.75438444e+02] [-6.44114916e-01 7.63821612e-01 -4.11402597e-02 -1.91212704e+02] [-6.27466976e-02 8.41942344e-04 9.98029129e-01 -1.42642567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93864 meters Centerline goodness [0,1] 0.9993634939287113 Centerline is valid? [True, True] Translation: X:275.46, Y:-191.23, Z:-14.26 [[ 7.62744641e-01 6.45049978e-01 4.61642506e-02 2.75463514e+02] [-6.43801927e-01 7.64139879e-01 -4.01163776e-02 -1.91233623e+02] [-6.11530134e-02 8.77918527e-04 9.98128017e-01 -1.42648652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96864 meters Centerline goodness [0,1] 0.9994618132002544 Centerline is valid? [True, True] Translation: X:275.49, Y:-191.25, Z:-14.27 [[ 7.62814150e-01 6.45035317e-01 4.52107631e-02 2.75489047e+02] [-6.43836198e-01 7.64152244e-01 -3.93229927e-02 -1.91253713e+02] [-5.99126251e-02 8.87809383e-04 9.98203230e-01 -1.42658642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99864 meters Centerline goodness [0,1] 0.9997550820475141 Centerline is valid? [True, True] Translation: X:275.51, Y:-191.28, Z:-14.27 [[ 7.62474205e-01 6.45478982e-01 4.46090799e-02 2.75513439e+02] [-6.44310181e-01 7.63777538e-01 -3.88363697e-02 -1.91275469e+02] [-5.91394736e-02 8.69645823e-04 9.98249351e-01 -1.42687405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02864 meters Centerline goodness [0,1] 0.9997553696364793 Centerline is valid? [True, True] Translation: X:275.54, Y:-191.30, Z:-14.27 [[ 7.61252329e-01 6.46913496e-01 4.46969765e-02 2.75537778e+02] [-6.45740257e-01 7.62562984e-01 -3.89514560e-02 -1.91297033e+02] [-5.92824824e-02 7.89249501e-04 9.98240935e-01 -1.42692200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05864 meters Centerline goodness [0,1] 0.999804228660924 Centerline is valid? [True, True] Translation: X:275.56, Y:-191.32, Z:-14.27 [[ 7.58663552e-01 6.49856252e-01 4.60050658e-02 2.75563829e+02] [-6.48616271e-01 7.60056896e-01 -4.01303910e-02 -1.91317412e+02] [-6.10454530e-02 6.05830737e-04 9.98134803e-01 -1.42706842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08864 meters Centerline goodness [0,1] 0.9996568963827076 Centerline is valid? [True, True] Translation: X:275.59, Y:-191.34, Z:-14.27 [[ 7.57576113e-01 6.51153453e-01 4.55808555e-02 2.75588430e+02] [-6.49936216e-01 7.58945916e-01 -3.97996495e-02 -1.91338225e+02] [-6.05090833e-02 5.26615076e-04 9.98167508e-01 -1.42705997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11864 meters Centerline goodness [0,1] 0.9998039600078416 Centerline is valid? [True, True] Translation: X:275.61, Y:-191.36, Z:-14.27 [[ 7.57444817e-01 6.51371439e-01 4.46385212e-02 2.75612959e+02] [-6.50202355e-01 7.58758837e-01 -3.90118598e-02 -1.91358400e+02] [-5.92810836e-02 5.25259460e-04 9.98241192e-01 -1.42728695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14864 meters Centerline goodness [0,1] 0.999804132797963 Centerline is valid? [True, True] Translation: X:275.64, Y:-191.38, Z:-14.27 [[ 7.57464630e-01 6.51398503e-01 4.39013091e-02 2.75638847e+02] [-6.50265665e-01 7.58735590e-01 -3.84040286e-02 -1.91379150e+02] [-5.83258124e-02 5.42179376e-04 9.98297453e-01 -1.42736499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17864000000003 meters Centerline goodness [0,1] 0.9999021287007585 Centerline is valid? [True, True] Translation: X:275.66, Y:-191.40, Z:-14.28 [[ 7.57411509e-01 6.51467773e-01 4.37897949e-02 2.75663956e+02] [-6.50338464e-01 7.58676097e-01 -3.83466103e-02 -1.91399915e+02] [-5.82038515e-02 5.65976080e-04 9.98304558e-01 -1.42751453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20864 meters Centerline goodness [0,1] 0.9998530132288094 Centerline is valid? [True, True] Translation: X:275.69, Y:-191.42, Z:-14.28 [[ 7.58203975e-01 6.50514474e-01 4.42453561e-02 2.75688306e+02] [-6.49357589e-01 7.59493556e-01 -3.87847808e-02 -1.91420342e+02] [-5.88341241e-02 6.75717171e-04 9.98267544e-01 -1.42773038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23864 meters Centerline goodness [0,1] 0.9997062567316166 Centerline is valid? [True, True] Translation: X:275.71, Y:-191.44, Z:-14.28 [[ 7.59253786e-01 6.49306086e-01 4.39919966e-02 2.75712708e+02] [-6.48158258e-01 7.60526777e-01 -3.85991439e-02 -1.91441915e+02] [-5.85197505e-02 7.92770226e-04 9.98285936e-01 -1.42788392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26864 meters Centerline goodness [0,1] 0.9996572995202193 Centerline is valid? [True, True] Translation: X:275.74, Y:-191.46, Z:-14.28 [[ 7.60184698e-01 6.48188909e-01 4.43887718e-02 2.75736058e+02] [-6.47016078e-01 7.61479021e-01 -3.89858329e-02 -1.91463366e+02] [-5.90713030e-02 9.16184586e-04 9.98253345e-01 -1.42812844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29864 meters Centerline goodness [0,1] 0.9998528257456829 Centerline is valid? [True, True] Translation: X:275.76, Y:-191.49, Z:-14.28 [[ 7.60076635e-01 6.48323964e-01 4.42667803e-02 2.75760774e+02] [-6.47155651e-01 7.61364020e-01 -3.89151923e-02 -1.91485669e+02] [-5.89327855e-02 9.31031364e-04 9.98261519e-01 -1.42822867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32864 meters Centerline goodness [0,1] 0.9998530780155738 Centerline is valid? [True, True] Translation: X:275.78, Y:-191.51, Z:-14.28 [[ 7.59925414e-01 6.48559114e-01 4.34101452e-02 2.75784806e+02] [-6.47433855e-01 7.61163729e-01 -3.81992156e-02 -1.91507120e+02] [-5.78166774e-02 9.23357065e-04 9.98326790e-01 -1.42823857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35864 meters Centerline goodness [0,1] 0.9998530204301602 Centerline is valid? [True, True] Translation: X:275.81, Y:-191.53, Z:-14.28 [[ 7.59444842e-01 6.49170850e-01 4.26701183e-02 2.75808342e+02] [-6.48082730e-01 7.60642111e-01 -3.75813115e-02 -1.91528477e+02] [-5.68533808e-02 8.87166453e-04 9.98382144e-01 -1.42834573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38864 meters Centerline goodness [0,1] 0.9997551540081289 Centerline is valid? [True, True] Translation: X:275.83, Y:-191.55, Z:-14.28 [[ 7.58320751e-01 6.50474304e-01 4.28114291e-02 2.75831746e+02] [-6.49378992e-01 7.59527820e-01 -3.77414235e-02 -1.91551906e+02] [-5.70662975e-02 8.19261911e-04 9.98370055e-01 -1.42846192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41864 meters Centerline goodness [0,1] 0.9997550580512419 Centerline is valid? [True, True] Translation: X:275.85, Y:-191.57, Z:-14.29 [[ 7.57543043e-01 6.51405014e-01 4.24269457e-02 2.75854828e+02] [-6.50328664e-01 7.58729803e-01 -3.74394802e-02 -1.91573766e+02] [-5.65788533e-02 7.70558818e-04 9.98397836e-01 -1.42863183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44864 meters Centerline goodness [0,1] 0.9999021287007585 Centerline is valid? [True, True] Translation: X:275.88, Y:-191.60, Z:-14.29 [[ 7.55473812e-01 6.53839902e-01 4.18652871e-02 2.75877336e+02] [-6.52793754e-01 7.56632682e-01 -3.69769947e-02 -1.91597078e+02] [-5.58536791e-02 6.05753227e-04 9.98438781e-01 -1.42867931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47864 meters Centerline goodness [0,1] 0.9999020711942418 Centerline is valid? [True, True] Translation: X:275.90, Y:-191.62, Z:-14.29 [[ 7.54285576e-01 6.55159201e-01 4.26578237e-02 2.75901541e+02] [-6.54073075e-01 7.55490651e-01 -3.77132434e-02 -1.91619010e+02] [-5.69357654e-02 5.45221585e-04 9.98377695e-01 -1.42878601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50864 meters Centerline goodness [0,1] 0.9998532361430459 Centerline is valid? [True, True] Translation: X:275.93, Y:-191.64, Z:-14.29 [[ 7.52616110e-01 6.57102913e-01 4.22463293e-02 2.75925620e+02] [-6.56038597e-01 7.53800758e-01 -3.73868459e-02 -1.91640932e+02] [-5.64123204e-02 4.22719988e-04 9.98407468e-01 -1.42882377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53864 meters Centerline goodness [0,1] 0.999902114330462 Centerline is valid? [True, True] Translation: X:275.95, Y:-191.66, Z:-14.29 [[ 7.50044890e-01 6.60023745e-01 4.24419602e-02 2.75949848e+02] [-6.58952136e-01 7.51244702e-01 -3.75962772e-02 -1.91663018e+02] [-5.66987334e-02 2.31675265e-04 9.98391306e-01 -1.42901654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56864 meters Centerline goodness [0,1] 0.999755034050267 Centerline is valid? [True, True] Translation: X:275.97, Y:-191.68, Z:-14.29 [[ 7.48157942e-01 6.62154938e-01 4.25503556e-02 2.75974649e+02] [-6.61079002e-01 7.49366952e-01 -3.77322702e-02 -1.91684823e+02] [-5.68704393e-02 1.00550958e-04 9.98381562e-01 -1.42911977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59864 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:276.00, Y:-191.71, Z:-14.29 [[ 7.45556174e-01 6.65042614e-01 4.31776933e-02 2.76001308e+02] [-6.63937123e-01 7.46805406e-01 -3.83299128e-02 -1.91705223e+02] [-5.77363601e-02 -9.01703277e-05 9.98331861e-01 -1.42925065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62864 meters Centerline goodness [0,1] 0.9998530060267529 Centerline is valid? [True, True] Translation: X:276.03, Y:-191.73, Z:-14.29 [[ 7.44189885e-01 6.66599765e-01 4.27336809e-02 2.76027562e+02] [-6.65517161e-01 7.45415804e-01 -3.79761426e-02 -1.91726151e+02] [-5.71692489e-02 -1.78536805e-04 9.98364485e-01 -1.42927768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65864 meters Centerline goodness [0,1] 0.999951045185294 Centerline is valid? [True, True] Translation: X:276.05, Y:-191.75, Z:-14.29 [[ 7.42995008e-01 6.67885156e-01 4.34492414e-02 2.76054013e+02] [-6.66765718e-01 7.44264305e-01 -3.86538687e-02 -1.91746129e+02] [-5.81540646e-02 -2.50833196e-04 9.98307589e-01 -1.42947246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.08, Y:-191.77, Z:-14.30 [[ 7.41872812e-01 6.69173200e-01 4.28013972e-02 2.76081114e+02] [-6.68086745e-01 7.43106404e-01 -3.81178731e-02 -1.91765132e+02] [-5.73134515e-02 -3.16432446e-04 9.98356183e-01 -1.42956630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71864 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:276.11, Y:-191.79, Z:-14.30 [[ 7.42009827e-01 6.69029870e-01 4.26667294e-02 2.76106506e+02] [-6.67947703e-01 7.43235466e-01 -3.80382421e-02 -1.91785925e+02] [-5.71601466e-02 -2.74394479e-04 9.98364985e-01 -1.42980164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74864 meters Centerline goodness [0,1] 0.999902114330462 Centerline is valid? [True, True] Translation: X:276.13, Y:-191.81, Z:-14.30 [[ 7.42711213e-01 6.68278538e-01 4.22356406e-02 2.76131835e+02] [-6.67215166e-01 7.43911123e-01 -3.76850582e-02 -1.91806551e+02] [-5.66036785e-02 -1.91144640e-04 9.98396708e-01 -1.42996207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:276.16, Y:-191.82, Z:-14.30 [[ 7.44837754e-01 6.65902188e-01 4.23201508e-02 2.76159248e+02] [-6.64829493e-01 7.46039058e-01 -3.77818745e-02 -1.91824717e+02] [-5.67315183e-02 5.68220057e-06 9.98389470e-01 -1.43009847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80864 meters Centerline goodness [0,1] 0.999804228660924 Centerline is valid? [True, True] Translation: X:276.19, Y:-191.85, Z:-14.30 [[ 7.45465585e-01 6.65189228e-01 4.24776687e-02 2.76185683e+02] [-6.64105042e-01 7.46674817e-01 -3.79632917e-02 -1.91845435e+02] [-5.69697782e-02 9.06935045e-05 9.98375899e-01 -1.43013233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:276.21, Y:-191.87, Z:-14.30 [[ 7.46699851e-01 6.63790670e-01 4.26764548e-02 2.76210320e+02] [-6.62691683e-01 7.47918374e-01 -3.81816610e-02 -1.91867304e+02] [-5.72631350e-02 2.28908925e-04 9.98359094e-01 -1.43030286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86864 meters Centerline goodness [0,1] 0.9996083039561301 Centerline is valid? [True, True] Translation: X:276.23, Y:-191.89, Z:-14.30 [[ 7.45980360e-01 6.64663164e-01 4.16675138e-02 2.76233107e+02] [-6.63614839e-01 7.47143122e-01 -3.73162357e-02 -1.91889691e+02] [-5.59343237e-02 1.85998508e-04 9.98434433e-01 -1.43034296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89864 meters Centerline goodness [0,1] 0.9998531283658083 Centerline is valid? [True, True] Translation: X:276.26, Y:-191.91, Z:-14.31 [[ 7.45727342e-01 6.64933029e-01 4.18903244e-02 2.76257402e+02] [-6.63871834e-01 7.46902959e-01 -3.75520813e-02 -1.91911396e+02] [-5.62576264e-02 1.93807268e-04 9.98416267e-01 -1.43062431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92864000000003 meters Centerline goodness [0,1] 0.9998528690534576 Centerline is valid? [True, True] Translation: X:276.28, Y:-191.93, Z:-14.31 [[ 7.45571693e-01 6.65083940e-01 4.22635006e-02 2.76282685e+02] [-6.64001681e-01 7.46768577e-01 -3.79270339e-02 -1.91932872e+02] [-5.67857154e-02 2.14287407e-04 9.98386366e-01 -1.43077899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95864 meters Centerline goodness [0,1] 0.9999020663989815 Centerline is valid? [True, True] Translation: X:276.31, Y:-191.96, Z:-14.31 [[ 7.44835142e-01 6.65927815e-01 4.19613735e-02 2.76306823e+02] [-6.64860074e-01 7.46016162e-01 -3.76957245e-02 -1.91955458e+02] [-5.64064942e-02 1.78658445e-04 9.98407870e-01 -1.43087351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98864 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:276.33, Y:-191.98, Z:-14.31 [[ 7.43435096e-01 6.67473654e-01 4.22277228e-02 2.76330196e+02] [-6.66392478e-01 7.44633409e-01 -3.79756796e-02 -1.91979388e+02] [-5.67919388e-02 9.22161653e-05 9.98386031e-01 -1.43090744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01864 meters Centerline goodness [0,1] 0.9998530708198649 Centerline is valid? [True, True] Translation: X:276.35, Y:-192.00, Z:-14.31 [[ 7.42148482e-01 6.68891704e-01 4.24207269e-02 2.76354504e+02] [-6.67800586e-01 7.43359864e-01 -3.81901773e-02 -1.92002224e+02] [-5.70789585e-02 1.41958116e-05 9.98369667e-01 -1.43103378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04864 meters Centerline goodness [0,1] 0.9998530708198649 Centerline is valid? [True, True] Translation: X:276.38, Y:-192.02, Z:-14.31 [[ 7.41794786e-01 6.69285214e-01 4.24004479e-02 2.76378901e+02] [-6.68193452e-01 7.43005587e-01 -3.82126825e-02 -1.92023760e+02] [-5.70789531e-02 1.42670554e-05 9.98369667e-01 -1.43116033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07864 meters Centerline goodness [0,1] 0.9999509707785841 Centerline is valid? [True, True] Translation: X:276.40, Y:-192.05, Z:-14.31 [[ 7.40504184e-01 6.70707369e-01 4.24873827e-02 2.76403205e+02] [-6.69611115e-01 7.41722064e-01 -3.83318897e-02 -1.92046403e+02] [-5.72233101e-02 -6.50990224e-05 9.98361402e-01 -1.43129257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10864 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:276.43, Y:-192.07, Z:-14.31 [[ 7.39763257e-01 6.71529424e-01 4.24093984e-02 2.76427207e+02] [-6.70436210e-01 7.40977883e-01 -3.83022743e-02 -1.92069514e+02] [-5.71455304e-02 -9.81811736e-05 9.98365854e-01 -1.43141267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:276.45, Y:-192.09, Z:-14.31 [[ 7.39786355e-01 6.71516967e-01 4.22032198e-02 2.76452143e+02] [-6.70432039e-01 7.40989176e-01 -3.81565590e-02 -1.92091862e+02] [-5.68949058e-02 -6.66889622e-05 9.98380171e-01 -1.43149386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.48, Y:-192.11, Z:-14.32 [[ 7.40017194e-01 6.71212951e-01 4.29851824e-02 2.76476179e+02] [-6.70084470e-01 7.41264577e-01 -3.89053855e-02 -1.92114322e+02] [-5.79771917e-02 -1.30489470e-05 9.98317908e-01 -1.43170953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19864 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:276.50, Y:-192.14, Z:-14.32 [[ 7.41608265e-01 6.69463402e-01 4.28478060e-02 2.76500000e+02] [-6.68336826e-01 7.42845024e-01 -3.88221232e-02 -1.92137817e+02] [-5.78192702e-02 1.54040750e-04 9.98327055e-01 -1.43178236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22864 meters Centerline goodness [0,1] 0.9999021526418786 Centerline is valid? [True, True] Translation: X:276.52, Y:-192.16, Z:-14.32 [[ 7.42179440e-01 6.68854586e-01 4.24643657e-02 2.76524772e+02] [-6.67744785e-01 7.43393228e-01 -3.85150858e-02 -1.92159737e+02] [-5.73287137e-02 2.29746061e-04 9.98355330e-01 -1.43189863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25864 meters Centerline goodness [0,1] 0.9999019800039208 Centerline is valid? [True, True] Translation: X:276.55, Y:-192.18, Z:-14.32 [[ 7.43741899e-01 6.67120311e-01 4.24084694e-02 2.76549563e+02] [-6.66008282e-01 7.44949888e-01 -3.85049677e-02 -1.92180955e+02] [-5.72796305e-02 3.93365958e-04 9.98358097e-01 -1.43213254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28864 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:276.57, Y:-192.20, Z:-14.32 [[ 7.44015533e-01 6.66790251e-01 4.27977568e-02 2.76573111e+02] [-6.65654782e-01 7.45245299e-01 -3.88992898e-02 -1.92204177e+02] [-5.78324943e-02 4.53144366e-04 9.98326198e-01 -1.43236147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31864 meters Centerline goodness [0,1] 0.9998531283658083 Centerline is valid? [True, True] Translation: X:276.60, Y:-192.23, Z:-14.32 [[ 7.45017191e-01 6.65731277e-01 4.18479643e-02 2.76596451e+02] [-6.64641802e-01 7.46191371e-01 -3.80751078e-02 -1.92228125e+02] [-5.65743799e-02 5.52703492e-04 9.98398234e-01 -1.43236319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34864 meters Centerline goodness [0,1] 0.9995591044922354 Centerline is valid? [True, True] Translation: X:276.62, Y:-192.25, Z:-14.32 [[ 7.46909445e-01 6.63563872e-01 4.25355001e-02 2.76619193e+02] [-6.62432485e-01 7.48119250e-01 -3.87400387e-02 -1.92250870e+02] [-5.75281165e-02 7.58403800e-04 9.98343598e-01 -1.43237713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37864 meters Centerline goodness [0,1] 0.999558693733451 Centerline is valid? [True, True] Translation: X:276.64, Y:-192.27, Z:-14.32 [[ 7.47461972e-01 6.62900916e-01 4.31622051e-02 2.76643574e+02] [-6.61732695e-01 7.48706656e-01 -3.93469677e-02 -1.92272106e+02] [-5.83989711e-02 8.48519820e-04 9.98292963e-01 -1.43249160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40864 meters Centerline goodness [0,1] 0.999558520553321 Centerline is valid? [True, True] Translation: X:276.66, Y:-192.30, Z:-14.33 [[ 7.49796514e-01 6.60201833e-01 4.40309723e-02 2.76664554e+02] [-6.58979223e-01 7.51087420e-01 -4.01755195e-02 -1.92296507e+02] [-5.95950610e-02 1.10796853e-03 9.98222020e-01 -1.43286293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43864 meters Centerline goodness [0,1] 0.9994611541099245 Centerline is valid? [True, True] Translation: X:276.69, Y:-192.32, Z:-14.33 [[ 7.49923334e-01 6.60091867e-01 4.35168953e-02 2.76686289e+02] [-6.58895295e-01 7.51184030e-01 -3.97434608e-02 -1.92321389e+02] [-5.89235321e-02 1.13147103e-03 9.98261858e-01 -1.43305319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46864 meters Centerline goodness [0,1] 0.9996566439397655 Centerline is valid? [True, True] Translation: X:276.71, Y:-192.35, Z:-14.33 [[ 7.49218556e-01 6.60917398e-01 4.31247886e-02 2.76707818e+02] [-6.59741423e-01 7.50457869e-01 -3.94238670e-02 -1.92345759e+02] [-5.84192566e-02 1.08588336e-03 9.98291546e-01 -1.43322232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49864 meters Centerline goodness [0,1] 0.9996081888529729 Centerline is valid? [True, True] Translation: X:276.73, Y:-192.37, Z:-14.33 [[ 7.46772411e-01 6.63825787e-01 4.08202249e-02 2.76730028e+02] [-6.62774770e-01 7.47886772e-01 -3.73494304e-02 -1.92369506e+02] [-5.53224213e-02 8.36908992e-04 9.98468191e-01 -1.43329241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52864 meters Centerline goodness [0,1] 0.9996566102526367 Centerline is valid? [True, True] Translation: X:276.75, Y:-192.39, Z:-14.33 [[ 7.45017912e-01 6.65783829e-01 4.09902899e-02 2.76752802e+02] [-6.64725089e-01 7.46144339e-01 -3.75390561e-02 -1.92392859e+02] [-5.55775693e-02 7.19995060e-04 9.98454113e-01 -1.43347329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55864 meters Centerline goodness [0,1] 0.9999020855772055 Centerline is valid? [True, True] Translation: X:276.77, Y:-192.42, Z:-14.33 [[ 7.42261208e-01 6.68719872e-01 4.31512603e-02 2.76772893e+02] [-6.67549122e-01 7.43514239e-01 -3.95568787e-02 -1.92420293e+02] [-5.85360474e-02 5.55950667e-04 9.98285141e-01 -1.43346387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58864 meters Centerline goodness [0,1] 0.9999510499779725 Centerline is valid? [True, True] Translation: X:276.80, Y:-192.44, Z:-14.34 [[ 7.41349197e-01 6.69715482e-01 4.33882574e-02 2.76795262e+02] [-6.68531062e-01 7.42617608e-01 -3.98159323e-02 -1.92444146e+02] [-5.88862302e-02 5.11111713e-04 9.98264569e-01 -1.43350341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61864 meters Centerline goodness [0,1] 0.9998531499339175 Centerline is valid? [True, True] Translation: X:276.82, Y:-192.47, Z:-14.34 [[ 7.39882811e-01 6.71378541e-01 4.27116047e-02 2.76817671e+02] [-6.70231292e-01 7.41114494e-01 -3.92341890e-02 -1.92467080e+02] [-5.79951819e-02 4.02047995e-04 9.98316782e-01 -1.43359855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64864 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:276.84, Y:-192.49, Z:-14.34 [[ 7.36932506e-01 6.74617495e-01 4.26815732e-02 2.76838112e+02] [-6.73475608e-01 7.38167465e-01 -3.92351716e-02 -1.92492220e+02] [-5.79748819e-02 1.68674889e-04 9.98318028e-01 -1.43384292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67864000000003 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:276.86, Y:-192.52, Z:-14.34 [[ 7.35167301e-01 6.76489812e-01 4.34807437e-02 2.76860644e+02] [-6.75306648e-01 7.36451990e-01 -3.99924759e-02 -1.92515715e+02] [-5.90759827e-02 3.83252354e-05 9.98253488e-01 -1.43404135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.88, Y:-192.54, Z:-14.34 [[ 7.33128419e-01 6.78758681e-01 4.25367325e-02 2.76883311e+02] [-6.77628427e-01 7.34361381e-01 -3.91545213e-02 -1.92539360e+02] [-5.78138049e-02 -1.18806857e-04 9.98327376e-01 -1.43409764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73864 meters Centerline goodness [0,1] 0.9999020088192063 Centerline is valid? [True, True] Translation: X:276.91, Y:-192.56, Z:-14.34 [[ 7.32204072e-01 6.79759204e-01 4.24808393e-02 2.76907597e+02] [-6.78632297e-01 7.33435336e-01 -3.91256174e-02 -1.92561095e+02] [-5.77529472e-02 -1.80933140e-04 9.98330889e-01 -1.43415187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.93, Y:-192.58, Z:-14.34 [[ 7.31306938e-01 6.80739593e-01 4.22346911e-02 2.76931725e+02] [-6.79624945e-01 7.32525464e-01 -3.89407175e-02 -1.92583704e+02] [-5.74464749e-02 -2.26132724e-04 9.98348562e-01 -1.43427151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79864 meters Centerline goodness [0,1] 0.9999020855772055 Centerline is valid? [True, True] Translation: X:276.95, Y:-192.61, Z:-14.34 [[ 7.30210491e-01 6.81937110e-01 4.18857541e-02 2.76954715e+02] [-6.80840413e-01 7.31410757e-01 -3.86605298e-02 -1.92607231e+02] [-5.69997411e-02 -2.87189706e-04 9.98374152e-01 -1.43436884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82864 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:276.98, Y:-192.63, Z:-14.34 [[ 7.29321802e-01 6.82832148e-01 4.27780994e-02 2.76978735e+02] [-6.81687311e-01 7.30575215e-01 -3.95254903e-02 -1.92628623e+02] [-5.82418946e-02 -3.34485792e-04 9.98302444e-01 -1.43449651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85864 meters Centerline goodness [0,1] 0.9999510188087775 Centerline is valid? [True, True] Translation: X:277.00, Y:-192.65, Z:-14.35 [[ 7.27920362e-01 6.84174525e-01 4.51349807e-02 2.77004268e+02] [-6.82900014e-01 7.29318195e-01 -4.17437624e-02 -1.92648722e+02] [-6.14777815e-02 -4.36544361e-04 9.98108357e-01 -1.43457776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:277.03, Y:-192.67, Z:-14.35 [[ 7.27519667e-01 6.84593291e-01 4.52455568e-02 2.77028404e+02] [-6.83310767e-01 7.28925120e-01 -4.18875423e-02 -1.92671327e+02] [-6.16565534e-02 -4.42765284e-04 9.98097327e-01 -1.43476918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.05, Y:-192.69, Z:-14.35 [[ 7.28576472e-01 6.83564732e-01 4.37673515e-02 2.77051307e+02] [-6.82360415e-01 7.29889826e-01 -4.05599013e-02 -1.92693814e+02] [-5.96706626e-02 -3.14118327e-04 9.98218069e-01 -1.43482640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.08, Y:-192.71, Z:-14.35 [[ 7.28760137e-01 6.83443845e-01 4.25813872e-02 2.77076519e+02] [-6.82301625e-01 7.30003040e-01 -3.94975060e-02 -1.92714406e+02] [-5.80788695e-02 -2.69141840e-04 9.98311962e-01 -1.43490489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97864 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:277.10, Y:-192.73, Z:-14.35 [[ 7.29284045e-01 6.82949210e-01 4.15350289e-02 2.77101886e+02] [-6.81859653e-01 7.30465836e-01 -3.85626178e-02 -1.92734207e+02] [-5.66762289e-02 -1.97958512e-04 9.98392591e-01 -1.43505161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00864 meters Centerline goodness [0,1] 0.9998528834837191 Centerline is valid? [True, True] Translation: X:277.13, Y:-192.75, Z:-14.35 [[ 7.29835539e-01 6.82421515e-01 4.05087855e-02 2.77126245e+02] [-6.81382438e-01 7.30958863e-01 -3.76445583e-02 -1.92754533e+02] [-5.52997123e-02 -1.27638504e-04 9.98469792e-01 -1.43524781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03864 meters Centerline goodness [0,1] 0.9999510092102685 Centerline is valid? [True, True] Translation: X:277.15, Y:-192.78, Z:-14.35 [[ 7.30562315e-01 6.81564213e-01 4.18201779e-02 2.77150400e+02] [-6.80453170e-01 7.31758309e-01 -3.89006608e-02 -1.92775915e+02] [-5.71155609e-02 -3.73157949e-05 9.98367573e-01 -1.43542507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.18, Y:-192.80, Z:-14.36 [[ 7.31563929e-01 6.80464227e-01 4.22214859e-02 2.77177156e+02] [-6.79327669e-01 7.32781298e-01 -3.93126997e-02 -1.92795121e+02] [-5.76900010e-02 7.75294831e-05 9.98334542e-01 -1.43550619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09864 meters Centerline goodness [0,1] 0.9999017440432326 Centerline is valid? [True, True] Translation: X:277.20, Y:-192.82, Z:-14.36 [[ 7.31226992e-01 6.80854862e-01 4.17581526e-02 2.77202766e+02] [-6.79741415e-01 7.32418358e-01 -3.89224489e-02 -1.92816166e+02] [-5.70849762e-02 7.63995027e-05 9.98369320e-01 -1.43571511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12864 meters Centerline goodness [0,1] 0.9999510427886028 Centerline is valid? [True, True] Translation: X:277.23, Y:-192.84, Z:-14.36 [[ 7.31246353e-01 6.80847440e-01 4.15395549e-02 2.77227337e+02] [-6.79743266e-01 7.32425253e-01 -3.87600386e-02 -1.92838253e+02] [-5.68142921e-02 1.06904184e-04 9.98384758e-01 -1.43596062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:277.25, Y:-192.86, Z:-14.36 [[ 7.30904864e-01 6.81179877e-01 4.20957786e-02 2.77251174e+02] [-6.80044016e-01 7.32116085e-01 -3.93214237e-02 -1.92861614e+02] [-5.76039592e-02 1.13237530e-04 9.98339507e-01 -1.43614861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:277.28, Y:-192.88, Z:-14.36 [[ 7.31747439e-01 6.80264862e-01 4.22540218e-02 2.77275858e+02] [-6.79116466e-01 7.32966350e-01 -3.95114668e-02 -1.92883292e+02] [-5.78490387e-02 2.17012712e-04 9.98325319e-01 -1.43616706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21864 meters Centerline goodness [0,1] 0.9997549259876483 Centerline is valid? [True, True] Translation: X:277.30, Y:-192.90, Z:-14.36 [[ 7.31033877e-01 6.81021995e-01 4.24088889e-02 2.77300892e+02] [-6.79863953e-01 7.32262936e-01 -3.96988425e-02 -1.92904370e+02] [-5.80902424e-02 1.88923861e-04 9.98311318e-01 -1.43628467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.32, Y:-192.93, Z:-14.37 [[ 7.30251524e-01 6.81897226e-01 4.18196771e-02 2.77324467e+02] [-6.80770215e-01 7.31447983e-01 -3.91888136e-02 -1.92927277e+02] [-5.73116617e-02 1.48100248e-04 9.98356325e-01 -1.43653324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27864 meters Centerline goodness [0,1] 0.9999510355971208 Centerline is valid? [True, True] Translation: X:277.35, Y:-192.95, Z:-14.37 [[ 7.30074388e-01 6.82083778e-01 4.18701321e-02 2.77347678e+02] [-6.80951952e-01 7.31274020e-01 -3.92778065e-02 -1.92950156e+02] [-5.74092945e-02 1.64172425e-04 9.98350713e-01 -1.43672257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30864 meters Centerline goodness [0,1] 0.9999509972068408 Centerline is valid? [True, True] Translation: X:277.37, Y:-192.97, Z:-14.37 [[ 7.29824929e-01 6.82390903e-01 4.12095736e-02 2.77371872e+02] [-6.81293227e-01 7.30987435e-01 -3.86899000e-02 -1.92972140e+02] [-5.65253163e-02 1.61050113e-04 9.98401153e-01 -1.43675732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.40, Y:-192.99, Z:-14.37 [[ 7.28048752e-01 6.84307360e-01 4.08466857e-02 2.77397760e+02] [-6.83230758e-01 7.29193690e-01 -3.83704861e-02 -1.92993380e+02] [-5.60423515e-02 2.78724809e-05 9.98428392e-01 -1.43687321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36864 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:277.42, Y:-193.02, Z:-14.37 [[ 7.26734600e-01 6.85712340e-01 4.06866955e-02 2.77421268e+02] [-6.84644090e-01 7.27872643e-01 -3.82607635e-02 -1.93016366e+02] [-5.58506102e-02 -5.04849195e-05 9.98439135e-01 -1.43696201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:277.44, Y:-193.04, Z:-14.37 [[ 7.24299200e-01 6.88283115e-01 4.07065326e-02 2.77444998e+02] [-6.87215587e-01 7.25442145e-01 -3.83201238e-02 -1.93040083e+02] [-5.59053285e-02 -2.18928677e-04 9.98436050e-01 -1.43694572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42864000000003 meters Centerline goodness [0,1] 0.9998531499339175 Centerline is valid? [True, True] Translation: X:277.47, Y:-193.06, Z:-14.37 [[ 7.22383238e-01 6.90356310e-01 3.96310817e-02 2.77470330e+02] [-6.89345459e-01 7.23469452e-01 -3.73468819e-02 -1.93061467e+02] [-5.44545325e-02 -3.40744727e-04 9.98516193e-01 -1.43689717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45864 meters Centerline goodness [0,1] 0.9995106195556426 Centerline is valid? [True, True] Translation: X:277.50, Y:-193.08, Z:-14.37 [[ 7.18175773e-01 6.94799603e-01 3.84326859e-02 2.77495837e+02] [-6.93853375e-01 7.19203112e-01 -3.62543616e-02 -1.93081263e+02] [-5.28304233e-02 -6.29644687e-04 9.98603300e-01 -1.43704819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48864 meters Centerline goodness [0,1] 0.999315001467854 Centerline is valid? [True, True] Translation: X:277.52, Y:-193.10, Z:-14.37 [[ 7.16440549e-01 6.96629187e-01 3.76923745e-02 2.77519408e+02] [-6.95719841e-01 7.17431007e-01 -3.55900656e-02 -1.93103959e+02] [-5.18347566e-02 -7.25166661e-04 9.98655412e-01 -1.43722560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51864 meters Centerline goodness [0,1] 0.999019800039208 Centerline is valid? [True, True] Translation: X:277.54, Y:-193.13, Z:-14.37 [[ 7.15558716e-01 6.97559957e-01 3.72267369e-02 2.77543813e+02] [-6.96672284e-01 7.16526018e-01 -3.51879810e-02 -1.93126464e+02] [-5.12196521e-02 -7.55769322e-04 9.98687126e-01 -1.43742512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54864 meters Centerline goodness [0,1] 0.999657098069952 Centerline is valid? [True, True] Translation: X:277.57, Y:-193.15, Z:-14.37 [[ 7.14447561e-01 6.98750694e-01 3.62236233e-02 2.77569993e+02] [-6.97909961e-01 7.15364830e-01 -3.42760382e-02 -1.93147078e+02] [-4.98635117e-02 -7.92395627e-04 9.98755727e-01 -1.43744255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57864 meters Centerline goodness [0,1] 0.9999020232204967 Centerline is valid? [True, True] Translation: X:277.59, Y:-193.17, Z:-14.38 [[ 7.13767402e-01 6.99417997e-01 3.67499792e-02 2.77594603e+02] [-6.98551599e-01 7.14712380e-01 -3.48120364e-02 -1.93169719e+02] [-5.06138299e-02 -8.24059993e-04 9.98717959e-01 -1.43756830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60864 meters Centerline goodness [0,1] 0.9999511002444987 Centerline is valid? [True, True] Translation: X:277.62, Y:-193.19, Z:-14.38 [[ 7.12035333e-01 7.01104574e-01 3.81845622e-02 2.77616768e+02] [-7.00169536e-01 7.13057829e-01 -3.62098501e-02 -1.93192800e+02] [-5.26146926e-02 -9.52974573e-04 9.98614433e-01 -1.43757904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63864 meters Centerline goodness [0,1] 0.9999021526418786 Centerline is valid? [True, True] Translation: X:277.64, Y:-193.21, Z:-14.38 [[ 7.11284566e-01 7.01798501e-01 3.94097797e-02 2.77640479e+02] [-7.00801565e-01 7.12374791e-01 -3.74075489e-02 -1.93214283e+02] [-5.43270953e-02 -1.01102305e-03 9.98522681e-01 -1.43770932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66864 meters Centerline goodness [0,1] 0.9999019175126281 Centerline is valid? [True, True] Translation: X:277.67, Y:-193.23, Z:-14.38 [[ 7.10044480e-01 7.03009684e-01 4.01773677e-02 2.77666323e+02] [-7.01973429e-01 7.11179426e-01 -3.81723647e-02 -1.93233347e+02] [-5.54088593e-02 -1.09936765e-03 9.98463144e-01 -1.43781216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.69, Y:-193.25, Z:-14.38 [[ 7.08671304e-01 7.04382628e-01 4.03744407e-02 2.77690194e+02] [-7.03336387e-01 7.09819487e-01 -3.83956097e-02 -1.93254402e+02] [-5.57037653e-02 -1.18694646e-03 9.98446634e-01 -1.43807844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:277.72, Y:-193.28, Z:-14.38 [[ 7.07442990e-01 7.05644551e-01 3.98770987e-02 2.77715275e+02] [-7.04623925e-01 7.08564901e-01 -3.79592683e-02 -1.93275718e+02] [-5.50412633e-02 -1.24433950e-03 9.98483305e-01 -1.43817197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.74, Y:-193.30, Z:-14.38 [[ 7.05809267e-01 7.07371011e-01 3.82037979e-02 2.77739771e+02] [-7.06434825e-01 7.06841267e-01 -3.64041204e-02 -1.93297669e+02] [-5.27552404e-02 -1.29412774e-03 9.98606634e-01 -1.43821573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.76, Y:-193.32, Z:-14.38 [[ 7.04669297e-01 7.08538732e-01 3.76038154e-02 2.77763580e+02] [-7.07631417e-01 7.05670666e-01 -3.58704375e-02 -1.93320198e+02] [-5.19515038e-02 -1.33284519e-03 9.98648719e-01 -1.43828194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81864 meters Centerline goodness [0,1] 0.9999510715334181 Centerline is valid? [True, True] Translation: X:277.79, Y:-193.34, Z:-14.38 [[ 7.03780612e-01 7.09411518e-01 3.77908550e-02 2.77787583e+02] [-7.08494389e-01 7.04793162e-01 -3.60873728e-02 -1.93343424e+02] [-5.22355341e-02 -1.37701547e-03 9.98633843e-01 -1.43830469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84864 meters Centerline goodness [0,1] 0.9999509779891171 Centerline is valid? [True, True] Translation: X:277.81, Y:-193.36, Z:-14.38 [[ 7.01939116e-01 7.11110400e-01 4.00434374e-02 2.77811792e+02] [-7.10081088e-01 7.03078624e-01 -3.82791886e-02 -1.93364720e+02] [-5.53744140e-02 -1.56442780e-03 9.98464434e-01 -1.43847771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.84, Y:-193.39, Z:-14.39 [[ 7.00681311e-01 7.12291607e-01 4.10653921e-02 2.77836804e+02] [-7.11208976e-01 7.01881659e-01 -3.92928649e-02 -1.93385331e+02] [-5.68110234e-02 -1.67429939e-03 9.98383546e-01 -1.43864374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90864 meters Centerline goodness [0,1] 0.999951057165231 Centerline is valid? [True, True] Translation: X:277.86, Y:-193.41, Z:-14.39 [[ 6.96769335e-01 7.16178567e-01 4.00094360e-02 2.77862455e+02] [-7.15155380e-01 6.97914460e-01 -3.83169459e-02 -1.93405589e+02] [-5.53649393e-02 -1.91489049e-03 9.98464349e-01 -1.43877662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93864 meters Centerline goodness [0,1] 0.9996568963827076 Centerline is valid? [True, True] Translation: X:277.89, Y:-193.43, Z:-14.39 [[ 6.94555106e-01 7.18417196e-01 3.83397604e-02 2.77885804e+02] [-7.17479359e-01 6.95609661e-01 -3.67500882e-02 -1.93427582e+02] [-5.30714030e-02 -1.98302527e-03 9.98588751e-01 -1.43886498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96864 meters Centerline goodness [0,1] 0.9996568963827076 Centerline is valid? [True, True] Translation: X:277.91, Y:-193.45, Z:-14.39 [[ 6.94183539e-01 7.18777159e-01 3.83224474e-02 2.77909496e+02] [-7.17838875e-01 6.95237696e-01 -3.67681353e-02 -1.93449902e+02] [-5.30713059e-02 -1.98550819e-03 9.98588751e-01 -1.43899162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99864 meters Centerline goodness [0,1] 0.9998528762689421 Centerline is valid? [True, True] Translation: X:277.93, Y:-193.47, Z:-14.39 [[ 6.92540641e-01 7.20387233e-01 3.78113098e-02 2.77933042e+02] [-7.19474324e-01 6.93569037e-01 -3.63137329e-02 -1.93472187e+02] [-5.23847033e-02 -2.05553067e-03 9.98624863e-01 -1.43916731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02864 meters Centerline goodness [0,1] 0.9997059688326962 Centerline is valid? [True, True] Translation: X:277.96, Y:-193.49, Z:-14.39 [[ 6.90630991e-01 7.22160956e-01 3.88894327e-02 2.77958548e+02] [-7.21196147e-01 6.91721466e-01 -3.73835657e-02 -1.93491967e+02] [-5.38976069e-02 -2.22865998e-03 9.98543981e-01 -1.43927950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05864 meters Centerline goodness [0,1] 0.9999021334899197 Centerline is valid? [True, True] Translation: X:277.98, Y:-193.51, Z:-14.39 [[ 6.90116709e-01 7.22581812e-01 4.01802524e-02 2.77983597e+02] [-7.21550569e-01 6.91281548e-01 -3.86600246e-02 -1.93511994e+02] [-5.57108978e-02 -2.31215503e-03 9.98444265e-01 -1.43942960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08864 meters Centerline goodness [0,1] 0.9997555968325349 Centerline is valid? [True, True] Translation: X:278.01, Y:-193.53, Z:-14.40 [[ 6.89540904e-01 7.23101749e-01 4.07087438e-02 2.78009991e+02] [-7.22042073e-01 6.90737496e-01 -3.92040397e-02 -1.93530798e+02] [-5.64675654e-02 -2.36063682e-03 9.98401643e-01 -1.43960532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11864 meters Centerline goodness [0,1] 0.9999021765712888 Centerline is valid? [True, True] Translation: X:278.03, Y:-193.55, Z:-14.40 [[ 6.89889351e-01 7.22817193e-01 3.98495700e-02 2.78034603e+02] [-7.21799831e-01 6.91035568e-01 -3.84037567e-02 -1.93552439e+02] [-5.52963659e-02 -2.26907011e-03 9.98467407e-01 -1.43960507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14864 meters Centerline goodness [0,1] 0.9999021670009294 Centerline is valid? [True, True] Translation: X:278.06, Y:-193.57, Z:-14.40 [[ 6.90175930e-01 7.22545236e-01 3.98191844e-02 2.78059247e+02] [-7.21527933e-01 6.91320040e-01 -3.83932704e-02 -1.93572602e+02] [-5.52686748e-02 -2.23254273e-03 9.98469023e-01 -1.43973893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17864000000003 meters Centerline goodness [0,1] 0.999853228962818 Centerline is valid? [True, True] Translation: X:278.09, Y:-193.59, Z:-14.40 [[ 6.91398784e-01 7.21361851e-01 4.00599820e-02 2.78085877e+02] [-7.20328276e-01 6.92555093e-01 -3.86602865e-02 -1.93591320e+02] [-5.56318004e-02 -2.12666266e-03 9.98449087e-01 -1.43990593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20864 meters Centerline goodness [0,1] 0.9998041807411759 Centerline is valid? [True, True] Translation: X:278.11, Y:-193.61, Z:-14.40 [[ 6.91667086e-01 7.21070320e-01 4.06723120e-02 2.78110380e+02] [-7.20002353e-01 6.92858672e-01 -3.92870529e-02 -1.93611653e+02] [-5.65088919e-02 -2.11059898e-03 9.98399865e-01 -1.44006899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23864 meters Centerline goodness [0,1] 0.9998036038690038 Centerline is valid? [True, True] Translation: X:278.14, Y:-193.63, Z:-14.40 [[ 6.91152245e-01 7.21597982e-01 4.00615287e-02 2.78137684e+02] [-7.20560743e-01 6.92309149e-01 -3.87331709e-02 -1.93631231e+02] [-5.56847408e-02 -2.09624688e-03 9.98446201e-01 -1.44033630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26864 meters Centerline goodness [0,1] 0.9997060840599589 Centerline is valid? [True, True] Translation: X:278.16, Y:-193.65, Z:-14.40 [[ 6.89592074e-01 7.23145960e-01 3.90216775e-02 2.78163460e+02] [-7.22162357e-01 6.90691936e-01 -3.77647893e-02 -1.93651042e+02] [-5.42614128e-02 -2.13768723e-03 9.98524476e-01 -1.44042409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29864 meters Centerline goodness [0,1] 0.9998041232065031 Centerline is valid? [True, True] Translation: X:278.19, Y:-193.67, Z:-14.40 [[ 6.87966014e-01 7.24695715e-01 3.89728590e-02 2.78189409e+02] [-7.23715197e-01 6.89065405e-01 -3.77515687e-02 -1.93670924e+02] [-5.42132490e-02 -2.23345406e-03 9.98526883e-01 -1.44048913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32864 meters Centerline goodness [0,1] 0.9999510739272959 Centerline is valid? [True, True] Translation: X:278.22, Y:-193.69, Z:-14.41 [[ 6.85394304e-01 7.27208176e-01 3.74555274e-02 2.78215828e+02] [-7.26304843e-01 6.86413065e-01 -3.63094813e-02 -1.93689182e+02] [-5.21145150e-02 -2.31781932e-03 9.98638426e-01 -1.44052954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35864 meters Centerline goodness [0,1] 0.9999510643503793 Centerline is valid? [True, True] Translation: X:278.24, Y:-193.71, Z:-14.41 [[ 6.84997959e-01 7.27560650e-01 3.78588961e-02 2.78240930e+02] [-7.26637091e-01 6.86039326e-01 -3.67230371e-02 -1.93710722e+02] [-5.26909283e-02 -2.35447271e-03 9.98608093e-01 -1.44067365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.27, Y:-193.73, Z:-14.41 [[ 6.85859053e-01 7.26645767e-01 3.97905560e-02 2.78269397e+02] [-7.25621761e-01 6.87008220e-01 -3.86363282e-02 -1.93728129e+02] [-5.54113634e-02 -2.37381777e-03 9.98460788e-01 -1.44081994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41864 meters Centerline goodness [0,1] 0.9998039407901186 Centerline is valid? [True, True] Translation: X:278.30, Y:-193.75, Z:-14.41 [[ 6.86566744e-01 7.25954200e-01 4.02070389e-02 2.78295441e+02] [-7.24905466e-01 6.87739141e-01 -3.90760625e-02 -1.93747323e+02] [-5.60193861e-02 -2.31797732e-03 9.98426991e-01 -1.44088386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44864 meters Centerline goodness [0,1] 0.9999511098073727 Centerline is valid? [True, True] Translation: X:278.32, Y:-193.77, Z:-14.41 [[ 6.87513678e-01 7.25050183e-01 4.03382623e-02 2.78320071e+02] [-7.23991030e-01 6.88692437e-01 -3.92392050e-02 -1.93767798e+02] [-5.62310490e-02 -2.22704994e-03 9.98415299e-01 -1.44105582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.35, Y:-193.79, Z:-14.41 [[ 6.89861102e-01 7.22744081e-01 4.16251499e-02 2.78347061e+02] [-7.21610284e-01 6.91112619e-01 -4.05209276e-02 -1.93786677e+02] [-5.80539270e-02 -2.08332446e-03 9.98311275e-01 -1.44112523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50864 meters Centerline goodness [0,1] 0.9999021334899197 Centerline is valid? [True, True] Translation: X:278.37, Y:-193.81, Z:-14.41 [[ 6.89912686e-01 7.22677100e-01 4.19320230e-02 2.78372298e+02] [-7.21525023e-01 6.91182679e-01 -4.08429422e-02 -1.93807918e+02] [-5.84989470e-02 -2.07693994e-03 9.98285310e-01 -1.44125344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53864 meters Centerline goodness [0,1] 0.9999509875998628 Centerline is valid? [True, True] Translation: X:278.40, Y:-193.83, Z:-14.42 [[ 6.91267615e-01 7.21301014e-01 4.32889355e-02 2.78397934e+02] [-7.20067790e-01 6.92618850e-01 -4.22078892e-02 -1.93827302e+02] [-6.04273260e-02 -1.99402122e-03 9.98170608e-01 -1.44151153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.42, Y:-193.85, Z:-14.42 [[ 6.91987380e-01 7.20661729e-01 4.24280355e-02 2.78421400e+02] [-7.19473681e-01 6.93284330e-01 -4.14060471e-02 -1.93849240e+02] [-5.92544457e-02 -1.87339285e-03 9.98241154e-01 -1.44171065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59864 meters Centerline goodness [0,1] 0.9999511074170049 Centerline is valid? [True, True] Translation: X:278.45, Y:-193.87, Z:-14.42 [[ 6.92421849e-01 7.20274679e-01 4.19090763e-02 2.78445933e+02] [-7.19112630e-01 6.93686657e-01 -4.09371202e-02 -1.93870673e+02] [-5.85577381e-02 -1.79158960e-03 9.98282416e-01 -1.44193081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62864 meters Centerline goodness [0,1] 0.9999510619555643 Centerline is valid? [True, True] Translation: X:278.47, Y:-193.89, Z:-14.42 [[ 6.95250882e-01 7.17586250e-01 4.11847723e-02 2.78471076e+02] [-7.16457214e-01 6.96468010e-01 -4.02662651e-02 -1.93891265e+02] [-5.75783946e-02 -1.51197090e-03 9.98339843e-01 -1.44214687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.49, Y:-193.91, Z:-14.42 [[ 6.96381413e-01 7.16511287e-01 4.07983224e-02 2.78494775e+02] [-7.15399419e-01 6.97574125e-01 -3.99250678e-02 -1.93913553e+02] [-5.70666158e-02 -1.38402098e-03 9.98369414e-01 -1.44225366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.52, Y:-193.94, Z:-14.42 [[ 6.98402860e-01 7.14472072e-01 4.19893302e-02 2.78517557e+02] [-7.13288869e-01 6.99662876e-01 -4.11199242e-02 -1.93936257e+02] [-5.87574129e-02 -1.23224920e-03 9.98271530e-01 -1.44229265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.54, Y:-193.96, Z:-14.42 [[ 6.99111650e-01 7.13680981e-01 4.36160223e-02 2.78542492e+02] [-7.12401249e-01 7.00469864e-01 -4.27367592e-02 -1.93958255e+02] [-6.10521214e-02 -1.19434250e-03 9.98133865e-01 -1.44246958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.57, Y:-193.98, Z:-14.43 [[ 6.99863139e-01 7.12906294e-01 4.42289763e-02 2.78567467e+02] [-7.11585902e-01 7.01258428e-01 -4.33834172e-02 -1.93980520e+02] [-6.19442536e-02 -1.11026146e-03 9.98078993e-01 -1.44261683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.59, Y:-194.00, Z:-14.43 [[ 6.99853083e-01 7.12910269e-01 4.43239184e-02 2.78590161e+02] [-7.11581355e-01 7.01254433e-01 -4.35223556e-02 -1.94004444e+02] [-6.21098785e-02 -1.08081915e-03 9.98068733e-01 -1.44296696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80864 meters Centerline goodness [0,1] 0.9999510882856444 Centerline is valid? [True, True] Translation: X:278.61, Y:-194.03, Z:-14.43 [[ 6.99211256e-01 7.13621265e-01 4.29919761e-02 2.78612810e+02] [-7.12369929e-01 7.00530887e-01 -4.22559078e-02 -1.94027825e+02] [-6.02719215e-02 -1.08038453e-03 9.98181410e-01 -1.44311394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.64, Y:-194.05, Z:-14.43 [[ 6.97027540e-01 7.15794166e-01 4.23240062e-02 2.78637059e+02] [-7.14583694e-01 6.98310250e-01 -4.16285869e-02 -1.94048759e+02] [-5.93527870e-02 -1.22777317e-03 9.98236314e-01 -1.44304341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86864 meters Centerline goodness [0,1] 0.9999022100528066 Centerline is valid? [True, True] Translation: X:278.66, Y:-194.07, Z:-14.43 [[ 6.95375096e-01 7.17404339e-01 4.22432323e-02 2.78660163e+02] [-7.16200139e-01 6.96655726e-01 -4.15711587e-02 -1.94071105e+02] [-5.92523193e-02 -1.34706042e-03 9.98242129e-01 -1.44316498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89864 meters Centerline goodness [0,1] 0.9999511002444987 Centerline is valid? [True, True] Translation: X:278.68, Y:-194.09, Z:-14.43 [[ 6.94282296e-01 7.18524294e-01 4.11695472e-02 2.78683513e+02] [-7.17380770e-01 6.95500483e-01 -4.05451429e-02 -1.94094749e+02] [-5.77661101e-02 -1.38446658e-03 9.98329184e-01 -1.44314197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.71, Y:-194.12, Z:-14.43 [[ 6.93137725e-01 7.19610229e-01 4.14875090e-02 2.78705267e+02] [-7.18449946e-01 6.94376658e-01 -4.08745863e-02 -1.94119021e+02] [-5.82217283e-02 -1.47498088e-03 9.98302587e-01 -1.44324726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.73, Y:-194.14, Z:-14.43 [[ 6.92663273e-01 7.20008034e-01 4.24972992e-02 2.78728802e+02] [-7.18790036e-01 6.93964039e-01 -4.18903004e-02 -1.94141700e+02] [-5.96529503e-02 -1.53076261e-03 9.98218003e-01 -1.44337006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98864 meters Centerline goodness [0,1] 0.9999511241446726 Centerline is valid? [True, True] Translation: X:278.75, Y:-194.16, Z:-14.44 [[ 6.91036349e-01 7.21422800e-01 4.49211321e-02 2.78751893e+02] [-7.20062084e-01 6.92492738e-01 -4.43215933e-02 -1.94163933e+02] [-6.30821657e-02 -1.71817198e-03 9.98006858e-01 -1.44374025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01864 meters Centerline goodness [0,1] 0.9999511050264033 Centerline is valid? [True, True] Translation: X:278.78, Y:-194.19, Z:-14.44 [[ 6.89851896e-01 7.22618779e-01 4.38914795e-02 2.78775210e+02] [-7.21319651e-01 6.91244540e-01 -4.33468334e-02 -1.94186949e+02] [-6.16629814e-02 -1.75689146e-03 9.98095481e-01 -1.44385404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04864 meters Centerline goodness [0,1] 0.9998042382420594 Centerline is valid? [True, True] Translation: X:278.80, Y:-194.21, Z:-14.44 [[ 6.88851887e-01 7.23635592e-01 4.28323237e-02 2.78799222e+02] [-7.22397794e-01 6.90179967e-01 -4.23443055e-02 -1.94209591e+02] [-6.02038583e-02 -1.77302142e-03 9.98184528e-01 -1.44391898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07864 meters Centerline goodness [0,1] 0.9995110980737264 Centerline is valid? [True, True] Translation: X:278.82, Y:-194.23, Z:-14.44 [[ 6.87821056e-01 7.24669069e-01 4.19158111e-02 2.78824961e+02] [-7.23483709e-01 6.89094693e-01 -4.14707866e-02 -1.94228889e+02] [-5.89365593e-02 -1.80092621e-03 9.98260106e-01 -1.44409463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10864 meters Centerline goodness [0,1] 0.9994618132002544 Centerline is valid? [True, True] Translation: X:278.85, Y:-194.25, Z:-14.44 [[ 6.87834895e-01 7.24653034e-01 4.19659176e-02 2.78850140e+02] [-7.23463940e-01 6.89111581e-01 -4.15349990e-02 -1.94250632e+02] [-5.90176629e-02 -1.79160644e-03 9.98255331e-01 -1.44426873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13864 meters Centerline goodness [0,1] 0.9996089166992569 Centerline is valid? [True, True] Translation: X:278.88, Y:-194.27, Z:-14.44 [[ 6.88201941e-01 7.24308268e-01 4.19001467e-02 2.78875856e+02] [-7.23121396e-01 6.89474056e-01 -4.14845989e-02 -1.94270305e+02] [-5.89367021e-02 -1.74911116e-03 9.98260189e-01 -1.44448350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16864 meters Centerline goodness [0,1] 0.999804391412783 Centerline is valid? [True, True] Translation: X:278.90, Y:-194.29, Z:-14.45 [[ 6.88569340e-01 7.23898002e-01 4.29411975e-02 2.78900750e+02] [-7.22649757e-01 6.89904797e-01 -4.25288154e-02 -1.94291986e+02] [-6.04118627e-02 -1.74740758e-03 9.98172006e-01 -1.44457898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19864 meters Centerline goodness [0,1] 0.999559277214632 Centerline is valid? [True, True] Translation: X:278.93, Y:-194.31, Z:-14.45 [[ 6.90517019e-01 7.21922781e-01 4.48747660e-02 2.78925731e+02] [-7.20554300e-01 6.91971695e-01 -4.44598086e-02 -1.94312251e+02] [-6.31486166e-02 -1.63445108e-03 9.98002796e-01 -1.44479077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22864 meters Centerline goodness [0,1] 0.9996569804478855 Centerline is valid? [True, True] Translation: X:278.95, Y:-194.33, Z:-14.45 [[ 6.92013591e-01 7.20478365e-01 4.50345918e-02 2.78949120e+02] [-7.19096303e-01 6.93475793e-01 -4.46299436e-02 -1.94334855e+02] [-6.33853081e-02 -1.49968086e-03 9.97988003e-01 -1.44499387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25864 meters Centerline goodness [0,1] 0.9998042957091834 Centerline is valid? [True, True] Translation: X:278.97, Y:-194.36, Z:-14.45 [[ 6.93503863e-01 7.19033001e-01 4.52098950e-02 2.78972121e+02] [-7.17636323e-01 6.94974590e-01 -4.48154774e-02 -1.94357047e+02] [-6.36435354e-02 -1.36455610e-03 9.97971762e-01 -1.44520527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28864 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:279.00, Y:-194.38, Z:-14.45 [[ 6.95765589e-01 7.16823229e-01 4.55489218e-02 2.78996290e+02] [-7.15399998e-01 6.97253976e-01 -4.51634397e-02 -1.94377815e+02] [-6.41333695e-02 -1.16253136e-03 9.97940659e-01 -1.44538982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.31864 meters Centerline goodness [0,1] 0.999951102635568 Centerline is valid? [True, True] Translation: X:279.02, Y:-194.40, Z:-14.46 [[ 6.96360154e-01 7.16256530e-01 4.53775128e-02 2.79019667e+02] [-7.14842047e-01 6.97836211e-01 -4.50052186e-02 -1.94399684e+02] [-6.39013533e-02 -1.09791317e-03 9.97955616e-01 -1.44556599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34864 meters Centerline goodness [0,1] 0.9998531067913626 Centerline is valid? [True, True] Translation: X:279.04, Y:-194.42, Z:-14.46 [[ 6.97300102e-01 7.15405727e-01 4.43532833e-02 2.79041788e+02] [-7.14052009e-01 6.98708572e-01 -4.40006859e-02 -1.94422615e+02] [-6.24683619e-02 -9.88868220e-04 9.98046455e-01 -1.44575177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37864 meters Centerline goodness [0,1] 0.9997066588442358 Centerline is valid? [True, True] Translation: X:279.06, Y:-194.45, Z:-14.46 [[ 6.97807712e-01 7.14940146e-01 4.38746388e-02 2.79063947e+02] [-7.13613897e-01 6.99185043e-01 -4.35371311e-02 -1.94445356e+02] [-6.18029341e-02 -9.29006149e-04 9.98087939e-01 -1.44581791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40864 meters Centerline goodness [0,1] 0.9996579693149614 Centerline is valid? [True, True] Translation: X:279.09, Y:-194.47, Z:-14.46 [[ 6.98292756e-01 7.14427634e-01 4.45014867e-02 2.79087513e+02] [-7.13061263e-01 6.99708775e-01 -4.41731385e-02 -1.94468586e+02] [-6.26965916e-02 -8.86503670e-04 9.98032240e-01 -1.44597919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43864 meters Centerline goodness [0,1] 0.9999510619555643 Centerline is valid? [True, True] Translation: X:279.11, Y:-194.49, Z:-14.46 [[ 6.98570008e-01 7.14137351e-01 4.48083423e-02 2.79112017e+02] [-7.12750330e-01 7.00005082e-01 -4.44955307e-02 -1.94491194e+02] [-6.31419877e-02 -8.53917489e-04 9.98004188e-01 -1.44603295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46864 meters Centerline goodness [0,1] 0.999951102635568 Centerline is valid? [True, True] Translation: X:279.13, Y:-194.51, Z:-14.46 [[ 6.98947793e-01 7.13786364e-01 4.45085315e-02 2.79134352e+02] [-7.12416191e-01 7.00363032e-01 -4.42130446e-02 -1.94513895e+02] [-6.27307984e-02 -8.05988553e-04 9.98030159e-01 -1.44621852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49864 meters Centerline goodness [0,1] 0.999951102635568 Centerline is valid? [True, True] Translation: X:279.16, Y:-194.54, Z:-14.46 [[ 7.00527045e-01 7.12289180e-01 4.36575720e-02 2.79155154e+02] [-7.10967345e-01 7.01885817e-01 -4.33789616e-02 -1.94539036e+02] [-6.15409956e-02 -6.50972291e-04 9.98104344e-01 -1.44637899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52864 meters Centerline goodness [0,1] 0.9996080544804272 Centerline is valid? [True, True] Translation: X:279.18, Y:-194.56, Z:-14.46 [[ 7.01985185e-01 7.10885840e-01 4.31059415e-02 2.79178433e+02] [-7.09593902e-01 7.03307230e-01 -4.28419814e-02 -1.94561442e+02] [-6.07724783e-02 -5.13276979e-04 9.98151513e-01 -1.44635778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.20, Y:-194.58, Z:-14.46 [[ 7.04863281e-01 7.08013941e-01 4.34052274e-02 2.79202284e+02] [-7.06697824e-01 7.06198408e-01 -4.31508296e-02 -1.94582767e+02] [-6.12040914e-02 -2.58944429e-04 9.98125239e-01 -1.44648554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58864 meters Centerline goodness [0,1] 0.9998045252406783 Centerline is valid? [True, True] Translation: X:279.22, Y:-194.61, Z:-14.47 [[ 7.05035853e-01 7.07796294e-01 4.41458014e-02 2.79223976e+02] [-7.06432950e-01 7.06416559e-01 -4.39105047e-02 -1.94607067e+02] [-6.22650176e-02 -2.27568584e-04 9.98059625e-01 -1.44669521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61864 meters Centerline goodness [0,1] 0.999951126533405 Centerline is valid? [True, True] Translation: X:279.24, Y:-194.63, Z:-14.47 [[ 7.06076742e-01 7.06678122e-01 4.54055735e-02 2.79243577e+02] [-7.05230729e-01 7.07535173e-01 -4.52061706e-02 -1.94632298e+02] [-6.40722520e-02 -1.02380023e-04 9.97945257e-01 -1.44694738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64864 meters Centerline goodness [0,1] 0.9996576347451824 Centerline is valid? [True, True] Translation: X:279.27, Y:-194.65, Z:-14.47 [[ 7.05728920e-01 7.07024534e-01 4.54202507e-02 2.79267347e+02] [-7.05574238e-01 7.07189011e-01 -4.52625461e-02 -1.94654862e+02] [-6.41224328e-02 -1.04270964e-04 9.97942034e-01 -1.44702183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67864000000003 meters Centerline goodness [0,1] 0.9999511098073727 Centerline is valid? [True, True] Translation: X:279.29, Y:-194.68, Z:-14.47 [[ 7.04924471e-01 7.07850577e-01 4.50450002e-02 2.79291607e+02] [-7.06422907e-01 7.06362188e-01 -4.49348042e-02 -1.94677774e+02] [-6.36252120e-02 -1.45176928e-04 9.97973853e-01 -1.44709540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70864 meters Centerline goodness [0,1] 0.9998533079067038 Centerline is valid? [True, True] Translation: X:279.31, Y:-194.70, Z:-14.47 [[ 7.04450182e-01 7.08382809e-01 4.40878330e-02 2.79311954e+02] [-7.07014196e-01 7.05828427e-01 -4.40131552e-02 -1.94702751e+02] [-6.22966083e-02 -1.65648549e-04 9.98057666e-01 -1.44717330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73864 meters Centerline goodness [0,1] 0.999755285826155 Centerline is valid? [True, True] Translation: X:279.33, Y:-194.73, Z:-14.47 [[ 7.03866142e-01 7.08996454e-01 4.35486241e-02 2.79334091e+02] [-7.07660734e-01 7.05212017e-01 -4.35005287e-02 -1.94727445e+02] [-6.15527336e-02 -1.99102027e-04 9.98103813e-01 -1.44719943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76864 meters Centerline goodness [0,1] 0.9998042957091834 Centerline is valid? [True, True] Translation: X:279.36, Y:-194.75, Z:-14.47 [[ 7.01763575e-01 7.10962730e-01 4.53859183e-02 2.79357757e+02] [-7.09512914e-01 7.03229600e-01 -4.53823033e-02 -1.94749617e+02] [-6.41818474e-02 -3.54247760e-04 9.97938157e-01 -1.44723838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79864 meters Centerline goodness [0,1] 0.9996573162970578 Centerline is valid? [True, True] Translation: X:279.23, Y:-195.00, Z:-12.87 [[ 7.60082733e-01 -6.49788388e-01 -7.02060380e-03 2.79226298e+02] [-6.49721451e-01 -7.60109808e-01 9.75273265e-03 -1.95002870e+02] [-1.16736422e-02 -2.85144680e-03 -9.99927795e-01 -1.28664914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82864 meters Centerline goodness [0,1] 0.9992665036674817 Centerline is valid? [True, True] Translation: X:279.22, Y:-195.08, Z:-12.87 [[ 8.09692081e-01 -5.86804869e-01 -7.66679400e-03 2.79224042e+02] [-5.86737467e-01 -8.09722298e-01 9.43103675e-03 -1.95077748e+02] [-1.17421523e-02 -3.13784047e-03 -9.99926135e-01 -1.28673522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85864 meters Centerline goodness [0,1] 0.9992665036674817 Centerline is valid? [True, True] Translation: X:279.22, Y:-195.15, Z:-12.87 [[ 8.53132361e-01 -5.21628766e-01 -8.28279414e-03 2.79224567e+02] [-5.21565017e-01 -8.53166815e-01 8.73608296e-03 -1.95151637e+02] [-1.16235973e-02 -3.13301942e-03 -9.99927535e-01 -1.28686666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88864 meters Centerline goodness [0,1] 0.9993138263980788 Centerline is valid? [True, True] Translation: X:279.34, Y:-194.91, Z:-14.48 [[ 8.40330648e-01 5.39251568e-01 5.52462496e-02 2.79339873e+02] [-5.38148922e-01 8.42144387e-01 -3.44756190e-02 -1.94910003e+02] [-6.51163507e-02 -7.59790431e-04 9.97877389e-01 -1.44783935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91864 meters Centerline goodness [0,1] 0.9998043627115328 Centerline is valid? [True, True] Translation: X:279.37, Y:-194.92, Z:-14.48 [[ 8.39561925e-01 5.40630900e-01 5.34228877e-02 2.79368862e+02] [-5.39602004e-01 8.41259498e-01 -3.33486776e-02 -1.94924474e+02] [-6.29718373e-02 -8.28817283e-04 9.98014960e-01 -1.44796582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94864 meters Centerline goodness [0,1] 0.999363712006265 Centerline is valid? [True, True] Translation: X:279.40, Y:-194.94, Z:-14.48 [[ 8.39415222e-01 5.41009805e-01 5.18697974e-02 2.79399317e+02] [-5.40040071e-01 8.41015881e-01 -3.23884323e-02 -1.94936280e+02] [-6.11457828e-02 -8.24425962e-04 9.98128506e-01 -1.44808055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97864 meters Centerline goodness [0,1] 0.9994622078810991 Centerline is valid? [True, True] Translation: X:279.43, Y:-194.95, Z:-14.48 [[ 8.39782541e-01 5.40436635e-01 5.18991981e-02 2.79427358e+02] [-5.39464131e-01 8.41384361e-01 -3.24161853e-02 -1.94952926e+02] [-6.11860677e-02 -7.75209334e-04 9.98126076e-01 -1.44822244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00864 meters Centerline goodness [0,1] 0.9992181009627132 Centerline is valid? [True, True] Translation: X:279.46, Y:-194.97, Z:-14.48 [[ 8.41048572e-01 5.38399024e-01 5.25717666e-02 2.79455918e+02] [-5.37396544e-01 8.42689800e-01 -3.28459504e-02 -1.94968820e+02] [-6.19859190e-02 -6.26845974e-04 9.98076827e-01 -1.44831317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03864 meters Centerline goodness [0,1] 0.9991208791208791 Centerline is valid? [True, True] Translation: X:279.49, Y:-194.98, Z:-14.48 [[ 8.43991456e-01 5.33782549e-01 5.24843937e-02 2.79486484e+02] [-5.32773861e-01 8.45621731e-01 -3.28009240e-02 -1.94980044e+02] [-6.18905047e-02 -2.78613444e-04 9.98082906e-01 -1.44840893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06864 meters Centerline goodness [0,1] 0.9986809321412868 Centerline is valid? [True, True] Translation: X:279.52, Y:-194.99, Z:-14.49 [[ 8.45948044e-01 5.30628395e-01 5.29661576e-02 2.79515360e+02] [-5.29594289e-01 8.47604569e-01 -3.31116854e-02 -1.94994230e+02] [-6.24643577e-02 -3.98090805e-05 9.98047194e-01 -1.44856223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09864 meters Centerline goodness [0,1] 0.9985817683881064 Centerline is valid? [True, True] Translation: X:279.54, Y:-195.01, Z:-14.49 [[ 8.49763099e-01 5.24465319e-01 5.32804295e-02 2.79543574e+02] [-5.23406245e-01 8.51431706e-01 -3.33159663e-02 -1.95008359e+02] [-6.28377158e-02 4.23369249e-04 9.98023668e-01 -1.44875276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12864 meters Centerline goodness [0,1] 0.9986313422621957 Centerline is valid? [True, True] Translation: X:279.57, Y:-195.02, Z:-14.49 [[ 8.51120477e-01 5.22281661e-01 5.30641064e-02 2.79571720e+02] [-5.21226522e-01 8.52772842e-01 -3.31872276e-02 -1.95024046e+02] [-6.25847092e-02 5.87909407e-04 9.98039482e-01 -1.44892864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15864 meters Centerline goodness [0,1] 0.9979958940267866 Centerline is valid? [True, True] Translation: X:279.60, Y:-195.04, Z:-14.49 [[ 8.51898507e-01 5.21088713e-01 5.23018798e-02 2.79599810e+02] [-5.20060884e-01 8.53502255e-01 -3.27196861e-02 -1.95039546e+02] [-6.16896315e-02 6.73689901e-04 9.98095154e-01 -1.44911001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18864 meters Centerline goodness [0,1] 0.9979448032883147 Centerline is valid? [True, True] Translation: X:279.63, Y:-195.05, Z:-14.49 [[ 8.53226399e-01 5.19154132e-01 4.98367191e-02 2.79626856e+02] [-5.18217281e-01 8.54680278e-01 -3.11844968e-02 -1.95054822e+02] [-5.87840213e-02 7.81186910e-04 9.98270419e-01 -1.44929636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21864 meters Centerline goodness [0,1] 0.9973090660012721 Centerline is valid? [True, True] Translation: X:279.65, Y:-195.07, Z:-14.49 [[ 8.54099369e-01 5.17812281e-01 4.88334885e-02 2.79652558e+02] [-5.16910446e-01 8.55493837e-01 -3.05595423e-02 -1.95071310e+02] [-5.76008547e-02 8.58345451e-04 9.98339323e-01 -1.44931815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24864 meters Centerline goodness [0,1] 0.9965775191903389 Centerline is valid? [True, True] Translation: X:279.68, Y:-195.09, Z:-14.49 [[ 8.54081873e-01 5.17741544e-01 4.98783223e-02 2.79678238e+02] [-5.16800638e-01 8.55536626e-01 -3.12118983e-02 -1.95086474e+02] [-5.88324280e-02 8.80367785e-04 9.98267484e-01 -1.44948427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27864 meters Centerline goodness [0,1] 0.9976544175136826 Centerline is valid? [True, True] Translation: X:279.70, Y:-195.10, Z:-14.50 [[ 8.53551709e-01 5.18509787e-01 5.09615597e-02 2.79704824e+02] [-5.17529071e-01 8.55071278e-01 -3.18868477e-02 -1.95101499e+02] [-6.01094085e-02 8.42984725e-04 9.98191439e-01 -1.44960348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30864 meters Centerline goodness [0,1] 0.9979914760201832 Centerline is valid? [True, True] Translation: X:279.73, Y:-195.12, Z:-14.50 [[ 8.53676643e-01 5.18196886e-01 5.20401452e-02 2.79730431e+02] [-5.17173647e-01 8.55260901e-01 -3.25608852e-02 -1.95117027e+02] [-6.13808508e-02 8.82675504e-04 9.98114028e-01 -1.44972354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33864 meters Centerline goodness [0,1] 0.9974557197377434 Centerline is valid? [True, True] Translation: X:279.76, Y:-195.14, Z:-14.50 [[ 8.54922077e-01 5.15913400e-01 5.42365821e-02 2.79755167e+02] [-5.14797246e-01 8.56640048e-01 -3.39355655e-02 -1.95136257e+02] [-6.39690414e-02 1.09142103e-03 9.97951287e-01 -1.44989640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36864 meters Centerline goodness [0,1] 0.9964297941018242 Centerline is valid? [True, True] Translation: X:279.78, Y:-195.15, Z:-14.50 [[ 8.56648799e-01 5.13200938e-01 5.27032505e-02 2.79782093e+02] [-5.12141543e-01 8.58267559e-01 -3.29823878e-02 -1.95154393e+02] [-6.21600825e-02 1.26279883e-03 9.98065393e-01 -1.45002326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39864 meters Centerline goodness [0,1] 0.9958388407499877 Centerline is valid? [True, True] Translation: X:279.81, Y:-195.17, Z:-14.50 [[ 8.59808621e-01 5.08068521e-01 5.09461838e-02 2.79808437e+02] [-5.07069109e-01 8.61315191e-01 -3.18913761e-02 -1.95173060e+02] [-6.00837263e-02 1.58724402e-03 9.98192079e-01 -1.45014486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42864000000003 meters Centerline goodness [0,1] 0.9947219235656338 Centerline is valid? [True, True] Translation: X:279.83, Y:-195.19, Z:-14.50 [[ 8.60163436e-01 5.07566120e-01 4.99549458e-02 2.79834602e+02] [-5.06603914e-01 8.61611328e-01 -3.12792884e-02 -1.95192603e+02] [-5.89180542e-02 1.59792912e-03 9.98261544e-01 -1.45019939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45864 meters Centerline goodness [0,1] 0.9955968688845401 Centerline is valid? [True, True] Translation: X:279.86, Y:-195.22, Z:-14.50 [[ 8.59451924e-01 5.08684259e-01 5.08204132e-02 2.79857720e+02] [-5.07689818e-01 8.60951744e-01 -3.18299196e-02 -1.95217298e+02] [-5.99453025e-02 1.55527936e-03 9.98200452e-01 -1.45013709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48864 meters Centerline goodness [0,1] 0.9952089953556588 Centerline is valid? [True, True] Translation: X:279.88, Y:-195.24, Z:-14.50 [[ 8.58993719e-01 5.09480003e-01 5.05956219e-02 2.79883752e+02] [-5.08495212e-01 8.60481188e-01 -3.16977030e-02 -1.95236867e+02] [-5.96859267e-02 1.50049629e-03 9.98216078e-01 -1.45003504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51864 meters Centerline goodness [0,1] 0.9946183953033269 Centerline is valid? [True, True] Translation: X:279.91, Y:-195.25, Z:-14.50 [[ 8.58637031e-01 5.09978785e-01 5.16148061e-02 2.79909953e+02] [-5.08954282e-01 8.60185667e-01 -3.23443655e-02 -1.95254705e+02] [-6.08932566e-02 1.50249341e-03 9.98143153e-01 -1.45010178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54864 meters Centerline goodness [0,1] 0.9958924205378973 Centerline is valid? [True, True] Translation: X:279.93, Y:-195.28, Z:-14.50 [[ 8.56641472e-01 5.13467526e-01 5.01646114e-02 2.79934425e+02] [-5.12505374e-01 8.58108151e-01 -3.14427057e-02 -1.95275555e+02] [-5.91914702e-02 1.22549278e-03 9.98245896e-01 -1.45027038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57864 meters Centerline goodness [0,1] 0.9966249266288397 Centerline is valid? [True, True] Translation: X:279.96, Y:-195.30, Z:-14.50 [[ 8.55829681e-01 5.14945777e-01 4.88508236e-02 2.79959147e+02] [-5.14035329e-01 8.57222045e-01 -3.06275332e-02 -1.95295890e+02] [-5.76475218e-02 1.10090281e-03 9.98336392e-01 -1.45038179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60864 meters Centerline goodness [0,1] 0.996529644655164 Centerline is valid? [True, True] Translation: X:279.98, Y:-195.32, Z:-14.50 [[ 8.54337488e-01 5.17524679e-01 4.77039120e-02 2.79982823e+02] [-5.16659924e-01 8.55667792e-01 -2.99190965e-02 -1.95319536e+02] [-5.63025719e-02 9.14306162e-04 9.98413333e-01 -1.45047315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63864 meters Centerline goodness [0,1] 0.9963789391270307 Centerline is valid? [True, True] Translation: X:280.01, Y:-195.34, Z:-14.51 [[ 8.53979226e-01 5.18065047e-01 4.82502719e-02 2.80010898e+02] [-5.17180338e-01 8.55340747e-01 -3.02771246e-02 -1.95336893e+02] [-5.69559436e-02 9.01943536e-04 9.98376285e-01 -1.45058551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66864 meters Centerline goodness [0,1] 0.9970133176654916 Centerline is valid? [True, True] Translation: X:280.04, Y:-195.35, Z:-14.51 [[ 8.53658743e-01 5.18539460e-01 4.88219052e-02 2.80038803e+02] [-5.17633662e-01 8.55053234e-01 -3.06489630e-02 -1.95353840e+02] [-5.76380246e-02 8.91893601e-04 9.98337149e-01 -1.45074809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69864 meters Centerline goodness [0,1] 0.9965704767037382 Centerline is valid? [True, True] Translation: X:280.07, Y:-195.37, Z:-14.51 [[ 8.53496877e-01 5.19005850e-01 4.66477213e-02 2.80065709e+02] [-5.18179064e-01 8.54770283e-01 -2.92954100e-02 -1.95372349e+02] [-5.50775751e-02 8.31668357e-04 9.98481732e-01 -1.45079587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72864 meters Centerline goodness [0,1] 0.996717456273578 Centerline is valid? [True, True] Translation: X:280.09, Y:-195.39, Z:-14.51 [[ 8.52916594e-01 5.19910147e-01 4.71881711e-02 2.80092838e+02] [-5.19064838e-01 8.54220588e-01 -2.96459300e-02 -1.95391515e+02] [-5.57223270e-02 7.91785205e-04 9.98445990e-01 -1.45091507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75864 meters Centerline goodness [0,1] 0.9971600646330118 Centerline is valid? [True, True] Translation: X:280.12, Y:-195.41, Z:-14.51 [[ 8.52353459e-01 5.20848828e-01 4.70114809e-02 2.80120456e+02] [-5.20010641e-01 8.53648613e-01 -2.95462194e-02 -1.95407916e+02] [-5.55203992e-02 7.37352037e-04 9.98457281e-01 -1.45094888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78864 meters Centerline goodness [0,1] 0.9976961913631684 Centerline is valid? [True, True] Translation: X:280.15, Y:-195.42, Z:-14.51 [[ 8.51506493e-01 5.22221067e-01 4.71364903e-02 2.80147533e+02] [-5.21380039e-01 8.52809900e-01 -2.96332416e-02 -1.95424861e+02] [-5.56735686e-02 6.56872487e-04 9.98448808e-01 -1.45110971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81864 meters Centerline goodness [0,1] 0.9969655442443226 Centerline is valid? [True, True] Translation: X:280.17, Y:-195.44, Z:-14.51 [[ 8.51153245e-01 5.22808681e-01 4.70025287e-02 2.80172495e+02] [-5.21972857e-01 8.52449819e-01 -2.95574453e-02 -1.95444758e+02] [-5.55201860e-02 6.23871325e-04 9.98457370e-01 -1.45140173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84864 meters Centerline goodness [0,1] 0.9974929951334611 Centerline is valid? [True, True] Translation: X:280.20, Y:-195.46, Z:-14.52 [[ 8.51364213e-01 5.22476245e-01 4.68780320e-02 2.80198898e+02] [-5.21643805e-01 8.52653592e-01 -2.94888596e-02 -1.95464412e+02] [-5.53779510e-02 6.52124742e-04 9.98465251e-01 -1.45150734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87864 meters Centerline goodness [0,1] 0.9965238678090576 Centerline is valid? [True, True] Translation: X:280.23, Y:-195.48, Z:-14.52 [[ 8.51849280e-01 5.21640836e-01 4.73671167e-02 2.80225494e+02] [-5.20788984e-01 8.53164881e-01 -2.98080416e-02 -1.95483077e+02] [-5.59610522e-02 7.23686128e-04 9.98432690e-01 -1.45166073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90864 meters Centerline goodness [0,1] 0.997012293676838 Centerline is valid? [True, True] Translation: X:280.25, Y:-195.50, Z:-14.52 [[ 8.51812442e-01 5.21808141e-01 4.61717163e-02 2.80252059e+02] [-5.20998576e-01 8.53062584e-01 -2.90639217e-02 -1.95501102e+02] [-5.45531545e-02 7.01611650e-04 9.98510621e-01 -1.45177795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93864 meters Centerline goodness [0,1] 0.9962302947224126 Centerline is valid? [True, True] Translation: X:280.28, Y:-195.52, Z:-14.52 [[ 8.51518335e-01 5.22320146e-01 4.58060084e-02 2.80278401e+02] [-5.21523665e-01 8.52749211e-01 -2.88418299e-02 -1.95520407e+02] [-5.41257063e-02 6.70429631e-04 9.98533905e-01 -1.45186330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96864 meters Centerline goodness [0,1] 0.9965253988450622 Centerline is valid? [True, True] Translation: X:280.30, Y:-195.54, Z:-14.52 [[ 8.49393229e-01 5.25719987e-01 4.63641940e-02 2.80303354e+02] [-5.24908549e-01 8.50657556e-01 -2.92016793e-02 -1.95540894e+02] [-5.47919584e-02 4.66746906e-04 9.98497683e-01 -1.45204416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99864 meters Centerline goodness [0,1] 0.9968659713040497 Centerline is valid? [True, True] Translation: X:280.33, Y:-195.56, Z:-14.52 [[ 8.48406284e-01 5.27234060e-01 4.72337042e-02 2.80331226e+02] [-5.26393661e-01 8.49720012e-01 -2.97592990e-02 -1.95559368e+02] [-5.58255397e-02 3.84453815e-04 9.98440465e-01 -1.45221289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02864 meters Centerline goodness [0,1] 0.9964712801411488 Centerline is valid? [True, True] Translation: X:280.36, Y:-195.58, Z:-14.52 [[ 8.47167277e-01 5.28957258e-01 5.01181019e-02 2.80356421e+02] [-5.28013250e-01 8.48648414e-01 -3.15891995e-02 -1.95579335e+02] [-5.92419840e-02 2.98314218e-04 9.98243607e-01 -1.45245999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05864 meters Centerline goodness [0,1] 0.9974005591250183 Centerline is valid? [True, True] Translation: X:280.38, Y:-195.60, Z:-14.53 [[ 8.46725925e-01 5.29595160e-01 5.08347727e-02 2.80382321e+02] [-5.28624356e-01 8.48250491e-01 -3.20529991e-02 -1.95598556e+02] [-6.00957341e-02 2.67606319e-04 9.98192582e-01 -1.45256311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08864 meters Centerline goodness [0,1] 0.9971058569606592 Centerline is valid? [True, True] Translation: X:280.41, Y:-195.62, Z:-14.53 [[ 8.45543380e-01 5.31581877e-01 4.97704727e-02 2.80409089e+02] [-5.30653484e-01 8.47006899e-01 -3.14036926e-02 -1.95616712e+02] [-5.88495676e-02 1.42309599e-04 9.98266852e-01 -1.45275242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11864 meters Centerline goodness [0,1] 0.9965228463685782 Centerline is valid? [True, True] Translation: X:280.44, Y:-195.63, Z:-14.53 [[ 8.44800739e-01 5.32892678e-01 4.83436130e-02 2.80436929e+02] [-5.32017196e-01 8.46182834e-01 -3.05338344e-02 -1.95632850e+02] [-5.71787923e-02 7.53724698e-05 9.98363952e-01 -1.45273832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14864 meters Centerline goodness [0,1] 0.9960830395613004 Centerline is valid? [True, True] Translation: X:280.46, Y:-195.65, Z:-14.53 [[ 8.43946623e-01 5.34350473e-01 4.71557955e-02 2.80464022e+02] [-5.33518143e-01 8.45263020e-01 -2.98130699e-02 -1.95649788e+02] [-5.57896781e-02 2.16720960e-06 9.98442543e-01 -1.45296704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17864000000003 meters Centerline goodness [0,1] 0.9955357142857143 Centerline is valid? [True, True] Translation: X:280.49, Y:-195.67, Z:-14.53 [[ 8.42466945e-01 5.36689436e-01 4.70520579e-02 2.80492255e+02] [-5.35862655e-01 8.43779849e-01 -2.97788814e-02 -1.95667013e+02] [-5.56835894e-02 -1.25717436e-04 9.98448457e-01 -1.45308626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20864 meters Centerline goodness [0,1] 0.9949044585987261 Centerline is valid? [True, True] Translation: X:280.52, Y:-195.68, Z:-14.53 [[ 8.41798049e-01 5.37618367e-01 4.83997609e-02 2.80520185e+02] [-5.36743458e-01 8.43188272e-01 -3.06593698e-02 -1.95683832e+02] [-5.72931511e-02 -1.69257388e-04 9.98357384e-01 -1.45316694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23864 meters Centerline goodness [0,1] 0.9951035597120893 Centerline is valid? [True, True] Translation: X:280.55, Y:-195.70, Z:-14.53 [[ 8.40354252e-01 5.39679452e-01 5.05056504e-02 2.80548045e+02] [-5.38729332e-01 8.41870533e-01 -3.20111358e-02 -1.95699866e+02] [-5.97949711e-02 -3.08181189e-04 9.98210632e-01 -1.45322709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26864 meters Centerline goodness [0,1] 0.9956402468893897 Centerline is valid? [True, True] Translation: X:280.58, Y:-195.72, Z:-14.53 [[ 8.39768350e-01 5.40595659e-01 5.04524726e-02 2.80576767e+02] [-5.39647159e-01 8.41282483e-01 -3.20113867e-02 -1.95716754e+02] [-5.97499981e-02 -3.44384095e-04 9.98213313e-01 -1.45346400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29864 meters Centerline goodness [0,1] 0.9949997548899456 Centerline is valid? [True, True] Translation: X:280.61, Y:-195.73, Z:-14.54 [[ 8.40302835e-01 5.39955318e-01 4.83673392e-02 2.80605521e+02] [-5.39080699e-01 8.41693643e-01 -3.07215296e-02 -1.95732172e+02] [-5.72987352e-02 -2.58510533e-04 9.98357044e-01 -1.45350813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32864 meters Centerline goodness [0,1] 0.9955409643277147 Centerline is valid? [True, True] Translation: X:280.63, Y:-195.75, Z:-14.54 [[ 8.41396172e-01 5.38329411e-01 4.74755435e-02 2.80634384e+02] [-5.37482866e-01 8.42734495e-01 -3.01784459e-02 -1.95746811e+02] [-5.62552232e-02 -1.25262312e-04 9.98416413e-01 -1.45372812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35864 meters Centerline goodness [0,1] 0.9958888018794049 Centerline is valid? [True, True] Translation: X:280.66, Y:-195.76, Z:-14.54 [[ 8.42386289e-01 5.36667972e-01 4.87116726e-02 2.80662053e+02] [-5.35773420e-01 8.43793510e-01 -3.09734540e-02 -1.95764006e+02] [-5.77250539e-02 -6.80642919e-06 9.98332519e-01 -1.45397598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38864 meters Centerline goodness [0,1] 0.9959369492852947 Centerline is valid? [True, True] Translation: X:280.69, Y:-195.78, Z:-14.54 [[ 8.43919475e-01 5.34036219e-01 5.10415251e-02 2.80689433e+02] [-5.33048561e-01 8.45461579e-01 -3.24646095e-02 -1.95781063e+02] [-6.04909257e-02 1.89904698e-04 9.98168729e-01 -1.45411090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41864 meters Centerline goodness [0,1] 0.996917506605343 Centerline is valid? [True, True] Translation: X:280.72, Y:-195.80, Z:-14.54 [[ 8.44209031e-01 5.33554554e-01 5.12898585e-02 2.80717549e+02] [-5.32555169e-01 8.45765617e-01 -3.26421978e-02 -1.95798418e+02] [-6.07955921e-02 2.42158859e-04 9.98150208e-01 -1.45429941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44864 meters Centerline goodness [0,1] 0.9966704206042207 Centerline is valid? [True, True] Translation: X:280.74, Y:-195.82, Z:-14.54 [[ 8.45700455e-01 5.31458986e-01 4.83951200e-02 2.80744848e+02] [-5.30564020e-01 8.47083932e-01 -3.08323305e-02 -1.95816266e+02] [-5.73808476e-02 3.98206466e-04 9.98352282e-01 -1.45444871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47864 meters Centerline goodness [0,1] 0.9965192665947642 Centerline is valid? [True, True] Translation: X:280.77, Y:-195.83, Z:-14.54 [[ 8.45908746e-01 5.31261910e-01 4.68953751e-02 2.80772029e+02] [-5.30420035e-01 8.47207536e-01 -2.98994638e-02 -1.95834075e+02] [-5.56145615e-02 4.17971436e-04 9.98452225e-01 -1.45440390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50864 meters Centerline goodness [0,1] 0.9968151305796462 Centerline is valid? [True, True] Translation: X:280.80, Y:-195.85, Z:-14.55 [[ 8.45668513e-01 5.31635717e-01 4.69918113e-02 2.80799497e+02] [-5.30790397e-01 8.46973023e-01 -2.99708516e-02 -1.95852181e+02] [-5.57343716e-02 4.02603309e-04 9.98445551e-01 -1.45454125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53864 meters Centerline goodness [0,1] 0.9968639749117993 Centerline is valid? [True, True] Translation: X:280.83, Y:-195.87, Z:-14.55 [[ 8.44745555e-01 5.32903661e-01 4.91796284e-02 2.80825299e+02] [-5.31979150e-01 8.46175850e-01 -3.13785753e-02 -1.95871479e+02] [-5.83363715e-02 3.44375067e-04 9.98296924e-01 -1.45461652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56864 meters Centerline goodness [0,1] 0.9966216216216216 Centerline is valid? [True, True] Translation: X:280.85, Y:-195.89, Z:-14.55 [[ 8.43820575e-01 5.34275151e-01 5.01687199e-02 2.80852010e+02] [-5.33314338e-01 8.45310588e-01 -3.20285289e-02 -1.95890696e+02] [-5.95201972e-02 2.70633954e-04 9.98227065e-01 -1.45480922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59864 meters Centerline goodness [0,1] 0.9966146599941125 Centerline is valid? [True, True] Translation: X:280.88, Y:-195.91, Z:-14.55 [[ 8.42053804e-01 5.36998415e-01 5.07749381e-02 2.80878076e+02] [-5.36016905e-01 8.43583244e-01 -3.24528420e-02 -1.95911777e+02] [-6.02600117e-02 1.10813811e-04 9.98182708e-01 -1.45509770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62864 meters Centerline goodness [0,1] 0.9965226760701342 Centerline is valid? [True, True] Translation: X:280.90, Y:-195.93, Z:-14.55 [[ 8.40959311e-01 5.38831857e-01 4.94739007e-02 2.80904830e+02] [-5.37901210e-01 8.42413337e-01 -3.16553003e-02 -1.95930055e+02] [-5.87343580e-02 8.74849830e-06 9.98273647e-01 -1.45520932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65864 meters Centerline goodness [0,1] 0.9951477723864137 Centerline is valid? [True, True] Translation: X:280.93, Y:-195.95, Z:-14.55 [[ 8.37864005e-01 5.43800719e-01 4.75887357e-02 2.80931150e+02] [-5.42946350e-01 8.39214326e-01 -3.04725555e-02 -1.95948268e+02] [-5.65081463e-02 -3.06273035e-04 9.98402091e-01 -1.45501538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68864 meters Centerline goodness [0,1] 0.995150386989321 Centerline is valid? [True, True] Translation: X:280.96, Y:-195.97, Z:-14.55 [[ 8.35826977e-01 5.46973051e-01 4.70504555e-02 2.80958966e+02] [-5.46141896e-01 8.37150066e-01 -3.01462642e-02 -1.95966285e+02] [-5.58774860e-02 -4.99164069e-04 9.98437508e-01 -1.45512731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71864 meters Centerline goodness [0,1] 0.9951522867495838 Centerline is valid? [True, True] Translation: X:280.99, Y:-195.98, Z:-14.55 [[ 8.33927151e-01 5.49901978e-01 4.66188891e-02 2.80986810e+02] [-5.49088652e-01 8.35228938e-01 -2.99044010e-02 -1.95983847e+02] [-5.53819345e-02 -6.59811027e-04 9.98465025e-01 -1.45520084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74864 meters Centerline goodness [0,1] 0.9949024605430841 Centerline is valid? [True, True] Translation: X:281.01, Y:-196.00, Z:-14.55 [[ 8.32051654e-01 5.52685372e-01 4.72114850e-02 2.81013969e+02] [-5.51853819e-01 8.33389581e-01 -3.03177938e-02 -1.96000289e+02] [-5.61017609e-02 -8.27867818e-04 9.98424713e-01 -1.45532356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77864 meters Centerline goodness [0,1] 0.9949024605430841 Centerline is valid? [True, True] Translation: X:281.04, Y:-196.02, Z:-14.55 [[ 8.31760910e-01 5.53124017e-01 4.71975747e-02 2.81041526e+02] [-5.52291941e-01 8.33098512e-01 -3.03394367e-02 -1.96017624e+02] [-5.61017003e-02 -8.31682724e-04 9.98424713e-01 -1.45544906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80864 meters Centerline goodness [0,1] 0.9952373938233416 Centerline is valid? [True, True] Translation: X:281.07, Y:-196.03, Z:-14.56 [[ 8.31659212e-01 5.53189329e-01 4.82132935e-02 2.81069784e+02] [-5.52319045e-01 8.33055153e-01 -3.10287838e-02 -1.96034624e+02] [-5.73291247e-02 -8.23746338e-04 9.98354993e-01 -1.45559481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83864 meters Centerline goodness [0,1] 0.9949566665034519 Centerline is valid? [True, True] Translation: X:281.10, Y:-196.05, Z:-14.56 [[ 8.32677062e-01 5.51517114e-01 4.97773385e-02 2.81097272e+02] [-5.50584165e-01 8.34163283e-01 -3.20732706e-02 -1.96052026e+02] [-5.92113858e-02 -6.99937648e-04 9.98245221e-01 -1.45582719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86864 meters Centerline goodness [0,1] 0.995680981595092 Centerline is valid? [True, True] Translation: X:281.12, Y:-196.07, Z:-14.56 [[ 8.33453430e-01 5.50327137e-01 4.99542077e-02 2.81124696e+02] [-5.49383179e-01 8.34948920e-01 -3.22245780e-02 -1.96069932e+02] [-5.94432715e-02 -5.86316399e-04 9.98231513e-01 -1.45591769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89864 meters Centerline goodness [0,1] 0.9956894440362478 Centerline is valid? [True, True] Translation: X:281.15, Y:-196.09, Z:-14.56 [[ 8.34600470e-01 5.48549064e-01 5.03585111e-02 2.81152227e+02] [-5.47584249e-01 8.36118256e-01 -3.25231017e-02 -1.96088634e+02] [-5.99461875e-02 -4.31731566e-04 9.98201517e-01 -1.45606314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92864000000003 meters Centerline goodness [0,1] 0.9963201020558363 Centerline is valid? [True, True] Translation: X:281.18, Y:-196.11, Z:-14.56 [[ 8.34985582e-01 5.47977992e-01 5.01916159e-02 2.81179063e+02] [-5.47016303e-01 8.36492673e-01 -3.24526275e-02 -1.96107929e+02] [-5.97682446e-02 -3.58156117e-04 9.98212216e-01 -1.45624250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95864 meters Centerline goodness [0,1] 0.9969075201256626 Centerline is valid? [True, True] Translation: X:281.21, Y:-196.13, Z:-14.57 [[ 8.35669377e-01 5.46887408e-01 5.07035930e-02 2.81205237e+02] [-5.45901683e-01 8.37206127e-01 -3.28215391e-02 -1.96128096e+02] [-6.03990452e-02 -2.51221559e-04 9.98174279e-01 -1.45651764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98864 meters Centerline goodness [0,1] 0.9971500171981721 Centerline is valid? [True, True] Translation: X:281.23, Y:-196.15, Z:-14.57 [[ 8.37739710e-01 5.43734000e-01 5.04531032e-02 2.81230953e+02] [-5.42750015e-01 8.39257611e-01 -3.26968411e-02 -1.96149579e+02] [-6.01215350e-02 8.01964620e-06 9.98191064e-01 -1.45652540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01864 meters Centerline goodness [0,1] 0.9973530709278957 Centerline is valid? [True, True] Translation: X:281.26, Y:-196.17, Z:-14.57 [[ 8.37656861e-01 5.43847729e-01 5.06026747e-02 2.81258072e+02] [-5.42855813e-01 8.39183917e-01 -3.28316822e-02 -1.96167901e+02] [-6.03203866e-02 3.17277554e-05 9.98179067e-01 -1.45675858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04864 meters Centerline goodness [0,1] 0.9962765175640586 Centerline is valid? [True, True] Translation: X:281.28, Y:-196.19, Z:-14.57 [[ 8.35328686e-01 5.47543152e-01 4.92187190e-02 2.81282443e+02] [-5.46609161e-01 8.36777423e-01 -3.19682431e-02 -1.96189405e+02] [-5.86891054e-02 -1.99412214e-04 9.98276289e-01 -1.45684281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07864 meters Centerline goodness [0,1] 0.9973015405750172 Centerline is valid? [True, True] Translation: X:281.31, Y:-196.21, Z:-14.57 [[ 8.33917367e-01 5.49738101e-01 4.86810621e-02 2.81307684e+02] [-5.48826635e-01 8.35337005e-01 -3.16450948e-02 -1.96210392e+02] [-5.80616069e-02 -3.28069364e-04 9.98312948e-01 -1.45695824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10864 meters Centerline goodness [0,1] 0.9969075201256626 Centerline is valid? [True, True] Translation: X:281.33, Y:-196.23, Z:-14.57 [[ 8.31951116e-01 5.52723845e-01 4.85148712e-02 2.81333942e+02] [-5.51822340e-01 8.33364318e-01 -3.15597750e-02 -1.96231232e+02] [-5.78744027e-02 -5.15399725e-04 9.98323739e-01 -1.45702553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13864 meters Centerline goodness [0,1] 0.9972561124993875 Centerline is valid? [True, True] Translation: X:281.36, Y:-196.25, Z:-14.57 [[ 8.30436979e-01 5.55055361e-01 4.78327334e-02 2.81360737e+02] [-5.54180863e-01 8.31813163e-01 -3.11517640e-02 -1.96250595e+02] [-5.70788509e-02 -6.38408634e-04 9.98369469e-01 -1.45714485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16864 meters Centerline goodness [0,1] 0.9973056385636604 Centerline is valid? [True, True] Translation: X:281.39, Y:-196.27, Z:-14.57 [[ 8.30203176e-01 5.55391298e-01 4.79915855e-02 2.81388789e+02] [-5.54509450e-01 8.31588904e-01 -3.12916201e-02 -1.96268863e+02] [-5.72883635e-02 -6.33385251e-04 9.98357472e-01 -1.45729722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19864 meters Centerline goodness [0,1] 0.9987276108446707 Centerline is valid? [True, True] Translation: X:281.42, Y:-196.29, Z:-14.57 [[ 8.30241929e-01 5.55252770e-01 4.89152393e-02 2.81416237e+02] [-5.54334191e-01 8.31681427e-01 -3.19313069e-02 -1.96287367e+02] [-5.84118427e-02 -6.04679779e-04 9.98292388e-01 -1.45746603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22864 meters Centerline goodness [0,1] 0.9990695852308897 Centerline is valid? [True, True] Translation: X:281.44, Y:-196.31, Z:-14.58 [[ 8.29840414e-01 5.55918352e-01 4.81629808e-02 2.81443579e+02] [-5.55026873e-01 8.31236676e-01 -3.14763142e-02 -1.96305338e+02] [-5.75330968e-02 -6.11430982e-04 9.98343412e-01 -1.45768405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25864 meters Centerline goodness [0,1] 0.9989218857198863 Centerline is valid? [True, True] Translation: X:281.47, Y:-196.32, Z:-14.58 [[ 8.29838999e-01 5.56029086e-01 4.68923454e-02 2.81470624e+02] [-5.55182369e-01 8.31162635e-01 -3.06791719e-02 -1.96322274e+02] [-5.60336772e-02 -5.75030124e-04 9.98428714e-01 -1.45778574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28864 meters Centerline goodness [0,1] 0.9989717475395388 Centerline is valid? [True, True] Translation: X:281.50, Y:-196.34, Z:-14.58 [[ 8.30107623e-01 5.55655123e-01 4.65694977e-02 2.81498644e+02] [-5.54817655e-01 8.31412722e-01 -3.05000876e-02 -1.96339995e+02] [-5.56660028e-02 -5.19224267e-04 9.98449311e-01 -1.45786864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31864 meters Centerline goodness [0,1] 0.9996086297147889 Centerline is valid? [True, True] Translation: X:281.53, Y:-196.36, Z:-14.58 [[ 8.29958660e-01 5.55776068e-01 4.77659377e-02 2.81526061e+02] [-5.54893053e-01 8.31331885e-01 -3.13208895e-02 -1.96357670e+02] [-5.71167478e-02 -5.09943490e-04 9.98367376e-01 -1.45795931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34864 meters Centerline goodness [0,1] 0.9998531786815446 Centerline is valid? [True, True] Translation: X:281.55, Y:-196.38, Z:-14.58 [[ 8.29883335e-01 5.55686006e-01 5.00670825e-02 2.81552350e+02] [-5.54713362e-01 8.31392095e-01 -3.28674592e-02 -1.96376124e+02] [-5.98893638e-02 -4.96722995e-04 9.98204897e-01 -1.45810017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37864 meters Centerline goodness [0,1] 0.9999510068100534 Centerline is valid? [True, True] Translation: X:281.58, Y:-196.39, Z:-14.58 [[ 8.29624484e-01 5.56074444e-01 5.00442647e-02 2.81580257e+02] [-5.55101301e-01 8.31132341e-01 -3.28873568e-02 -1.96393857e+02] [-5.98812255e-02 -4.95480008e-04 9.98205386e-01 -1.45820823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40864 meters Centerline goodness [0,1] 0.9998531283658083 Centerline is valid? [True, True] Translation: X:281.61, Y:-196.41, Z:-14.58 [[ 8.29182110e-01 5.56655246e-01 5.09113466e-02 2.81607279e+02] [-5.55646891e-01 8.30743445e-01 -3.34941976e-02 -1.96411115e+02] [-6.09389883e-02 -5.15942022e-04 9.98141359e-01 -1.45840443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43864 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:281.63, Y:-196.43, Z:-14.58 [[ 8.27879182e-01 5.58700367e-01 4.96986924e-02 2.81633424e+02] [-5.57741169e-01 8.29369346e-01 -3.27303474e-02 -1.96431879e+02] [-5.95050291e-02 -6.22233602e-04 9.98227812e-01 -1.45845019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46864 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:281.66, Y:-196.45, Z:-14.58 [[ 8.27448315e-01 5.59359814e-01 4.94558871e-02 2.81659328e+02] [-5.58408930e-01 8.28924722e-01 -3.26078617e-02 -1.96452003e+02] [-5.92347349e-02 -6.35288750e-04 9.98243879e-01 -1.45849925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.69, Y:-196.47, Z:-14.59 [[ 8.27211633e-01 5.59536386e-01 5.13804206e-02 2.81685702e+02] [-5.58507973e-01 8.28805539e-01 -3.39149306e-02 -1.96471079e+02] [-6.15610149e-02 -6.41549409e-04 9.98103116e-01 -1.45864444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.71, Y:-196.49, Z:-14.59 [[ 8.26671512e-01 5.60265463e-01 5.21231428e-02 2.81713040e+02] [-5.59206314e-01 8.28312836e-01 -3.44404511e-02 -1.96487199e+02] [-6.24700635e-02 -6.76650813e-04 9.98046609e-01 -1.45884755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.74, Y:-196.51, Z:-14.59 [[ 8.25328998e-01 5.62378508e-01 5.06207280e-02 2.81741053e+02] [-5.61381423e-01 8.26879556e-01 -3.34828007e-02 -1.96505414e+02] [-6.06872526e-02 -7.83209999e-04 9.98156523e-01 -1.45900163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.77, Y:-196.53, Z:-14.59 [[ 8.23915512e-01 5.64797927e-01 4.65460060e-02 2.81767067e+02] [-5.63957072e-01 8.25228797e-01 -3.08196929e-02 -1.96525192e+02] [-5.58180032e-02 -8.57126218e-04 9.98440592e-01 -1.45908792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.79, Y:-196.54, Z:-14.59 [[ 8.23291765e-01 5.65781609e-01 4.56271885e-02 2.81794601e+02] [-5.64973438e-01 8.24554666e-01 -3.02426387e-02 -1.96543464e+02] [-5.47328399e-02 -8.79634062e-04 9.98500647e-01 -1.45905252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.82, Y:-196.56, Z:-14.59 [[ 8.24034485e-01 5.64553787e-01 4.73939768e-02 2.81823788e+02] [-5.63677611e-01 8.25395895e-01 -3.14510230e-02 -1.96559353e+02] [-5.68745881e-02 -7.98196121e-04 9.98381011e-01 -1.45920239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.85, Y:-196.58, Z:-14.59 [[ 8.24693713e-01 5.63520235e-01 4.82205688e-02 2.81852060e+02] [-5.62609251e-01 8.26101956e-01 -3.20372928e-02 -1.96576902e+02] [-5.78887690e-02 -7.08384146e-04 9.98322788e-01 -1.45940358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.88, Y:-196.60, Z:-14.60 [[ 8.25799884e-01 5.61845145e-01 4.88322091e-02 2.81879268e+02] [-5.60905705e-01 8.27242233e-01 -3.24819704e-02 -1.96595266e+02] [-5.86459031e-02 -5.66657290e-04 9.98278687e-01 -1.45959585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73864 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:281.91, Y:-196.61, Z:-14.60 [[ 8.29019699e-01 5.57184470e-01 4.76634615e-02 2.81905368e+02] [-5.56279773e-01 8.30388720e-01 -3.17393904e-02 -1.96614664e+02] [-5.72638962e-02 -2.01639615e-04 9.98359056e-01 -1.45991301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:281.93, Y:-196.63, Z:-14.60 [[ 8.29418363e-01 5.56687099e-01 4.65258354e-02 2.81931938e+02] [-5.55822602e-01 8.30722249e-01 -3.10125725e-02 -1.96632756e+02] [-5.59143456e-02 -1.37713798e-04 9.98435560e-01 -1.46004556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79864 meters Centerline goodness [0,1] 0.9998527607361963 Centerline is valid? [True, True] Translation: X:281.96, Y:-196.65, Z:-14.60 [[ 8.30113553e-01 5.55642967e-01 4.66088240e-02 2.81960010e+02] [-5.54771900e-01 8.31421007e-01 -3.11005950e-02 -1.96649962e+02] [-5.60323823e-02 -4.02404337e-05 9.98428951e-01 -1.46012149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.99, Y:-196.67, Z:-14.60 [[ 8.29630552e-01 5.56406439e-01 4.60979550e-02 2.81987518e+02] [-5.55553605e-01 8.30910266e-01 -3.07948306e-02 -1.96667635e+02] [-5.54377061e-02 -6.15527309e-05 9.98462146e-01 -1.46026433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85864 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:282.01, Y:-196.69, Z:-14.60 [[ 8.26232269e-01 5.61558005e-01 4.46412934e-02 2.82013854e+02] [-5.60764228e-01 8.27437291e-01 -2.98497949e-02 -1.96687586e+02] [-5.37002621e-02 -3.70376745e-04 9.98557031e-01 -1.46021384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88864 meters Centerline goodness [0,1] 0.9999509875998628 Centerline is valid? [True, True] Translation: X:282.04, Y:-196.71, Z:-14.60 [[ 8.23872536e-01 5.65081820e-01 4.37787755e-02 2.82041059e+02] [-5.64322364e-01 8.25034672e-01 -2.92926486e-02 -1.96706234e+02] [-5.26717509e-02 -5.71933455e-04 9.98611716e-01 -1.46019816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91864 meters Centerline goodness [0,1] 0.9999019607843137 Centerline is valid? [True, True] Translation: X:282.07, Y:-196.72, Z:-14.60 [[ 8.22092736e-01 5.67567982e-01 4.50568486e-02 2.82068253e+02] [-5.66765370e-01 8.23326218e-01 -3.01820180e-02 -1.96724025e+02] [-5.42268318e-02 -7.24243673e-04 9.98528380e-01 -1.46047121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94864 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:282.10, Y:-196.74, Z:-14.61 [[ 8.19820943e-01 5.70917674e-01 4.41206402e-02 2.82095089e+02] [-5.70151366e-01 8.21006819e-01 -2.95841732e-02 -1.96742190e+02] [-5.31134738e-02 -9.01718461e-04 9.98588076e-01 -1.46056381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97864 meters Centerline goodness [0,1] 0.9997550100445882 Centerline is valid? [True, True] Translation: X:282.12, Y:-196.76, Z:-14.61 [[ 8.18232548e-01 5.73186818e-01 4.41856222e-02 2.82121982e+02] [-5.72419960e-01 8.19424078e-01 -2.96575463e-02 -1.96760590e+02] [-5.32060773e-02 -1.02596243e-03 9.98583026e-01 -1.46075255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00864 meters Centerline goodness [0,1] 0.9996560365584001 Centerline is valid? [True, True] Translation: X:282.15, Y:-196.77, Z:-14.61 [[ 8.16747404e-01 5.75383615e-01 4.30972504e-02 2.82151691e+02] [-5.74655654e-01 8.17882906e-01 -2.89556765e-02 -1.96774406e+02] [-5.19091262e-02 -1.11660497e-03 9.98651188e-01 -1.46074093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03864 meters Centerline goodness [0,1] 0.9996569131990394 Centerline is valid? [True, True] Translation: X:282.18, Y:-196.79, Z:-14.61 [[ 8.16265318e-01 5.76017798e-01 4.37541586e-02 2.82181639e+02] [-5.75266737e-01 8.17436343e-01 -2.94279857e-02 -1.96789374e+02] [-5.27172829e-02 -1.14926787e-03 9.98608816e-01 -1.46087793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.21, Y:-196.80, Z:-14.61 [[ 8.15354239e-01 5.77257639e-01 4.43968843e-02 2.82209634e+02] [-5.76484365e-01 8.16561162e-01 -2.98939273e-02 -1.96804868e+02] [-5.35092693e-02 -1.21996926e-03 9.98566608e-01 -1.46109931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09864 meters Centerline goodness [0,1] 0.999803536345776 Centerline is valid? [True, True] Translation: X:282.24, Y:-196.82, Z:-14.61 [[ 8.15084833e-01 5.77571990e-01 4.52472270e-02 2.82238236e+02] [-5.76767507e-01 8.16338817e-01 -3.04988387e-02 -1.96820944e+02] [-5.45523428e-02 -1.23798947e-03 9.98510145e-01 -1.46119065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12864 meters Centerline goodness [0,1] 0.9999509683746016 Centerline is valid? [True, True] Translation: X:282.27, Y:-196.84, Z:-14.61 [[ 8.14136545e-01 5.78762020e-01 4.70766512e-02 2.82266815e+02] [-5.77891057e-01 8.15495386e-01 -3.17679371e-02 -1.96836098e+02] [-5.67768673e-02 -1.34173718e-03 9.98385991e-01 -1.46138123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15864 meters Centerline goodness [0,1] 0.9998527101335428 Centerline is valid? [True, True] Translation: X:282.30, Y:-196.85, Z:-14.62 [[ 8.13966722e-01 5.78916626e-01 4.81010972e-02 2.82297959e+02] [-5.78005571e-01 8.15385619e-01 -3.24938736e-02 -1.96848546e+02] [-5.80321866e-02 -1.35377038e-03 9.98313795e-01 -1.46154457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18864 meters Centerline goodness [0,1] 0.9997061128526645 Centerline is valid? [True, True] Translation: X:282.33, Y:-196.87, Z:-14.62 [[ 8.14681277e-01 5.77952825e-01 4.75914819e-02 2.82325014e+02] [-5.77057330e-01 8.16069230e-01 -3.21846316e-02 -1.96866440e+02] [-5.74391427e-02 -1.24279673e-03 9.98348236e-01 -1.46188274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21864 meters Centerline goodness [0,1] 0.9996568291008923 Centerline is valid? [True, True] Translation: X:282.35, Y:-196.88, Z:-14.62 [[ 8.17492227e-01 5.73961528e-01 4.76930035e-02 2.82351745e+02] [-5.73053530e-01 8.18881729e-01 -3.22856918e-02 -1.96884230e+02] [-5.75856742e-02 -9.37341893e-04 9.98340128e-01 -1.46193205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24864 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:282.38, Y:-196.90, Z:-14.62 [[ 8.18697589e-01 5.72198773e-01 4.81956722e-02 2.82380097e+02] [-5.71266543e-01 8.20114585e-01 -3.26589073e-02 -1.96900523e+02] [-5.82133604e-02 -7.94806357e-04 9.98303848e-01 -1.46193933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27864 meters Centerline goodness [0,1] 0.9996574336889498 Centerline is valid? [True, True] Translation: X:282.41, Y:-196.92, Z:-14.62 [[ 8.19713983e-01 5.70665019e-01 4.90960427e-02 2.82408610e+02] [-5.69692756e-01 8.21182676e-01 -3.33042991e-02 -1.96916769e+02] [-5.93224182e-02 -6.69660190e-04 9.98238650e-01 -1.46205249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30864 meters Centerline goodness [0,1] 0.9999021095394254 Centerline is valid? [True, True] Translation: X:282.43, Y:-196.94, Z:-14.62 [[ 8.22215615e-01 5.67044633e-01 4.92124719e-02 2.82433077e+02] [-5.66059081e-01 8.23686980e-01 -3.34196968e-02 -1.96937205e+02] [-5.94861321e-02 -3.78970042e-04 9.98229060e-01 -1.46248873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.46, Y:-196.96, Z:-14.63 [[ 8.22613296e-01 5.66491208e-01 4.89395095e-02 2.82458296e+02] [-5.65513541e-01 8.24067725e-01 -3.32688989e-02 -1.96958335e+02] [-5.91760090e-02 -3.08516701e-04 9.98247517e-01 -1.46253894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.49, Y:-196.98, Z:-14.63 [[ 8.22132461e-01 5.67226814e-01 4.84969858e-02 2.82485435e+02] [-5.66265847e-01 8.23561555e-01 -3.30053951e-02 -1.96977483e+02] [-5.86617982e-02 -3.27380045e-04 9.98277860e-01 -1.46250682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39864 meters Centerline goodness [0,1] 0.9999510595605149 Centerline is valid? [True, True] Translation: X:282.51, Y:-197.00, Z:-14.63 [[ 8.21545256e-01 5.68033646e-01 4.90017210e-02 2.82512413e+02] [-5.67051714e-01 8.23005255e-01 -3.33871906e-02 -1.96996038e+02] [-5.92937215e-02 -3.57421849e-04 9.98240516e-01 -1.46250496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42864000000003 meters Centerline goodness [0,1] 0.9998041615667075 Centerline is valid? [True, True] Translation: X:282.54, Y:-197.02, Z:-14.63 [[ 8.21225032e-01 5.68532337e-01 4.85842446e-02 2.82538197e+02] [-5.67565737e-01 8.22660837e-01 -3.31403231e-02 -1.97016734e+02] [-5.88097006e-02 -3.59089699e-04 9.98269147e-01 -1.46277051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.56, Y:-197.04, Z:-14.63 [[ 8.20230995e-01 5.69913804e-01 4.91871023e-02 2.82561720e+02] [-5.68923226e-01 8.21704368e-01 -3.35900957e-02 -1.97040311e+02] [-5.95607161e-02 -4.32047303e-04 9.98224591e-01 -1.46286577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.59, Y:-197.06, Z:-14.63 [[ 8.19623288e-01 5.70869637e-01 4.82236856e-02 2.82588364e+02] [-5.69917109e-01 8.21040586e-01 -3.29673413e-02 -1.97058948e+02] [-5.84136572e-02 -4.62702827e-04 9.98292357e-01 -1.46303799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.62, Y:-197.08, Z:-14.63 [[ 8.19554802e-01 5.70920038e-01 4.87876778e-02 2.82615871e+02] [-5.69943094e-01 8.21005551e-01 -3.33879454e-02 -1.97077260e+02] [-5.91168013e-02 -4.42949092e-04 9.98250974e-01 -1.46312559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54864 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:282.64, Y:-197.10, Z:-14.63 [[ 8.20309894e-01 5.69875825e-01 4.83034357e-02 2.82641545e+02] [-5.68914279e-01 8.21730754e-01 -3.30924608e-02 -1.97096406e+02] [-5.85510121e-02 -3.34441284e-04 9.98284362e-01 -1.46317375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:282.67, Y:-197.12, Z:-14.63 [[ 8.20521240e-01 5.69556379e-01 4.84811951e-02 2.82667749e+02] [-5.68585118e-01 8.21952219e-01 -3.32492495e-02 -1.97116927e+02] [-5.87865481e-02 -2.83970646e-04 9.98270535e-01 -1.46334265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60864 meters Centerline goodness [0,1] 0.9999509875998628 Centerline is valid? [True, True] Translation: X:282.69, Y:-197.14, Z:-14.64 [[ 8.20785578e-01 5.69000650e-01 5.04905343e-02 2.82694184e+02] [-5.67943703e-01 8.22337042e-01 -3.46661237e-02 -1.97135062e+02] [-6.12452836e-02 -2.22326577e-04 9.98122721e-01 -1.46352869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.72, Y:-197.15, Z:-14.64 [[ 8.20509808e-01 5.69619354e-01 4.79316745e-02 2.82720481e+02] [-5.68666131e-01 8.21908595e-01 -3.29407441e-02 -1.97153550e+02] [-5.81591406e-02 -2.28916208e-04 9.98307298e-01 -1.46375017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.75, Y:-197.17, Z:-14.64 [[ 8.20209463e-01 5.70053081e-01 4.79157659e-02 2.82747473e+02] [-5.69099246e-01 8.21607833e-01 -3.29638726e-02 -1.97171716e+02] [-5.81591257e-02 -2.31545952e-04 9.98307299e-01 -1.46387565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69864 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:282.77, Y:-197.19, Z:-14.64 [[ 8.19387319e-01 5.71207990e-01 4.82270971e-02 2.82773635e+02] [-5.70241497e-01 8.20805306e-01 -3.32157321e-02 -1.97191683e+02] [-5.85581488e-02 -2.84542316e-04 9.98283959e-01 -1.46406187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72864 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:282.80, Y:-197.21, Z:-14.64 [[ 8.18757514e-01 5.72044019e-01 4.90078870e-02 2.82800423e+02] [-5.71045143e-01 8.20222859e-01 -3.37921030e-02 -1.97211379e+02] [-5.95279596e-02 -3.18177603e-04 9.98226588e-01 -1.46418491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.83, Y:-197.23, Z:-14.64 [[ 8.17923912e-01 5.73184445e-01 4.95990648e-02 2.82827581e+02] [-5.72161033e-01 8.19426295e-01 -3.42388608e-02 -1.97230466e+02] [-6.02679603e-02 -3.73869198e-04 9.98182164e-01 -1.46422348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.85, Y:-197.25, Z:-14.64 [[ 8.17589649e-01 5.73584426e-01 5.04784278e-02 2.82854449e+02] [-5.72522791e-01 8.19146362e-01 -3.48839745e-02 -1.97247603e+02] [-6.13581250e-02 -3.79273893e-04 9.98115743e-01 -1.46433512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.88, Y:-197.27, Z:-14.65 [[ 8.16959183e-01 5.74546503e-01 4.97394122e-02 2.82881909e+02] [-5.73515383e-01 8.18471834e-01 -3.44087557e-02 -1.97265811e+02] [-6.04797382e-02 -4.15769101e-04 9.98169339e-01 -1.46454582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.91, Y:-197.28, Z:-14.65 [[ 8.17266562e-01 5.74076887e-01 5.01108249e-02 2.82908514e+02] [-5.73027009e-01 8.18801322e-01 -3.47050731e-02 -1.97284623e+02] [-6.09541900e-02 -3.51560314e-04 9.98140503e-01 -1.46468554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.94, Y:-197.30, Z:-14.65 [[ 8.17312739e-01 5.73932298e-01 5.10059216e-02 2.82935087e+02] [-5.72841755e-01 8.18902692e-01 -3.53653085e-02 -1.97303500e+02] [-6.20661792e-02 -3.13804516e-04 9.98071987e-01 -1.46491734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.96, Y:-197.32, Z:-14.65 [[ 8.17932909e-01 5.72773343e-01 5.40042090e-02 2.82962308e+02] [-5.71545422e-01 8.19713765e-01 -3.74856659e-02 -1.97321129e+02] [-6.57387837e-02 -2.05098643e-04 9.97836846e-01 -1.46508458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.99, Y:-197.34, Z:-14.65 [[ 8.18369528e-01 5.72117598e-01 5.43393966e-02 2.82990115e+02] [-5.70870308e-01 8.20171592e-01 -3.77578050e-02 -1.97339042e+02] [-6.61695341e-02 -1.20910949e-04 9.97808387e-01 -1.46534531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.02, Y:-197.36, Z:-14.65 [[ 8.18215611e-01 5.72513501e-01 5.24547918e-02 2.83016543e+02] [-5.71350106e-01 8.19895284e-01 -3.64798516e-02 -1.97358386e+02] [-6.38926440e-02 -1.21666861e-04 9.97956770e-01 -1.46534451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.04, Y:-197.38, Z:-14.65 [[ 8.17527104e-01 5.73653359e-01 5.07075775e-02 2.83042815e+02] [-5.72566930e-01 8.19098157e-01 -3.52891008e-02 -1.97377293e+02] [-6.17781944e-02 -1.83685578e-04 9.98089886e-01 -1.46541808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02864 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:283.07, Y:-197.40, Z:-14.66 [[ 8.16373827e-01 5.75319497e-01 5.04108284e-02 2.83069728e+02] [-5.74246703e-01 8.17928725e-01 -3.51187280e-02 -1.97395943e+02] [-6.14369536e-02 -2.78241627e-04 9.98110927e-01 -1.46554500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.10, Y:-197.41, Z:-14.66 [[ 8.14427227e-01 5.78203283e-01 4.88800136e-02 2.83097058e+02] [-5.77197752e-01 8.15892615e-01 -3.40880577e-02 -1.97412842e+02] [-5.95906690e-02 -4.51191601e-04 9.98222795e-01 -1.46558256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.13, Y:-197.43, Z:-14.66 [[ 8.13031968e-01 5.80235681e-01 4.80163850e-02 2.83125288e+02] [-5.79266928e-01 8.14448427e-01 -3.35199341e-02 -1.97430751e+02] [-5.85563310e-02 -5.61525837e-04 9.98283948e-01 -1.46570700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.15, Y:-197.45, Z:-14.66 [[ 8.10972408e-01 5.83074296e-01 4.84573894e-02 2.83153415e+02] [-5.82090534e-01 8.12418496e-01 -3.38644112e-02 -1.97446324e+02] [-5.91131471e-02 -7.43484559e-04 9.98251012e-01 -1.46587531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.18, Y:-197.46, Z:-14.66 [[ 8.10229934e-01 5.84067149e-01 4.89184985e-02 2.83181438e+02] [-5.83064237e-01 8.11704955e-01 -3.42222379e-02 -1.97464174e+02] [-5.96954725e-02 -7.94745445e-04 9.98216319e-01 -1.46613478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17864000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.21, Y:-197.48, Z:-14.66 [[ 8.09982071e-01 5.84457611e-01 4.83564461e-02 2.83209347e+02] [-5.83476076e-01 8.11423865e-01 -3.38671000e-02 -1.97481126e+02] [-5.90314587e-02 -7.83085685e-04 9.98255816e-01 -1.46617500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20864 meters Centerline goodness [0,1] 0.999951057165231 Centerline is valid? [True, True] Translation: X:283.24, Y:-197.50, Z:-14.66 [[ 8.08995717e-01 5.85785128e-01 4.88028092e-02 2.83237805e+02] [-5.84785626e-01 8.10465944e-01 -3.42158547e-02 -1.97495717e+02] [-5.95961536e-02 -8.58701475e-04 9.98222200e-01 -1.46638670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.27, Y:-197.51, Z:-14.66 [[ 8.07859671e-01 5.87304350e-01 4.93594267e-02 2.83265400e+02] [-5.86282752e-01 8.09365608e-01 -3.46387999e-02 -1.97511724e+02] [-6.02933403e-02 -9.55291011e-04 9.98180245e-01 -1.46648816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.30, Y:-197.53, Z:-14.67 [[ 8.06180777e-01 5.89574990e-01 4.97381664e-02 2.83295314e+02] [-5.88539856e-01 8.07712887e-01 -3.49389507e-02 -1.97525799e+02] [-6.07732895e-02 -1.10578284e-03 9.98150983e-01 -1.46660000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29864 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:283.32, Y:-197.54, Z:-14.67 [[ 8.05106330e-01 5.91071566e-01 4.93781555e-02 2.83323955e+02] [-5.90052034e-01 8.06618255e-01 -3.47215835e-02 -1.97542037e+02] [-6.03522624e-02 -1.18111447e-03 9.98176442e-01 -1.46668234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32864 meters Centerline goodness [0,1] 0.9999510547697127 Centerline is valid? [True, True] Translation: X:283.36, Y:-197.55, Z:-14.67 [[ 8.04232124e-01 5.92291423e-01 4.90057254e-02 2.83355579e+02] [-5.91287179e-01 8.05722876e-01 -3.44980984e-02 -1.97554457e+02] [-5.99179618e-02 -1.23197821e-03 9.98202545e-01 -1.46688518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.38, Y:-197.57, Z:-14.67 [[ 8.03716352e-01 5.92793414e-01 5.13419341e-02 2.83384477e+02] [-5.91689569e-01 8.05353515e-01 -3.61824527e-02 -1.97569690e+02] [-6.27971268e-02 -1.29805800e-03 9.98025469e-01 -1.46709042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.41, Y:-197.59, Z:-14.67 [[ 8.04395216e-01 5.91840052e-01 5.17077397e-02 2.83412768e+02] [-5.90716168e-01 8.06054530e-01 -3.64760677e-02 -1.97585863e+02] [-6.32672557e-02 -1.20342353e-03 9.97995895e-01 -1.46729168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.44, Y:-197.60, Z:-14.67 [[ 8.05511453e-01 5.90350193e-01 5.13609641e-02 2.83442013e+02] [-5.89236085e-01 8.07146546e-01 -3.62669257e-02 -1.97600238e+02] [-6.28660114e-02 -1.05030942e-03 9.98021423e-01 -1.46741881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44864 meters Centerline goodness [0,1] 0.9999020711942418 Centerline is valid? [True, True] Translation: X:283.47, Y:-197.61, Z:-14.68 [[ 8.07518766e-01 5.87552281e-01 5.19207053e-02 2.83473539e+02] [-5.86405640e-01 8.09185799e-01 -3.66983311e-02 -1.97611144e+02] [-6.35756855e-02 -8.12003372e-04 9.97976690e-01 -1.46754702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.50, Y:-197.63, Z:-14.68 [[ 8.08573957e-01 5.86170236e-01 5.11137133e-02 2.83502210e+02] [-5.85054048e-01 8.10187641e-01 -3.61627849e-02 -1.97626584e+02] [-6.26092469e-02 -6.63998768e-04 9.98037896e-01 -1.46769952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.53, Y:-197.64, Z:-14.68 [[ 8.09320333e-01 5.85085301e-01 5.17280230e-02 2.83530154e+02] [-5.83937478e-01 8.10971566e-01 -3.66352485e-02 -1.97643663e+02] [-6.33847012e-02 -5.56279749e-04 9.97989013e-01 -1.46774338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.56, Y:-197.66, Z:-14.68 [[ 8.10359389e-01 5.83582169e-01 5.24358064e-02 2.83558660e+02] [-5.82396860e-01 8.12053991e-01 -3.71781370e-02 -1.97660881e+02] [-6.42772037e-02 -4.10796628e-04 9.97931998e-01 -1.46790281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.59, Y:-197.67, Z:-14.68 [[ 8.12507323e-01 5.80590525e-01 5.24069942e-02 2.83588605e+02] [-5.79398427e-01 8.14195689e-01 -3.71865939e-02 -1.97674816e+02] [-6.42597328e-02 -1.50150153e-04 9.97933196e-01 -1.46802707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.62, Y:-197.69, Z:-14.68 [[ 8.13209389e-01 5.79611087e-01 5.23591211e-02 2.83617667e+02] [-5.78418347e-01 8.14893234e-01 -3.71649338e-02 -1.97690497e+02] [-6.42083013e-02 -6.26031526e-05 9.97936516e-01 -1.46810970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.64, Y:-197.71, Z:-14.68 [[ 8.13184838e-01 5.79696370e-01 5.17932227e-02 2.83644323e+02] [-5.78528633e-01 8.14832569e-01 -3.67764205e-02 -1.97708302e+02] [-6.35219622e-02 -5.78347708e-05 9.97980439e-01 -1.46815126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65864 meters Centerline goodness [0,1] 0.9999511241446726 Centerline is valid? [True, True] Translation: X:283.67, Y:-197.73, Z:-14.68 [[ 8.13424039e-01 5.79309048e-01 5.23675434e-02 2.83671150e+02] [-5.78113774e-01 8.15107984e-01 -3.71945977e-02 -1.97725371e+02] [-6.42323697e-02 -1.94182722e-05 9.97934969e-01 -1.46827799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68864 meters Centerline goodness [0,1] 0.9999510715334181 Centerline is valid? [True, True] Translation: X:283.70, Y:-197.74, Z:-14.68 [[ 8.14120614e-01 5.78209093e-01 5.36830573e-02 2.83699149e+02] [-5.76949852e-01 8.15888619e-01 -3.81396063e-02 -1.97741301e+02] [-6.58520626e-02 7.78077231e-05 9.97829394e-01 -1.46845430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71864 meters Centerline goodness [0,1] 0.9999510978531958 Centerline is valid? [True, True] Translation: X:283.73, Y:-197.76, Z:-14.69 [[ 8.15047535e-01 5.76898328e-01 5.37199757e-02 2.83725646e+02] [-5.75633667e-01 8.16815941e-01 -3.81785335e-02 -1.97760156e+02] [-6.59044646e-02 1.94293019e-04 9.97825919e-01 -1.46861394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74864 meters Centerline goodness [0,1] 0.9999510260051913 Centerline is valid? [True, True] Translation: X:283.75, Y:-197.78, Z:-14.69 [[ 8.17090820e-01 5.74125671e-01 5.23670272e-02 2.83751976e+02] [-5.72917429e-01 8.18767084e-01 -3.72301116e-02 -1.97779435e+02] [-6.42511610e-02 4.18399781e-04 9.97933672e-01 -1.46866030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77864 meters Centerline goodness [0,1] 0.9999020424156341 Centerline is valid? [True, True] Translation: X:283.78, Y:-197.80, Z:-14.69 [[ 8.18251642e-01 5.72506411e-01 5.19678644e-02 2.83778809e+02] [-5.71311936e-01 8.19900053e-01 -3.69672067e-02 -1.97797914e+02] [-6.37724176e-02 5.58616334e-04 9.97964311e-01 -1.46873659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80864 meters Centerline goodness [0,1] 0.999853135555882 Centerline is valid? [True, True] Translation: X:283.80, Y:-197.82, Z:-14.69 [[ 8.19934555e-01 5.70102050e-01 5.18746382e-02 2.83804679e+02] [-5.68905349e-01 8.21573530e-01 -3.69274787e-02 -1.97816322e+02] [-6.36712609e-02 7.66356670e-04 9.97970632e-01 -1.46891902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83864 meters Centerline goodness [0,1] 0.9997551659974537 Centerline is valid? [True, True] Translation: X:283.83, Y:-197.84, Z:-14.69 [[ 8.22599510e-01 5.66313515e-01 5.11766517e-02 2.83830458e+02] [-5.65140873e-01 8.24189234e-01 -3.64403762e-02 -1.97835955e+02] [-6.28159229e-02 1.05381798e-03 9.98024573e-01 -1.46894318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86864 meters Centerline goodness [0,1] 0.9997552618697993 Centerline is valid? [True, True] Translation: X:283.86, Y:-197.85, Z:-14.69 [[ 8.24208604e-01 5.63996229e-01 5.08766283e-02 2.83857002e+02] [-5.62832289e-01 8.25776445e-01 -3.62364085e-02 -1.97854830e+02] [-6.24499190e-02 1.23135054e-03 9.98047339e-01 -1.46910790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89864 meters Centerline goodness [0,1] 0.9994606521206177 Centerline is valid? [True, True] Translation: X:283.88, Y:-197.88, Z:-14.69 [[ 8.26485045e-01 5.60751884e-01 4.97975435e-02 2.83880716e+02] [-5.59630381e-01 8.27982617e-01 -3.54770797e-02 -1.97877267e+02] [-6.11253397e-02 1.45305758e-03 9.98129040e-01 -1.46925831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92864000000003 meters Centerline goodness [0,1] 0.9997060552616108 Centerline is valid? [True, True] Translation: X:283.90, Y:-197.90, Z:-14.69 [[ 8.26879945e-01 5.60198670e-01 4.94672289e-02 2.83904466e+02] [-5.59090461e-01 8.28356943e-01 -3.52509762e-02 -1.97898729e+02] [-6.07240726e-02 1.49166950e-03 9.98153476e-01 -1.46944068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95864 meters Centerline goodness [0,1] 0.9995594929274142 Centerline is valid? [True, True] Translation: X:283.93, Y:-197.92, Z:-14.70 [[ 8.26992268e-01 5.59968084e-01 5.01949568e-02 2.83928291e+02] [-5.58825984e-01 8.28512750e-01 -3.57790798e-02 -1.97920289e+02] [-6.16223045e-02 1.53877623e-03 9.98098354e-01 -1.46956239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98864 meters Centerline goodness [0,1] 0.9997552738485634 Centerline is valid? [True, True] Translation: X:283.95, Y:-197.94, Z:-14.69 [[ 8.27037936e-01 5.59897015e-01 5.02353037e-02 2.83951952e+02] [-5.58751718e-01 8.28560736e-01 -3.58276979e-02 -1.97943531e+02] [-6.16828213e-02 1.56180303e-03 9.98094580e-01 -1.46945296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01864 meters Centerline goodness [0,1] 0.9994121969140338 Centerline is valid? [True, True] Translation: X:283.98, Y:-197.96, Z:-14.69 [[ 8.27069527e-01 5.59923530e-01 4.94129401e-02 2.83978048e+02] [-5.58813295e-01 8.28542813e-01 -3.52775883e-02 -1.97964215e+02] [-6.06934882e-02 1.56441037e-03 9.98155225e-01 -1.46940388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04864 meters Centerline goodness [0,1] 0.9994605992252243 Centerline is valid? [True, True] Translation: X:284.00, Y:-197.99, Z:-14.70 [[ 8.28295895e-01 5.58176683e-01 4.86281888e-02 2.83999878e+02] [-5.57096406e-01 8.29720388e-01 -3.47515908e-02 -1.97989174e+02] [-5.97453273e-02 1.69401080e-03 9.98212215e-01 -1.46974225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07864 meters Centerline goodness [0,1] 0.9995106435037925 Centerline is valid? [True, True] Translation: X:284.02, Y:-198.01, Z:-14.70 [[ 8.27733513e-01 5.59037023e-01 4.83201638e-02 2.84023460e+02] [-5.57970007e-01 8.29141057e-01 -3.45626719e-02 -1.98011131e+02] [-5.93860450e-02 1.64747972e-03 9.98233732e-01 -1.46981815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10864 meters Centerline goodness [0,1] 0.9993634315933797 Centerline is valid? [True, True] Translation: X:284.05, Y:-198.03, Z:-14.70 [[ 8.25954464e-01 5.61674724e-01 4.81739339e-02 2.84046309e+02] [-5.60616780e-01 8.27356825e-01 -3.44892913e-02 -1.98034720e+02] [-5.92287962e-02 1.47946845e-03 9.98243338e-01 -1.46996847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13864 meters Centerline goodness [0,1] 0.9993634939287113 Centerline is valid? [True, True] Translation: X:284.07, Y:-198.06, Z:-14.70 [[ 8.24756001e-01 5.63504120e-01 4.73354667e-02 2.84071277e+02] [-5.62484328e-01 8.26112159e-01 -3.39128357e-02 -1.98055944e+02] [-5.82144272e-02 1.34435652e-03 9.98303197e-01 -1.46996436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16864 meters Centerline goodness [0,1] 0.999607996863975 Centerline is valid? [True, True] Translation: X:284.09, Y:-198.08, Z:-14.70 [[ 8.22207547e-01 5.67301814e-01 4.62968765e-02 2.84093507e+02] [-5.66331340e-01 8.23509268e-01 -3.31858140e-02 -1.98080819e+02] [-5.69522793e-02 1.06625459e-03 9.98376332e-01 -1.47003779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19864 meters Centerline goodness [0,1] 0.9996570308672219 Centerline is valid? [True, True] Translation: X:284.12, Y:-198.10, Z:-14.70 [[ 8.20868151e-01 5.69317291e-01 4.53133683e-02 2.84117477e+02] [-5.68389055e-01 8.22117361e-01 -3.25104089e-02 -1.98102977e+02] [-5.57616447e-02 9.31136619e-04 9.98443675e-01 -1.47004711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22864 meters Centerline goodness [0,1] 0.9993635250917993 Centerline is valid? [True, True] Translation: X:284.14, Y:-198.13, Z:-14.70 [[ 8.19340903e-01 5.71531779e-01 4.50767151e-02 2.84141615e+02] [-5.70614886e-01 8.20579542e-01 -3.23707819e-02 -1.98125048e+02] [-5.54899608e-02 8.01260976e-04 9.98458924e-01 -1.47023433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25864 meters Centerline goodness [0,1] 0.9998529483848831 Centerline is valid? [True, True] Translation: X:284.17, Y:-198.15, Z:-14.70 [[ 8.16124053e-01 5.75884228e-01 4.79467039e-02 2.84165683e+02] [-5.74852128e-01 8.17531060e-01 -3.44673382e-02 -1.98148856e+02] [-5.90471161e-02 5.67358974e-04 9.98255036e-01 -1.47034913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28864 meters Centerline goodness [0,1] 0.999804104020765 Centerline is valid? [True, True] Translation: X:284.19, Y:-198.17, Z:-14.70 [[ 8.14059077e-01 5.78765819e-01 4.83523153e-02 2.84191194e+02] [-5.77718961e-01 8.15493699e-01 -3.47969652e-02 -1.98169166e+02] [-5.95703025e-02 3.92736034e-04 9.98224035e-01 -1.47049696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31864 meters Centerline goodness [0,1] 0.9997058823529412 Centerline is valid? [True, True] Translation: X:284.21, Y:-198.19, Z:-14.71 [[ 8.11033706e-01 5.83169549e-01 4.62342373e-02 2.84214655e+02] [-5.82218033e-01 8.12350460e-01 -3.33000474e-02 -1.98192223e+02] [-5.69779776e-02 8.90542106e-05 9.98375431e-01 -1.47050679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34864 meters Centerline goodness [0,1] 0.9999510523739599 Centerline is valid? [True, True] Translation: X:284.24, Y:-198.21, Z:-14.71 [[ 8.09215659e-01 5.85834783e-01 4.43579133e-02 2.84239381e+02] [-5.84962063e-01 8.10430503e-01 -3.19653631e-02 -1.98213478e+02] [-5.46754275e-02 -8.08241414e-05 9.98504177e-01 -1.47061677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37864 meters Centerline goodness [0,1] 0.9998532074179185 Centerline is valid? [True, True] Translation: X:284.27, Y:-198.23, Z:-14.71 [[ 8.08100766e-01 5.87358314e-01 4.45349791e-02 2.84265272e+02] [-5.86479104e-01 8.09326996e-01 -3.21259056e-02 -1.98234656e+02] [-5.49127786e-02 -1.57865688e-04 9.98491143e-01 -1.47086042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.29, Y:-198.26, Z:-14.71 [[ 8.07479790e-01 5.88180714e-01 4.49425870e-02 2.84290766e+02] [-5.87284568e-01 8.08729506e-01 -3.24564724e-02 -1.98255407e+02] [-5.54366672e-02 -1.86142260e-04 9.98462188e-01 -1.47089383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43864 meters Centerline goodness [0,1] 0.9999019319407669 Centerline is valid? [True, True] Translation: X:284.32, Y:-198.27, Z:-14.71 [[ 8.07601480e-01 5.87892059e-01 4.65056593e-02 2.84316958e+02] [-5.86929846e-01 8.08939371e-01 -3.36221635e-02 -1.98274773e+02] [-5.73864617e-02 -1.42250371e-04 9.98352029e-01 -1.47099749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:284.34, Y:-198.29, Z:-14.71 [[ 8.08279418e-01 5.86661357e-01 5.01281764e-02 2.84342932e+02] [-5.85538581e-01 8.09832360e-01 -3.62783634e-02 -1.98294124e+02] [-6.18785333e-02 -2.89267943e-05 9.98083687e-01 -1.47122024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49864 meters Centerline goodness [0,1] 0.9999509851975297 Centerline is valid? [True, True] Translation: X:284.37, Y:-198.31, Z:-14.71 [[ 8.08733693e-01 5.86075930e-01 4.96469231e-02 2.84369600e+02] [-5.84971268e-01 8.10256133e-01 -3.59668426e-02 -1.98312807e+02] [-6.13060247e-02 4.55738798e-05 9.98119016e-01 -1.47128896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52864 meters Centerline goodness [0,1] 0.999755118033108 Centerline is valid? [True, True] Translation: X:284.40, Y:-198.33, Z:-14.71 [[ 8.08711756e-01 5.86142130e-01 4.92209245e-02 2.84396142e+02] [-5.85054086e-01 8.10208244e-01 -3.56975999e-02 -1.98332371e+02] [-6.08030661e-02 7.21657026e-05 9.98149779e-01 -1.47135837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55864 meters Centerline goodness [0,1] 0.9998041807411759 Centerline is valid? [True, True] Translation: X:284.42, Y:-198.35, Z:-14.72 [[ 8.08905314e-01 5.85961259e-01 4.81829400e-02 2.84420208e+02] [-5.84916176e-01 8.10339058e-01 -3.49811007e-02 -1.98353148e+02] [-5.95420880e-02 1.13417195e-04 9.98225790e-01 -1.47154760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58864 meters Centerline goodness [0,1] 0.9998041807411759 Centerline is valid? [True, True] Translation: X:284.45, Y:-198.37, Z:-14.72 [[ 8.08597516e-01 5.86387323e-01 4.81660117e-02 2.84446717e+02] [-5.85341607e-01 8.10030799e-01 -3.50043982e-02 -1.98372000e+02] [-5.95420883e-02 1.10898716e-04 9.98225790e-01 -1.47167307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.47, Y:-198.39, Z:-14.72 [[ 8.08373001e-01 5.86678596e-01 4.83871572e-02 2.84473145e+02] [-5.85621428e-01 8.09819863e-01 -3.52041629e-02 -1.98392383e+02] [-5.98384099e-02 1.21538724e-04 9.98208069e-01 -1.47177925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.50, Y:-198.41, Z:-14.72 [[ 8.08968328e-01 5.85983143e-01 4.68401496e-02 2.84499809e+02] [-5.84989333e-01 8.10323218e-01 -3.41139707e-02 -1.98411085e+02] [-5.79458726e-02 1.96133935e-04 9.98319707e-01 -1.47190891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67864000000003 meters Centerline goodness [0,1] 0.9998040752351097 Centerline is valid? [True, True] Translation: X:284.53, Y:-198.43, Z:-14.72 [[ 8.08946473e-01 5.86064981e-01 4.61892035e-02 2.84526439e+02] [-5.85096821e-01 8.10264026e-01 -3.36736964e-02 -1.98430464e+02] [-5.71604242e-02 2.15061813e-04 9.98364983e-01 -1.47209867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70864 meters Centerline goodness [0,1] 0.9997550700499657 Centerline is valid? [True, True] Translation: X:284.55, Y:-198.45, Z:-14.72 [[ 8.09327079e-01 5.85565025e-01 4.58615396e-02 2.84552703e+02] [-5.84607658e-01 8.10625391e-01 -3.34718151e-02 -1.98449768e+02] [-5.67764527e-02 2.78639047e-04 9.98386877e-01 -1.47223522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73864 meters Centerline goodness [0,1] 0.9997552019583843 Centerline is valid? [True, True] Translation: X:284.58, Y:-198.47, Z:-14.72 [[ 8.09455823e-01 5.85373372e-01 4.60357170e-02 2.84579103e+02] [-5.84406276e-01 8.10763783e-01 -3.36361905e-02 -1.98468900e+02] [-5.70138223e-02 3.23448294e-04 9.98373337e-01 -1.47229061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76864 meters Centerline goodness [0,1] 0.9999020136201068 Centerline is valid? [True, True] Translation: X:284.61, Y:-198.49, Z:-14.72 [[ 8.08956922e-01 5.85991651e-01 4.69306248e-02 2.84606652e+02] [-5.84985376e-01 8.10317028e-01 -3.43281825e-02 -1.98487618e+02] [-5.81447127e-02 3.16291684e-04 9.98308115e-01 -1.47240391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:284.63, Y:-198.51, Z:-14.72 [[ 8.08487847e-01 5.86669331e-01 4.65456580e-02 2.84634799e+02] [-5.85678492e-01 8.09826530e-01 -3.40836525e-02 -1.98505460e+02] [-5.76897424e-02 2.95428053e-04 9.98334516e-01 -1.47246958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82864 meters Centerline goodness [0,1] 0.9998532361430459 Centerline is valid? [True, True] Translation: X:284.66, Y:-198.52, Z:-14.73 [[ 8.07938147e-01 5.87379536e-01 4.71299467e-02 2.84662045e+02] [-5.86362622e-01 8.09311561e-01 -3.45495697e-02 -1.98524611e+02] [-5.84365210e-02 2.78676190e-04 9.98291087e-01 -1.47271578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85864 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:284.69, Y:-198.54, Z:-14.73 [[ 8.07767528e-01 5.87655403e-01 4.66127478e-02 2.84689144e+02] [-5.86659005e-01 8.09111269e-01 -3.42076999e-02 -1.98544034e+02] [-5.78172392e-02 2.86081006e-04 9.98327143e-01 -1.47286948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88864 meters Centerline goodness [0,1] 0.9996573162970578 Centerline is valid? [True, True] Translation: X:284.72, Y:-198.56, Z:-14.73 [[ 8.07781058e-01 5.87704169e-01 4.57555684e-02 2.84716566e+02] [-5.86742107e-01 8.09075840e-01 -3.36152528e-02 -1.98562765e+02] [-5.67755491e-02 3.07045910e-04 9.98386920e-01 -1.47303535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91864 meters Centerline goodness [0,1] 0.9996081312760225 Centerline is valid? [True, True] Translation: X:284.74, Y:-198.58, Z:-14.73 [[ 8.07801405e-01 5.87471983e-01 4.83069266e-02 2.84742139e+02] [-5.86396783e-01 8.09244419e-01 -3.55286257e-02 -1.98582344e+02] [-5.99641829e-02 3.73047391e-04 9.98200460e-01 -1.47316039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94864 meters Centerline goodness [0,1] 0.9999020376175548 Centerline is valid? [True, True] Translation: X:284.77, Y:-198.60, Z:-14.73 [[ 8.07791134e-01 5.87425061e-01 4.90436815e-02 2.84767928e+02] [-5.86314561e-01 8.09278462e-01 -3.61054787e-02 -1.98601989e+02] [-6.08992582e-02 4.10660936e-04 9.98143833e-01 -1.47328432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97864 meters Centerline goodness [0,1] 0.9998040272402136 Centerline is valid? [True, True] Translation: X:284.79, Y:-198.62, Z:-14.73 [[ 8.07158866e-01 5.88167599e-01 5.05315835e-02 2.84793860e+02] [-5.86987802e-01 8.08738969e-01 -3.72370850e-02 -1.98620370e+02] [-6.27685075e-02 3.94820144e-04 9.98028035e-01 -1.47335641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00864 meters Centerline goodness [0,1] 0.9996081888529729 Centerline is valid? [True, True] Translation: X:284.82, Y:-198.64, Z:-14.73 [[ 8.03881424e-01 5.92743585e-01 4.92919825e-02 2.84820467e+02] [-5.91627477e-01 8.05391233e-01 -3.63578088e-02 -1.98638781e+02] [-6.12501885e-02 6.48759008e-05 9.98122442e-01 -1.47336226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03864 meters Centerline goodness [0,1] 0.999509900019604 Centerline is valid? [True, True] Translation: X:284.85, Y:-198.66, Z:-14.74 [[ 8.01436259e-01 5.96065452e-01 4.90499707e-02 2.84846890e+02] [-5.94964254e-01 8.02935833e-01 -3.62157979e-02 -1.98659146e+02] [-6.09709650e-02 -1.58325608e-04 9.98139528e-01 -1.47352431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06864 meters Centerline goodness [0,1] 0.9997060264576189 Centerline is valid? [True, True] Translation: X:284.87, Y:-198.68, Z:-14.74 [[ 7.98528800e-01 5.99910397e-01 4.95910377e-02 2.84871344e+02] [-5.98789737e-01 8.00067082e-01 -3.66540037e-02 -1.98679885e+02] [-6.16652747e-02 -4.25326822e-04 9.98096795e-01 -1.47363457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09864 meters Centerline goodness [0,1] 0.9994614179396788 Centerline is valid? [True, True] Translation: X:284.90, Y:-198.70, Z:-14.74 [[ 7.97828031e-01 6.00789563e-01 5.02228450e-02 2.84898483e+02] [-5.99639489e-01 7.99407081e-01 -3.71591517e-02 -1.98699436e+02] [-6.24733285e-02 -4.68988270e-04 9.98046524e-01 -1.47366903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12864 meters Centerline goodness [0,1] 0.9996566776202854 Centerline is valid? [True, True] Translation: X:284.93, Y:-198.72, Z:-14.74 [[ 7.97707602e-01 6.00988046e-01 4.97589308e-02 2.84925478e+02] [-5.99857009e-01 7.99257886e-01 -3.68564872e-02 -1.98718543e+02] [-6.19205261e-02 -4.47543359e-04 9.98080983e-01 -1.47380900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15864 meters Centerline goodness [0,1] 0.9994609956879655 Centerline is valid? [True, True] Translation: X:284.95, Y:-198.74, Z:-14.74 [[ 7.97349995e-01 6.01510676e-01 4.91720646e-02 2.84950045e+02] [-6.00404720e-01 7.98864634e-01 -3.64618781e-02 -1.98740063e+02] [-6.12140323e-02 -4.50261355e-04 9.98124561e-01 -1.47398954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18864 meters Centerline goodness [0,1] 0.9998036424328702 Centerline is valid? [True, True] Translation: X:284.98, Y:-198.76, Z:-14.74 [[ 7.97341855e-01 6.01543203e-01 4.89054294e-02 2.84976350e+02] [-6.00446830e-01 7.98840159e-01 -3.63043298e-02 -1.98760363e+02] [-6.09062438e-02 -4.18148347e-04 9.98143404e-01 -1.47415224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21864 meters Centerline goodness [0,1] 0.9995592340467212 Centerline is valid? [True, True] Translation: X:285.00, Y:-198.78, Z:-14.74 [[ 7.97065629e-01 6.01941507e-01 4.85057189e-02 2.85004543e+02] [-6.00861323e-01 7.98540075e-01 -3.60474597e-02 -1.98777796e+02] [-6.04322226e-02 -4.13019296e-04 9.98172218e-01 -1.47423917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24864 meters Centerline goodness [0,1] 0.9996084573218481 Centerline is valid? [True, True] Translation: X:285.03, Y:-198.80, Z:-14.74 [[ 7.97243599e-01 6.01736298e-01 4.81255828e-02 2.85031950e+02] [-6.00670245e-01 7.98694745e-01 -3.58044803e-02 -1.98796810e+02] [-5.99825055e-02 -3.62712883e-04 9.98199363e-01 -1.47441868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27864 meters Centerline goodness [0,1] 0.9994606785644244 Centerline is valid? [True, True] Translation: X:285.06, Y:-198.82, Z:-14.75 [[ 7.97143470e-01 6.01721760e-01 4.99320625e-02 2.85058036e+02] [-6.00571568e-01 7.98705706e-01 -3.71885314e-02 -1.98815575e+02] [-6.22581718e-02 -3.43182089e-04 9.98060019e-01 -1.47459721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30864 meters Centerline goodness [0,1] 0.9993141625434772 Centerline is valid? [True, True] Translation: X:285.09, Y:-198.83, Z:-14.75 [[ 7.97201594e-01 6.01588420e-01 5.06062388e-02 2.85086171e+02] [-6.00404216e-01 7.98806158e-01 -3.77292838e-02 -1.98833364e+02] [-6.31220754e-02 -3.06353946e-04 9.98005766e-01 -1.47457423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33864 meters Centerline goodness [0,1] 0.9991183817407063 Centerline is valid? [True, True] Translation: X:285.12, Y:-198.85, Z:-14.75 [[ 7.96224765e-01 6.02894942e-01 5.04362154e-02 2.85115831e+02] [-6.01718691e-01 7.97820498e-01 -3.76439820e-02 -1.98849303e+02] [-6.29344129e-02 -3.75342752e-04 9.98017594e-01 -1.47478910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36864 meters Centerline goodness [0,1] 0.9989705882352942 Centerline is valid? [True, True] Translation: X:285.14, Y:-198.87, Z:-14.75 [[ 7.96417038e-01 6.02593819e-01 5.09959805e-02 2.85143153e+02] [-6.01387978e-01 7.98047984e-01 -3.81040012e-02 -1.98867509e+02] [-6.36584751e-02 -3.21693847e-04 9.97971691e-01 -1.47505237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39864 meters Centerline goodness [0,1] 0.9983359436178544 Centerline is valid? [True, True] Translation: X:285.17, Y:-198.89, Z:-14.75 [[ 7.96540849e-01 6.02406012e-01 5.12803253e-02 2.85170595e+02] [-6.01183567e-01 7.98189778e-01 -3.83588022e-02 -1.98885984e+02] [-6.40390045e-02 -2.74535982e-04 9.97947359e-01 -1.47522708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42864000000003 meters Centerline goodness [0,1] 0.9983828285798294 Centerline is valid? [True, True] Translation: X:285.20, Y:-198.90, Z:-14.75 [[ 7.98283937e-01 6.00084614e-01 5.13927247e-02 2.85200121e+02] [-5.98849255e-01 7.99936531e-01 -3.84852894e-02 -1.98900809e+02] [-6.42053479e-02 -5.43065181e-05 9.97936707e-01 -1.47545382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45864 meters Centerline goodness [0,1] 0.9983347210657785 Centerline is valid? [True, True] Translation: X:285.23, Y:-198.92, Z:-14.76 [[ 7.99283092e-01 5.98719178e-01 5.17869245e-02 2.85228656e+02] [-5.97459125e-01 8.00959011e-01 -3.88234013e-02 -1.98918253e+02] [-6.47235187e-02 9.03176483e-05 9.97903231e-01 -1.47565120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48864 meters Centerline goodness [0,1] 0.9973534601058616 Centerline is valid? [True, True] Translation: X:285.26, Y:-198.93, Z:-14.76 [[ 8.01448255e-01 5.95918984e-01 5.06088896e-02 2.85257861e+02] [-5.94708022e-01 8.03044490e-01 -3.79725755e-02 -1.98933907e+02] [-6.32697685e-02 3.35541720e-04 9.97996405e-01 -1.47553592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51864 meters Centerline goodness [0,1] 0.9971054309964186 Centerline is valid? [True, True] Translation: X:285.29, Y:-198.95, Z:-14.76 [[ 8.01901780e-01 5.95327131e-01 5.03898973e-02 2.85285205e+02] [-5.94123719e-01 8.03483319e-01 -3.78359932e-02 -1.98951773e+02] [-6.30122353e-02 4.02917167e-04 9.98012673e-01 -1.47571683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54864 meters Centerline goodness [0,1] 0.9978942213516161 Centerline is valid? [True, True] Translation: X:285.31, Y:-198.97, Z:-14.76 [[ 8.02623522e-01 5.94281377e-01 5.12359882e-02 2.85312505e+02] [-5.93032471e-01 8.04257029e-01 -3.85113033e-02 -1.98968668e+02] [-6.40934540e-02 5.25473230e-04 9.97943762e-01 -1.47597119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57864 meters Centerline goodness [0,1] 0.9981406272936341 Centerline is valid? [True, True] Translation: X:285.34, Y:-198.99, Z:-14.76 [[ 8.03874525e-01 5.92662204e-01 5.03712152e-02 2.85340645e+02] [-5.91449596e-01 8.05450841e-01 -3.78987870e-02 -1.98986886e+02] [-6.30327163e-02 6.73834517e-04 9.98011234e-01 -1.47625654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60864 meters Centerline goodness [0,1] 0.9975492598764827 Centerline is valid? [True, True] Translation: X:285.37, Y:-199.01, Z:-14.76 [[ 8.04720189e-01 5.91586259e-01 4.95087459e-02 2.85367361e+02] [-5.90410381e-01 8.06241338e-01 -3.72892314e-02 -1.99006964e+02] [-6.19757944e-02 7.76919805e-04 9.98077350e-01 -1.47633054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63864 meters Centerline goodness [0,1] 0.9975008575488803 Centerline is valid? [True, True] Translation: X:285.39, Y:-199.03, Z:-14.76 [[ 8.05149039e-01 5.91048764e-01 4.89528833e-02 2.85394261e+02] [-5.89895792e-01 8.06635390e-01 -3.69093683e-02 -1.99026956e+02] [-6.13023646e-02 8.40442529e-04 9.98118888e-01 -1.47620474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66864 meters Centerline goodness [0,1] 0.9973064302855184 Centerline is valid? [True, True] Translation: X:285.42, Y:-199.05, Z:-14.76 [[ 8.04717367e-01 5.91605246e-01 4.93273960e-02 2.85420173e+02] [-5.90433141e-01 8.06227346e-01 -3.72313339e-02 -1.99046702e+02] [-6.17953480e-02 8.36171602e-04 9.98088491e-01 -1.47636247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69864 meters Centerline goodness [0,1] 0.9976015663240333 Centerline is valid? [True, True] Translation: X:285.45, Y:-199.07, Z:-14.77 [[ 8.04438619e-01 5.91935405e-01 4.99097702e-02 2.85446095e+02] [-5.90733556e-01 8.05984956e-01 -3.77109525e-02 -1.99066883e+02] [-6.25489719e-02 8.52770507e-04 9.98041532e-01 -1.47650337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72864 meters Centerline goodness [0,1] 0.9976467127518753 Centerline is valid? [True, True] Translation: X:285.47, Y:-199.09, Z:-14.77 [[ 8.05369664e-01 5.90783436e-01 4.85245966e-02 2.85470863e+02] [-5.89643015e-01 8.06829620e-01 -3.67025770e-02 -1.99088190e+02] [-6.08343563e-02 9.46952700e-04 9.98147426e-01 -1.47676677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75864 meters Centerline goodness [0,1] 0.9972062931921776 Centerline is valid? [True, True] Translation: X:285.50, Y:-199.11, Z:-14.77 [[ 8.06751244e-01 5.89019745e-01 4.69911840e-02 2.85495987e+02] [-5.87945155e-01 8.08117927e-01 -3.55796504e-02 -1.99110007e+02] [-5.89315347e-02 1.07568826e-03 9.98261447e-01 -1.47669635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78864 meters Centerline goodness [0,1] 0.9968642822146007 Centerline is valid? [True, True] Translation: X:285.52, Y:-199.13, Z:-14.77 [[ 8.07700087e-01 5.87723072e-01 4.69271822e-02 2.85521082e+02] [-5.86647124e-01 8.09061281e-01 -3.55667729e-02 -1.99130823e+02] [-5.88703792e-02 1.19758908e-03 9.98264917e-01 -1.47684756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81864 meters Centerline goodness [0,1] 0.9969152426186163 Centerline is valid? [True, True] Translation: X:285.54, Y:-199.15, Z:-14.77 [[ 8.07850860e-01 5.87615993e-01 4.56555786e-02 2.85544952e+02] [-5.86595666e-01 8.09139055e-01 -3.46340127e-02 -1.99152206e+02] [-5.72932115e-02 1.19775240e-03 9.98356676e-01 -1.47687141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84864 meters Centerline goodness [0,1] 0.9965248886496011 Centerline is valid? [True, True] Translation: X:285.57, Y:-199.17, Z:-14.77 [[ 8.08199750e-01 5.87106389e-01 4.60353416e-02 2.85569069e+02] [-5.86066324e-01 8.09508786e-01 -3.49541033e-02 -1.99174049e+02] [-5.77877908e-02 1.27013415e-03 9.98328081e-01 -1.47701432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87864 meters Centerline goodness [0,1] 0.997108976871815 Centerline is valid? [True, True] Translation: X:285.59, Y:-199.20, Z:-14.77 [[ 8.08173217e-01 5.87036713e-01 4.73703275e-02 2.85592140e+02] [-5.85933284e-01 8.09559203e-01 -3.60011624e-02 -1.99197385e+02] [-5.94830886e-02 1.33932372e-03 9.98228415e-01 -1.47712188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90864 meters Centerline goodness [0,1] 0.996718903036239 Centerline is valid? [True, True] Translation: X:285.62, Y:-199.22, Z:-14.77 [[ 8.07822331e-01 5.87554069e-01 4.69393011e-02 2.85615828e+02] [-5.86469518e-01 8.09183837e-01 -3.57074570e-02 -1.99220270e+02] [-5.89625854e-02 1.31681179e-03 9.98259325e-01 -1.47720326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93864 meters Centerline goodness [0,1] 0.9967667662763925 Centerline is valid? [True, True] Translation: X:285.64, Y:-199.24, Z:-14.77 [[ 8.07129510e-01 5.88519249e-01 4.67658820e-02 2.85639376e+02] [-5.87442239e-01 8.08482208e-01 -3.56108975e-02 -1.99242681e+02] [-5.87670822e-02 1.27035185e-03 9.98270913e-01 -1.47738077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96864 meters Centerline goodness [0,1] 0.997108976871815 Centerline is valid? [True, True] Translation: X:285.66, Y:-199.27, Z:-14.78 [[ 8.06341830e-01 5.89645009e-01 4.61694319e-02 2.85662436e+02] [-5.88595313e-01 8.07661641e-01 -3.51885153e-02 -1.99265159e+02] [-5.80380116e-02 1.19886056e-03 9.98313654e-01 -1.47750883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99864 meters Centerline goodness [0,1] 0.9971099681606662 Centerline is valid? [True, True] Translation: X:285.69, Y:-199.29, Z:-14.78 [[ 8.04945019e-01 5.91581279e-01 4.57723411e-02 2.85685779e+02] [-5.90550866e-01 8.06244648e-01 -3.49176432e-02 -1.99288147e+02] [-5.75603291e-02 1.07588729e-03 9.98341450e-01 -1.47757940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02864 meters Centerline goodness [0,1] 0.9964761158966328 Centerline is valid? [True, True] Translation: X:285.71, Y:-199.31, Z:-14.78 [[ 8.01461158e-01 5.96253086e-01 4.62846659e-02 2.85707088e+02] [-5.95205290e-01 8.02796148e-01 -3.53413028e-02 -1.99312986e+02] [-5.82295124e-02 7.75803440e-04 9.98302921e-01 -1.47753071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05864 meters Centerline goodness [0,1] 0.9963251506688225 Centerline is valid? [True, True] Translation: X:285.73, Y:-199.34, Z:-14.78 [[ 7.96665719e-01 6.02639604e-01 4.63598886e-02 2.85730154e+02] [-6.01597625e-01 7.98013407e-01 -3.54245657e-02 -1.99336567e+02] [-5.83440589e-02 3.31538197e-04 9.98296479e-01 -1.47764424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08864 meters Centerline goodness [0,1] 0.9960348541217936 Centerline is valid? [True, True] Translation: X:285.75, Y:-199.36, Z:-14.78 [[ 7.93687641e-01 6.06611151e-01 4.56381371e-02 2.85754268e+02] [-6.05606844e-01 7.94998685e-01 -3.48918672e-02 -1.99358243e+02] [-5.74480547e-02 5.44756016e-05 9.98348495e-01 -1.47778521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11864 meters Centerline goodness [0,1] 0.9950019600156801 Centerline is valid? [True, True] Translation: X:285.78, Y:-199.38, Z:-14.78 [[ 7.90713508e-01 6.10599817e-01 4.40455708e-02 2.85778292e+02] [-6.09668839e-01 7.91939280e-01 -3.37058371e-02 -1.99379940e+02] [-5.54621956e-02 -2.01551298e-04 9.98460768e-01 -1.47785714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14864 meters Centerline goodness [0,1] 0.9946626187444912 Centerline is valid? [True, True] Translation: X:285.80, Y:-199.40, Z:-14.78 [[ 7.85689462e-01 6.17100368e-01 4.33498093e-02 2.85801519e+02] [-6.16206686e-01 7.86884202e-01 -3.32050161e-02 -1.99402581e+02] [-5.46021077e-02 -6.23611114e-04 9.98507997e-01 -1.47788698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17864000000003 meters Centerline goodness [0,1] 0.9944667515424542 Centerline is valid? [True, True] Translation: X:285.83, Y:-199.42, Z:-14.78 [[ 7.83033832e-01 6.20392905e-01 4.43921325e-02 2.85826584e+02] [-6.19459103e-01 7.84290715e-01 -3.40366738e-02 -1.99422911e+02] [-5.59324483e-02 -8.47243467e-04 9.98434196e-01 -1.47802259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20864 meters Centerline goodness [0,1] 0.9940642629384351 Centerline is valid? [True, True] Translation: X:285.85, Y:-199.44, Z:-14.78 [[ 7.78966382e-01 6.25509665e-01 4.41478739e-02 2.85851464e+02] [-6.24592470e-01 7.80215523e-01 -3.38819101e-02 -1.99443841e+02] [-5.56383187e-02 -1.18156070e-03 9.98450290e-01 -1.47805843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23864 meters Centerline goodness [0,1] 0.9943497273129268 Centerline is valid? [True, True] Translation: X:285.88, Y:-199.46, Z:-14.78 [[ 7.76888632e-01 6.28096085e-01 4.40381760e-02 2.85876994e+02] [-6.27185782e-01 7.78134640e-01 -3.38301237e-02 -1.99462891e+02] [-5.55161985e-02 -1.33787936e-03 9.98456890e-01 -1.47815479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26864 meters Centerline goodness [0,1] 0.9930882352941176 Centerline is valid? [True, True] Translation: X:285.90, Y:-199.48, Z:-14.78 [[ 7.74643594e-01 6.30886453e-01 4.36988172e-02 2.85902697e+02] [-6.29992836e-01 7.75873720e-01 -3.36005628e-02 -1.99481317e+02] [-5.51029038e-02 -1.50148106e-03 9.98479552e-01 -1.47829846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29864 meters Centerline goodness [0,1] 0.9930323846908734 Centerline is valid? [True, True] Translation: X:285.93, Y:-199.50, Z:-14.78 [[ 7.70170793e-01 6.36428473e-01 4.23762704e-02 2.85930098e+02] [-6.35595282e-01 7.71333572e-01 -3.26060968e-02 -1.99498342e+02] [-5.34376884e-02 -1.82189412e-03 9.98569524e-01 -1.47831944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32864 meters Centerline goodness [0,1] 0.9923382937969648 Centerline is valid? [True, True] Translation: X:285.96, Y:-199.52, Z:-14.78 [[ 7.68143313e-01 6.38797949e-01 4.35089771e-02 2.85957641e+02] [-6.37922509e-01 7.69371867e-01 -3.34933407e-02 -1.99515958e+02] [-5.48700603e-02 -2.02767016e-03 9.98491445e-01 -1.47838482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35864 meters Centerline goodness [0,1] 0.9923544403058224 Centerline is valid? [True, True] Translation: X:285.99, Y:-199.53, Z:-14.78 [[ 7.67214739e-01 6.39937308e-01 4.31484169e-02 2.85986762e+02] [-6.39076455e-01 7.68424340e-01 -3.32463501e-02 -1.99530551e+02] [-5.44318735e-02 -2.06804743e-03 9.98515345e-01 -1.47847044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38864 meters Centerline goodness [0,1] 0.991913350323466 Centerline is valid? [True, True] Translation: X:286.01, Y:-199.55, Z:-14.79 [[ 7.67763314e-01 6.39371223e-01 4.17604181e-02 2.86014327e+02] [-6.38562531e-01 7.68895750e-01 -3.22058800e-02 -1.99547573e+02] [-5.27009209e-02 -1.94014514e-03 9.98608456e-01 -1.47865733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41864 meters Centerline goodness [0,1] 0.9919686581782566 Centerline is valid? [True, True] Translation: X:286.04, Y:-199.56, Z:-14.79 [[ 7.69382710e-01 6.37448706e-01 4.13448020e-02 2.86041663e+02] [-6.36651738e-01 7.70490767e-01 -3.19146157e-02 -1.99564922e+02] [-5.21997187e-02 -1.76768658e-03 9.98635101e-01 -1.47881529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44864 meters Centerline goodness [0,1] 0.9928501469147895 Centerline is valid? [True, True] Translation: X:286.07, Y:-199.58, Z:-14.79 [[ 7.73543392e-01 6.32253353e-01 4.34317566e-02 2.86070315e+02] [-6.31364286e-01 7.74760311e-01 -3.35499524e-02 -1.99578596e+02] [-5.48612712e-02 -1.46891600e-03 9.98492906e-01 -1.47905390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47864 meters Centerline goodness [0,1] 0.9928501469147895 Centerline is valid? [True, True] Translation: X:286.10, Y:-199.60, Z:-14.79 [[ 7.73213521e-01 6.32657190e-01 4.34249971e-02 2.86096236e+02] [-6.31768268e-01 7.74430546e-01 -3.35586984e-02 -1.99598254e+02] [-5.48607961e-02 -1.48649585e-03 9.98492906e-01 -1.47917946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50864 meters Centerline goodness [0,1] 0.9933784579164214 Centerline is valid? [True, True] Translation: X:286.12, Y:-199.62, Z:-14.79 [[ 7.75383453e-01 6.29927801e-01 4.44011895e-02 2.86123651e+02] [-6.28992287e-01 7.76652611e-01 -3.43427609e-02 -1.99615465e+02] [-5.61177596e-02 -1.29919715e-03 9.98423312e-01 -1.47930283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53864 meters Centerline goodness [0,1] 0.9946181320025441 Centerline is valid? [True, True] Translation: X:286.15, Y:-199.63, Z:-14.79 [[ 7.78687028e-01 6.25800534e-01 4.49466837e-02 2.86151017e+02] [-6.24833905e-01 7.79982496e-01 -3.47835739e-02 -1.99633200e+02] [-5.68252057e-02 -9.98694099e-04 9.98383643e-01 -1.47941300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56864 meters Centerline goodness [0,1] 0.9945046857367156 Centerline is valid? [True, True] Translation: X:286.18, Y:-199.65, Z:-14.80 [[ 7.80075571e-01 6.24082597e-01 4.47550638e-02 2.86176919e+02] [-6.23119478e-01 7.81357921e-01 -3.46686631e-02 -1.99651541e+02] [-5.66058329e-02 -8.43574804e-04 9.98396248e-01 -1.47958212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59864 meters Centerline goodness [0,1] 0.9959831488194376 Centerline is valid? [True, True] Translation: X:286.20, Y:-199.67, Z:-14.80 [[ 7.82198654e-01 6.21405082e-01 4.49554150e-02 2.86204432e+02] [-6.20426962e-01 7.83489204e-01 -3.48575965e-02 -1.99669257e+02] [-5.68827699e-02 -6.25986527e-04 9.98380668e-01 -1.47972744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62864 meters Centerline goodness [0,1] 0.9968644358434178 Centerline is valid? [True, True] Translation: X:286.23, Y:-199.69, Z:-14.80 [[ 7.83462562e-01 6.19799341e-01 4.51130891e-02 2.86229612e+02] [-6.18809745e-01 7.84760181e-01 -3.50136816e-02 -1.99689697e+02] [-5.71044128e-02 -4.84510474e-04 9.98368094e-01 -1.47988218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65864 meters Centerline goodness [0,1] 0.997645789396243 Centerline is valid? [True, True] Translation: X:286.25, Y:-199.71, Z:-14.80 [[ 7.84249264e-01 6.18695381e-01 4.65737967e-02 2.86254271e+02] [-6.17636459e-01 7.85630877e-01 -3.61846537e-02 -1.99711631e+02] [-5.89770909e-02 -3.87886830e-04 9.98259261e-01 -1.48011511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68864 meters Centerline goodness [0,1] 0.9988249118683902 Centerline is valid? [True, True] Translation: X:286.28, Y:-199.73, Z:-14.80 [[ 7.85855664e-01 6.16667473e-01 4.63907593e-02 2.86278276e+02] [-6.15611100e-01 7.87223720e-01 -3.60802901e-02 -1.99733641e+02] [-5.87694474e-02 -2.04765982e-04 9.98271561e-01 -1.48027597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71864 meters Centerline goodness [0,1] 0.999263839811543 Centerline is valid? [True, True] Translation: X:286.30, Y:-199.75, Z:-14.80 [[ 7.87885138e-01 6.14244598e-01 4.40520528e-02 2.86303172e+02] [-6.13286558e-01 7.89115691e-01 -3.42932060e-02 -1.99754303e+02] [-5.58265826e-02 2.57545489e-06 9.98440480e-01 -1.48035888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74864 meters Centerline goodness [0,1] 0.999362838798216 Centerline is valid? [True, True] Translation: X:286.33, Y:-199.78, Z:-14.81 [[ 7.89104764e-01 6.12648324e-01 4.44488751e-02 2.86327729e+02] [-6.11668421e-01 7.90355623e-01 -3.46371520e-02 -1.99776685e+02] [-5.63508115e-02 1.44368418e-04 9.98411020e-01 -1.48061593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77864 meters Centerline goodness [0,1] 0.9991676866585067 Centerline is valid? [True, True] Translation: X:286.35, Y:-199.80, Z:-14.81 [[ 7.90678999e-01 6.10666689e-01 4.37368875e-02 2.86351843e+02] [-6.09712871e-01 7.91887681e-01 -3.41191439e-02 -1.99800100e+02] [-5.54701270e-02 3.10347314e-04 9.98460299e-01 -1.48074843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80864 meters Centerline goodness [0,1] 0.9997055359246172 Centerline is valid? [True, True] Translation: X:286.37, Y:-199.82, Z:-14.81 [[ 7.92114763e-01 6.08626569e-01 4.61291844e-02 2.86373255e+02] [-6.07559774e-01 7.93456641e-01 -3.60233244e-02 -1.99824304e+02] [-5.85262600e-02 5.08370239e-04 9.98285740e-01 -1.48084442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83864 meters Centerline goodness [0,1] 0.9995102600519125 Centerline is valid? [True, True] Translation: X:286.40, Y:-199.85, Z:-14.81 [[ 7.92131327e-01 6.08553593e-01 4.68026100e-02 2.86398167e+02] [-6.07453192e-01 7.93512585e-01 -3.65841116e-02 -1.99845469e+02] [-5.94018527e-02 5.49026077e-04 9.98234000e-01 -1.48094615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86864 meters Centerline goodness [0,1] 0.9997545409916544 Centerline is valid? [True, True] Translation: X:286.42, Y:-199.87, Z:-14.81 [[ 7.91392312e-01 6.09653584e-01 4.49523746e-02 2.86419862e+02] [-6.08638282e-01 7.92667825e-01 -3.51732962e-02 -1.99869995e+02] [-5.70758271e-02 4.76140162e-04 9.98369733e-01 -1.48104081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89864 meters Centerline goodness [0,1] 0.9999020424156341 Centerline is valid? [True, True] Translation: X:286.44, Y:-199.89, Z:-14.81 [[ 7.90000218e-01 6.11492176e-01 4.44631791e-02 2.86442722e+02] [-6.10499936e-01 7.91250393e-01 -3.48230228e-02 -1.99893231e+02] [-5.64755139e-02 3.65427572e-04 9.98403918e-01 -1.48121597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92864000000003 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:286.47, Y:-199.92, Z:-14.81 [[ 7.88760073e-01 6.13148641e-01 4.36610997e-02 2.86465885e+02] [-6.12192661e-01 7.89967514e-01 -3.42267910e-02 -1.99915709e+02] [-5.54769607e-02 2.67721374e-04 9.98459932e-01 -1.48118423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95864 meters Centerline goodness [0,1] 0.9996568963827076 Centerline is valid? [True, True] Translation: X:286.49, Y:-199.94, Z:-14.81 [[ 7.84802832e-01 6.18089603e-01 4.52742393e-02 2.86488878e+02] [-6.17067713e-01 7.86107651e-01 -3.55274287e-02 -1.99939679e+02] [-5.75495602e-02 -5.52446965e-05 9.98342649e-01 -1.48122566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98864 meters Centerline goodness [0,1] 0.9998039696152904 Centerline is valid? [True, True] Translation: X:286.51, Y:-199.96, Z:-14.81 [[ 7.82876865e-01 6.20573735e-01 4.46324263e-02 2.86513214e+02] [-6.19582496e-01 7.84148072e-01 -3.50618460e-02 -1.99961345e+02] [-5.67568917e-02 -2.04362003e-04 9.98388007e-01 -1.48134564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01864 meters Centerline goodness [0,1] 0.9997047389400128 Centerline is valid? [True, True] Translation: X:286.54, Y:-199.99, Z:-14.81 [[ 7.81302103e-01 6.22585677e-01 4.42051817e-02 2.86536417e+02] [-6.21614399e-01 7.82551579e-01 -3.47644230e-02 -1.99985453e+02] [-5.62366665e-02 -3.17060622e-04 9.98417416e-01 -1.48149988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04864 meters Centerline goodness [0,1] 0.9996566102526367 Centerline is valid? [True, True] Translation: X:286.56, Y:-200.01, Z:-14.82 [[ 7.81311687e-01 6.22547724e-01 4.45688118e-02 2.86561276e+02] [-6.21558107e-01 7.82581784e-01 -3.50894580e-02 -2.00006651e+02] [-5.67236024e-02 -2.86302681e-04 9.98389879e-01 -1.48159592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07864 meters Centerline goodness [0,1] 0.999558801902054 Centerline is valid? [True, True] Translation: X:286.59, Y:-200.03, Z:-14.82 [[ 7.81394243e-01 6.22371220e-01 4.55752378e-02 2.86586791e+02] [-6.21333717e-01 7.82722175e-01 -3.59222595e-02 -2.00027870e+02] [-5.80297297e-02 -2.47985146e-04 9.98314825e-01 -1.48175025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.61, Y:-200.05, Z:-14.82 [[ 7.82802022e-01 6.20634617e-01 4.50961879e-02 2.86611049e+02] [-6.19613692e-01 7.84099907e-01 -3.55838257e-02 -2.00049789e+02] [-5.74444707e-02 -8.71248025e-05 9.98348699e-01 -1.48182608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13864 meters Centerline goodness [0,1] 0.999853063623451 Centerline is valid? [True, True] Translation: X:286.63, Y:-200.07, Z:-14.82 [[ 7.82871054e-01 6.20624558e-01 4.40235143e-02 2.86634791e+02] [-6.19649600e-01 7.84107872e-01 -3.47738179e-02 -2.00071135e+02] [-5.61006695e-02 -5.57375615e-05 9.98425116e-01 -1.48183768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16864 meters Centerline goodness [0,1] 0.9993637431480031 Centerline is valid? [True, True] Translation: X:286.66, Y:-200.09, Z:-14.82 [[ 7.83053727e-01 6.20473317e-01 4.28920057e-02 2.86658274e+02] [-6.19545879e-01 7.84227558e-01 -3.39122598e-02 -2.00092929e+02] [-5.46787452e-02 -1.84439586e-05 9.98503998e-01 -1.48183359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19864 meters Centerline goodness [0,1] 0.999412455934195 Centerline is valid? [True, True] Translation: X:286.68, Y:-200.11, Z:-14.82 [[ 7.82071833e-01 6.21705205e-01 4.29684370e-02 2.86683778e+02] [-6.20774435e-01 7.83251321e-01 -3.40068958e-02 -2.00114064e+02] [-5.47973491e-02 -7.78718554e-05 9.98497493e-01 -1.48199354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22864 meters Centerline goodness [0,1] 0.9995103080162577 Centerline is valid? [True, True] Translation: X:286.71, Y:-200.14, Z:-14.82 [[ 7.79394133e-01 6.25140132e-01 4.17684308e-02 2.86707734e+02] [-6.24264021e-01 7.80512481e-01 -3.30862375e-02 -2.00135821e+02] [-5.32843164e-02 -2.87309198e-04 9.98579340e-01 -1.48188340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25864 meters Centerline goodness [0,1] 0.9994114473490607 Centerline is valid? [True, True] Translation: X:286.73, Y:-200.16, Z:-14.82 [[ 7.77799456e-01 6.27101028e-01 4.20987767e-02 2.86733185e+02] [-6.26212849e-01 7.78937823e-01 -3.33666775e-02 -2.00157355e+02] [-5.37166073e-02 -4.10211304e-04 9.98556137e-01 -1.48200997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28864 meters Centerline goodness [0,1] 0.9992137592137592 Centerline is valid? [True, True] Translation: X:286.76, Y:-200.18, Z:-14.82 [[ 7.75767027e-01 6.29620124e-01 4.20002357e-02 2.86758976e+02] [-6.28737791e-01 7.76902949e-01 -3.33256282e-02 -2.00178071e+02] [-5.36125932e-02 -5.54211919e-04 9.98561657e-01 -1.48208641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31864 meters Centerline goodness [0,1] 0.9997548058061985 Centerline is valid? [True, True] Translation: X:286.78, Y:-200.20, Z:-14.82 [[ 7.72933610e-01 6.32981949e-01 4.36747827e-02 2.86784265e+02] [-6.32031012e-01 7.74166151e-01 -3.46925128e-02 -2.00197722e+02] [-5.57712728e-02 -7.88807890e-04 9.98443260e-01 -1.48206900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34864 meters Centerline goodness [0,1] 0.9994605727736368 Centerline is valid? [True, True] Translation: X:286.81, Y:-200.22, Z:-14.82 [[ 7.71632288e-01 6.34619898e-01 4.29091752e-02 2.86809956e+02] [-6.33702698e-01 7.72823937e-01 -3.41182262e-02 -2.00218134e+02] [-5.48133429e-02 -8.64935194e-04 9.98496244e-01 -1.48215234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37864 meters Centerline goodness [0,1] 0.9995099240382259 Centerline is valid? [True, True] Translation: X:286.84, Y:-200.24, Z:-14.82 [[ 7.71103781e-01 6.35218263e-01 4.35513201e-02 2.86836119e+02] [-6.34272201e-01 7.72332159e-01 -3.46671531e-02 -2.00238291e+02] [-5.56572938e-02 -8.91418797e-04 9.98449534e-01 -1.48223895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40864 meters Centerline goodness [0,1] 0.999558801902054 Centerline is valid? [True, True] Translation: X:286.86, Y:-200.26, Z:-14.82 [[ 7.70633003e-01 6.35785197e-01 4.36114549e-02 2.86862873e+02] [-6.34835298e-01 7.71865510e-01 -3.47531024e-02 -2.00257957e+02] [-5.57576860e-02 -9.04203300e-04 9.98443921e-01 -1.48235097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43864 meters Centerline goodness [0,1] 0.9996564922956129 Centerline is valid? [True, True] Translation: X:286.89, Y:-200.28, Z:-14.83 [[ 7.70181179e-01 6.36291136e-01 4.42101956e-02 2.86891499e+02] [-6.35313586e-01 7.71448467e-01 -3.52691190e-02 -2.00275712e+02] [-5.65473154e-02 -9.23726258e-04 9.98399493e-01 -1.48251701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46864 meters Centerline goodness [0,1] 0.9998529051238049 Centerline is valid? [True, True] Translation: X:286.92, Y:-200.30, Z:-14.83 [[ 7.70381126e-01 6.36022248e-01 4.45939650e-02 2.86917830e+02] [-6.35024957e-01 7.71670217e-01 -3.56143349e-02 -2.00295821e+02] [-5.70633439e-02 -8.81669334e-04 9.98370171e-01 -1.48263529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49864 meters Centerline goodness [0,1] 0.9997057958223007 Centerline is valid? [True, True] Translation: X:286.94, Y:-200.32, Z:-14.83 [[ 7.71057691e-01 6.35194775e-01 4.46949083e-02 2.86942641e+02] [-6.34189430e-01 7.72351583e-01 -3.57323287e-02 -2.00315903e+02] [-5.72171717e-02 -7.93351501e-04 9.98361440e-01 -1.48274436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52864 meters Centerline goodness [0,1] 0.9998040272402136 Centerline is valid? [True, True] Translation: X:286.97, Y:-200.34, Z:-14.83 [[ 7.72960207e-01 6.32849318e-01 4.51027655e-02 2.86968117e+02] [-6.31819531e-01 7.74274747e-01 -3.60928951e-02 -2.00335701e+02] [-5.77632964e-02 -5.98436497e-04 9.98330127e-01 -1.48281473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55864 meters Centerline goodness [0,1] 0.9995099480544938 Centerline is valid? [True, True] Translation: X:287.00, Y:-200.36, Z:-14.83 [[ 7.74253764e-01 6.31219095e-01 4.57554699e-02 2.86995131e+02] [-6.30154226e-01 7.75604440e-01 -3.66524843e-02 -2.00355456e+02] [-5.86238935e-02 -4.54678829e-04 9.98280037e-01 -1.48289043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58864 meters Centerline goodness [0,1] 0.9994122544938042 Centerline is valid? [True, True] Translation: X:287.02, Y:-200.38, Z:-14.83 [[ 7.76209297e-01 6.28788796e-01 4.60844605e-02 2.87019643e+02] [-6.27701829e-01 7.77576100e-01 -3.69570230e-02 -2.00377866e+02] [-5.90723371e-02 -2.40915364e-04 9.98253676e-01 -1.48314807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61864 meters Centerline goodness [0,1] 0.9989718482252142 Centerline is valid? [True, True] Translation: X:287.04, Y:-200.40, Z:-14.83 [[ 7.76273471e-01 6.28785107e-01 4.50420636e-02 2.87044280e+02] [-6.27744608e-01 7.77579094e-01 -3.61588255e-02 -2.00399259e+02] [-5.77598980e-02 -2.05775519e-04 9.98330482e-01 -1.48316942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64864 meters Centerline goodness [0,1] 0.9993629636889303 Centerline is valid? [True, True] Translation: X:287.07, Y:-200.42, Z:-14.83 [[ 7.73837190e-01 6.31789474e-01 4.49228615e-02 2.87070323e+02] [-6.30757420e-01 7.75139923e-01 -3.60995465e-02 -2.00419206e+02] [-5.76288169e-02 -4.00256614e-04 9.98337999e-01 -1.48316348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67864000000003 meters Centerline goodness [0,1] 0.9996080544804272 Centerline is valid? [True, True] Translation: X:287.10, Y:-200.44, Z:-14.83 [[ 7.71590811e-01 6.34478532e-01 4.56575521e-02 2.87095491e+02] [-6.33414806e-01 7.72940267e-01 -3.67291140e-02 -2.00438934e+02] [-5.85943948e-02 -5.80322627e-04 9.98281704e-01 -1.48326970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70864 meters Centerline goodness [0,1] 0.9996571820363387 Centerline is valid? [True, True] Translation: X:287.12, Y:-200.46, Z:-14.83 [[ 7.69751475e-01 6.36644942e-01 4.65390577e-02 2.87119823e+02] [-6.35541518e-01 7.71156717e-01 -3.74739478e-02 -2.00459274e+02] [-5.97465063e-02 -7.31876833e-04 9.98213314e-01 -1.48332412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73864 meters Centerline goodness [0,1] 0.9996081120799452 Centerline is valid? [True, True] Translation: X:287.14, Y:-200.48, Z:-14.83 [[ 7.67045132e-01 6.39906481e-01 4.64915208e-02 2.87143656e+02] [-6.38809232e-01 7.68452196e-01 -3.74698299e-02 -2.00480986e+02] [-5.97036983e-02 -9.58162143e-04 9.98215683e-01 -1.48337280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76864 meters Centerline goodness [0,1] 0.999852616064849 Centerline is valid? [True, True] Translation: X:287.17, Y:-200.50, Z:-14.84 [[ 7.65459152e-01 6.41780048e-01 4.68044451e-02 2.87170369e+02] [-6.40669285e-01 7.66887994e-01 -3.77580819e-02 -2.00499685e+02] [-6.01261506e-02 -1.08390100e-03 9.98190198e-01 -1.48367776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79864 meters Centerline goodness [0,1] 0.9998529483848831 Centerline is valid? [True, True] Translation: X:287.20, Y:-200.51, Z:-14.84 [[ 7.63539572e-01 6.44081163e-01 4.65486543e-02 2.87199932e+02] [-6.42984662e-01 7.64956169e-01 -3.75870359e-02 -2.00514355e+02] [-5.98167821e-02 -1.23088144e-03 9.98208614e-01 -1.48379248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82864 meters Centerline goodness [0,1] 0.9996562392574768 Centerline is valid? [True, True] Translation: X:287.23, Y:-200.53, Z:-14.84 [[ 7.62441362e-01 6.45387015e-01 4.64625770e-02 2.87227350e+02] [-6.44294771e-01 7.63854636e-01 -3.75545406e-02 -2.00533457e+02] [-5.97278677e-02 -1.30246029e-03 9.98213848e-01 -1.48381742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85864 meters Centerline goodness [0,1] 0.9998530348307452 Centerline is valid? [True, True] Translation: X:287.26, Y:-200.55, Z:-14.84 [[ 7.60660084e-01 6.47517177e-01 4.60189313e-02 2.87255138e+02] [-6.46447334e-01 7.62049520e-01 -3.72340331e-02 -2.00549883e+02] [-5.91783805e-02 -1.42637269e-03 9.98246405e-01 -1.48385756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88864 meters Centerline goodness [0,1] 0.9996567954500882 Centerline is valid? [True, True] Translation: X:287.28, Y:-200.57, Z:-14.84 [[ 7.59672147e-01 6.48740228e-01 4.51037221e-02 2.87284458e+02] [-6.47712640e-01 7.61008523e-01 -3.65289444e-02 -2.00566554e+02] [-5.80221127e-02 -1.46422930e-03 9.98314224e-01 -1.48397498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91864 meters Centerline goodness [0,1] 0.9997549740272469 Centerline is valid? [True, True] Translation: X:287.32, Y:-200.58, Z:-14.84 [[ 7.57958980e-01 6.50792206e-01 4.43586552e-02 2.87316300e+02] [-6.49799737e-01 7.59254273e-01 -3.59618050e-02 -2.00577675e+02] [-5.70831609e-02 -1.56666950e-03 9.98368198e-01 -1.48428136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94864 meters Centerline goodness [0,1] 0.9997548178296475 Centerline is valid? [True, True] Translation: X:287.34, Y:-200.59, Z:-14.84 [[ 7.58064918e-01 6.50676312e-01 4.42483604e-02 2.87343413e+02] [-6.49686680e-01 7.59353673e-01 -3.59056701e-02 -2.00594709e+02] [-5.69631240e-02 -1.52874152e-03 9.98375113e-01 -1.48440514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97864 meters Centerline goodness [0,1] 0.9995097798911712 Centerline is valid? [True, True] Translation: X:287.37, Y:-200.61, Z:-14.84 [[ 7.58504444e-01 6.50146498e-01 4.45032530e-02 2.87371215e+02] [-6.49142573e-01 7.59807452e-01 -3.61462925e-02 -2.00612242e+02] [-5.73142888e-02 -1.47183265e-03 9.98355100e-01 -1.48446569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00864 meters Centerline goodness [0,1] 0.9994123696195093 Centerline is valid? [True, True] Translation: X:287.40, Y:-200.62, Z:-14.84 [[ 7.60264776e-01 6.48033705e-01 4.52745770e-02 2.87402273e+02] [-6.46988869e-01 7.61610533e-01 -3.68075997e-02 -2.00624609e+02] [-5.83341600e-02 -1.30862583e-03 9.98296255e-01 -1.48441973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03864 meters Centerline goodness [0,1] 0.9993145654834761 Centerline is valid? [True, True] Translation: X:287.43, Y:-200.64, Z:-14.85 [[ 7.61151370e-01 6.46958887e-01 4.57470292e-02 2.87430920e+02] [-6.45888082e-01 7.62523921e-01 -3.72270798e-02 -2.00640763e+02] [-5.89675941e-02 -1.21201812e-03 9.98259162e-01 -1.48454131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06864 meters Centerline goodness [0,1] 0.9993132205052735 Centerline is valid? [True, True] Translation: X:287.46, Y:-200.66, Z:-14.85 [[ 7.63479248e-01 6.44276826e-01 4.47974291e-02 2.87460424e+02] [-6.43243452e-01 7.64791773e-01 -3.64884460e-02 -2.00655657e+02] [-5.77693654e-02 -9.57481643e-04 9.98329497e-01 -1.48459564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09864 meters Centerline goodness [0,1] 0.9988744249779778 Centerline is valid? [True, True] Translation: X:287.49, Y:-200.67, Z:-14.85 [[ 7.64726012e-01 6.42758432e-01 4.53401014e-02 2.87487732e+02] [-6.41695101e-01 7.66068480e-01 -3.69659339e-02 -2.00672550e+02] [-5.84937883e-02 -8.25709710e-04 9.98287431e-01 -1.48480070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12864 meters Centerline goodness [0,1] 0.9989715964740451 Centerline is valid? [True, True] Translation: X:287.52, Y:-200.69, Z:-14.85 [[ 7.66047467e-01 6.41217524e-01 4.48482459e-02 2.87515720e+02] [-6.40172503e-01 7.67358869e-01 -3.65996284e-02 -2.00688817e+02] [-5.78830223e-02 -6.73561158e-04 9.98323145e-01 -1.48492368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15864 meters Centerline goodness [0,1] 0.9993134562573558 Centerline is valid? [True, True] Translation: X:287.55, Y:-200.70, Z:-14.85 [[ 7.68708998e-01 6.38032115e-01 4.47380868e-02 2.87546840e+02] [-6.36984815e-01 7.70009647e-01 -3.65443469e-02 -2.00701736e+02] [-5.77652254e-02 -4.05513652e-04 9.98330113e-01 -1.48500362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18864 meters Centerline goodness [0,1] 0.9996079392305808 Centerline is valid? [True, True] Translation: X:287.57, Y:-200.72, Z:-14.85 [[ 7.70518985e-01 6.35871296e-01 4.43642817e-02 2.87574990e+02] [-6.34835885e-01 7.71795082e-01 -3.62732687e-02 -2.00718466e+02] [-5.73052648e-02 -2.14795910e-04 9.98356680e-01 -1.48508139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21864 meters Centerline goodness [0,1] 0.9998040656380113 Centerline is valid? [True, True] Translation: X:287.60, Y:-200.74, Z:-14.85 [[ 7.70737841e-01 6.35528101e-01 4.54666149e-02 2.87601170e+02] [-6.34437846e-01 7.72077720e-01 -3.72104097e-02 -2.00736789e+02] [-5.87520214e-02 -1.66270415e-04 9.98272594e-01 -1.48523680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24864 meters Centerline goodness [0,1] 0.9998530924048773 Centerline is valid? [True, True] Translation: X:287.63, Y:-200.76, Z:-14.85 [[ 7.70828056e-01 6.35420742e-01 4.54377535e-02 2.87628843e+02] [-6.34329520e-01 7.72166086e-01 -3.72236013e-02 -2.00755168e+02] [-5.87381406e-02 -1.29512089e-04 9.98273416e-01 -1.48543597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27864 meters Centerline goodness [0,1] 0.9997549980399844 Centerline is valid? [True, True] Translation: X:287.66, Y:-200.77, Z:-14.86 [[ 7.70863468e-01 6.35413807e-01 4.49311368e-02 2.87657735e+02] [-6.34344506e-01 7.72171797e-01 -3.68478495e-02 -2.00771370e+02] [-5.81081890e-02 -9.71587071e-05 9.98310287e-01 -1.48560381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30864 meters Centerline goodness [0,1] 0.9999020616032516 Centerline is valid? [True, True] Translation: X:287.68, Y:-200.79, Z:-14.86 [[ 7.70625953e-01 6.35698618e-01 4.49767483e-02 2.87684417e+02] [-6.34625306e-01 7.71937342e-01 -3.69250709e-02 -2.00790834e+02] [-5.81924481e-02 -8.79646367e-05 9.98305380e-01 -1.48574242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33864 meters Centerline goodness [0,1] 0.9996571652463513 Centerline is valid? [True, True] Translation: X:287.71, Y:-200.81, Z:-14.86 [[ 7.71546208e-01 6.34535443e-01 4.56203967e-02 2.87711286e+02] [-6.33426704e-01 7.72893764e-01 -3.74945466e-02 -2.00810083e+02] [-5.90513389e-02 3.15977385e-05 9.98254947e-01 -1.48597900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36864 meters Centerline goodness [0,1] 0.9998530564263323 Centerline is valid? [True, True] Translation: X:287.74, Y:-200.83, Z:-14.86 [[ 7.71719054e-01 6.34298382e-01 4.59920041e-02 2.87737802e+02] [-6.33168616e-01 7.73088324e-01 -3.78410820e-02 -2.00830450e+02] [-5.95584184e-02 8.19904091e-05 9.98224818e-01 -1.48615596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39864 meters Centerline goodness [0,1] 0.9998530564263323 Centerline is valid? [True, True] Translation: X:287.76, Y:-200.85, Z:-14.86 [[ 7.71386900e-01 6.34703724e-01 4.59721048e-02 2.87763137e+02] [-6.33573237e-01 7.72755574e-01 -3.78652463e-02 -2.00850880e+02] [-5.95584130e-02 8.20596858e-05 9.98224819e-01 -1.48628142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42864000000003 meters Centerline goodness [0,1] 0.9997548298519172 Centerline is valid? [True, True] Translation: X:287.79, Y:-200.87, Z:-14.86 [[ 7.71701035e-01 6.34282262e-01 4.65137022e-02 2.87788846e+02] [-6.33121701e-01 7.73101540e-01 -3.83525932e-02 -2.00871946e+02] [-6.02861844e-02 1.47901656e-04 9.98181123e-01 -1.48648696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45864 meters Centerline goodness [0,1] 0.9998528113040919 Centerline is valid? [True, True] Translation: X:287.81, Y:-200.89, Z:-14.87 [[ 7.74065909e-01 6.31386779e-01 4.66122678e-02 2.87813405e+02] [-6.30213655e-01 7.75467969e-01 -3.84730857e-02 -2.00892518e+02] [-6.04377183e-02 4.05016401e-04 9.98171888e-01 -1.48672174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48864 meters Centerline goodness [0,1] 0.9998528762689421 Centerline is valid? [True, True] Translation: X:287.84, Y:-200.91, Z:-14.87 [[ 7.75340143e-01 6.29797232e-01 4.69372906e-02 2.87837963e+02] [-6.28602565e-01 7.76759379e-01 -3.87773422e-02 -2.00912563e+02] [-6.08808434e-02 5.60728787e-04 9.98144884e-01 -1.48695774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51864 meters Centerline goodness [0,1] 0.9996062798366061 Centerline is valid? [True, True] Translation: X:287.86, Y:-200.94, Z:-14.87 [[ 7.78258786e-01 6.26254670e-01 4.60255334e-02 2.87861250e+02] [-6.25097754e-01 7.79618091e-01 -3.80582448e-02 -2.00935150e+02] [-5.97164920e-02 8.48705836e-04 9.98215017e-01 -1.48704170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54864 meters Centerline goodness [0,1] 0.999116174015516 Centerline is valid? [True, True] Translation: X:287.88, Y:-200.96, Z:-14.87 [[ 7.79715699e-01 6.24425003e-01 4.62260144e-02 2.87884891e+02] [-6.23252664e-01 7.81084101e-01 -3.82588985e-02 -2.00957364e+02] [-5.99962177e-02 1.02057718e-03 9.98198083e-01 -1.48730369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57864 meters Centerline goodness [0,1] 0.9991176470588236 Centerline is valid? [True, True] Translation: X:287.91, Y:-200.98, Z:-14.87 [[ 7.81784719e-01 6.21919098e-01 4.50476267e-02 2.87907269e+02] [-6.20799711e-01 7.83080568e-01 -3.73167905e-02 -2.00981254e+02] [-5.84839458e-02 1.20814294e-03 9.98287618e-01 -1.48740076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60864 meters Centerline goodness [0,1] 0.9992154555261351 Centerline is valid? [True, True] Translation: X:287.93, Y:-201.00, Z:-14.88 [[ 7.81591361e-01 6.22170797e-01 4.49270852e-02 2.87931163e+02] [-6.21055774e-01 7.82880595e-01 -3.72518444e-02 -2.01003838e+02] [-5.83495530e-02 1.21349416e-03 9.98295476e-01 -1.48758496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63864 meters Centerline goodness [0,1] 0.9988228946981216 Centerline is valid? [True, True] Translation: X:287.95, Y:-201.03, Z:-14.88 [[ 7.81430291e-01 6.22427743e-01 4.41634016e-02 2.87954963e+02] [-6.21348616e-01 7.82676343e-01 -3.66556897e-02 -2.01027039e+02] [-5.73811679e-02 1.20299780e-03 9.98351619e-01 -1.48761562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66864 meters Centerline goodness [0,1] 0.9993618065783014 Centerline is valid? [True, True] Translation: X:287.98, Y:-201.05, Z:-14.88 [[ 7.79685185e-01 6.24567815e-01 4.47890175e-02 2.87975431e+02] [-6.23459258e-01 7.80969819e-01 -3.72115011e-02 -2.01052876e+02] [-5.82199768e-02 1.08912851e-03 9.98303184e-01 -1.48766366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69864 meters Centerline goodness [0,1] 0.9995097798911712 Centerline is valid? [True, True] Translation: X:288.00, Y:-201.07, Z:-14.88 [[ 7.78174081e-01 6.26425993e-01 4.51173469e-02 2.87999751e+02] [-6.25302245e-01 7.79480281e-01 -3.75179167e-02 -2.01074537e+02] [-5.86702805e-02 9.83492046e-04 9.98276931e-01 -1.48784185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72864 meters Centerline goodness [0,1] 0.9996565934065934 Centerline is valid? [True, True] Translation: X:288.02, Y:-201.10, Z:-14.88 [[ 7.75361183e-01 6.29856618e-01 4.57785554e-02 2.88023345e+02] [-6.28703546e-01 7.76711053e-01 -3.81023892e-02 -2.01096983e+02] [-5.95557520e-02 7.61973481e-04 9.98224690e-01 -1.48795812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75864 meters Centerline goodness [0,1] 0.9999019944136815 Centerline is valid? [True, True] Translation: X:288.05, Y:-201.12, Z:-14.88 [[ 7.73629217e-01 6.31947253e-01 4.62655796e-02 2.88047441e+02] [-6.30771586e-01 7.75011145e-01 -3.85348184e-02 -2.01118956e+02] [-6.02083124e-02 6.28648367e-04 9.98185636e-01 -1.48827429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78864 meters Centerline goodness [0,1] 0.9995590180802587 Centerline is valid? [True, True] Translation: X:288.07, Y:-201.14, Z:-14.88 [[ 7.72240200e-01 6.33723948e-01 4.51556372e-02 2.88071752e+02] [-6.32605930e-01 7.73559122e-01 -3.76300746e-02 -2.01140250e+02] [-5.87776344e-02 4.93732455e-04 9.98270978e-01 -1.48839851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81864 meters Centerline goodness [0,1] 0.9996073426916658 Centerline is valid? [True, True] Translation: X:288.10, Y:-201.16, Z:-14.89 [[ 7.70229143e-01 6.36162611e-01 4.52128176e-02 2.88097601e+02] [-6.35043907e-01 7.71554937e-01 -3.77122880e-02 -2.01159256e+02] [-5.88753202e-02 3.34979029e-04 9.98265288e-01 -1.48855383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84864 meters Centerline goodness [0,1] 0.9998529772114678 Centerline is valid? [True, True] Translation: X:288.12, Y:-201.18, Z:-14.89 [[ 7.69388986e-01 6.37181555e-01 4.51691647e-02 2.88124714e+02] [-6.36064610e-01 7.70713685e-01 -3.77124265e-02 -2.01178423e+02] [-5.88421559e-02 2.85018476e-04 9.98267259e-01 -1.48866488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87864 meters Centerline goodness [0,1] 0.9998039600078416 Centerline is valid? [True, True] Translation: X:288.15, Y:-201.20, Z:-14.89 [[ 7.69460028e-01 6.37103200e-01 4.50641555e-02 2.88150976e+02] [-6.35988959e-01 7.70778444e-01 -3.76647711e-02 -2.01198854e+02] [-5.87308259e-02 3.21230502e-04 9.98273804e-01 -1.48892983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90864 meters Centerline goodness [0,1] 0.9994605198626778 Centerline is valid? [True, True] Translation: X:288.18, Y:-201.22, Z:-14.89 [[ 7.69882550e-01 6.36653363e-01 4.41967811e-02 2.88176885e+02] [-6.35578667e-01 7.71150019e-01 -3.69784397e-02 -2.01218679e+02] [-5.76247966e-02 3.78524256e-04 9.98338239e-01 -1.48907631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93864 meters Centerline goodness [0,1] 0.9996564754379939 Centerline is valid? [True, True] Translation: X:288.20, Y:-201.24, Z:-14.89 [[ 7.71847722e-01 6.34238424e-01 4.46398506e-02 2.88203704e+02] [-6.33135795e-01 7.73137290e-01 -3.73871156e-02 -2.01237367e+02] [-5.82250784e-02 5.94072710e-04 9.98303304e-01 -1.48936360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96864 meters Centerline goodness [0,1] 0.999607804686734 Centerline is valid? [True, True] Translation: X:288.23, Y:-201.26, Z:-14.89 [[ 7.73069181e-01 6.32753892e-01 4.45707603e-02 2.88229270e+02] [-6.31650209e-01 7.74352618e-01 -3.73635792e-02 -2.01257202e+02] [-5.81554351e-02 7.31501557e-04 9.98307272e-01 -1.48944039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99864 meters Centerline goodness [0,1] 0.9992162625520451 Centerline is valid? [True, True] Translation: X:288.25, Y:-201.28, Z:-14.89 [[ 7.76296351e-01 6.28826428e-01 4.40601600e-02 2.88254384e+02] [-6.27739648e-01 7.77545009e-01 -3.69688259e-02 -2.01277430e+02] [-5.75057322e-02 1.04045531e-03 9.98344634e-01 -1.48949776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02864 meters Centerline goodness [0,1] 0.998823414060202 Centerline is valid? [True, True] Translation: X:288.28, Y:-201.30, Z:-14.90 [[ 7.77355388e-01 6.27601415e-01 4.28376551e-02 2.88279840e+02] [-6.26570440e-01 7.78534005e-01 -3.59761855e-02 -2.01298659e+02] [-5.59292761e-02 1.12547328e-03 9.98434099e-01 -1.48954465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05864 meters Centerline goodness [0,1] 0.9993133552405709 Centerline is valid? [True, True] Translation: X:288.30, Y:-201.32, Z:-14.90 [[ 7.77257543e-01 6.27671589e-01 4.35785192e-02 2.88304379e+02] [-6.26602641e-01 7.78477367e-01 -3.66349451e-02 -2.01319838e+02] [-5.69196051e-02 1.16837217e-03 9.98378081e-01 -1.48974636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08864 meters Centerline goodness [0,1] 0.9990190789151013 Centerline is valid? [True, True] Translation: X:288.33, Y:-201.34, Z:-14.90 [[ 7.76871149e-01 6.28205670e-01 4.27651051e-02 2.88326927e+02] [-6.27175315e-01 7.78046498e-01 -3.59829398e-02 -2.01343514e+02] [-5.58779270e-02 1.13288953e-03 9.98436965e-01 -1.48975338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11864 meters Centerline goodness [0,1] 0.9990192232247941 Centerline is valid? [True, True] Translation: X:288.35, Y:-201.37, Z:-14.90 [[ 7.76580122e-01 6.28541664e-01 4.31125373e-02 2.88350496e+02] [-6.27493068e-01 7.77775075e-01 -3.63095328e-02 -2.01366118e+02] [-5.63539111e-02 1.14444306e-03 9.98410200e-01 -1.48987508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14864 meters Centerline goodness [0,1] 0.9979901960784314 Centerline is valid? [True, True] Translation: X:288.37, Y:-201.39, Z:-14.90 [[ 7.75408060e-01 6.29952867e-01 4.36087748e-02 2.88374161e+02] [-6.28880027e-01 7.76632610e-01 -3.67654780e-02 -2.01389860e+02] [-5.70285148e-02 1.08356051e-03 9.98371962e-01 -1.48993506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17864000000003 meters Centerline goodness [0,1] 0.9984811366976972 Centerline is valid? [True, True] Translation: X:288.40, Y:-201.41, Z:-14.90 [[ 7.74244108e-01 6.31301660e-01 4.47691398e-02 2.88399114e+02] [-6.30170857e-01 7.75536673e-01 -3.77830643e-02 -2.01411965e+02] [-5.85726209e-02 1.04110772e-03 9.98282607e-01 -1.49008766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20864 meters Centerline goodness [0,1] 0.9988249694002448 Centerline is valid? [True, True] Translation: X:288.42, Y:-201.44, Z:-14.90 [[ 7.74029981e-01 6.31625814e-01 4.38910000e-02 2.88420574e+02] [-6.30537832e-01 7.75272721e-01 -3.70708687e-02 -2.01437086e+02] [-5.74424126e-02 1.01902776e-03 9.98348301e-01 -1.49030069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23864 meters Centerline goodness [0,1] 0.9985772457440023 Centerline is valid? [True, True] Translation: X:288.44, Y:-201.46, Z:-14.90 [[ 7.74592978e-01 6.30901564e-01 4.43726924e-02 2.88442822e+02] [-6.29787234e-01 7.75862106e-01 -3.74970872e-02 -2.01460154e+02] [-5.80840615e-02 1.09962516e-03 9.98311090e-01 -1.49044414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26864 meters Centerline goodness [0,1] 0.9987212276214834 Centerline is valid? [True, True] Translation: X:288.47, Y:-201.48, Z:-14.91 [[ 7.75211250e-01 6.30192454e-01 4.36461761e-02 2.88466008e+02] [-6.29111654e-01 7.76438109e-01 -3.69105629e-02 -2.01483399e+02] [-5.71493126e-02 1.15516556e-03 9.98364974e-01 -1.49053541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29864 meters Centerline goodness [0,1] 0.9978926733643715 Centerline is valid? [True, True] Translation: X:288.49, Y:-201.51, Z:-14.91 [[ 7.76321568e-01 6.28827144e-01 4.36032720e-02 2.88489247e+02] [-6.27745044e-01 7.77544086e-01 -3.68965395e-02 -2.01505641e+02] [-5.71050118e-02 1.27184155e-03 9.98367367e-01 -1.49069280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32864 meters Centerline goodness [0,1] 0.9983339866718933 Centerline is valid? [True, True] Translation: X:288.51, Y:-201.53, Z:-14.91 [[ 7.75535748e-01 6.29794721e-01 4.36223943e-02 2.88513521e+02] [-6.28711191e-01 7.76760646e-01 -3.69477701e-02 -2.01527881e+02] [-5.71536697e-02 1.22842904e-03 9.98364637e-01 -1.49079190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35864 meters Centerline goodness [0,1] 0.9987242394504416 Centerline is valid? [True, True] Translation: X:288.54, Y:-201.55, Z:-14.91 [[ 7.73042532e-01 6.32881760e-01 4.31963270e-02 2.88537453e+02] [-6.31822077e-01 7.74247790e-01 -3.66226952e-02 -2.01549819e+02] [-5.66224965e-02 1.01850796e-03 9.98395140e-01 -1.49076947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38864 meters Centerline goodness [0,1] 0.9991657260636992 Centerline is valid? [True, True] Translation: X:288.56, Y:-201.57, Z:-14.91 [[ 7.71698608e-01 6.34534298e-01 4.29823512e-02 2.88562306e+02] [-6.33485793e-01 7.72894159e-01 -3.64742165e-02 -2.01570766e+02] [-5.63649496e-02 9.18393308e-04 9.98409810e-01 -1.49089384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41864 meters Centerline goodness [0,1] 0.9993623700215813 Centerline is valid? [True, True] Translation: X:288.59, Y:-201.59, Z:-14.91 [[ 7.69123043e-01 6.37695974e-01 4.23507825e-02 2.88587064e+02] [-6.36681041e-01 7.70287837e-01 -3.59708230e-02 -2.01591800e+02] [-5.55607417e-02 7.02048524e-04 9.98455062e-01 -1.49103705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44864 meters Centerline goodness [0,1] 0.9991656441717791 Centerline is valid? [True, True] Translation: X:288.61, Y:-201.61, Z:-14.91 [[ 7.68289559e-01 6.38702772e-01 4.23074671e-02 2.88611488e+02] [-6.37689527e-01 7.69453273e-01 -3.59684188e-02 -2.01613430e+02] [-5.55267478e-02 6.55131923e-04 9.98456985e-01 -1.49114177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47864 meters Centerline goodness [0,1] 0.9987738486438766 Centerline is valid? [True, True] Translation: X:288.64, Y:-201.64, Z:-14.91 [[ 7.68314716e-01 6.38595572e-01 4.34533318e-02 2.88635264e+02] [-6.37524311e-01 7.69542196e-01 -3.69805708e-02 -2.01635357e+02] [-5.70548011e-02 7.10161330e-04 9.98370796e-01 -1.49116877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50864 meters Centerline goodness [0,1] 0.998328827721799 Centerline is valid? [True, True] Translation: X:288.66, Y:-201.66, Z:-14.91 [[ 7.69038113e-01 6.37740769e-01 4.32098656e-02 2.88661916e+02] [-6.36678129e-01 7.70250659e-01 -3.68087304e-02 -2.01655672e+02] [-5.67568555e-02 7.96540198e-04 9.98387713e-01 -1.49123478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53864 meters Centerline goodness [0,1] 0.9980883290034802 Centerline is valid? [True, True] Translation: X:288.69, Y:-201.67, Z:-14.91 [[ 7.69176301e-01 6.37547267e-01 4.36039021e-02 2.88689325e+02] [-6.36462576e-01 7.70410775e-01 -3.71837042e-02 -2.01674553e+02] [-5.72992850e-02 8.48572174e-04 9.98356686e-01 -1.49139262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56864 meters Centerline goodness [0,1] 0.997843665768194 Centerline is valid? [True, True] Translation: X:288.72, Y:-201.69, Z:-14.92 [[ 7.71481624e-01 6.34747978e-01 4.37162382e-02 2.88716113e+02] [-6.33651038e-01 7.72718461e-01 -3.73167709e-02 -2.01692780e+02] [-5.74670892e-02 1.08836321e-03 9.98346808e-01 -1.49167511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59864 meters Centerline goodness [0,1] 0.996814350127426 Centerline is valid? [True, True] Translation: X:288.74, Y:-201.71, Z:-14.92 [[ 7.75929501e-01 6.29370332e-01 4.27363521e-02 2.88739835e+02] [-6.28312347e-01 7.77104117e-01 -3.65073383e-02 -2.01713871e+02] [-5.61872308e-02 1.47534304e-03 9.98419160e-01 -1.49175148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62864 meters Centerline goodness [0,1] 0.9956869087879233 Centerline is valid? [True, True] Translation: X:288.76, Y:-201.73, Z:-14.92 [[ 7.77255171e-01 6.27774093e-01 4.21199159e-02 2.88764359e+02] [-6.26742998e-01 7.78393976e-01 -3.60004468e-02 -2.01734100e+02] [-5.53860367e-02 1.58317102e-03 9.98463760e-01 -1.49175293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65864 meters Centerline goodness [0,1] 0.9950497475861393 Centerline is valid? [True, True] Translation: X:288.79, Y:-201.75, Z:-14.92 [[ 7.78252103e-01 6.26553844e-01 4.18801234e-02 2.88788809e+02] [-6.25531090e-01 7.79376320e-01 -3.58246902e-02 -2.01754193e+02] [-5.50864738e-02 1.68332130e-03 9.98480168e-01 -1.49186289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68864 meters Centerline goodness [0,1] 0.9951506245407788 Centerline is valid? [True, True] Translation: X:288.81, Y:-201.78, Z:-14.92 [[ 7.78904626e-01 6.25670806e-01 4.29374687e-02 2.88811630e+02] [-6.24592607e-01 7.80085092e-01 -3.67603715e-02 -2.01776661e+02] [-5.64947705e-02 1.81439797e-03 9.98401246e-01 -1.49214884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71864 meters Centerline goodness [0,1] 0.994952217593727 Centerline is valid? [True, True] Translation: X:288.84, Y:-201.80, Z:-14.92 [[ 7.78601811e-01 6.26039777e-01 4.30513488e-02 2.88836171e+02] [-6.24954482e-01 7.79789003e-01 -3.68918170e-02 -2.01799196e+02] [-5.66667133e-02 1.81890219e-03 9.98391494e-01 -1.49230746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74864 meters Centerline goodness [0,1] 0.9947567011319646 Centerline is valid? [True, True] Translation: X:288.86, Y:-201.82, Z:-14.92 [[ 7.77331658e-01 6.27617570e-01 4.30311418e-02 2.88860530e+02] [-6.26533693e-01 7.78519872e-01 -3.69099031e-02 -2.01820855e+02] [-5.66659027e-02 1.73077597e-03 9.98391697e-01 -1.49237473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77864 meters Centerline goodness [0,1] 0.9963231689381312 Centerline is valid? [True, True] Translation: X:288.88, Y:-201.84, Z:-14.93 [[ 7.76467530e-01 6.28702667e-01 4.27917233e-02 2.88884890e+02] [-6.27630664e-01 7.77643991e-01 -3.67365263e-02 -2.01842523e+02] [-5.63730785e-02 1.66732211e-03 9.98408381e-01 -1.49257844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80864 meters Centerline goodness [0,1] 0.9966668300573501 Centerline is valid? [True, True] Translation: X:288.91, Y:-201.87, Z:-14.93 [[ 7.76413983e-01 6.28752499e-01 4.30304807e-02 2.88908364e+02] [-6.27666627e-01 7.77603631e-01 -3.69756556e-02 -2.01866231e+02] [-5.67091938e-02 1.69961939e-03 9.98389292e-01 -1.49277151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83864 meters Centerline goodness [0,1] 0.9967597820216997 Centerline is valid? [True, True] Translation: X:288.93, Y:-201.89, Z:-14.93 [[ 7.76476272e-01 6.28697238e-01 4.27127698e-02 2.88931696e+02] [-6.27625198e-01 7.77648266e-01 -3.67394253e-02 -2.01890084e+02] [-5.63134865e-02 1.71968140e-03 9.98411656e-01 -1.49291988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86864 meters Centerline goodness [0,1] 0.994362468748468 Centerline is valid? [True, True] Translation: X:288.96, Y:-201.91, Z:-14.93 [[ 7.77726952e-01 6.27240302e-01 4.13568894e-02 2.88955273e+02] [-6.26231395e-01 7.78823720e-01 -3.56069239e-02 -2.01911418e+02] [-5.45438242e-02 1.79348186e-03 9.98509767e-01 -1.49289076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89864 meters Centerline goodness [0,1] 0.9941712382445141 Centerline is valid? [True, True] Translation: X:288.98, Y:-201.93, Z:-14.93 [[ 7.78329523e-01 6.26546785e-01 4.05250442e-02 2.88979594e+02] [-6.25575528e-01 7.79381667e-01 -3.49210042e-02 -2.01932046e+02] [-5.34641194e-02 1.82857264e-03 9.98568097e-01 -1.49301224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92864 meters Centerline goodness [0,1] 0.9938280675973549 Centerline is valid? [True, True] Translation: X:289.00, Y:-201.95, Z:-14.93 [[ 7.79529979e-01 6.25080170e-01 4.00973004e-02 2.89002175e+02] [-6.24125807e-01 7.80558165e-01 -3.45821985e-02 -2.01954586e+02] [-5.29149217e-02 1.93210046e-03 9.98597155e-01 -1.49321190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95864 meters Centerline goodness [0,1] 0.994309820465025 Centerline is valid? [True, True] Translation: X:289.03, Y:-201.98, Z:-14.93 [[ 7.79286113e-01 6.25349226e-01 4.06386392e-02 2.89025117e+02] [-6.24367549e-01 7.80342543e-01 -3.50810369e-02 -2.01978078e+02] [-5.36499583e-02 1.96471739e-03 9.98557871e-01 -1.49341084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98864 meters Centerline goodness [0,1] 0.994609956879655 Centerline is valid? [True, True] Translation: X:289.05, Y:-202.00, Z:-14.94 [[ 7.79407948e-01 6.25232901e-01 4.00882910e-02 2.89048185e+02] [-6.24275691e-01 7.80435730e-01 -3.46400465e-02 -2.02001749e+02] [-5.29444314e-02 1.97258204e-03 9.98595512e-01 -1.49352159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01864 meters Centerline goodness [0,1] 0.9941557803752087 Centerline is valid? [True, True] Translation: X:289.07, Y:-202.03, Z:-14.93 [[ 7.79135399e-01 6.25534697e-01 4.06739922e-02 2.89069840e+02] [-6.24547798e-01 7.80193764e-01 -3.51815014e-02 -2.02027652e+02] [-5.37408449e-02 2.00830088e-03 9.98552897e-01 -1.49346636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04864 meters Centerline goodness [0,1] 0.993725797755012 Centerline is valid? [True, True] Translation: X:289.09, Y:-202.05, Z:-14.93 [[ 7.78190433e-01 6.26714364e-01 4.06048751e-02 2.89092482e+02] [-6.25730611e-01 7.79246626e-01 -3.51553369e-02 -2.02050483e+02] [-5.36735665e-02 1.94983351e-03 9.98556632e-01 -1.49344833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07864 meters Centerline goodness [0,1] 0.9955435847208619 Centerline is valid? [True, True] Translation: X:289.11, Y:-202.08, Z:-14.93 [[ 7.74802627e-01 6.30915822e-01 4.03251250e-02 2.89111122e+02] [-6.29950003e-01 7.75849503e-01 -3.49362633e-02 -2.02076390e+02] [-5.33280695e-02 1.66589593e-03 9.98575657e-01 -1.49349363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10864 meters Centerline goodness [0,1] 0.9955376844995832 Centerline is valid? [True, True] Translation: X:289.13, Y:-202.10, Z:-14.94 [[ 7.72702285e-01 6.33431858e-01 4.11735410e-02 2.89132509e+02] [-6.32427810e-01 7.73796956e-01 -3.56838264e-02 -2.02100539e+02] [-5.44632332e-02 1.53368183e-03 9.98514599e-01 -1.49367878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13864 meters Centerline goodness [0,1] 0.9983261126427727 Centerline is valid? [True, True] Translation: X:289.15, Y:-202.13, Z:-14.94 [[ 7.68739009e-01 6.38128307e-01 4.28088772e-02 2.89153896e+02] [-6.37048544e-01 7.69928990e-01 -3.71282001e-02 -2.02125473e+02] [-5.66523510e-02 1.27056283e-03 9.98393157e-01 -1.49378593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16864 meters Centerline goodness [0,1] 0.9974531028064848 Centerline is valid? [True, True] Translation: X:289.18, Y:-202.15, Z:-14.94 [[ 7.66537758e-01 6.40821719e-01 4.20403295e-02 2.89177721e+02] [-6.39783426e-01 7.67688991e-01 -3.64798807e-02 -2.02147510e+02] [-5.56509980e-02 1.06649992e-03 9.98449713e-01 -1.49382811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19864 meters Centerline goodness [0,1] 0.9980877666094631 Centerline is valid? [True, True] Translation: X:289.20, Y:-202.17, Z:-14.94 [[ 7.64007786e-01 6.43788277e-01 4.27639662e-02 2.89200336e+02] [-6.42716583e-01 7.65203149e-01 -3.71420834e-02 -2.02169927e+02] [-5.66347595e-02 8.91730701e-04 9.98394566e-01 -1.49404726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22864 meters Centerline goodness [0,1] 0.9992156862745099 Centerline is valid? [True, True] Translation: X:289.22, Y:-202.20, Z:-14.94 [[ 7.59892145e-01 6.48761407e-01 4.08970122e-02 2.89220076e+02] [-6.47786768e-01 7.60991697e-01 -3.55519255e-02 -2.02196066e+02] [-5.41870039e-02 5.23085523e-04 9.98530668e-01 -1.49411562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25864 meters Centerline goodness [0,1] 0.9991171277221895 Centerline is valid? [True, True] Translation: X:289.24, Y:-202.22, Z:-14.94 [[ 7.55641802e-01 6.53751160e-01 4.01856601e-02 2.89242753e+02] [-6.52815462e-01 7.56709578e-01 -3.49655095e-02 -2.02219477e+02] [-5.32676163e-02 1.87580318e-04 9.98580255e-01 -1.49410231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28864 meters Centerline goodness [0,1] 0.9991171277221895 Centerline is valid? [True, True] Translation: X:289.27, Y:-202.24, Z:-14.94 [[ 7.55288546e-01 6.54160294e-01 4.01686625e-02 2.89267461e+02] [-6.53224136e-01 7.56355919e-01 -3.49850282e-02 -2.02240569e+02] [-5.32676220e-02 1.84651217e-04 9.98580255e-01 -1.49422774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31864 meters Centerline goodness [0,1] 0.9995100440960314 Centerline is valid? [True, True] Translation: X:289.29, Y:-202.26, Z:-14.94 [[ 7.52895936e-01 6.56916421e-01 4.01064388e-02 2.89292260e+02] [-6.55985024e-01 7.53963405e-01 -3.49690124e-02 -2.02262454e+02] [-5.32105056e-02 1.88040281e-05 9.98583317e-01 -1.49427880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34864 meters Centerline goodness [0,1] 0.9998529339673513 Centerline is valid? [True, True] Translation: X:289.32, Y:-202.28, Z:-14.95 [[ 7.50626107e-01 6.59489032e-01 4.04309759e-02 2.89316700e+02] [-6.58544115e-01 7.51714173e-01 -3.52909368e-02 -2.02284672e+02] [-5.36665233e-02 -1.35282725e-04 9.98558905e-01 -1.49453174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37864 meters Centerline goodness [0,1] 0.999459698413478 Centerline is valid? [True, True] Translation: X:289.34, Y:-202.31, Z:-14.95 [[ 7.48282787e-01 6.62138877e-01 4.05583163e-02 2.89339062e+02] [-6.61189759e-01 7.49381091e-01 -3.54412623e-02 -2.02308742e+02] [-5.38606729e-02 -2.96656819e-04 9.98548416e-01 -1.49479355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40864 meters Centerline goodness [0,1] 0.9998529051238049 Centerline is valid? [True, True] Translation: X:289.36, Y:-202.33, Z:-14.95 [[ 7.47033651e-01 6.63594141e-01 3.97937216e-02 2.89363427e+02] [-6.62680547e-01 7.48092697e-01 -3.48110568e-02 -2.02331526e+02] [-5.28698058e-02 -3.65494386e-04 9.98601347e-01 -1.49479819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:289.39, Y:-202.35, Z:-14.95 [[ 7.45608565e-01 6.65134350e-01 4.07941691e-02 2.89388341e+02] [-6.64174406e-01 7.46723568e-01 -3.57249411e-02 -2.02352435e+02] [-5.42238530e-02 -4.57620901e-04 9.98528700e-01 -1.49487529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46864 meters Centerline goodness [0,1] 0.9997550700499657 Centerline is valid? [True, True] Translation: X:289.41, Y:-202.37, Z:-14.95 [[ 7.44277493e-01 6.66584773e-01 4.14216623e-02 2.89412959e+02] [-6.65595338e-01 7.45429033e-01 -3.63098229e-02 -2.02373432e+02] [-5.50804847e-02 -5.45481377e-04 9.98481769e-01 -1.49504571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49864 meters Centerline goodness [0,1] 0.9997058679347027 Centerline is valid? [True, True] Translation: X:289.44, Y:-202.40, Z:-14.95 [[ 7.41418330e-01 6.69756880e-01 4.15280715e-02 2.89436563e+02] [-6.68765375e-01 7.42580062e-01 -3.64379546e-02 -2.02395887e+02] [-5.52424887e-02 -7.56768875e-04 9.98472681e-01 -1.49512344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.46, Y:-202.42, Z:-14.95 [[ 7.39827757e-01 6.71501670e-01 4.17180632e-02 2.89460646e+02] [-6.70501889e-01 7.41002536e-01 -3.66395744e-02 -2.02417770e+02] [-5.55167261e-02 -8.65066026e-04 9.98457383e-01 -1.49528386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55864 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:289.49, Y:-202.44, Z:-14.95 [[ 7.35723496e-01 6.76014610e-01 4.14147807e-02 2.89486431e+02] [-6.75034534e-01 7.36887289e-01 -3.64074389e-02 -2.02437729e+02] [-5.51299861e-02 -1.17059890e-03 9.98478500e-01 -1.49543376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58864 meters Centerline goodness [0,1] 0.9999018404907976 Centerline is valid? [True, True] Translation: X:289.51, Y:-202.46, Z:-14.95 [[ 7.33624957e-01 6.78309681e-01 4.11144639e-02 2.89512507e+02] [-6.77345526e-01 7.34774976e-01 -3.61769771e-02 -2.02456239e+02] [-5.47490730e-02 -1.30836490e-03 9.98499288e-01 -1.49547075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61864 meters Centerline goodness [0,1] 0.9997058246715043 Centerline is valid? [True, True] Translation: X:289.54, Y:-202.47, Z:-14.96 [[ 7.29997158e-01 6.82242041e-01 4.06195318e-02 2.89541183e+02] [-6.81305249e-01 7.31124727e-01 -3.57741725e-02 -2.02472022e+02] [-5.41045885e-02 -1.55925593e-03 9.98534057e-01 -1.49555053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64864 meters Centerline goodness [0,1] 0.9997055937193327 Centerline is valid? [True, True] Translation: X:289.57, Y:-202.49, Z:-14.96 [[ 7.28474382e-01 6.83843315e-01 4.10291969e-02 2.89567721e+02] [-6.82888214e-01 7.29626979e-01 -3.61684700e-02 -2.02490315e+02] [-5.46695754e-02 -1.67055114e-03 9.98503103e-01 -1.49572715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.59, Y:-202.51, Z:-14.96 [[ 7.27562450e-01 6.84886273e-01 3.97954130e-02 2.89594256e+02] [-6.83987599e-01 7.28648061e-01 -3.51136415e-02 -2.02509892e+02] [-5.30457016e-02 -1.67220201e-03 9.98590686e-01 -1.49585438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70864 meters Centerline goodness [0,1] 0.999607554574442 Centerline is valid? [True, True] Translation: X:289.62, Y:-202.52, Z:-14.96 [[ 7.28250202e-01 6.84197069e-01 3.90642328e-02 2.89623509e+02] [-6.83328619e-01 7.29295484e-01 -3.44977617e-02 -2.02524923e+02] [-5.20926360e-02 -1.57070628e-03 9.98641022e-01 -1.49592962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73864 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:289.65, Y:-202.54, Z:-14.96 [[ 7.32120366e-01 6.80011687e-01 3.97979339e-02 2.89653942e+02] [-6.79103463e-01 7.33200142e-01 -3.51573413e-02 -2.02539611e+02] [-5.30872537e-02 -1.28750915e-03 9.98589048e-01 -1.49605374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76864 meters Centerline goodness [0,1] 0.9997546253128528 Centerline is valid? [True, True] Translation: X:289.68, Y:-202.56, Z:-14.96 [[ 7.34056719e-01 6.77883540e-01 4.04306772e-02 2.89680546e+02] [-6.76941975e-01 7.35168424e-01 -3.57344504e-02 -2.02558578e+02] [-5.39471530e-02 -1.13810904e-03 9.98543143e-01 -1.49611877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79864 meters Centerline goodness [0,1] 0.9998040080356705 Centerline is valid? [True, True] Translation: X:289.71, Y:-202.58, Z:-14.96 [[ 7.36741283e-01 6.74879345e-01 4.18348173e-02 2.89706507e+02] [-6.73864351e-01 7.37927515e-01 -3.70110614e-02 -2.02577704e+02] [-5.58490636e-02 -9.23415209e-04 9.98438796e-01 -1.49644715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82864 meters Centerline goodness [0,1] 0.9999509539457551 Centerline is valid? [True, True] Translation: X:289.73, Y:-202.60, Z:-14.97 [[ 7.41612622e-01 6.69635059e-01 3.99950736e-02 2.89734194e+02] [-6.68698350e-01 7.42690146e-01 -3.54099425e-02 -2.02595644e+02] [-5.34156860e-02 -4.84179401e-04 9.98572246e-01 -1.49672015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85864 meters Centerline goodness [0,1] 0.9998528257456829 Centerline is valid? [True, True] Translation: X:289.76, Y:-202.61, Z:-14.97 [[ 7.42804975e-01 6.68424721e-01 3.80678454e-02 2.89760021e+02] [-6.67573760e-01 7.43779711e-01 -3.37196862e-02 -2.02614532e+02] [-5.08531629e-02 -3.65943977e-04 9.98706074e-01 -1.49674706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:289.79, Y:-202.64, Z:-14.97 [[ 7.42695760e-01 6.68537682e-01 3.82148675e-02 2.89786088e+02] [-6.67678571e-01 7.43678186e-01 -3.38833359e-02 -2.02635442e+02] [-5.10718503e-02 -3.50238233e-04 9.98694920e-01 -1.49684092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91864 meters Centerline goodness [0,1] 0.9998529483848831 Centerline is valid? [True, True] Translation: X:289.81, Y:-202.66, Z:-14.97 [[ 7.42115825e-01 6.69175406e-01 3.83194287e-02 2.89810616e+02] [-6.68310516e-01 7.43104395e-01 -3.40134272e-02 -2.02657513e+02] [-5.12362849e-02 -3.67374535e-04 9.98686491e-01 -1.49680361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.83, Y:-202.68, Z:-14.97 [[ 7.41230897e-01 6.69973024e-01 4.13872598e-02 2.89833835e+02] [-6.68962980e-01 7.42385322e-01 -3.67772391e-02 -2.02679700e+02] [-5.53650522e-02 -4.26118692e-04 9.98466088e-01 -1.49713461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97864 meters Centerline goodness [0,1] 0.9998529772114678 Centerline is valid? [True, True] Translation: X:289.86, Y:-202.70, Z:-14.97 [[ 7.40848901e-01 6.70332517e-01 4.23936549e-02 2.89858433e+02] [-6.69271147e-01 7.42060730e-01 -3.77094962e-02 -2.02701578e+02] [-5.67365680e-02 -4.35811177e-04 9.98389088e-01 -1.49731563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00864 meters Centerline goodness [0,1] 0.9999510044096032 Centerline is valid? [True, True] Translation: X:289.88, Y:-202.72, Z:-14.98 [[ 7.40180112e-01 6.71022792e-01 4.31487456e-02 2.89881785e+02] [-6.69922026e-01 7.41436575e-01 -3.84224443e-02 -2.02724161e+02] [-5.77743940e-02 -4.66765970e-04 9.98329556e-01 -1.49761058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03864 meters Centerline goodness [0,1] 0.999951021207817 Centerline is valid? [True, True] Translation: X:289.91, Y:-202.75, Z:-14.98 [[ 7.38647757e-01 6.72769229e-01 4.22025511e-02 2.89905596e+02] [-6.71716913e-01 7.39852180e-01 -3.76183523e-02 -2.02747329e+02] [-5.65321193e-02 -5.61455774e-04 9.98400623e-01 -1.49773708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06864 meters Centerline goodness [0,1] 0.9999510044096032 Centerline is valid? [True, True] Translation: X:289.93, Y:-202.77, Z:-14.98 [[ 7.35989298e-01 6.75749221e-01 4.10212546e-02 2.89933183e+02] [-6.74757512e-01 7.37131225e-01 -3.66040532e-02 -2.02766094e+02] [-5.49732081e-02 -7.39208249e-04 9.98487556e-01 -1.49777200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09864 meters Centerline goodness [0,1] 0.9998528474027567 Centerline is valid? [True, True] Translation: X:289.96, Y:-202.79, Z:-14.98 [[ 7.34713126e-01 6.77175168e-01 4.03783928e-02 2.89959461e+02] [-6.76214380e-01 7.35821409e-01 -3.60689136e-02 -2.02785711e+02] [-5.41362586e-02 -8.04145594e-04 9.98533234e-01 -1.49784658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.99, Y:-202.81, Z:-14.98 [[ 7.33708282e-01 6.78314295e-01 3.95205599e-02 2.89985235e+02] [-6.77393575e-01 7.34771400e-01 -3.53402750e-02 -2.02807080e+02] [-5.30103908e-02 -8.41520949e-04 9.98593606e-01 -1.49796591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15864 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:290.01, Y:-202.83, Z:-14.98 [[ 7.32092679e-01 6.80114291e-01 3.85338983e-02 2.90010865e+02] [-6.79239577e-01 7.33105521e-01 -3.44948156e-02 -2.02828486e+02] [-5.17098306e-02 -9.20346816e-04 9.98661728e-01 -1.49810658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.04, Y:-202.85, Z:-14.98 [[ 7.31400338e-01 6.80809845e-01 3.93890965e-02 2.90036405e+02] [-6.79894868e-01 7.32459574e-01 -3.52979051e-02 -2.02848619e+02] [-5.28820821e-02 -9.63544813e-04 9.98600299e-01 -1.49833176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21864 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:290.06, Y:-202.87, Z:-14.98 [[ 7.30414413e-01 6.81779621e-01 4.08819440e-02 2.90063268e+02] [-6.80793520e-01 7.31556868e-01 -3.66706018e-02 -2.02866140e+02] [-5.49087359e-02 -1.04742643e-03 9.98490828e-01 -1.49844411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24864 meters Centerline goodness [0,1] 0.9999020424156341 Centerline is valid? [True, True] Translation: X:290.09, Y:-202.89, Z:-14.99 [[ 7.29713591e-01 6.82537768e-01 4.07464235e-02 2.90089314e+02] [-6.81557495e-01 7.30849532e-01 -3.65833716e-02 -2.02886646e+02] [-5.47490374e-02 -1.07564686e-03 9.98499567e-01 -1.49857954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.12, Y:-202.91, Z:-14.99 [[ 7.30779797e-01 6.81453290e-01 3.97781620e-02 2.90116393e+02] [-6.80515513e-01 7.31861000e-01 -3.57507185e-02 -2.02905070e+02] [-5.34745302e-02 -9.43753490e-04 9.98568768e-01 -1.49865300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:290.14, Y:-202.92, Z:-14.99 [[ 7.31668201e-01 6.80495024e-01 3.98518107e-02 2.90141996e+02] [-6.79550531e-01 7.32752209e-01 -3.58507544e-02 -2.02924653e+02] [-5.35977623e-02 -8.50462170e-04 9.98562245e-01 -1.49882323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.17, Y:-202.94, Z:-14.99 [[ 7.31632814e-01 6.80566413e-01 3.92782711e-02 2.90168452e+02] [-6.79647211e-01 7.32685941e-01 -3.53692020e-02 -2.02944809e+02] [-5.28497280e-02 -8.18098593e-04 9.98602141e-01 -1.49877769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.19, Y:-202.97, Z:-14.99 [[ 7.30527974e-01 6.81709432e-01 4.00141039e-02 2.90192918e+02] [-6.80755096e-01 7.31622484e-01 -3.60699476e-02 -2.02965989e+02] [-5.38644416e-02 -8.89699383e-04 9.98547861e-01 -1.49898828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39864 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:290.22, Y:-202.99, Z:-14.99 [[ 7.29152885e-01 6.83150538e-01 4.05143594e-02 2.90217408e+02] [-6.82172477e-01 7.30276918e-01 -3.65559100e-02 -2.02987059e+02] [-5.45598911e-02 -9.82933677e-04 9.98510016e-01 -1.49917374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.24, Y:-203.01, Z:-14.99 [[ 7.27226980e-01 6.85157921e-01 4.12255075e-02 2.90243170e+02] [-6.84146423e-01 7.28393679e-01 -3.72333215e-02 -2.03007041e+02] [-5.55391043e-02 -1.12720749e-03 9.98455876e-01 -1.49932985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.27, Y:-203.03, Z:-15.00 [[ 7.25901927e-01 6.86530013e-01 4.17484587e-02 2.90268192e+02] [-6.85492912e-01 7.27100440e-01 -3.77414640e-02 -2.03026755e+02] [-5.62659704e-02 -1.22167107e-03 9.98415068e-01 -1.49957956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48864 meters Centerline goodness [0,1] 0.9998530276308054 Centerline is valid? [True, True] Translation: X:290.29, Y:-203.05, Z:-15.00 [[ 7.24131876e-01 6.88496824e-01 4.00643120e-02 2.90294950e+02] [-6.87542899e-01 7.25238202e-01 -3.62534475e-02 -2.03045874e+02] [-5.40165531e-02 -1.29365625e-03 9.98539202e-01 -1.49961538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51864 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:290.32, Y:-203.07, Z:-15.00 [[ 7.22932531e-01 6.89779382e-01 3.96605712e-02 2.90320708e+02] [-6.88844473e-01 7.24018362e-01 -3.59263547e-02 -2.03066248e+02] [-5.34962406e-02 -1.34763477e-03 9.98567142e-01 -1.49971899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54864 meters Centerline goodness [0,1] 0.9999020040178352 Centerline is valid? [True, True] Translation: X:290.35, Y:-203.08, Z:-15.00 [[ 7.20195900e-01 6.92583294e-01 4.05739616e-02 2.90346440e+02] [-6.91607147e-01 7.21336214e-01 -3.67915765e-02 -2.03084892e+02] [-5.47486991e-02 -1.56409932e-03 9.98498940e-01 -1.49995099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57864 meters Centerline goodness [0,1] 0.9998529700058812 Centerline is valid? [True, True] Translation: X:290.37, Y:-203.11, Z:-15.00 [[ 7.19306942e-01 6.93495888e-01 4.07550760e-02 2.90372067e+02] [-6.92510644e-01 7.20458769e-01 -3.69887717e-02 -2.03105172e+02] [-5.50139130e-02 -1.61704364e-03 9.98484279e-01 -1.50007226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60864 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:290.40, Y:-203.12, Z:-15.00 [[ 7.17375365e-01 6.95529047e-01 4.01488547e-02 2.90399659e+02] [-6.94574263e-01 7.18495914e-01 -3.64721028e-02 -2.03123127e+02] [-5.42141949e-02 -1.72217312e-03 9.98527844e-01 -1.50017125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63864 meters Centerline goodness [0,1] 0.9997058967697662 Centerline is valid? [True, True] Translation: X:290.43, Y:-203.14, Z:-15.00 [[ 7.17153740e-01 6.95735750e-01 4.05250362e-02 2.90426276e+02] [-6.94761356e-01 7.18295745e-01 -3.68494376e-02 -2.03143193e+02] [-5.47464322e-02 -1.72851707e-03 9.98498793e-01 -1.50032017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66864 meters Centerline goodness [0,1] 0.9997549379993138 Centerline is valid? [True, True] Translation: X:290.45, Y:-203.16, Z:-15.00 [[ 7.16209670e-01 6.96754111e-01 3.97167208e-02 2.90453214e+02] [-6.95817769e-01 7.17307933e-01 -3.61519317e-02 -2.03163156e+02] [-5.36781259e-02 -1.74323696e-03 9.98556769e-01 -1.50038624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69864 meters Centerline goodness [0,1] 0.9998037580336555 Centerline is valid? [True, True] Translation: X:290.48, Y:-203.18, Z:-15.00 [[ 7.15897783e-01 6.97062099e-01 3.99348904e-02 2.90482031e+02] [-6.96113835e-01 7.17008629e-01 -3.63889501e-02 -2.03180481e+02] [-5.39990189e-02 -1.74846101e-03 9.98539458e-01 -1.50036248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72864 meters Centerline goodness [0,1] 0.9996071112857283 Centerline is valid? [True, True] Translation: X:290.51, Y:-203.20, Z:-15.01 [[ 7.16485370e-01 6.96436923e-01 4.03029288e-02 2.90509457e+02] [-6.95468044e-01 7.17616023e-01 -3.67619881e-02 -2.03197759e+02] [-5.45244333e-02 -1.68997241e-03 9.98511007e-01 -1.50051841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75864 meters Centerline goodness [0,1] 0.9996571988246817 Centerline is valid? [True, True] Translation: X:290.53, Y:-203.22, Z:-15.01 [[ 7.17246922e-01 6.95649855e-01 4.03501257e-02 2.90533906e+02] [-6.94675584e-01 7.18379215e-01 -3.68393419e-02 -2.03218215e+02] [-5.46139745e-02 -1.60734256e-03 9.98506249e-01 -1.50078266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78864 meters Centerline goodness [0,1] 0.9996570308672219 Centerline is valid? [True, True] Translation: X:290.56, Y:-203.24, Z:-15.01 [[ 7.18052178e-01 6.94887892e-01 3.91393338e-02 2.90558737e+02] [-6.93968389e-01 7.19116562e-01 -3.57665449e-02 -2.03239270e+02] [-5.29994822e-02 -1.47921502e-03 9.98593444e-01 -1.50090453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81864 meters Centerline goodness [0,1] 0.999804104020765 Centerline is valid? [True, True] Translation: X:290.58, Y:-203.26, Z:-15.01 [[ 7.20703635e-01 6.92216858e-01 3.77106279e-02 2.90584730e+02] [-6.91358044e-01 7.21688541e-01 -3.44920985e-02 -2.03258553e+02] [-5.10913401e-02 -1.21296516e-03 9.98693248e-01 -1.50099619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84864 meters Centerline goodness [0,1] 0.9996568291008923 Centerline is valid? [True, True] Translation: X:290.61, Y:-203.28, Z:-15.01 [[ 7.21831486e-01 6.91027730e-01 3.79470822e-02 2.90609298e+02] [-6.90154779e-01 7.22827392e-01 -3.47410712e-02 -2.03278970e+02] [-5.14362341e-02 -1.11216108e-03 9.98675662e-01 -1.50113204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.63, Y:-203.30, Z:-15.01 [[ 7.23361803e-01 6.89340538e-01 3.94629380e-02 2.90634163e+02] [-6.88392017e-01 7.24436753e-01 -3.61638115e-02 -2.03300212e+02] [-5.35175840e-02 -1.00645153e-03 9.98566400e-01 -1.50118589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.66, Y:-203.32, Z:-15.01 [[ 7.23934069e-01 6.88729091e-01 3.96447180e-02 2.90657994e+02] [-6.87769046e-01 7.25018175e-01 -3.63646113e-02 -2.03321249e+02] [-5.37885068e-02 -9.40828859e-04 9.98551907e-01 -1.50119587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93864 meters Centerline goodness [0,1] 0.9997547817557626 Centerline is valid? [True, True] Translation: X:290.68, Y:-203.34, Z:-15.01 [[ 7.22405898e-01 6.90305606e-01 4.00984985e-02 2.90681565e+02] [-6.89323969e-01 7.23517158e-01 -3.68155940e-02 -2.03342564e+02] [-5.44259626e-02 -1.04505387e-03 9.98517262e-01 -1.50145882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96864 meters Centerline goodness [0,1] 0.9999510667449599 Centerline is valid? [True, True] Translation: X:290.71, Y:-203.36, Z:-15.02 [[ 7.21177900e-01 6.91594537e-01 3.99929114e-02 2.90705459e+02] [-6.90618102e-01 7.22285094e-01 -3.67543222e-02 -2.03364804e+02] [-5.43053722e-02 -1.11342369e-03 9.98523754e-01 -1.50157355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.73, Y:-203.39, Z:-15.02 [[ 7.20576591e-01 6.92189703e-01 4.05313684e-02 2.90730409e+02] [-6.91185505e-01 7.21714698e-01 -3.72893079e-02 -2.03386987e+02] [-5.50633592e-02 -1.14489195e-03 9.98482206e-01 -1.50169549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.76, Y:-203.41, Z:-15.02 [[ 7.19913390e-01 6.92840263e-01 4.11956526e-02 2.90755628e+02] [-6.91801720e-01 7.21090122e-01 -3.79396292e-02 -2.03407735e+02] [-5.59918808e-02 -1.18597633e-03 9.98430520e-01 -1.50179255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05864 meters Centerline goodness [0,1] 0.9998527029017529 Centerline is valid? [True, True] Translation: X:290.78, Y:-203.43, Z:-15.02 [[ 7.19517946e-01 6.93258037e-01 4.10757761e-02 2.90780814e+02] [-6.92224155e-01 7.20688478e-01 -3.78660470e-02 -2.03428839e+02] [-5.58537799e-02 -1.18834401e-03 9.98438252e-01 -1.50190388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08864 meters Centerline goodness [0,1] 0.9998531067913626 Centerline is valid? [True, True] Translation: X:290.81, Y:-203.45, Z:-15.02 [[ 7.19021875e-01 6.93719519e-01 4.19615688e-02 2.90806809e+02] [-6.92638911e-01 7.20244223e-01 -3.87246563e-02 -2.03449127e+02] [-5.70866275e-02 -1.22034031e-03 9.98368483e-01 -1.50202702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11864 meters Centerline goodness [0,1] 0.9998532361430459 Centerline is valid? [True, True] Translation: X:290.83, Y:-203.47, Z:-15.02 [[ 7.18194723e-01 6.94501283e-01 4.31776302e-02 2.90831189e+02] [-6.93356049e-01 7.19490309e-01 -3.98884008e-02 -2.03469739e+02] [-5.87684320e-02 -1.28983211e-03 9.98270809e-01 -1.50219680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.86, Y:-203.49, Z:-15.02 [[ 7.17315383e-01 6.95363061e-01 4.39187313e-02 2.90856649e+02] [-6.94177468e-01 7.18657341e-01 -4.06112018e-02 -2.03490263e+02] [-5.98020482e-02 -1.35635391e-03 9.98209334e-01 -1.50235567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.88, Y:-203.51, Z:-15.02 [[ 7.16949541e-01 6.95741495e-01 4.38990709e-02 2.90880752e+02] [-6.94555310e-01 7.18290976e-01 -4.06324464e-02 -2.03512152e+02] [-5.98019855e-02 -1.35891895e-03 9.98209335e-01 -1.50248118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20864 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:290.91, Y:-203.53, Z:-15.03 [[ 7.16272459e-01 6.96498869e-01 4.29312397e-02 2.90908316e+02] [-6.95363382e-01 7.17556600e-01 -3.97780493e-02 -2.03530619e+02] [-5.85109607e-02 -1.36089087e-03 9.98285839e-01 -1.50258325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23864 meters Centerline goodness [0,1] 0.9998041903270022 Centerline is valid? [True, True] Translation: X:290.94, Y:-203.55, Z:-15.03 [[ 7.16287636e-01 6.96569665e-01 4.15057062e-02 2.90937973e+02] [-6.95506350e-01 7.17487998e-01 -3.84953282e-02 -2.03545545e+02] [-5.65945239e-02 -1.29375456e-03 9.98396407e-01 -1.50256537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26864 meters Centerline goodness [0,1] 0.9998530852105779 Centerline is valid? [True, True] Translation: X:290.97, Y:-203.56, Z:-15.03 [[ 7.16025062e-01 6.96775260e-01 4.25716738e-02 2.90965071e+02] [-6.95654674e-01 7.17288300e-01 -3.95230245e-02 -2.03564536e+02] [-5.80748292e-02 -1.31570779e-03 9.98311366e-01 -1.50275927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29864 meters Centerline goodness [0,1] 0.9996087636932708 Centerline is valid? [True, True] Translation: X:290.99, Y:-203.58, Z:-15.03 [[ 7.16163788e-01 6.96646189e-01 4.23499255e-02 2.90991365e+02] [-6.95534716e-01 7.17413741e-01 -3.93571223e-02 -2.03583547e+02] [-5.78004077e-02 -1.26969764e-03 9.98327351e-01 -1.50284633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32864 meters Centerline goodness [0,1] 0.9997552738485634 Centerline is valid? [True, True] Translation: X:291.02, Y:-203.60, Z:-15.03 [[ 7.17379495e-01 6.95503496e-01 4.05160066e-02 2.91020139e+02] [-6.94482584e-01 7.18521866e-01 -3.76864511e-02 -2.03599493e+02] [-5.53226952e-02 -1.10217368e-03 9.98467919e-01 -1.50302338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35864 meters Centerline goodness [0,1] 0.9997061991969445 Centerline is valid? [True, True] Translation: X:291.05, Y:-203.62, Z:-15.03 [[ 7.18862249e-01 6.94023159e-01 3.96096071e-02 2.91046636e+02] [-6.93043759e-01 7.19952052e-01 -3.68699116e-02 -2.03617729e+02] [-5.41055905e-02 -9.46803410e-04 9.98534771e-01 -1.50322957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38864 meters Centerline goodness [0,1] 0.9995102120781701 Centerline is valid? [True, True] Translation: X:291.08, Y:-203.63, Z:-15.03 [[ 7.22478338e-01 6.90266597e-01 3.94598142e-02 2.91075704e+02] [-6.89288407e-01 7.23554833e-01 -3.67409096e-02 -2.03634531e+02] [-5.39123619e-02 -6.54681134e-04 9.98545456e-01 -1.50335664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41864 meters Centerline goodness [0,1] 0.9997553576670907 Centerline is valid? [True, True] Translation: X:291.10, Y:-203.65, Z:-15.03 [[ 7.24801398e-01 6.87870068e-01 3.87001711e-02 2.91101336e+02] [-6.86925188e-01 7.25833700e-01 -3.60447854e-02 -2.03653721e+02] [-5.28840174e-02 -4.58811481e-04 9.98600556e-01 -1.50339889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44864 meters Centerline goodness [0,1] 0.999363618562757 Centerline is valid? [True, True] Translation: X:291.13, Y:-203.67, Z:-15.04 [[ 7.28690151e-01 6.83766072e-01 3.84008125e-02 2.91130589e+02] [-6.82829541e-01 7.29701264e-01 -3.57754519e-02 -2.03669016e+02] [-5.24831616e-02 -1.51989749e-04 9.98621798e-01 -1.50357471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47864 meters Centerline goodness [0,1] 0.9995597515041824 Centerline is valid? [True, True] Translation: X:291.16, Y:-203.69, Z:-15.04 [[ 7.30116106e-01 6.82200159e-01 3.91588349e-02 2.91155947e+02] [-6.81223482e-01 7.31165468e-01 -3.64914619e-02 -2.03688454e+02] [-5.35260690e-02 -3.29137934e-05 9.98566452e-01 -1.50372343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50864 meters Centerline goodness [0,1] 0.9986320777761493 Centerline is valid? [True, True] Translation: X:291.18, Y:-203.71, Z:-15.04 [[ 7.34207675e-01 6.77712932e-01 4.05496083e-02 2.91182148e+02] [-6.76658148e-01 7.35326515e-01 -3.77977133e-02 -2.03707581e+02] [-5.54332013e-02 3.13148305e-04 9.98462349e-01 -1.50380750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53864 meters Centerline goodness [0,1] 0.9983319432860718 Centerline is valid? [True, True] Translation: X:291.21, Y:-203.73, Z:-15.04 [[ 7.36739064e-01 6.74935169e-01 4.09642475e-02 2.91207797e+02] [-6.73853818e-01 7.37876840e-01 -3.81942469e-02 -2.03727798e+02] [-5.60052100e-02 5.35279123e-04 9.98430333e-01 -1.50390359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56864 meters Centerline goodness [0,1] 0.9983372456964006 Centerline is valid? [True, True] Translation: X:291.23, Y:-203.75, Z:-15.04 [[ 7.38928728e-01 6.72492642e-01 4.16891013e-02 2.91232212e+02] [-6.71368225e-01 7.40103437e-01 -3.88794156e-02 -2.03748063e+02] [-5.70003681e-02 7.40379153e-04 9.98373883e-01 -1.50410656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59864 meters Centerline goodness [0,1] 0.9968160666176831 Centerline is valid? [True, True] Translation: X:291.26, Y:-203.77, Z:-15.04 [[ 7.43770356e-01 6.67284541e-01 3.92045817e-02 2.91256356e+02] [-6.66282583e-01 7.44802107e-01 -3.65696664e-02 -2.03769825e+02] [-5.36020281e-02 1.07810380e-03 9.98561796e-01 -1.50442872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62864 meters Centerline goodness [0,1] 0.9968679651561123 Centerline is valid? [True, True] Translation: X:291.28, Y:-203.79, Z:-15.05 [[ 7.45624472e-01 6.65148801e-01 4.02643632e-02 2.91279410e+02] [-6.64088249e-01 7.46709752e-01 -3.75678627e-02 -2.03791796e+02] [-5.50540115e-02 1.27242735e-03 9.98482567e-01 -1.50456722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65864 meters Centerline goodness [0,1] 0.9950560477752215 Centerline is valid? [True, True] Translation: X:291.30, Y:-203.81, Z:-15.04 [[ 7.49639061e-01 6.60607458e-01 4.04853626e-02 2.91302898e+02] [-6.59528006e-01 7.50729745e-01 -3.77843732e-02 -2.03813060e+02] [-5.53542047e-02 1.62341153e-03 9.98465461e-01 -1.50436835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68864 meters Centerline goodness [0,1] 0.9952068864325541 Centerline is valid? [True, True] Translation: X:291.33, Y:-203.84, Z:-15.05 [[ 7.51074668e-01 6.58887274e-01 4.18855872e-02 2.91326027e+02] [-6.57728438e-01 7.52239488e-01 -3.91031343e-02 -2.03835864e+02] [-5.72725502e-02 1.82003185e-03 9.98356921e-01 -1.50465735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71864 meters Centerline goodness [0,1] 0.9950558057568044 Centerline is valid? [True, True] Translation: X:291.34, Y:-203.86, Z:-15.05 [[ 7.53365247e-01 6.56232353e-01 4.24252729e-02 2.91343866e+02] [-6.55038658e-01 7.54556077e-01 -3.96167014e-02 -2.03863383e+02] [-5.80100087e-02 2.05565220e-03 9.98313885e-01 -1.50487256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74864 meters Centerline goodness [0,1] 0.9941242716545071 Centerline is valid? [True, True] Translation: X:291.36, Y:-203.89, Z:-15.05 [[ 7.54342304e-01 6.55176630e-01 4.13675318e-02 2.91364865e+02] [-6.54039664e-01 7.55472842e-01 -3.86381166e-02 -2.03888299e+02] [-5.65668378e-02 2.09035926e-03 9.98396626e-01 -1.50493092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77864 meters Centerline goodness [0,1] 0.9939699970585352 Centerline is valid? [True, True] Translation: X:291.38, Y:-203.91, Z:-15.05 [[ 7.55384676e-01 6.54082558e-01 3.96232214e-02 2.91384241e+02] [-6.53037554e-01 7.56420288e-01 -3.70175789e-02 -2.03914011e+02] [-5.41843612e-02 2.08706024e-03 9.98528767e-01 -1.50504098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80864 meters Centerline goodness [0,1] 0.9942168202313272 Centerline is valid? [True, True] Translation: X:291.41, Y:-203.94, Z:-15.05 [[ 7.55333814e-01 6.54149289e-01 3.94909827e-02 2.91405860e+02] [-6.53110791e-01 7.56362591e-01 -3.69042757e-02 -2.03938829e+02] [-5.40104077e-02 2.08306032e-03 9.98538200e-01 -1.50521893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83864 meters Centerline goodness [0,1] 0.9937297932791221 Centerline is valid? [True, True] Translation: X:291.43, Y:-203.96, Z:-15.05 [[ 7.55089600e-01 6.54417016e-01 3.97248638e-02 2.91426711e+02] [-6.53365796e-01 7.56130951e-01 -3.71365135e-02 -2.03964921e+02] [-5.43399654e-02 2.08652786e-03 9.98520313e-01 -1.50540272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86864 meters Centerline goodness [0,1] 0.994693917657463 Centerline is valid? [True, True] Translation: X:291.44, Y:-203.99, Z:-15.05 [[ 7.53741945e-01 6.55952660e-01 3.99898590e-02 2.91443777e+02] [-6.54888700e-01 7.54799382e-01 -3.73989782e-02 -2.03993571e+02] [-5.47162801e-02 2.00027180e-03 9.98499939e-01 -1.50542323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89864 meters Centerline goodness [0,1] 0.9950560477752215 Centerline is valid? [True, True] Translation: X:291.47, Y:-204.02, Z:-15.06 [[ 7.52676744e-01 6.57182228e-01 3.98652620e-02 2.91466027e+02] [-6.56125763e-01 7.53729292e-01 -3.72979521e-02 -2.04017535e+02] [-5.45591670e-02 1.91667565e-03 9.98508700e-01 -1.50558328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92864 meters Centerline goodness [0,1] 0.9956875428795452 Centerline is valid? [True, True] Translation: X:291.48, Y:-204.04, Z:-15.06 [[ 7.50118101e-01 6.60190124e-01 3.83644989e-02 2.91483735e+02] [-6.59215200e-01 7.51096736e-01 -3.59028159e-02 -2.04044091e+02] [-5.25181344e-02 1.64089124e-03 9.98618622e-01 -1.50572699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95864 meters Centerline goodness [0,1] 0.9965204606714041 Centerline is valid? [True, True] Translation: X:291.51, Y:-204.07, Z:-15.06 [[ 7.48253892e-01 6.62289621e-01 3.85820025e-02 2.91506199e+02] [-6.61305762e-01 7.49246405e-01 -3.61180522e-02 -2.04067767e+02] [-5.28280378e-02 1.51097257e-03 9.98602481e-01 -1.50591952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98864 meters Centerline goodness [0,1] 0.9960847648411882 Centerline is valid? [True, True] Translation: X:291.53, Y:-204.09, Z:-15.06 [[ 7.46106368e-01 6.64671340e-01 3.92083869e-02 2.91528895e+02] [-6.63657107e-01 7.47134589e-01 -3.67307843e-02 -2.04090551e+02] [-5.37078417e-02 1.38414746e-03 9.98555733e-01 -1.50592985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01864 meters Centerline goodness [0,1] 0.9972596036212381 Centerline is valid? [True, True] Translation: X:291.55, Y:-204.11, Z:-15.06 [[ 7.41719837e-01 6.69532213e-01 3.97278216e-02 2.91552374e+02] [-6.68496854e-01 7.42782264e-01 -3.72352568e-02 -2.04112287e+02] [-5.44393251e-02 1.06020486e-03 9.98516518e-01 -1.50586177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04864 meters Centerline goodness [0,1] 0.9988739841378635 Centerline is valid? [True, True] Translation: X:291.58, Y:-204.14, Z:-15.06 [[ 7.37510977e-01 6.74170348e-01 3.96471891e-02 2.91575070e+02] [-6.73144397e-01 7.38575520e-01 -3.71863186e-02 -2.04135853e+02] [-5.43523566e-02 7.37034986e-04 9.98521546e-01 -1.50602106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07864 meters Centerline goodness [0,1] 0.9992164544564153 Centerline is valid? [True, True] Translation: X:291.60, Y:-204.16, Z:-15.06 [[ 7.34990594e-01 6.76917406e-01 3.96440616e-02 2.91598930e+02] [-6.75894614e-01 7.36058779e-01 -3.72014029e-02 -2.04157782e+02] [-5.43626367e-02 5.47473524e-04 9.98521108e-01 -1.50627756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10864 meters Centerline goodness [0,1] 0.9988253144731046 Centerline is valid? [True, True] Translation: X:291.62, Y:-204.18, Z:-15.06 [[ 7.33099911e-01 6.79017883e-01 3.87199599e-02 2.91623280e+02] [-6.78043462e-01 7.34121618e-01 -3.63663794e-02 -2.04179027e+02] [-5.31185816e-02 4.06373810e-04 9.98588129e-01 -1.50643600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13864 meters Centerline goodness [0,1] 0.9986747815843723 Centerline is valid? [True, True] Translation: X:291.65, Y:-204.20, Z:-15.07 [[ 7.30795206e-01 6.81486715e-01 3.89130342e-02 2.91649530e+02] [-6.80504180e-01 7.31830440e-01 -3.65823370e-02 -2.04199819e+02] [-5.34081196e-02 2.53714086e-04 9.98572736e-01 -1.50659873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16864 meters Centerline goodness [0,1] 0.9985795454545454 Centerline is valid? [True, True] Translation: X:291.68, Y:-204.22, Z:-15.07 [[ 7.30896681e-01 6.81365238e-01 3.91338003e-02 2.91675031e+02] [-6.80369270e-01 7.31943527e-01 -3.68283778e-02 -2.04220939e+02] [-5.37373083e-02 2.92303945e-04 9.98555064e-01 -1.50671398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19864 meters Centerline goodness [0,1] 0.9989237317156695 Centerline is valid? [True, True] Translation: X:291.70, Y:-204.24, Z:-15.07 [[ 7.31948714e-01 6.80166472e-01 4.03069497e-02 2.91700777e+02] [-6.79105875e-01 7.33057565e-01 -3.79712560e-02 -2.04240414e+02] [-5.53740896e-02 4.20325667e-04 9.98465590e-01 -1.50680313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22864 meters Centerline goodness [0,1] 0.9988209864413441 Centerline is valid? [True, True] Translation: X:291.73, Y:-204.26, Z:-15.07 [[ 7.32978432e-01 6.79008070e-01 4.11176313e-02 2.91725065e+02] [-6.77900521e-01 7.34130605e-01 -3.87703418e-02 -2.04261206e+02] [-5.65110865e-02 5.44160712e-04 9.98401823e-01 -1.50703790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25864 meters Centerline goodness [0,1] 0.9990695396669932 Centerline is valid? [True, True] Translation: X:291.75, Y:-204.28, Z:-15.07 [[ 7.33562018e-01 6.78314083e-01 4.21517484e-02 2.91748731e+02] [-6.77146824e-01 7.34771798e-01 -3.97816926e-02 -2.04282663e+02] [-5.79563984e-02 6.39416111e-04 9.98318910e-01 -1.50724427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28864 meters Centerline goodness [0,1] 0.9986287281453549 Centerline is valid? [True, True] Translation: X:291.77, Y:-204.30, Z:-15.07 [[ 7.34265084e-01 6.77504308e-01 4.29266678e-02 2.91773100e+02] [-6.76290143e-01 7.35518430e-01 -4.05497545e-02 -2.04304323e+02] [-5.90459886e-02 7.43386556e-04 9.98254987e-01 -1.50740080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31864 meters Centerline goodness [0,1] 0.9975024485798237 Centerline is valid? [True, True] Translation: X:291.80, Y:-204.33, Z:-15.08 [[ 7.36660881e-01 6.74994255e-01 4.13944800e-02 2.91797726e+02] [-6.73859284e-01 7.37822389e-01 -3.91380680e-02 -2.04326427e+02] [-5.69597451e-02 9.37428992e-04 9.98376036e-01 -1.50752555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34864 meters Centerline goodness [0,1] 0.9970099504926229 Centerline is valid? [True, True] Translation: X:291.82, Y:-204.35, Z:-15.08 [[ 7.37665922e-01 6.73947328e-01 4.05461034e-02 2.91821221e+02] [-6.72854713e-01 7.38778686e-01 -3.83743081e-02 -2.04349273e+02] [-5.58168594e-02 1.02578263e-03 9.98440497e-01 -1.50754773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37864 meters Centerline goodness [0,1] 0.9968667384705767 Centerline is valid? [True, True] Translation: X:291.84, Y:-204.37, Z:-15.08 [[ 7.38392942e-01 6.73146907e-01 4.06091806e-02 2.91844183e+02] [-6.72047585e-01 7.39507942e-01 -3.84713793e-02 -2.04371929e+02] [-5.59277016e-02 1.11569321e-03 9.98434198e-01 -1.50774806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40864 meters Centerline goodness [0,1] 0.9960315516143257 Centerline is valid? [True, True] Translation: X:291.87, Y:-204.39, Z:-15.08 [[ 7.38046571e-01 6.73566329e-01 3.99457114e-02 2.91868448e+02] [-6.72501370e-01 7.39125976e-01 -3.78774189e-02 -2.04394697e+02] [-5.50378669e-02 1.09175355e-03 9.98483671e-01 -1.50772065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43864 meters Centerline goodness [0,1] 0.9964733542319749 Centerline is valid? [True, True] Translation: X:291.89, Y:-204.42, Z:-15.08 [[ 7.36761891e-01 6.74984826e-01 3.97165145e-02 2.91891829e+02] [-6.73932113e-01 7.37830923e-01 -3.76966369e-02 -2.04416658e+02] [-5.47487304e-02 1.00721095e-03 9.98499656e-01 -1.50784564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46864 meters Centerline goodness [0,1] 0.9975002450740124 Centerline is valid? [True, True] Translation: X:291.92, Y:-204.44, Z:-15.08 [[ 7.34572635e-01 6.77322372e-01 4.04654059e-02 2.91915628e+02] [-6.76231167e-01 7.35685830e-01 -3.84417650e-02 -2.04438532e+02] [-5.58072931e-02 8.74299957e-04 9.98441176e-01 -1.50811473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49864 meters Centerline goodness [0,1] 0.9965287963234575 Centerline is valid? [True, True] Translation: X:291.94, Y:-204.46, Z:-15.08 [[ 7.33191372e-01 6.78916570e-01 3.87647289e-02 2.91939332e+02] [-6.77915754e-01 7.34215048e-01 -3.68577517e-02 -2.04460418e+02] [-5.34849856e-02 7.44565083e-04 9.98568376e-01 -1.50815222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52864 meters Centerline goodness [0,1] 0.9969661381875122 Centerline is valid? [True, True] Translation: X:291.96, Y:-204.48, Z:-15.08 [[ 7.31894655e-01 6.80336878e-01 3.83659636e-02 2.91964204e+02] [-6.79356812e-01 7.32899243e-01 -3.65105810e-02 -2.04481572e+02] [-5.29578803e-02 6.57720328e-04 9.98596530e-01 -1.50826101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55864 meters Centerline goodness [0,1] 0.9964771504061063 Centerline is valid? [True, True] Translation: X:291.99, Y:-204.50, Z:-15.08 [[ 7.31342651e-01 6.80879316e-01 3.92591815e-02 2.91988957e+02] [-6.79851930e-01 7.32395332e-01 -3.73955880e-02 -2.04504092e+02] [-5.42151237e-02 6.58558158e-04 9.98529062e-01 -1.50845380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58864 meters Centerline goodness [0,1] 0.9972084822959009 Centerline is valid? [True, True] Translation: X:292.01, Y:-204.53, Z:-15.08 [[ 7.31535499e-01 6.80632635e-01 3.99378271e-02 2.92012848e+02] [-6.79566942e-01 7.32624531e-01 -3.80797467e-02 -2.04525595e+02] [-5.51777502e-02 7.16259527e-04 9.98476291e-01 -1.50847014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61864 meters Centerline goodness [0,1] 0.9974567152499266 Centerline is valid? [True, True] Translation: X:292.04, Y:-204.55, Z:-15.09 [[ 7.31947063e-01 6.80098755e-01 4.14629965e-02 2.92036462e+02] [-6.78947422e-01 7.33120065e-01 -3.95647363e-02 -2.04546724e+02] [-5.73052826e-02 8.08097974e-04 9.98356375e-01 -1.50867044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64864 meters Centerline goodness [0,1] 0.996232508073197 Centerline is valid? [True, True] Translation: X:292.06, Y:-204.57, Z:-15.09 [[ 7.32602298e-01 6.79418729e-01 4.10373386e-02 2.92061157e+02] [-6.78288419e-01 7.33750251e-01 -3.91840352e-02 -2.04568306e+02] [-5.67335250e-02 8.71162722e-04 9.98388976e-01 -1.50874814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67864 meters Centerline goodness [0,1] 0.9958789187067655 Centerline is valid? [True, True] Translation: X:292.09, Y:-204.59, Z:-15.09 [[ 7.33573597e-01 6.78371284e-01 4.10143675e-02 2.92085922e+02] [-6.77238439e-01 7.34718613e-01 -3.92002038e-02 -2.04589415e+02] [-5.67263118e-02 9.79728332e-04 9.98389286e-01 -1.50898760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70864 meters Centerline goodness [0,1] 0.9954478707782672 Centerline is valid? [True, True] Translation: X:292.11, Y:-204.61, Z:-15.09 [[ 7.33606026e-01 6.78327948e-01 4.11508592e-02 2.92109797e+02] [-6.77185399e-01 7.34758578e-01 -3.93670785e-02 -2.04612517e+02] [-5.69397364e-02 1.01316506e-03 9.98377103e-01 -1.50915555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73864 meters Centerline goodness [0,1] 0.9965248886496011 Centerline is valid? [True, True] Translation: X:292.13, Y:-204.64, Z:-15.09 [[ 7.33811978e-01 6.78049780e-01 4.20532588e-02 2.92132038e+02] [-6.76853771e-01 7.35015180e-01 -4.02698140e-02 -2.04635305e+02] [-5.82147222e-02 1.08656508e-03 9.98303494e-01 -1.50935987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76864 meters Centerline goodness [0,1] 0.9961306754175442 Centerline is valid? [True, True] Translation: X:292.16, Y:-204.66, Z:-15.09 [[ 7.33639262e-01 6.78242562e-01 4.19578489e-02 2.92155524e+02] [-6.77050145e-01 7.34837279e-01 -4.02153601e-02 -2.04659189e+02] [-5.81079604e-02 1.09599943e-03 9.98309703e-01 -1.50943333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79864 meters Centerline goodness [0,1] 0.9967702471250306 Centerline is valid? [True, True] Translation: X:292.18, Y:-204.68, Z:-15.10 [[ 7.32348158e-01 6.79671954e-01 4.13788676e-02 2.92176803e+02] [-6.78512356e-01 7.33515536e-01 -3.96981280e-02 -2.04683584e+02] [-5.73337464e-02 9.96777906e-04 9.98354570e-01 -1.50953266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82864 meters Centerline goodness [0,1] 0.9967640713865464 Centerline is valid? [True, True] Translation: X:292.20, Y:-204.71, Z:-15.10 [[ 7.31405603e-01 6.80697329e-01 4.11945366e-02 2.92199740e+02] [-6.79547679e-01 7.32564172e-01 -3.95561054e-02 -2.04705964e+02] [-5.71033769e-02 9.37905408e-04 9.98367830e-01 -1.50966518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85864 meters Centerline goodness [0,1] 0.9962785231612966 Centerline is valid? [True, True] Translation: X:292.22, Y:-204.73, Z:-15.10 [[ 7.30832173e-01 6.81253201e-01 4.21712109e-02 2.92224248e+02] [-6.80047033e-01 7.32047257e-01 -4.05320456e-02 -2.04728668e+02] [-5.84839050e-02 9.43716150e-04 9.98287905e-01 -1.50982839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88864 meters Centerline goodness [0,1] 0.9977005870841488 Centerline is valid? [True, True] Translation: X:292.25, Y:-204.75, Z:-15.10 [[ 7.28838921e-01 6.83303777e-01 4.34715485e-02 2.92247818e+02] [-6.82023040e-01 7.30133721e-01 -4.18248995e-02 -2.04751388e+02] [-6.03191552e-02 8.35016992e-04 9.98178793e-01 -1.51001479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91864 meters Centerline goodness [0,1] 0.9968667384705767 Centerline is valid? [True, True] Translation: X:292.27, Y:-204.78, Z:-15.10 [[ 7.27456686e-01 6.84767681e-01 4.35889032e-02 2.92270609e+02] [-6.83480042e-01 7.28761048e-01 -4.19805500e-02 -2.04775298e+02] [-6.05128187e-02 7.46886368e-04 9.98167141e-01 -1.51010681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94864 meters Centerline goodness [0,1] 0.9964594807238395 Centerline is valid? [True, True] Translation: X:292.29, Y:-204.80, Z:-15.10 [[ 7.26503920e-01 6.85936206e-01 4.10313957e-02 2.92293448e+02] [-6.84795508e-01 7.27661405e-01 -3.95473316e-02 -2.04798733e+02] [-5.69839096e-02 6.33175915e-04 9.98374896e-01 -1.51010788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97864 meters Centerline goodness [0,1] 0.996868271677432 Centerline is valid? [True, True] Translation: X:292.32, Y:-204.82, Z:-15.10 [[ 7.26290874e-01 6.86176199e-01 4.07895941e-02 2.92317439e+02] [-6.85048078e-01 7.27435105e-01 -3.93357311e-02 -2.04821505e+02] [-5.66630251e-02 6.26349432e-04 9.98393164e-01 -1.51032917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00864 meters Centerline goodness [0,1] 0.9962286330019102 Centerline is valid? [True, True] Translation: X:292.34, Y:-204.85, Z:-15.11 [[ 7.26668904e-01 6.85773427e-01 4.08302665e-02 2.92338910e+02] [-6.84640123e-01 7.27814766e-01 -3.94153368e-02 -2.04847068e+02] [-5.67468615e-02 6.87860938e-04 9.98388362e-01 -1.51054582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03864 meters Centerline goodness [0,1] 0.9965250587314017 Centerline is valid? [True, True] Translation: X:292.36, Y:-204.87, Z:-15.11 [[ 7.27234372e-01 6.85179638e-01 4.07312098e-02 2.92361234e+02] [-6.84048623e-01 7.28373725e-01 -3.93598539e-02 -2.04871479e+02] [-5.66361135e-02 7.61710617e-04 9.98394597e-01 -1.51065860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06864 meters Centerline goodness [0,1] 0.9959855086654265 Centerline is valid? [True, True] Translation: X:292.38, Y:-204.90, Z:-15.11 [[ 7.26890403e-01 6.85524072e-01 4.10741835e-02 2.92384410e+02] [-6.84372124e-01 7.28049554e-01 -3.97321387e-02 -2.04895813e+02] [-5.71413785e-02 7.70884110e-04 9.98365799e-01 -1.51067369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09864 meters Centerline goodness [0,1] 0.9959855086654265 Centerline is valid? [True, True] Translation: X:292.41, Y:-204.92, Z:-15.11 [[ 7.26543557e-01 6.85892873e-01 4.10539440e-02 2.92408030e+02] [-6.84740333e-01 7.27702118e-01 -3.97530440e-02 -2.04918219e+02] [-5.71413716e-02 7.71026693e-04 9.98365799e-01 -1.51079915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12864 meters Centerline goodness [0,1] 0.9960832313341493 Centerline is valid? [True, True] Translation: X:292.43, Y:-204.94, Z:-15.11 [[ 7.25279050e-01 6.87230809e-01 4.10379836e-02 2.92430966e+02] [-6.86079088e-01 7.26438803e-01 -3.97762479e-02 -2.04940762e+02] [-5.71470467e-02 6.93576916e-04 9.98365531e-01 -1.51077947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15864 meters Centerline goodness [0,1] 0.9972084822959009 Centerline is valid? [True, True] Translation: X:292.45, Y:-204.96, Z:-15.11 [[ 7.23662318e-01 6.88917529e-01 4.12975573e-02 2.92454971e+02] [-6.87751758e-01 7.24839492e-01 -4.00653263e-02 -2.04964039e+02] [-5.75358060e-02 5.91299287e-04 9.98343268e-01 -1.51100147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18864 meters Centerline goodness [0,1] 0.9978953550976457 Centerline is valid? [True, True] Translation: X:292.48, Y:-204.99, Z:-15.11 [[ 7.18317339e-01 6.94476496e-01 4.15041800e-02 2.92475907e+02] [-6.93305916e-01 7.19515368e-01 -4.03055939e-02 -2.04989134e+02] [-5.78541830e-02 1.77113412e-04 9.98325028e-01 -1.51127638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21864 meters Centerline goodness [0,1] 0.9982876712328768 Centerline is valid? [True, True] Translation: X:292.50, Y:-205.01, Z:-15.11 [[ 7.15034872e-01 6.97892576e-01 4.08788848e-02 2.92497775e+02] [-6.96760552e-01 7.16202448e-01 -3.97339413e-02 -2.05012338e+02] [-5.70075800e-02 -7.16407470e-05 9.98373743e-01 -1.51140241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24864 meters Centerline goodness [0,1] 0.9984312956517476 Centerline is valid? [True, True] Translation: X:292.52, Y:-205.04, Z:-15.11 [[ 7.12188183e-01 7.00851725e-01 3.99355955e-02 2.92521504e+02] [-6.99773979e-01 7.13306936e-01 -3.88534883e-02 -2.05035420e+02] [-5.57168716e-02 -2.74895359e-04 9.98446571e-01 -1.51144766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27864 meters Centerline goodness [0,1] 0.9990188864361049 Centerline is valid? [True, True] Translation: X:292.55, Y:-205.06, Z:-15.11 [[ 7.07627164e-01 7.05437523e-01 4.02703031e-02 2.92545291e+02] [-7.04346804e-01 7.08771843e-01 -3.92180234e-02 -2.05056556e+02] [-5.62083222e-02 -6.12520586e-04 9.98418875e-01 -1.51148653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30864 meters Centerline goodness [0,1] 0.9989731051344743 Centerline is valid? [True, True] Translation: X:292.57, Y:-205.08, Z:-15.12 [[ 7.07734340e-01 7.05283344e-01 4.10792985e-02 2.92569690e+02] [-7.04145927e-01 7.08925286e-01 -4.00431339e-02 -2.05078271e+02] [-5.73639089e-02 -5.85919789e-04 9.98353163e-01 -1.51155454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33864 meters Centerline goodness [0,1] 0.9991191152001566 Centerline is valid? [True, True] Translation: X:292.59, Y:-205.10, Z:-15.12 [[ 7.08473592e-01 7.04518487e-01 4.14592696e-02 2.92594327e+02] [-7.03356092e-01 7.09685461e-01 -4.04568202e-02 -2.05100905e+02] [-5.79256186e-02 -4.98041135e-04 9.98320777e-01 -1.51169705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36864 meters Centerline goodness [0,1] 0.999168460183917 Centerline is valid? [True, True] Translation: X:292.62, Y:-205.12, Z:-15.12 [[ 7.09630962e-01 7.03303162e-01 4.22913772e-02 2.92619360e+02] [-7.02088791e-01 7.10889950e-01 -4.13135381e-02 -2.05122829e+02] [-5.91204571e-02 -3.74936097e-04 9.98250786e-01 -1.51188304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39864 meters Centerline goodness [0,1] 0.9992171062288986 Centerline is valid? [True, True] Translation: X:292.64, Y:-205.15, Z:-15.12 [[ 7.11105681e-01 7.01806129e-01 4.23894835e-02 2.92643586e+02] [-7.00580848e-01 7.12367959e-01 -4.14531805e-02 -2.05145935e+02] [-5.92890059e-02 -2.19668140e-04 9.98240835e-01 -1.51207902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42864 meters Centerline goodness [0,1] 0.9992170296060681 Centerline is valid? [True, True] Translation: X:292.67, Y:-205.17, Z:-15.12 [[ 7.10942701e-01 7.01938578e-01 4.29267710e-02 2.92666282e+02] [-7.00679572e-01 7.12237454e-01 -4.20231683e-02 -2.05170266e+02] [-6.00717371e-02 -2.01846755e-04 9.98194042e-01 -1.51225444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45864 meters Centerline goodness [0,1] 0.9994614970382337 Centerline is valid? [True, True] Translation: X:292.69, Y:-205.20, Z:-15.12 [[ 7.10446271e-01 7.02427469e-01 4.31479685e-02 2.92687595e+02] [-7.01153650e-01 7.11755299e-01 -4.22842063e-02 -2.05195950e+02] [-6.04123832e-02 -2.12698926e-04 9.98173481e-01 -1.51231655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48864 meters Centerline goodness [0,1] 0.9994119664820895 Centerline is valid? [True, True] Translation: X:292.71, Y:-205.22, Z:-15.12 [[ 7.09270785e-01 7.03671812e-01 4.22011203e-02 2.92710402e+02] [-7.02453108e-01 7.10525088e-01 -4.13972140e-02 -2.05219261e+02] [-5.91150073e-02 -2.82473610e-04 9.98251139e-01 -1.51238421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51864 meters Centerline goodness [0,1] 0.9997060552616108 Centerline is valid? [True, True] Translation: X:292.73, Y:-205.24, Z:-15.13 [[ 7.06113362e-01 7.06859289e-01 4.18791847e-02 2.92731871e+02] [-7.05662385e-01 7.07353998e-01 -4.11208038e-02 -2.05244887e+02] [-5.86900309e-02 -5.16616322e-04 9.98276121e-01 -1.51251208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54864 meters Centerline goodness [0,1] 0.9995109306988801 Centerline is valid? [True, True] Translation: X:292.75, Y:-205.27, Z:-15.13 [[ 7.03814216e-01 7.09122521e-01 4.23178441e-02 2.92753004e+02] [-7.07902021e-01 7.05084948e-01 -4.15926115e-02 -2.05268598e+02] [-5.93319324e-02 -6.83416069e-04 9.98238075e-01 -1.51256353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57864 meters Centerline goodness [0,1] 0.9999510403916768 Centerline is valid? [True, True] Translation: X:292.77, Y:-205.29, Z:-15.13 [[ 7.02036618e-01 7.10868657e-01 4.25480777e-02 2.92774945e+02] [-7.09635824e-01 7.03324318e-01 -4.18557077e-02 -2.05292387e+02] [-5.96790084e-02 -8.09400703e-04 9.98217291e-01 -1.51258822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60864 meters Centerline goodness [0,1] 0.9998528329654157 Centerline is valid? [True, True] Translation: X:292.80, Y:-205.32, Z:-15.13 [[ 6.99507618e-01 7.13308399e-01 4.33615049e-02 2.92797625e+02] [-7.12030178e-01 7.00849563e-01 -4.26956174e-02 -2.05315759e+02] [-6.08450343e-02 -1.00879046e-03 9.98146715e-01 -1.51276389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63864 meters Centerline goodness [0,1] 0.9999510763209394 Centerline is valid? [True, True] Translation: X:292.82, Y:-205.34, Z:-15.13 [[ 7.00442930e-01 7.12450166e-01 4.23610948e-02 2.92819300e+02] [-7.11226473e-01 7.01722150e-01 -4.17483894e-02 -2.05339020e+02] [-5.94693655e-02 -8.85967869e-04 9.98229738e-01 -1.51290153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66864 meters Centerline goodness [0,1] 0.9997062135827254 Centerline is valid? [True, True] Translation: X:292.84, Y:-205.36, Z:-15.13 [[ 7.01578093e-01 7.11353383e-01 4.20064756e-02 2.92841531e+02] [-7.10145893e-01 7.02834111e-01 -4.14369827e-02 -2.05362022e+02] [-5.89999218e-02 -7.59446816e-04 9.98257698e-01 -1.51298381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69864 meters Centerline goodness [0,1] 0.9996572491798462 Centerline is valid? [True, True] Translation: X:292.86, Y:-205.39, Z:-15.13 [[ 7.03240308e-01 7.09714302e-01 4.19365988e-02 2.92864054e+02] [-7.08506150e-01 7.04489354e-01 -4.13978951e-02 -2.05385646e+02] [-5.89245656e-02 -5.99669693e-04 9.98262258e-01 -1.51312995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72864 meters Centerline goodness [0,1] 0.9996572323964352 Centerline is valid? [True, True] Translation: X:292.88, Y:-205.41, Z:-15.13 [[ 7.07226282e-01 7.05718823e-01 4.23311750e-02 2.92884966e+02] [-7.04479271e-01 7.08491975e-01 -4.18100315e-02 -2.05410055e+02] [-5.94974241e-02 -2.52282158e-04 9.98228427e-01 -1.51340617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75864 meters Centerline goodness [0,1] 0.998825831702544 Centerline is valid? [True, True] Translation: X:292.90, Y:-205.44, Z:-15.14 [[ 7.08218562e-01 7.04783192e-01 4.13173259e-02 2.92904528e+02] [-7.03598599e-01 7.09422746e-01 -4.08457952e-02 -2.05436337e+02] [-5.80988807e-02 -1.43062284e-04 9.98310823e-01 -1.51355509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78864 meters Centerline goodness [0,1] 0.9983348841765023 Centerline is valid? [True, True] Translation: X:292.93, Y:-205.46, Z:-15.14 [[ 7.08353067e-01 7.04697523e-01 4.04639775e-02 2.92926682e+02] [-7.03559166e-01 7.09507850e-01 -4.00388562e-02 -2.05459474e+02] [-5.69247924e-02 -1.07155680e-04 9.98378464e-01 -1.51363722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81864 meters Centerline goodness [0,1] 0.9985778736759513 Centerline is valid? [True, True] Translation: X:292.95, Y:-205.48, Z:-15.14 [[ 7.08551708e-01 7.04511393e-01 4.02265444e-02 2.92949659e+02] [-7.03383888e-01 7.09692675e-01 -3.98423492e-02 -2.05483691e+02] [-5.66178729e-02 -6.43386916e-05 9.98395920e-01 -1.51371116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84864 meters Centerline goodness [0,1] 0.9990702226572058 Centerline is valid? [True, True] Translation: X:292.97, Y:-205.51, Z:-15.14 [[ 7.08385535e-01 7.04637146e-01 4.09441751e-02 2.92968732e+02] [-7.03466712e-01 7.09567819e-01 -4.05967408e-02 -2.05511191e+02] [-5.76586406e-02 -4.47203005e-05 9.98336356e-01 -1.51383565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87864 meters Centerline goodness [0,1] 0.9982843137254902 Centerline is valid? [True, True] Translation: X:292.99, Y:-205.54, Z:-15.14 [[ 7.07910366e-01 7.05086113e-01 4.14305094e-02 2.92989448e+02] [-7.03885881e-01 7.09121690e-01 -4.11229255e-02 -2.05537406e+02] [-5.83744765e-02 -5.10053788e-05 9.98294755e-01 -1.51400329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90864 meters Centerline goodness [0,1] 0.9990186938815564 Centerline is valid? [True, True] Translation: X:293.01, Y:-205.56, Z:-15.14 [[ 7.05952749e-01 7.07114662e-01 4.02438865e-02 2.93007635e+02] [-7.05983709e-01 7.07098875e-01 -3.99772994e-02 -2.05564182e+02] [-5.67249414e-02 -1.89443800e-04 9.98389826e-01 -1.51396480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93864 meters Centerline goodness [0,1] 0.9994119376653925 Centerline is valid? [True, True] Translation: X:293.03, Y:-205.59, Z:-15.14 [[ 7.03817950e-01 7.09198570e-01 4.09595210e-02 2.93028941e+02] [-7.08029262e-01 7.05008700e-01 -4.07099102e-02 -2.05588082e+02] [-5.77482288e-02 -3.48173947e-04 9.98331118e-01 -1.51410497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96864 meters Centerline goodness [0,1] 0.9993633692458375 Centerline is valid? [True, True] Translation: X:293.05, Y:-205.61, Z:-15.14 [[ 6.97987716e-01 7.14845715e-01 4.25294332e-02 2.93049198e+02] [-7.13592945e-01 6.99281730e-01 -4.23104127e-02 -2.05613009e+02] [-5.99854728e-02 -8.16555201e-04 9.98198916e-01 -1.51418334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99864 meters Centerline goodness [0,1] 0.9994121681199177 Centerline is valid? [True, True] Translation: X:293.07, Y:-205.64, Z:-15.14 [[ 6.95467292e-01 7.17310132e-01 4.23251752e-02 2.93071543e+02] [-7.16071606e-01 6.96753314e-01 -4.21458690e-02 -2.05636025e+02] [-5.97218650e-02 -9.96782789e-04 9.98214559e-01 -1.51426214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02864 meters Centerline goodness [0,1] 0.9998528040822334 Centerline is valid? [True, True] Translation: X:293.09, Y:-205.66, Z:-15.14 [[ 6.92691245e-01 7.20027173e-01 4.17098134e-02 2.93094382e+02] [-7.18827078e-01 6.93944856e-01 -4.15712494e-02 -2.05658890e+02] [-5.88767397e-02 -1.18610275e-03 9.98264555e-01 -1.51445728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05864 meters Centerline goodness [0,1] 0.9996564585787201 Centerline is valid? [True, True] Translation: X:293.12, Y:-205.68, Z:-15.15 [[ 6.89378052e-01 7.23260189e-01 4.06521851e-02 2.93117438e+02] [-7.22123691e-01 6.90574212e-01 -4.05540808e-02 -2.05681777e+02] [-5.74045028e-02 -1.39881274e-03 9.98350022e-01 -1.51452022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08864 meters Centerline goodness [0,1] 0.9998041423884836 Centerline is valid? [True, True] Translation: X:293.14, Y:-205.70, Z:-15.15 [[ 6.88490002e-01 7.24069077e-01 4.12975595e-02 2.93141167e+02] [-7.22895370e-01 6.89725910e-01 -4.12365452e-02 -2.05704149e+02] [-5.83421040e-02 -1.46286548e-03 9.98295577e-01 -1.51461860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11864 meters Centerline goodness [0,1] 0.9998529483848831 Centerline is valid? [True, True] Translation: X:293.17, Y:-205.72, Z:-15.15 [[ 6.89378389e-01 7.23179910e-01 4.20506069e-02 2.93165923e+02] [-7.21958976e-01 6.90658307e-01 -4.20278485e-02 -2.05724964e+02] [-5.94362967e-02 -1.38572263e-03 9.98231139e-01 -1.51466550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14864 meters Centerline goodness [0,1] 0.9998039696152904 Centerline is valid? [True, True] Translation: X:293.15, Y:-205.86, Z:-13.56 [[ 7.69791651e-01 -6.38210151e-01 -1.04219353e-02 2.93147034e+02] [-6.38091883e-01 -7.69855936e-01 1.26722557e-02 -2.05855434e+02] [-1.61109510e-02 -3.10484431e-03 -9.99865390e-01 -1.35591119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17864 meters Centerline goodness [0,1] 0.9997552618697993 Centerline is valid? [True, True] Translation: X:293.19, Y:-205.76, Z:-15.15 [[ 7.40459492e-01 6.70555864e-01 4.55474913e-02 2.93190216e+02] [-6.69393801e-01 7.41857976e-01 -3.94801628e-02 -2.05760745e+02] [-6.02634244e-02 -1.25574705e-03 9.98181718e-01 -1.51486764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20864 meters Centerline goodness [0,1] 0.9997061848097547 Centerline is valid? [True, True] Translation: X:293.22, Y:-205.78, Z:-15.15 [[ 7.39491876e-01 6.71710081e-01 4.42417367e-02 2.93216592e+02] [-6.70613623e-01 7.40813013e-01 -3.83855234e-02 -2.05780643e+02] [-5.85587972e-02 -1.28332863e-03 9.98283136e-01 -1.51488439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23864 meters Centerline goodness [0,1] 0.9996570812717386 Centerline is valid? [True, True] Translation: X:293.25, Y:-205.80, Z:-15.15 [[ 7.37920353e-01 6.73534401e-01 4.27195972e-02 2.93245953e+02] [-6.72512993e-01 7.39154645e-01 -3.71037091e-02 -2.05797462e+02] [-5.65670132e-02 -1.34990201e-03 9.98397892e-01 -1.51512831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26864 meters Centerline goodness [0,1] 0.9997059544229355 Centerline is valid? [True, True] Translation: X:293.27, Y:-205.82, Z:-15.15 [[ 7.36644000e-01 6.74934674e-01 4.26474242e-02 2.93272142e+02] [-6.73916896e-01 7.37876108e-01 -3.70791964e-02 -2.05817061e+02] [-5.64945507e-02 -1.42665218e-03 9.98401888e-01 -1.51523076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29864 meters Centerline goodness [0,1] 0.9996080736821478 Centerline is valid? [True, True] Translation: X:293.30, Y:-205.84, Z:-15.15 [[ 7.36970665e-01 6.74535161e-01 4.33192350e-02 2.93298552e+02] [-6.73482201e-01 7.38241413e-01 -3.77006870e-02 -2.05836327e+02] [-5.74104922e-02 -1.39043334e-03 9.98349689e-01 -1.51535573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32864 meters Centerline goodness [0,1] 0.999706572769953 Centerline is valid? [True, True] Translation: X:293.32, Y:-205.86, Z:-15.15 [[ 7.37296130e-01 6.74203032e-01 4.29498331e-02 2.93324946e+02] [-6.73165221e-01 7.38544864e-01 -3.74174962e-02 -2.05855789e+02] [-5.69473681e-02 -1.32455871e-03 9.98376303e-01 -1.51534565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35864 meters Centerline goodness [0,1] 0.999364023286532 Centerline is valid? [True, True] Translation: X:293.35, Y:-205.88, Z:-15.16 [[ 7.37941879e-01 6.73448260e-01 4.36946753e-02 2.93351889e+02] [-6.72370590e-01 7.39233288e-01 -3.81042786e-02 -2.05875682e+02] [-5.79618186e-02 -1.26027170e-03 9.98318005e-01 -1.51552137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38864 meters Centerline goodness [0,1] 0.9996573498458075 Centerline is valid? [True, True] Translation: X:293.38, Y:-205.89, Z:-15.16 [[ 7.40146894e-01 6.71064778e-01 4.30655143e-02 2.93378560e+02] [-6.70011708e-01 7.41398006e-01 -3.75939819e-02 -2.05894025e+02] [-5.71566836e-02 -1.02932985e-03 9.98364690e-01 -1.51578984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41864 meters Centerline goodness [0,1] 0.9996083806540043 Centerline is valid? [True, True] Translation: X:293.40, Y:-205.91, Z:-15.16 [[ 7.41325209e-01 6.69807648e-01 4.23633007e-02 2.93403965e+02] [-6.68784684e-01 7.42534120e-01 -3.70152249e-02 -2.05913567e+02] [-5.62492770e-02 -8.91607312e-04 9.98416358e-01 -1.51589114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44864 meters Centerline goodness [0,1] 0.9995096597038344 Centerline is valid? [True, True] Translation: X:293.43, Y:-205.93, Z:-15.16 [[ 7.45005916e-01 6.65643130e-01 4.34213002e-02 2.93432363e+02] [-6.64559188e-01 7.46269995e-01 -3.79760359e-02 -2.05929987e+02] [-5.76825010e-02 -5.63652606e-04 9.98334819e-01 -1.51604644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47864 meters Centerline goodness [0,1] 0.9993145990404386 Centerline is valid? [True, True] Translation: X:293.46, Y:-205.95, Z:-15.16 [[ 7.46251709e-01 6.64257933e-01 4.32410112e-02 2.93458266e+02] [-6.63178613e-01 7.47503321e-01 -3.78538285e-02 -2.05949535e+02] [-5.74675054e-02 -4.28029684e-04 9.98347286e-01 -1.51625388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50864 meters Centerline goodness [0,1] 0.9994117935395324 Centerline is valid? [True, True] Translation: X:293.48, Y:-205.97, Z:-15.16 [[ 7.47792251e-01 6.62545067e-01 4.29043642e-02 2.93482782e+02] [-6.61477683e-01 7.49022004e-01 -3.75940376e-02 -2.05970159e+02] [-5.70440570e-02 -2.67749395e-04 9.98371626e-01 -1.51642810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53864 meters Centerline goodness [0,1] 0.9990197519972553 Centerline is valid? [True, True] Translation: X:293.51, Y:-205.99, Z:-15.17 [[ 7.51247238e-01 6.58619722e-01 4.29842916e-02 2.93507580e+02] [-6.57539793e-01 7.52475952e-01 -3.77009687e-02 -2.05992525e+02] [-5.71752473e-02 5.88664113e-05 9.98364156e-01 -1.51660683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56864 meters Centerline goodness [0,1] 0.998626441010547 Centerline is valid? [True, True] Translation: X:293.53, Y:-206.01, Z:-15.17 [[ 7.53141555e-01 6.56400316e-01 4.37769804e-02 2.93532046e+02] [-6.55274074e-01 7.54412723e-01 -3.84360604e-02 -2.06013145e+02] [-5.82553531e-02 2.61873989e-04 9.98301680e-01 -1.51682046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59864 meters Centerline goodness [0,1] 0.9983814802099171 Centerline is valid? [True, True] Translation: X:293.56, Y:-206.03, Z:-15.17 [[ 7.56050047e-01 6.53057832e-01 4.36324794e-02 2.93555181e+02] [-6.51931374e-01 7.57307844e-01 -3.83446618e-02 -2.06034903e+02] [-5.80845006e-02 5.45101181e-04 9.98311521e-01 -1.51695823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62864 meters Centerline goodness [0,1] 0.9975523790875269 Centerline is valid? [True, True] Translation: X:293.58, Y:-206.06, Z:-15.17 [[ 7.56963724e-01 6.52042801e-01 4.29663421e-02 2.93578973e+02] [-6.50946809e-01 7.58181888e-01 -3.77951980e-02 -2.06058280e+02] [-5.72203891e-02 6.40790540e-04 9.98361366e-01 -1.51708291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65864 meters Centerline goodness [0,1] 0.9972035519795909 Centerline is valid? [True, True] Translation: X:293.60, Y:-206.08, Z:-15.17 [[ 7.58875768e-01 6.49811354e-01 4.30438469e-02 2.93600129e+02] [-6.48705631e-01 7.60095060e-01 -3.79012455e-02 -2.06082313e+02] [-5.73460750e-02 8.39550932e-04 9.98354007e-01 -1.51723395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68864 meters Centerline goodness [0,1] 0.9966689526795337 Centerline is valid? [True, True] Translation: X:293.62, Y:-206.10, Z:-15.17 [[ 7.58745504e-01 6.49940658e-01 4.33866563e-02 2.93624055e+02] [-6.48815350e-01 7.59984470e-01 -3.82393418e-02 -2.06104744e+02] [-5.78264879e-02 8.64000055e-04 9.98326275e-01 -1.51729384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71864 meters Centerline goodness [0,1] 0.9957363391325655 Centerline is valid? [True, True] Translation: X:293.65, Y:-206.13, Z:-15.17 [[ 7.57867263e-01 6.50997025e-01 4.28962093e-02 2.93646641e+02] [-6.49896600e-01 7.59079857e-01 -3.78441714e-02 -2.06128384e+02] [-5.71980914e-02 8.02758041e-04 9.98362526e-01 -1.51734398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74864 meters Centerline goodness [0,1] 0.9965197784422333 Centerline is valid? [True, True] Translation: X:293.67, Y:-206.15, Z:-15.18 [[ 7.56987526e-01 6.52070966e-01 4.21110419e-02 2.93669420e+02] [-6.51010287e-01 7.58157581e-01 -3.71845250e-02 -2.06150532e+02] [-5.61737548e-02 7.33500187e-04 9.98420739e-01 -1.51750426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77864 meters Centerline goodness [0,1] 0.9978959729901649 Centerline is valid? [True, True] Translation: X:293.69, Y:-206.17, Z:-15.18 [[ 7.54604242e-01 6.54654638e-01 4.47184987e-02 2.93691417e+02] [-6.53460764e-01 7.55927869e-01 -3.95232465e-02 -2.06173419e+02] [-5.96780360e-02 6.02625123e-04 9.98217496e-01 -1.51769369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80864 meters Centerline goodness [0,1] 0.9987268008422702 Centerline is valid? [True, True] Translation: X:293.72, Y:-206.20, Z:-15.18 [[ 7.52955150e-01 6.56512178e-01 4.52802658e-02 2.93716466e+02] [-6.55289205e-01 7.54315267e-01 -4.00566618e-02 -2.06195224e+02] [-6.04532820e-02 4.89200425e-04 9.98170908e-01 -1.51777156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83864 meters Centerline goodness [0,1] 0.9989710421872703 Centerline is valid? [True, True] Translation: X:293.74, Y:-206.22, Z:-15.18 [[ 7.50921881e-01 6.58884643e-01 4.45797753e-02 2.93740187e+02] [-6.57701101e-01 7.52243925e-01 -3.94757994e-02 -2.06216358e+02] [-5.95448631e-02 3.23074201e-04 9.98225578e-01 -1.51787928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86864 meters Centerline goodness [0,1] 0.9987277353689568 Centerline is valid? [True, True] Translation: X:293.76, Y:-206.24, Z:-15.18 [[ 7.48017151e-01 6.62176935e-01 4.46323626e-02 2.93764962e+02] [-6.60994154e-01 7.49347515e-01 -3.95604590e-02 -2.06238819e+02] [-5.96411735e-02 9.01711066e-05 9.98219877e-01 -1.51807430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89864 meters Centerline goodness [0,1] 0.9988201750073739 Centerline is valid? [True, True] Translation: X:293.79, Y:-206.26, Z:-15.18 [[ 7.44849634e-01 6.65760882e-01 4.42884914e-02 2.93790583e+02] [-6.64600120e-01 7.46165144e-01 -3.92970590e-02 -2.06259464e+02] [-5.92089733e-02 -1.63736671e-04 9.98245596e-01 -1.51818851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92864 meters Centerline goodness [0,1] 0.9995104518529397 Centerline is valid? [True, True] Translation: X:293.82, Y:-206.28, Z:-15.18 [[ 7.42121624e-01 6.68801735e-01 4.42688735e-02 2.93816016e+02] [-6.67644907e-01 7.43440716e-01 -3.93214930e-02 -2.06280490e+02] [-5.92095658e-02 -3.74557693e-04 9.98245504e-01 -1.51826728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95864 meters Centerline goodness [0,1] 0.9990689925519404 Centerline is valid? [True, True] Translation: X:293.84, Y:-206.30, Z:-15.18 [[ 7.39870538e-01 6.71343365e-01 4.34703830e-02 2.93841636e+02] [-6.70229922e-01 7.41146273e-01 -3.86529962e-02 -2.06301639e+02] [-5.81673449e-02 -5.36938308e-04 9.98306702e-01 -1.51824218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98864 meters Centerline goodness [0,1] 0.9990689925519404 Centerline is valid? [True, True] Translation: X:293.87, Y:-206.32, Z:-15.18 [[ 7.39516131e-01 6.71735069e-01 4.34498492e-02 2.93866156e+02] [-6.70620946e-01 7.40791272e-01 -3.86760687e-02 -2.06323028e+02] [-5.81673407e-02 -5.36802302e-04 9.98306703e-01 -1.51836731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01864 meters Centerline goodness [0,1] 0.9996082272282076 Centerline is valid? [True, True] Translation: X:293.89, Y:-206.34, Z:-15.19 [[ 7.34928518e-01 6.76751683e-01 4.34423010e-02 2.93892384e+02] [-6.75644354e-01 7.36210801e-01 -3.87086908e-02 -2.06342476e+02] [-5.81788629e-02 -9.03424643e-04 9.98305767e-01 -1.51856778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04864 meters Centerline goodness [0,1] 0.9996569131990394 Centerline is valid? [True, True] Translation: X:293.92, Y:-206.36, Z:-15.19 [[ 7.32861803e-01 6.79075927e-01 4.20649788e-02 2.93918773e+02] [-6.78039557e-01 7.34067320e-01 -3.75170382e-02 -2.06362469e+02] [-5.63554438e-02 -1.02691536e-03 9.98410241e-01 -1.51856993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07864 meters Centerline goodness [0,1] 0.9996571820363387 Centerline is valid? [True, True] Translation: X:293.95, Y:-206.38, Z:-15.19 [[ 7.28929777e-01 6.83312393e-01 4.17798318e-02 2.93945029e+02] [-6.82294859e-01 7.30124947e-01 -3.72999515e-02 -2.06380556e+02] [-5.59920166e-02 -1.31711912e-03 9.98430348e-01 -1.51869961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10864 meters Centerline goodness [0,1] 0.999656862745098 Centerline is valid? [True, True] Translation: X:293.97, Y:-206.40, Z:-15.19 [[ 7.26637500e-01 6.85737030e-01 4.19841609e-02 2.93970025e+02] [-6.84711663e-01 7.27847866e-01 -3.75156356e-02 -2.06400383e+02] [-5.62839424e-02 -1.48677695e-03 9.98413695e-01 -1.51878390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13864 meters Centerline goodness [0,1] 0.9994123408423115 Centerline is valid? [True, True] Translation: X:294.00, Y:-206.42, Z:-15.19 [[ 7.24143398e-01 6.88366610e-01 4.20446062e-02 2.93997498e+02] [-6.87340729e-01 7.25361033e-01 -3.76044499e-02 -2.06417397e+02] [-5.63831667e-02 -1.66795613e-03 9.98407811e-01 -1.51885603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16864 meters Centerline goodness [0,1] 0.9996566607808515 Centerline is valid? [True, True] Translation: X:294.02, Y:-206.44, Z:-15.19 [[ 7.23613782e-01 6.88934616e-01 4.18591683e-02 2.94024854e+02] [-6.87916683e-01 7.24821549e-01 -3.74747787e-02 -2.06436614e+02] [-5.61580995e-02 -1.67835391e-03 9.98420478e-01 -1.51896839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19864 meters Centerline goodness [0,1] 0.9997064292005089 Centerline is valid? [True, True] Translation: X:294.05, Y:-206.45, Z:-15.19 [[ 7.23873179e-01 6.88583709e-01 4.31288388e-02 2.94054002e+02] [-6.87499989e-01 7.25154938e-01 -3.86533432e-02 -2.06453494e+02] [-5.78911528e-02 -1.67095777e-03 9.98321502e-01 -1.51907561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22864 meters Centerline goodness [0,1] 0.9995103319949075 Centerline is valid? [True, True] Translation: X:294.08, Y:-206.47, Z:-15.19 [[ 7.24662811e-01 6.87715586e-01 4.37159367e-02 2.94079717e+02] [-6.86598199e-01 7.25978465e-01 -3.92196722e-02 -2.06472648e+02] [-5.87088084e-02 -1.59424545e-03 9.98273877e-01 -1.51916141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25864 meters Centerline goodness [0,1] 0.9993141289437586 Centerline is valid? [True, True] Translation: X:294.11, Y:-206.49, Z:-15.19 [[ 7.25799867e-01 6.86538996e-01 4.33446645e-02 2.94106117e+02] [-6.85436327e-01 7.27091518e-01 -3.89225603e-02 -2.06491730e+02] [-5.82373934e-02 -1.46001851e-03 9.98301695e-01 -1.51916574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28864 meters Centerline goodness [0,1] 0.9986291309669523 Centerline is valid? [True, True] Translation: X:294.14, Y:-206.51, Z:-15.19 [[ 7.28468522e-01 6.83703337e-01 4.33976892e-02 2.94136094e+02] [-6.82590802e-01 7.29759061e-01 -3.90065285e-02 -2.06506900e+02] [-5.83387507e-02 -1.20783529e-03 9.98296114e-01 -1.51931776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31864 meters Centerline goodness [0,1] 0.9980424782225702 Centerline is valid? [True, True] Translation: X:294.17, Y:-206.52, Z:-15.19 [[ 7.31354532e-01 6.80613724e-01 4.34224237e-02 2.94165260e+02] [-6.79492327e-01 7.32641853e-01 -3.90652343e-02 -2.06523018e+02] [-5.84014196e-02 -9.34667550e-04 9.98292743e-01 -1.51939759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34864 meters Centerline goodness [0,1] 0.9980435314257765 Centerline is valid? [True, True] Translation: X:294.19, Y:-206.54, Z:-15.20 [[ 7.32104671e-01 6.79825218e-01 4.31326338e-02 2.94191171e+02] [-6.78715289e-01 7.33373690e-01 -3.88405385e-02 -2.06542026e+02] [-5.80371163e-02 -8.39438331e-04 9.98314073e-01 -1.51951541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37864 meters Centerline goodness [0,1] 0.9970118546095816 Centerline is valid? [True, True] Translation: X:294.22, Y:-206.56, Z:-15.20 [[ 7.32922264e-01 6.78970348e-01 4.27109041e-02 2.94217276e+02] [-6.77878545e-01 7.34165323e-01 -3.84961847e-02 -2.06560697e+02] [-5.74946327e-02 -7.38094705e-04 9.98345543e-01 -1.51954643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40864 meters Centerline goodness [0,1] 0.9973093292891737 Centerline is valid? [True, True] Translation: X:294.25, Y:-206.58, Z:-15.20 [[ 7.34127655e-01 6.77621260e-01 4.34282556e-02 2.94245037e+02] [-6.76488359e-01 7.35410798e-01 -3.91721711e-02 -2.06578529e+02] [-5.84815040e-02 -6.21335202e-04 9.98288299e-01 -1.51978011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43864 meters Centerline goodness [0,1] 0.9974968096593698 Centerline is valid? [True, True] Translation: X:294.27, Y:-206.60, Z:-15.20 [[ 7.36549752e-01 6.74948499e-01 4.40339279e-02 2.94272149e+02] [-6.73778124e-01 7.37864730e-01 -3.97325918e-02 -2.06595956e+02] [-5.93085356e-02 -4.04066725e-04 9.98239618e-01 -1.51996984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46864 meters Centerline goodness [0,1] 0.9962347188264059 Centerline is valid? [True, True] Translation: X:294.30, Y:-206.62, Z:-15.20 [[ 7.37265100e-01 6.74153457e-01 4.42412558e-02 2.94298535e+02] [-6.72969847e-01 7.38591231e-01 -3.99321726e-02 -2.06616136e+02] [-5.95966158e-02 -3.32433885e-04 9.98222487e-01 -1.51999802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49864 meters Centerline goodness [0,1] 0.9952530096897328 Centerline is valid? [True, True] Translation: X:294.33, Y:-206.64, Z:-15.20 [[ 7.38060264e-01 6.73248466e-01 4.47610318e-02 2.94325225e+02] [-6.72034212e-01 7.39416284e-01 -4.04175420e-02 -2.06636335e+02] [-6.03080839e-02 -2.50363061e-04 9.98179780e-01 -1.52011133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52864 meters Centerline goodness [0,1] 0.9957400969495177 Centerline is valid? [True, True] Translation: X:294.35, Y:-206.65, Z:-15.20 [[ 7.40226539e-01 6.70874829e-01 4.46277341e-02 2.94352238e+02] [-6.69662633e-01 7.41570605e-01 -4.03112442e-02 -2.06654434e+02] [-6.01384148e-02 -4.60730885e-05 9.98190047e-01 -1.52019506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55864 meters Centerline goodness [0,1] 0.9953479261544489 Centerline is valid? [True, True] Translation: X:294.38, Y:-206.68, Z:-15.20 [[ 7.40949071e-01 6.70084330e-01 4.45136459e-02 2.94377607e+02] [-6.68876148e-01 7.42284979e-01 -4.02207412e-02 -2.06675887e+02] [-5.99930991e-02 2.74048929e-05 9.98198791e-01 -1.52038318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58864 meters Centerline goodness [0,1] 0.9954472022323395 Centerline is valid? [True, True] Translation: X:294.40, Y:-206.70, Z:-15.21 [[ 7.41574030e-01 6.69447261e-01 4.36843489e-02 2.94401755e+02] [-6.68281813e-01 7.42859581e-01 -3.94849522e-02 -2.06696602e+02] [-5.88844302e-02 8.75592306e-05 9.98264803e-01 -1.52050141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61864 meters Centerline goodness [0,1] 0.9949512278809862 Centerline is valid? [True, True] Translation: X:294.43, Y:-206.72, Z:-15.20 [[ 7.41628395e-01 6.69421962e-01 4.31458144e-02 2.94426419e+02] [-6.68284465e-01 7.42882378e-01 -3.90082837e-02 -2.06718013e+02] [-5.81652670e-02 9.59732997e-05 9.98306963e-01 -1.52047242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64864 meters Centerline goodness [0,1] 0.9955985915492958 Centerline is valid? [True, True] Translation: X:294.45, Y:-206.74, Z:-15.21 [[ 7.41483831e-01 6.69551588e-01 4.36164967e-02 2.94450582e+02] [-6.68388728e-01 7.42765550e-01 -3.94442271e-02 -2.06739170e+02] [-5.88067761e-02 9.44818667e-05 9.98269380e-01 -1.52069181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67864 meters Centerline goodness [0,1] 0.9956942949407965 Centerline is valid? [True, True] Translation: X:294.47, Y:-206.76, Z:-15.21 [[ 7.40457626e-01 6.70594155e-01 4.50109298e-02 2.94474183e+02] [-6.69357002e-01 7.41824426e-01 -4.07151634e-02 -2.06760352e+02] [-6.06935577e-02 1.94722419e-05 9.98156446e-01 -1.52080104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70864 meters Centerline goodness [0,1] 0.9968690377183113 Centerline is valid? [True, True] Translation: X:294.50, Y:-206.78, Z:-15.21 [[ 7.39831879e-01 6.71243085e-01 4.56235892e-02 2.94497650e+02] [-6.69972662e-01 7.41237290e-01 -4.12784827e-02 -2.06781783e+02] [-6.15258017e-02 -2.74200824e-05 9.98105493e-01 -1.52091742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73864 meters Centerline goodness [0,1] 0.9964285714285714 Centerline is valid? [True, True] Translation: X:294.52, Y:-206.80, Z:-15.21 [[ 7.38600118e-01 6.72638497e-01 4.50257585e-02 2.94522927e+02] [-6.71403125e-01 7.39971239e-01 -4.07481210e-02 -2.06802203e+02] [-6.07265212e-02 -1.33868013e-04 9.98154433e-01 -1.52094190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76864 meters Centerline goodness [0,1] 0.9967702471250306 Centerline is valid? [True, True] Translation: X:294.55, Y:-206.82, Z:-15.21 [[ 7.38009259e-01 6.73316438e-01 4.45792466e-02 2.94547349e+02] [-6.72106074e-01 7.39354409e-01 -4.03544670e-02 -2.06822568e+02] [-6.01311885e-02 -1.80012158e-04 9.98190467e-01 -1.52100028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79864 meters Centerline goodness [0,1] 0.997159786494295 Centerline is valid? [True, True] Translation: X:294.57, Y:-206.84, Z:-15.21 [[ 7.36608946e-01 6.74859509e-01 4.44061264e-02 2.94573162e+02] [-6.73660587e-01 7.37946174e-01 -4.02101719e-02 -2.06843277e+02] [-5.99055479e-02 -2.95484834e-04 9.98204006e-01 -1.52109918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82864 meters Centerline goodness [0,1] 0.9967182601880877 Centerline is valid? [True, True] Translation: X:294.60, Y:-206.86, Z:-15.21 [[ 7.35335152e-01 6.76240846e-01 4.45031724e-02 2.94597885e+02] [-6.75038349e-01 7.36680500e-01 -4.03121243e-02 -2.06864251e+02] [-6.00453244e-02 -3.98425975e-04 9.98195572e-01 -1.52127227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85864 meters Centerline goodness [0,1] 0.9981899124308987 Centerline is valid? [True, True] Translation: X:294.62, Y:-206.88, Z:-15.21 [[ 7.33541575e-01 6.78260434e-01 4.33536825e-02 2.94624575e+02] [-6.77122225e-01 7.34821401e-01 -3.92810632e-02 -2.06882409e+02] [-5.85000046e-02 -5.41449009e-04 9.98287261e-01 -1.52141068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88864 meters Centerline goodness [0,1] 0.9969588463236376 Centerline is valid? [True, True] Translation: X:294.65, Y:-206.90, Z:-15.22 [[ 7.31898466e-01 6.80022890e-01 4.35144069e-02 2.94649779e+02] [-6.78878712e-01 7.33190569e-01 -3.94370906e-02 -2.06902712e+02] [-5.87224771e-02 -6.77058386e-04 9.98274117e-01 -1.52155704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91864 meters Centerline goodness [0,1] 0.998092536437445 Centerline is valid? [True, True] Translation: X:294.68, Y:-206.92, Z:-15.22 [[ 7.31056889e-01 6.80850515e-01 4.47034781e-02 2.94675716e+02] [-6.79643900e-01 7.32422011e-01 -4.05236559e-02 -2.06920186e+02] [-6.03323633e-02 -7.57348360e-04 9.98178056e-01 -1.52158390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94864 meters Centerline goodness [0,1] 0.998092349833692 Centerline is valid? [True, True] Translation: X:294.70, Y:-206.94, Z:-15.22 [[ 7.31022403e-01 6.80822685e-01 4.56806145e-02 2.94701037e+02] [-6.79562301e-01 7.32447870e-01 -4.14149280e-02 -2.06938953e+02] [-6.16548913e-02 -7.67583290e-04 9.98097232e-01 -1.52168360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97864 meters Centerline goodness [0,1] 0.9974527285196434 Centerline is valid? [True, True] Translation: X:294.73, Y:-206.96, Z:-15.22 [[ 7.31714657e-01 6.80025463e-01 4.64653672e-02 2.94726274e+02] [-6.78719540e-01 7.33188152e-01 -4.21298104e-02 -2.06956950e+02] [-6.27172005e-02 -7.09952841e-04 9.98031086e-01 -1.52177502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00864 meters Centerline goodness [0,1] 0.9982907652488158 Centerline is valid? [True, True] Translation: X:294.75, Y:-206.97, Z:-15.22 [[ 7.32277586e-01 6.79298876e-01 4.81930907e-02 2.94751216e+02] [-6.77892509e-01 7.33861420e-01 -4.36939684e-02 -2.06973982e+02] [-6.50483136e-02 -6.73621491e-04 9.97881888e-01 -1.52214601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03864 meters Centerline goodness [0,1] 0.9978000488878025 Centerline is valid? [True, True] Translation: X:294.78, Y:-206.99, Z:-15.22 [[ 7.32575030e-01 6.78952267e-01 4.85555938e-02 2.94775408e+02] [-6.77524105e-01 7.34182128e-01 -4.40191963e-02 -2.06992735e+02] [-6.55355823e-02 -6.50221181e-04 9.97850021e-01 -1.52231326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06864 meters Centerline goodness [0,1] 0.9977959543517657 Centerline is valid? [True, True] Translation: X:294.80, Y:-207.01, Z:-15.22 [[ 7.34007420e-01 6.77470279e-01 4.76143701e-02 2.94802429e+02] [-6.76094823e-01 7.35549966e-01 -4.31513313e-02 -2.07006413e+02] [-6.42564928e-02 -5.18431737e-04 9.97933282e-01 -1.52239950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09864 meters Centerline goodness [0,1] 0.997506843957763 Centerline is valid? [True, True] Translation: X:294.83, Y:-207.02, Z:-15.23 [[ 7.35350280e-01 6.76030964e-01 4.73508313e-02 2.94826195e+02] [-6.74670091e-01 7.36873097e-01 -4.28754801e-02 -2.07023510e+02] [-6.38767059e-02 -4.17693388e-04 9.97957711e-01 -1.52251982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12864 meters Centerline goodness [0,1] 0.9976533854803227 Centerline is valid? [True, True] Translation: X:294.85, Y:-207.04, Z:-15.23 [[ 7.38408682e-01 6.72693762e-01 4.72834089e-02 2.94849487e+02] [-6.71332372e-01 7.39920994e-01 -4.27757900e-02 -2.07040770e+02] [-6.37609940e-02 -1.56868337e-04 9.97965185e-01 -1.52265732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15864 meters Centerline goodness [0,1] 0.997408439685101 Centerline is valid? [True, True] Translation: X:294.87, Y:-207.06, Z:-15.23 [[ 7.40539234e-01 6.70327942e-01 4.75614742e-02 2.94871562e+02] [-6.68948241e-01 7.42064991e-01 -4.29860526e-02 -2.07057907e+02] [-6.41084570e-02 1.66939439e-05 9.97942937e-01 -1.52283275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18864 meters Centerline goodness [0,1] 0.9976061361082613 Centerline is valid? [True, True] Translation: X:294.89, Y:-207.07, Z:-15.23 [[ 7.42390284e-01 6.68267557e-01 4.76984191e-02 2.94894527e+02] [-6.66878497e-01 7.43920995e-01 -4.30653459e-02 -2.07073607e+02] [-6.42630289e-02 1.62244315e-04 9.97932982e-01 -1.52287387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21864 meters Centerline goodness [0,1] 0.9976030915227706 Centerline is valid? [True, True] Translation: X:294.92, Y:-207.09, Z:-15.23 [[ 7.45115627e-01 6.65193917e-01 4.81638326e-02 2.94919486e+02] [-6.63773911e-01 7.46670538e-01 -4.34430954e-02 -2.07088304e+02] [-6.48605976e-02 4.00233699e-04 9.97894254e-01 -1.52315867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24864 meters Centerline goodness [0,1] 0.9979453060026418 Centerline is valid? [True, True] Translation: X:294.94, Y:-207.11, Z:-15.23 [[ 7.46553556e-01 6.63556377e-01 4.84842510e-02 2.94941339e+02] [-6.62116499e-01 7.48126104e-01 -4.36929522e-02 -2.07107445e+02] [-6.52650708e-02 5.16906275e-04 9.97867829e-01 -1.52333239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27864 meters Centerline goodness [0,1] 0.997212441314554 Centerline is valid? [True, True] Translation: X:294.96, Y:-207.13, Z:-15.23 [[ 7.47575963e-01 6.62393471e-01 4.86319733e-02 2.94962528e+02] [-6.60945042e-01 7.49155886e-01 -4.37848136e-02 -2.07125718e+02] [-6.54357037e-02 5.89412534e-04 9.97856614e-01 -1.52338125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30864 meters Centerline goodness [0,1] 0.996480078220484 Centerline is valid? [True, True] Translation: X:294.99, Y:-207.14, Z:-15.23 [[ 7.50711328e-01 6.58836575e-01 4.86504905e-02 2.94985616e+02] [-6.57382311e-01 7.52285593e-01 -4.37593913e-02 -2.07142779e+02] [-6.54293505e-02 8.68698896e-04 9.97856826e-01 -1.52344860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33864 meters Centerline goodness [0,1] 0.9953511132860289 Centerline is valid? [True, True] Translation: X:295.01, Y:-207.16, Z:-15.24 [[ 7.52748890e-01 6.56536560e-01 4.82582096e-02 2.95006926e+02] [-6.55103412e-01 7.54293498e-01 -4.33686290e-02 -2.07162374e+02] [-6.48739442e-02 1.03156951e-03 9.97892934e-01 -1.52350808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36864 meters Centerline goodness [0,1] 0.9953547503789546 Centerline is valid? [True, True] Translation: X:295.03, Y:-207.18, Z:-15.24 [[ 7.55111083e-01 6.53799510e-01 4.85124028e-02 2.95027850e+02] [-6.52348021e-01 7.56666803e-01 -4.35592560e-02 -2.07182385e+02] [-6.51867450e-02 1.24510697e-03 9.97872305e-01 -1.52360250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39864 meters Centerline goodness [0,1] 0.9923686527737012 Centerline is valid? [True, True] Translation: X:295.05, Y:-207.20, Z:-15.24 [[ 7.59598642e-01 6.48545787e-01 4.89720853e-02 2.95048894e+02] [-6.47057287e-01 7.61173758e-01 -4.39474466e-02 -2.07203595e+02] [-6.57781976e-02 1.69467609e-03 9.97832830e-01 -1.52365425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42864 meters Centerline goodness [0,1] 0.9892262487757101 Centerline is valid? [True, True] Translation: X:295.07, Y:-207.23, Z:-15.24 [[ 7.64762435e-01 6.42504386e-01 4.82341378e-02 2.95068276e+02] [-6.41048798e-01 7.66278912e-01 -4.32789484e-02 -2.07225589e+02] [-6.47677168e-02 2.17767793e-03 9.97897991e-01 -1.52367068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45864 meters Centerline goodness [0,1] 0.987787532493011 Centerline is valid? [True, True] Translation: X:295.09, Y:-207.25, Z:-15.24 [[ 7.67327270e-01 6.39434406e-01 4.82959622e-02 2.95087131e+02] [-6.37969815e-01 7.68841812e-01 -4.33218562e-02 -2.07246815e+02] [-6.48334405e-02 2.43067557e-03 9.97893139e-01 -1.52387726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48864 meters Centerline goodness [0,1] 0.9842211006027344 Centerline is valid? [True, True] Translation: X:295.11, Y:-207.27, Z:-15.24 [[ 7.70275041e-01 6.35896076e-01 4.80888995e-02 2.95106695e+02] [-6.34438011e-01 7.71769949e-01 -4.31225662e-02 -2.07269360e+02] [-6.45350381e-02 2.70681061e-03 9.97911771e-01 -1.52403150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51864 meters Centerline goodness [0,1] 0.9836145996860283 Centerline is valid? [True, True] Translation: X:295.13, Y:-207.29, Z:-15.24 [[ 7.73982074e-01 6.31337649e-01 4.86263535e-02 2.95125292e+02] [-6.29837975e-01 7.75501798e-01 -4.36014571e-02 -2.07294555e+02] [-6.52370659e-02 3.12002219e-03 9.97864916e-01 -1.52409873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54864 meters Centerline goodness [0,1] 0.9832981284079186 Centerline is valid? [True, True] Translation: X:295.15, Y:-207.32, Z:-15.24 [[ 7.74818723e-01 6.30339330e-01 4.82522108e-02 2.95145483e+02] [-6.28860743e-01 7.76313223e-01 -4.32659771e-02 -2.07318442e+02] [-6.47310764e-02 3.17936800e-03 9.97897680e-01 -1.52405957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57864 meters Centerline goodness [0,1] 0.9827104863594064 Centerline is valid? [True, True] Translation: X:295.16, Y:-207.35, Z:-15.24 [[ 7.72889848e-01 6.32774008e-01 4.73110730e-02 2.95161681e+02] [-6.31356942e-01 7.74331021e-01 -4.24250178e-02 -2.07348152e+02] [-6.34798800e-02 2.91969123e-03 9.97978848e-01 -1.52419850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60864 meters Centerline goodness [0,1] 0.9829461922963835 Centerline is valid? [True, True] Translation: X:295.18, Y:-207.37, Z:-15.24 [[ 7.70593207e-01 6.35618536e-01 4.66388922e-02 2.95181508e+02] [-6.34246209e-01 7.71998729e-01 -4.18295148e-02 -2.07373722e+02] [-6.25927804e-02 2.65299935e-03 9.98035623e-01 -1.52420859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63864 meters Centerline goodness [0,1] 0.9838954427529493 Centerline is valid? [True, True] Translation: X:295.20, Y:-207.40, Z:-15.24 [[ 7.65837627e-01 6.41373125e-01 4.61870389e-02 2.95197672e+02] [-6.40037315e-01 7.67226054e-01 -4.14296650e-02 -2.07401010e+02] [-6.20077733e-02 2.16696802e-03 9.98073314e-01 -1.52437190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66864 meters Centerline goodness [0,1] 0.985883044948777 Centerline is valid? [True, True] Translation: X:295.22, Y:-207.43, Z:-15.25 [[ 7.62959354e-01 6.44767075e-01 4.65665403e-02 2.95217680e+02] [-6.43415076e-01 7.64376715e-01 -4.17765172e-02 -2.07427431e+02] [-6.25305019e-02 1.91217048e-03 9.98041222e-01 -1.52456548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69864 meters Centerline goodness [0,1] 0.9879807692307693 Centerline is valid? [True, True] Translation: X:295.23, Y:-207.46, Z:-15.25 [[ 7.59245595e-01 6.49116155e-01 4.68438226e-02 2.95234358e+02] [-6.47755459e-01 7.60687677e-01 -4.20371636e-02 -2.07456461e+02] [-6.29205207e-02 1.57318948e-03 9.98017301e-01 -1.52459614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72864 meters Centerline goodness [0,1] 0.9890675556427101 Centerline is valid? [True, True] Translation: X:295.26, Y:-207.48, Z:-15.25 [[ 7.57837409e-01 6.50791277e-01 4.64023232e-02 2.95256652e+02] [-6.49458564e-01 7.59255340e-01 -4.16521657e-02 -2.07480411e+02] [-6.23380778e-02 1.42918310e-03 9.98054067e-01 -1.52476521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75864 meters Centerline goodness [0,1] 0.9909331503626739 Centerline is valid? [True, True] Translation: X:295.28, Y:-207.50, Z:-15.25 [[ 7.54824589e-01 6.54234211e-01 4.70896714e-02 2.95277663e+02] [-6.52867566e-01 7.56291098e-01 -4.22813973e-02 -2.07504657e+02] [-6.32754358e-02 1.17171921e-03 9.97995414e-01 -1.52511115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78864 meters Centerline goodness [0,1] 0.9929001615825295 Centerline is valid? [True, True] Translation: X:295.30, Y:-207.53, Z:-15.25 [[ 7.53180637e-01 6.56021307e-01 4.85280631e-02 2.95300347e+02] [-6.54571890e-01 7.54741609e-01 -4.35975262e-02 -2.07528955e+02] [-6.52270546e-02 1.07170655e-03 9.97869873e-01 -1.52531771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81864 meters Centerline goodness [0,1] 0.9930494371023005 Centerline is valid? [True, True] Translation: X:295.32, Y:-207.55, Z:-15.25 [[ 7.50823624e-01 6.58655260e-01 4.93673355e-02 2.95323039e+02] [-6.57157891e-01 7.52444319e-01 -4.43965525e-02 -2.07553439e+02] [-6.63881939e-02 8.91846377e-04 9.97793472e-01 -1.52528907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84864 meters Centerline goodness [0,1] 0.9930497772992022 Centerline is valid? [True, True] Translation: X:295.35, Y:-207.57, Z:-15.25 [[ 7.50033113e-01 6.59570050e-01 4.91699071e-02 2.95348805e+02] [-6.58083662e-01 7.51642629e-01 -4.42634296e-02 -2.07574916e+02] [-6.61530307e-02 8.41125314e-04 9.97809135e-01 -1.52530336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87864 meters Centerline goodness [0,1] 0.993637742866931 Centerline is valid? [True, True] Translation: X:295.37, Y:-207.60, Z:-15.25 [[ 7.49502027e-01 6.60211262e-01 4.86600451e-02 2.95372896e+02] [-6.58754869e-01 7.51079523e-01 -4.38357574e-02 -2.07596379e+02] [-6.54884242e-02 7.99947389e-04 9.97853008e-01 -1.52541266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90864 meters Centerline goodness [0,1] 0.993637742866931 Centerline is valid? [True, True] Translation: X:295.40, Y:-207.62, Z:-15.26 [[ 7.49165616e-01 6.60593954e-01 4.86467632e-02 2.95397308e+02] [-6.59137409e-01 7.50742972e-01 -4.38504930e-02 -2.07617946e+02] [-6.54885861e-02 7.86380160e-04 9.97853009e-01 -1.52553799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93864 meters Centerline goodness [0,1] 0.9918750917723068 Centerline is valid? [True, True] Translation: X:295.42, Y:-207.64, Z:-15.26 [[ 7.49285083e-01 6.60551657e-01 4.73642493e-02 2.95419534e+02] [-6.59168281e-01 7.50780173e-01 -4.27353328e-02 -2.07640756e+02] [-6.37890342e-02 7.99936605e-04 9.97963085e-01 -1.52584056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96864 meters Centerline goodness [0,1] 0.9918802582664841 Centerline is valid? [True, True] Translation: X:295.44, Y:-207.66, Z:-15.26 [[ 7.51440301e-01 6.58096551e-01 4.73962535e-02 2.95443011e+02] [-6.56704051e-01 7.52932835e-01 -4.28011152e-02 -2.07662053e+02] [-6.38534618e-02 1.03717119e-03 9.97958746e-01 -1.52610590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99864 meters Centerline goodness [0,1] 0.9890394872045799 Centerline is valid? [True, True] Translation: X:295.47, Y:-207.68, Z:-15.26 [[ 7.53055565e-01 6.56282141e-01 4.69155290e-02 2.95467557e+02] [-6.54912019e-01 7.54514611e-01 -4.24022336e-02 -2.07682757e+02] [-6.32262807e-02 1.20569417e-03 9.97998489e-01 -1.52618338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02864 meters Centerline goodness [0,1] 0.9886609071274298 Centerline is valid? [True, True] Translation: X:295.49, Y:-207.70, Z:-15.26 [[ 7.54614997e-01 6.54475452e-01 4.70965936e-02 2.95490854e+02] [-6.53088841e-01 7.56081972e-01 -4.26030204e-02 -2.07704519e+02] [-6.34915164e-02 1.39061836e-03 9.97981409e-01 -1.52636631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05864 meters Centerline goodness [0,1] 0.9875660857646368 Centerline is valid? [True, True] Translation: X:295.51, Y:-207.73, Z:-15.27 [[ 7.57880775e-01 6.50671541e-01 4.73632323e-02 2.95511000e+02] [-6.49259413e-01 7.59357289e-01 -4.28803209e-02 -2.07729326e+02] [-6.38666202e-02 1.74714647e-03 9.97956914e-01 -1.52652669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08864 meters Centerline goodness [0,1] 0.9884432691836834 Centerline is valid? [True, True] Translation: X:295.53, Y:-207.75, Z:-15.27 [[ 7.58542544e-01 6.49877626e-01 4.76684416e-02 2.95533355e+02] [-6.48443357e-01 7.60036603e-01 -4.31923050e-02 -2.07751943e+02] [-6.42994731e-02 1.85291660e-03 9.97928928e-01 -1.52675380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11864 meters Centerline goodness [0,1] 0.9883937316356514 Centerline is valid? [True, True] Translation: X:295.55, Y:-207.78, Z:-15.27 [[ 7.58353866e-01 6.49926530e-01 4.99491637e-02 2.95554372e+02] [-6.48348979e-01 7.59994495e-01 -4.52986573e-02 -2.07777095e+02] [-6.74018886e-02 1.96792256e-03 9.97723966e-01 -1.52706990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14864 meters Centerline goodness [0,1] 0.9885890592095598 Centerline is valid? [True, True] Translation: X:295.58, Y:-207.80, Z:-15.27 [[ 7.57775273e-01 6.50709165e-01 4.85202814e-02 2.95575869e+02] [-6.49219864e-01 7.59324752e-01 -4.40396280e-02 -2.07801832e+02] [-6.54996402e-02 1.87181070e-03 9.97850837e-01 -1.52704774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17864 meters Centerline goodness [0,1] 0.9882070855353298 Centerline is valid? [True, True] Translation: X:295.59, Y:-207.83, Z:-15.27 [[ 7.56869482e-01 6.51830528e-01 4.75977971e-02 2.95593645e+02] [-6.50397240e-01 7.58362601e-01 -4.32388192e-02 -2.07830334e+02] [-6.42807715e-02 1.76866686e-03 9.97930285e-01 -1.52707890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20864 meters Centerline goodness [0,1] 0.9889905563438861 Centerline is valid? [True, True] Translation: X:295.62, Y:-207.86, Z:-15.27 [[ 7.57036394e-01 6.51640544e-01 4.75447020e-02 2.95615170e+02] [-6.50207554e-01 7.58525751e-01 -4.32298679e-02 -2.07855137e+02] [-6.42342155e-02 1.81265889e-03 9.97933204e-01 -1.52723539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23864 meters Centerline goodness [0,1] 0.9874810504181134 Centerline is valid? [True, True] Translation: X:295.64, Y:-207.88, Z:-15.27 [[ 7.56701392e-01 6.52046794e-01 4.73073102e-02 2.95636733e+02] [-6.50626183e-01 7.58176585e-01 -4.30561908e-02 -2.07880532e+02] [-6.39419460e-02 1.80130484e-03 9.97951994e-01 -1.52726176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26864 meters Centerline goodness [0,1] 0.9897215016396652 Centerline is valid? [True, True] Translation: X:295.65, Y:-207.91, Z:-15.28 [[ 7.56552416e-01 6.52245465e-01 4.69499221e-02 2.95654292e+02] [-6.50843980e-01 7.58005675e-01 -4.27727622e-02 -2.07910668e+02] [-6.34866475e-02 1.80276240e-03 9.97981060e-01 -1.52757045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29864 meters Centerline goodness [0,1] 0.9898104149316612 Centerline is valid? [True, True] Translation: X:295.67, Y:-207.94, Z:-15.28 [[ 7.56438693e-01 6.52429723e-01 4.62164440e-02 2.95674026e+02] [-6.51070188e-01 7.57847135e-01 -4.21346576e-02 -2.07936359e+02] [-6.25149026e-02 1.78213643e-03 9.98042439e-01 -1.52770231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32864 meters Centerline goodness [0,1] 0.9906322036392172 Centerline is valid? [True, True] Translation: X:295.69, Y:-207.97, Z:-15.28 [[ 7.55581953e-01 6.53408147e-01 4.64080360e-02 2.95691819e+02] [-6.52037739e-01 7.57003842e-01 -4.23316768e-02 -2.07965259e+02] [-6.27909240e-02 1.72526018e-03 9.98025212e-01 -1.52780765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35864 meters Centerline goodness [0,1] 0.9898479646885728 Centerline is valid? [True, True] Translation: X:295.71, Y:-207.99, Z:-15.28 [[ 7.54320398e-01 6.54879090e-01 4.61964781e-02 2.95712454e+02] [-6.53521613e-01 7.55731925e-01 -4.21753471e-02 -2.07990465e+02] [-6.25319063e-02 1.62332774e-03 9.98041645e-01 -1.52781136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38864 meters Centerline goodness [0,1] 0.9924656522381445 Centerline is valid? [True, True] Translation: X:295.73, Y:-208.02, Z:-15.28 [[ 7.50534582e-01 6.59180439e-01 4.66796524e-02 2.95730117e+02] [-6.57800874e-01 7.51983682e-01 -4.26444842e-02 -2.08018894e+02] [-6.32127467e-02 1.30024401e-03 9.97999227e-01 -1.52764835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41864 meters Centerline goodness [0,1] 0.9923529411764705 Centerline is valid? [True, True] Translation: X:295.75, Y:-208.04, Z:-15.28 [[ 7.47728514e-01 6.62315741e-01 4.73278831e-02 2.95751731e+02] [-6.60902277e-01 7.49224077e-01 -4.32604049e-02 -2.08043205e+02] [-6.41112367e-02 1.06793254e-03 9.97942187e-01 -1.52776014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44864 meters Centerline goodness [0,1] 0.9959395332909349 Centerline is valid? [True, True] Translation: X:295.77, Y:-208.07, Z:-15.28 [[ 7.42152467e-01 6.68496313e-01 4.81912394e-02 2.95771027e+02] [-6.67041441e-01 7.43715237e-01 -4.40835838e-02 -2.08070459e+02] [-6.53102723e-02 5.71186709e-04 9.97864842e-01 -1.52806856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47864 meters Centerline goodness [0,1] 0.9974580828078409 Centerline is valid? [True, True] Translation: X:295.79, Y:-208.09, Z:-15.28 [[ 7.38610310e-01 6.72460954e-01 4.74455036e-02 2.95793039e+02] [-6.71056959e-01 7.40132561e-01 -4.34321310e-02 -2.08094188e+02] [-6.43223743e-02 2.40784313e-04 9.97929143e-01 -1.52819993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50864 meters Centerline goodness [0,1] 0.9979907870234245 Centerline is valid? [True, True] Translation: X:295.82, Y:-208.12, Z:-15.28 [[ 7.33536695e-01 6.78105256e-01 4.57949651e-02 2.95817096e+02] [-6.76806493e-01 7.34964769e-01 -4.19494820e-02 -2.08115816e+02] [-6.21038502e-02 -2.22845274e-04 9.98069668e-01 -1.52789304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53864 meters Centerline goodness [0,1] 0.9979924594819566 Centerline is valid? [True, True] Translation: X:295.84, Y:-208.14, Z:-15.28 [[ 7.31842266e-01 6.79883585e-01 4.65317971e-02 2.95841092e+02] [-6.78544697e-01 7.33319971e-01 -4.26487340e-02 -2.08136686e+02] [-6.31188703e-02 -3.61758003e-04 9.98005951e-01 -1.52800767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56864 meters Centerline goodness [0,1] 0.9988737084373929 Centerline is valid? [True, True] Translation: X:295.86, Y:-208.16, Z:-15.28 [[ 7.30719019e-01 6.80949203e-01 4.85581975e-02 2.95863520e+02] [-6.79490566e-01 7.32330518e-01 -4.45486628e-02 -2.08159277e+02] [-6.58960263e-02 -4.42281953e-04 9.97826397e-01 -1.52821763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59864 meters Centerline goodness [0,1] 0.9983819563618535 Centerline is valid? [True, True] Translation: X:295.89, Y:-208.18, Z:-15.28 [[ 7.30765182e-01 6.80905347e-01 4.84784197e-02 2.95887296e+02] [-6.79448516e-01 7.32371315e-01 -4.45193272e-02 -2.08181488e+02] [-6.58176519e-02 -4.05416085e-04 9.97831585e-01 -1.52832227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62864 meters Centerline goodness [0,1] 0.9978464098673584 Centerline is valid? [True, True] Translation: X:295.91, Y:-208.20, Z:-15.29 [[ 7.32108362e-01 6.79381121e-01 4.95846708e-02 2.95913850e+02] [-6.77850327e-01 7.33785551e-01 -4.55817796e-02 -2.08199913e+02] [-6.73519155e-02 -2.40183359e-04 9.97729253e-01 -1.52850718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65864 meters Centerline goodness [0,1] 0.9983344763397668 Centerline is valid? [True, True] Translation: X:295.94, Y:-208.22, Z:-15.29 [[ 7.31730264e-01 6.79816459e-01 4.91975976e-02 2.95939884e+02] [-6.78307492e-01 7.33382248e-01 -4.52705684e-02 -2.08220632e+02] [-6.68563223e-02 -2.45254121e-04 9.97762583e-01 -1.52866532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68864 meters Centerline goodness [0,1] 0.9987768481823964 Centerline is valid? [True, True] Translation: X:295.96, Y:-208.24, Z:-15.29 [[ 7.31260989e-01 6.80335921e-01 4.89938832e-02 2.95964959e+02] [-6.78837409e-01 7.32900381e-01 -4.51309656e-02 -2.08242370e+02] [-6.66118528e-02 -2.56366203e-04 9.97778931e-01 -1.52890115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71864 meters Centerline goodness [0,1] 0.9988738187337806 Centerline is valid? [True, True] Translation: X:295.99, Y:-208.26, Z:-15.29 [[ 7.31236088e-01 6.80485719e-01 4.72543043e-02 2.95988837e+02] [-6.79089398e-01 7.32761308e-01 -4.35712655e-02 -2.08264203e+02] [-6.42757498e-02 -2.29015347e-04 9.97932150e-01 -1.52906444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74864 meters Centerline goodness [0,1] 0.9986322782336851 Centerline is valid? [True, True] Translation: X:296.01, Y:-208.29, Z:-15.29 [[ 7.31581219e-01 6.80102723e-01 4.74257914e-02 2.96014029e+02] [-6.78692653e-01 7.33116811e-01 -4.37724054e-02 -2.08285431e+02] [-6.45383770e-02 -1.64466534e-04 9.97915212e-01 -1.52931831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77864 meters Centerline goodness [0,1] 0.9985803798707656 Centerline is valid? [True, True] Translation: X:296.04, Y:-208.31, Z:-15.29 [[ 7.32433446e-01 6.79257626e-01 4.63715824e-02 2.96037898e+02] [-6.77905210e-01 7.33899907e-01 -4.28421796e-02 -2.08307546e+02] [-6.31329772e-02 -5.64920187e-05 9.98005122e-01 -1.52945219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80864 meters Centerline goodness [0,1] 0.9986298688588765 Centerline is valid? [True, True] Translation: X:296.06, Y:-208.33, Z:-15.30 [[ 7.33534541e-01 6.78107425e-01 4.57973468e-02 2.96061912e+02] [-6.76783521e-01 7.34962798e-01 -4.23526897e-02 -2.08330194e+02] [-6.23790195e-02 7.22711395e-05 9.98052530e-01 -1.52961719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83864 meters Centerline goodness [0,1] 0.9966193042626164 Centerline is valid? [True, True] Translation: X:296.09, Y:-208.35, Z:-15.30 [[ 7.36634035e-01 6.74745288e-01 4.57066140e-02 2.96086095e+02] [-6.73417347e-01 7.38050570e-01 -4.23135056e-02 -2.08352712e+02] [-6.22846310e-02 3.89941617e-04 9.98058351e-01 -1.52978981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86864 meters Centerline goodness [0,1] 0.9956896551724138 Centerline is valid? [True, True] Translation: X:296.11, Y:-208.38, Z:-15.30 [[ 7.39358185e-01 6.71643766e-01 4.73722070e-02 2.96108639e+02] [-6.70207912e-01 7.40873909e-01 -4.38999502e-02 -2.08375809e+02] [-6.45819601e-02 7.08559555e-04 9.97912155e-01 -1.52988325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89864 meters Centerline goodness [0,1] 0.9961310544101082 Centerline is valid? [True, True] Translation: X:296.13, Y:-208.40, Z:-15.30 [[ 7.39999711e-01 6.70907283e-01 4.77896003e-02 2.96130604e+02] [-6.69441821e-01 7.41540803e-01 -4.43270331e-02 -2.08399138e+02] [-6.51772679e-02 8.09634599e-04 9.97873373e-01 -1.53003346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92864 meters Centerline goodness [0,1] 0.9951016409502816 Centerline is valid? [True, True] Translation: X:296.15, Y:-208.42, Z:-15.30 [[ 7.39942093e-01 6.70967670e-01 4.78339283e-02 2.96153301e+02] [-6.69496834e-01 7.41486133e-01 -4.44106280e-02 -2.08423149e+02] [-6.52662902e-02 8.36629473e-04 9.97867532e-01 -1.53013201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95864 meters Centerline goodness [0,1] 0.9952576513151462 Centerline is valid? [True, True] Translation: X:296.18, Y:-208.45, Z:-15.30 [[ 7.39730072e-01 6.71243674e-01 4.72371675e-02 2.96175655e+02] [-6.69807158e-01 7.41236288e-01 -4.38991533e-02 -2.08446751e+02] [-6.44809316e-02 8.33730914e-04 9.97918591e-01 -1.53023266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98864 meters Centerline goodness [0,1] 0.9946675798639988 Centerline is valid? [True, True] Translation: X:296.20, Y:-208.47, Z:-15.30 [[ 7.39362130e-01 6.71775518e-01 4.54014886e-02 2.96197310e+02] [-6.70447279e-01 7.40754371e-01 -4.22304119e-02 -2.08470533e+02] [-6.20007080e-02 7.84262855e-04 9.98075797e-01 -1.53039808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01864 meters Centerline goodness [0,1] 0.995005386348056 Centerline is valid? [True, True] Translation: X:296.22, Y:-208.49, Z:-15.31 [[ 7.39330767e-01 6.71815295e-01 4.53235685e-02 2.96221038e+02] [-6.70489192e-01 7.40718269e-01 -4.21982171e-02 -2.08493819e+02] [-6.19214029e-02 8.09477380e-04 9.98080700e-01 -1.53053048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04864 meters Centerline goodness [0,1] 0.9941222570532915 Centerline is valid? [True, True] Translation: X:296.24, Y:-208.52, Z:-15.31 [[ 7.39242220e-01 6.71920238e-01 4.52121006e-02 2.96244846e+02] [-6.70598146e-01 7.40623051e-01 -4.21381472e-02 -2.08516437e+02] [-6.17985978e-02 8.31146692e-04 9.98088294e-01 -1.53053436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07864 meters Centerline goodness [0,1] 0.994517060752925 Centerline is valid? [True, True] Translation: X:296.27, Y:-208.54, Z:-15.31 [[ 7.38851184e-01 6.72302957e-01 4.59092794e-02 2.96269668e+02] [-6.70937657e-01 7.40275638e-01 -4.28326944e-02 -2.08538826e+02] [-6.27820682e-02 8.44722650e-04 9.98026903e-01 -1.53058042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10864 meters Centerline goodness [0,1] 0.993578431372549 Centerline is valid? [True, True] Translation: X:296.29, Y:-208.56, Z:-15.31 [[ 7.38552929e-01 6.72589173e-01 4.65121020e-02 2.96293004e+02] [-6.71185410e-01 7.40015579e-01 -4.34406386e-02 -2.08561951e+02] [-6.36373833e-02 8.64966708e-04 9.97972713e-01 -1.53070394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13864 meters Centerline goodness [0,1] 0.9941245593419507 Centerline is valid? [True, True] Translation: X:296.31, Y:-208.59, Z:-15.31 [[ 7.38869630e-01 6.72196434e-01 4.71553184e-02 2.96313311e+02] [-6.70749903e-01 7.40372247e-01 -4.40851895e-02 -2.08587128e+02] [-6.45463962e-02 9.43782470e-04 9.97914261e-01 -1.53089901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16864 meters Centerline goodness [0,1] 0.9946199745671525 Centerline is valid? [True, True] Translation: X:296.34, Y:-208.61, Z:-15.31 [[ 7.37968496e-01 6.73174528e-01 4.73133447e-02 2.96335627e+02] [-6.71717519e-01 7.39483102e-01 -4.42754750e-02 -2.08611764e+02] [-6.47925409e-02 8.92703201e-04 9.97898356e-01 -1.53113460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19864 meters Centerline goodness [0,1] 0.9942264409433408 Centerline is valid? [True, True] Translation: X:296.36, Y:-208.63, Z:-15.31 [[ 7.36626256e-01 6.74733794e-01 4.60007335e-02 2.96358361e+02] [-6.73356997e-01 7.38060785e-01 -4.30886522e-02 -2.08634401e+02] [-6.30247072e-02 7.65316756e-04 9.98011674e-01 -1.53122531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22864 meters Centerline goodness [0,1] 0.9943715740015662 Centerline is valid? [True, True] Translation: X:296.38, Y:-208.66, Z:-15.31 [[ 7.35477302e-01 6.76016196e-01 4.55548169e-02 2.96381046e+02] [-6.74666039e-01 7.36886453e-01 -4.27093876e-02 -2.08657047e+02] [-6.24409652e-02 6.77497284e-04 9.98048429e-01 -1.53139801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25864 meters Centerline goodness [0,1] 0.996472490323845 Centerline is valid? [True, True] Translation: X:296.40, Y:-208.68, Z:-15.31 [[ 7.31698795e-01 6.80142467e-01 4.49788643e-02 2.96403320e+02] [-6.78832232e-01 7.33079878e-01 -4.21982650e-02 -2.08681074e+02] [-6.16739324e-02 3.43316738e-04 9.98096292e-01 -1.53138822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28864 meters Centerline goodness [0,1] 0.9959860981937442 Centerline is valid? [True, True] Translation: X:296.43, Y:-208.70, Z:-15.31 [[ 7.29016252e-01 6.83036256e-01 4.46853230e-02 2.96426515e+02] [-6.81747081e-01 7.30384461e-01 -4.19458807e-02 -2.08702786e+02] [-6.12880229e-02 1.15140173e-04 9.98120116e-01 -1.53144218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31864 meters Centerline goodness [0,1] 0.9976944962228981 Centerline is valid? [True, True] Translation: X:296.45, Y:-208.72, Z:-15.31 [[ 7.23677893e-01 6.88623699e-01 4.56914453e-02 2.96450617e+02] [-6.87284894e-01 7.25118807e-01 -4.29207465e-02 -2.08724598e+02] [-6.26879695e-02 -3.42244760e-04 9.98033116e-01 -1.53142327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34864 meters Centerline goodness [0,1] 0.9983833831381963 Centerline is valid? [True, True] Translation: X:296.47, Y:-208.75, Z:-15.32 [[ 7.21185706e-01 6.91198682e-01 4.62121062e-02 2.96474632e+02] [-6.89832836e-01 7.22664566e-01 -4.34348161e-02 -2.08746314e+02] [-6.34179393e-02 -5.54059801e-04 9.97986903e-01 -1.53158946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37864 meters Centerline goodness [0,1] 0.997992852597053 Centerline is valid? [True, True] Translation: X:296.50, Y:-208.77, Z:-15.32 [[ 7.16523132e-01 6.96018596e-01 4.63973565e-02 2.96501254e+02] [-6.94649176e-01 7.18023122e-01 -4.36499535e-02 -2.08765197e+02] [-6.36955541e-02 -9.53684063e-04 9.97968921e-01 -1.53164767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40864 meters Centerline goodness [0,1] 0.9981894695635154 Centerline is valid? [True, True] Translation: X:296.53, Y:-208.78, Z:-15.32 [[ 7.14659121e-01 6.97965512e-01 4.58964612e-02 2.96528962e+02] [-6.96626859e-01 7.16130553e-01 -4.32209600e-02 -2.08784481e+02] [-6.30345976e-02 -1.08445424e-03 9.98010753e-01 -1.53167559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43864 meters Centerline goodness [0,1] 0.9987271748176433 Centerline is valid? [True, True] Translation: X:296.56, Y:-208.80, Z:-15.32 [[ 7.12048808e-01 7.00716288e-01 4.45328961e-02 2.96558759e+02] [-6.99458733e-01 7.13438928e-01 -4.19806646e-02 -2.08801326e+02] [-6.11880372e-02 -1.25664090e-03 9.98125466e-01 -1.53189001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46864 meters Centerline goodness [0,1] 0.9991686635043279 Centerline is valid? [True, True] Translation: X:296.58, Y:-208.82, Z:-15.32 [[ 7.11737059e-01 7.01047124e-01 4.43090034e-02 2.96584649e+02] [-6.99800129e-01 7.13113858e-01 -4.18139268e-02 -2.08821793e+02] [-6.09108975e-02 -1.24692499e-03 9.98142429e-01 -1.53206376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49864 meters Centerline goodness [0,1] 0.9977010369790648 Centerline is valid? [True, True] Translation: X:296.61, Y:-208.84, Z:-15.32 [[ 7.13821776e-01 6.98946597e-01 4.39559612e-02 2.96613775e+02] [-6.97712882e-01 7.15173124e-01 -4.15227314e-02 -2.08837760e+02] [-6.04582939e-02 -1.02881048e-03 9.98170194e-01 -1.53198652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52864 meters Centerline goodness [0,1] 0.9977468652037618 Centerline is valid? [True, True] Translation: X:296.64, Y:-208.86, Z:-15.32 [[ 7.15531678e-01 6.97129923e-01 4.49920910e-02 2.96640916e+02] [-6.95831088e-01 7.16944294e-01 -4.25438106e-02 -2.08857173e+02] [-6.19153863e-02 -8.65451449e-04 9.98081027e-01 -1.53217721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55864 meters Centerline goodness [0,1] 0.9959373470386687 Centerline is valid? [True, True] Translation: X:296.67, Y:-208.88, Z:-15.32 [[ 7.20894796e-01 6.91467115e-01 4.67324604e-02 2.96667290e+02] [-6.90050803e-01 7.22407849e-01 -4.42356004e-02 -2.08875969e+02] [-6.43473592e-02 -3.58557680e-04 9.97927497e-01 -1.53238628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58864 meters Centerline goodness [0,1] 0.9967168128583329 Centerline is valid? [True, True] Translation: X:296.69, Y:-208.90, Z:-15.33 [[ 7.23827249e-01 6.88244881e-01 4.89193004e-02 2.96692427e+02] [-6.86682366e-01 7.25478451e-01 -4.63502577e-02 -2.08896177e+02] [-6.73902259e-02 -4.24414142e-05 9.97726694e-01 -1.53270219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61864 meters Centerline goodness [0,1] 0.9961333268073026 Centerline is valid? [True, True] Translation: X:296.72, Y:-208.92, Z:-15.33 [[ 7.26440033e-01 6.85453567e-01 4.93790120e-02 2.96718274e+02] [-6.83852068e-01 7.28116299e-01 -4.68295189e-02 -2.08915157e+02] [-6.80531242e-02 2.50897689e-04 9.97681667e-01 -1.53295550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64864 meters Centerline goodness [0,1] 0.9959855086654265 Centerline is valid? [True, True] Translation: X:296.75, Y:-208.93, Z:-15.33 [[ 7.30190689e-01 6.81555899e-01 4.79907780e-02 2.96746422e+02] [-6.80031958e-01 7.31765782e-01 -4.55562929e-02 -2.08933179e+02] [-6.61671694e-02 6.29518197e-04 9.97808353e-01 -1.53303831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67864 meters Centerline goodness [0,1] 0.9944284248081716 Centerline is valid? [True, True] Translation: X:296.77, Y:-208.96, Z:-15.33 [[ 7.34362114e-01 6.77072550e-01 4.78021627e-02 2.96769080e+02] [-6.75548119e-01 7.35915505e-01 -4.54214436e-02 -2.08956017e+02] [-6.59319654e-02 1.06312623e-03 9.97823554e-01 -1.53316816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70864 meters Centerline goodness [0,1] 0.9929105754657018 Centerline is valid? [True, True] Translation: X:296.79, Y:-208.98, Z:-15.33 [[ 7.36975441e-01 6.74229176e-01 4.77725596e-02 2.96792755e+02] [-6.72697985e-01 7.38520957e-01 -4.54336483e-02 -2.08978304e+02] [-6.59137277e-02 1.34697840e-03 9.97824416e-01 -1.53326724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73864 meters Centerline goodness [0,1] 0.9929967187423479 Centerline is valid? [True, True] Translation: X:296.82, Y:-209.00, Z:-15.34 [[ 7.41416924e-01 6.69268852e-01 4.87867617e-02 2.96816819e+02] [-6.67659164e-01 7.43018025e-01 -4.64268798e-02 -2.08999599e+02] [-6.73215079e-02 1.84874583e-03 9.97729621e-01 -1.53353241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76864 meters Centerline goodness [0,1] 0.9927895227350763 Centerline is valid? [True, True] Translation: X:296.84, Y:-209.02, Z:-15.34 [[ 7.43293566e-01 6.67154295e-01 4.91916926e-02 2.96839518e+02] [-6.65511469e-01 7.44916666e-01 -4.68363702e-02 -2.09022280e+02] [-6.78907972e-02 2.07553699e-03 9.97690599e-01 -1.53364500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79864 meters Centerline goodness [0,1] 0.9927895227350763 Centerline is valid? [True, True] Translation: X:296.86, Y:-209.04, Z:-15.34 [[ 7.42965453e-01 6.67521253e-01 4.91702411e-02 2.96863306e+02] [-6.65877742e-01 7.44587858e-01 -4.68588844e-02 -2.09044504e+02] [-6.78908657e-02 2.07316318e-03 9.97690600e-01 -1.53377023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82864 meters Centerline goodness [0,1] 0.9922077922077922 Centerline is valid? [True, True] Translation: X:296.88, Y:-209.07, Z:-15.34 [[ 7.45858587e-01 6.64208210e-01 5.02237268e-02 2.96883935e+02] [-6.62482868e-01 7.47543582e-01 -4.79066166e-02 -2.09069190e+02] [-6.93643927e-02 2.45920284e-03 9.97588359e-01 -1.53378506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85864 meters Centerline goodness [0,1] 0.991810112304448 Centerline is valid? [True, True] Translation: X:296.91, Y:-209.09, Z:-15.34 [[ 7.46371341e-01 6.63584173e-01 5.08514210e-02 2.96907426e+02] [-6.61811099e-01 7.48097182e-01 -4.85455986e-02 -2.09091745e+02] [-7.02558957e-02 2.57900867e-03 9.97525668e-01 -1.53392575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88864 meters Centerline goodness [0,1] 0.9927937644002157 Centerline is valid? [True, True] Translation: X:296.93, Y:-209.11, Z:-15.34 [[ 7.46793358e-01 6.63081247e-01 5.12146434e-02 2.96929925e+02] [-6.61278574e-01 7.48542648e-01 -4.89341568e-02 -2.09114497e+02] [-7.07836665e-02 2.67655695e-03 9.97488099e-01 -1.53404477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91864 meters Centerline goodness [0,1] 0.9930990602975724 Centerline is valid? [True, True] Translation: X:296.95, Y:-209.14, Z:-15.34 [[ 7.48180884e-01 6.61519635e-01 5.11579628e-02 2.96949028e+02] [-6.59714383e-01 7.49922421e-01 -4.89213239e-02 -2.09140577e+02] [-7.07269196e-02 2.85235547e-03 9.97491638e-01 -1.53425722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94864 meters Centerline goodness [0,1] 0.9928078673124908 Centerline is valid? [True, True] Translation: X:296.97, Y:-209.17, Z:-15.34 [[ 7.48173884e-01 6.61572664e-01 5.05712337e-02 2.96967823e+02] [-6.59805734e-01 7.49875660e-01 -4.84033963e-02 -2.09168012e+02] [-6.99445010e-02 2.84696702e-03 9.97546822e-01 -1.53448877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97864 meters Centerline goodness [0,1] 0.9928483957874112 Centerline is valid? [True, True] Translation: X:296.99, Y:-209.19, Z:-15.35 [[ 7.48222224e-01 6.61636098e-01 4.90018063e-02 2.96989463e+02] [-6.59974561e-01 7.49819927e-01 -4.69431168e-02 -2.09191380e+02] [-6.78017915e-02 2.78393767e-03 9.97694927e-01 -1.53462567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00864 meters Centerline goodness [0,1] 0.9927539779681762 Centerline is valid? [True, True] Translation: X:297.01, Y:-209.22, Z:-15.35 [[ 7.46609154e-01 6.63411179e-01 4.96022054e-02 2.97010282e+02] [-6.61709749e-01 7.48250223e-01 -4.75585190e-02 -2.09216419e+02] [-6.86657144e-02 2.68536276e-03 9.97636110e-01 -1.53482681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03864 meters Centerline goodness [0,1] 0.9937304075235109 Centerline is valid? [True, True] Translation: X:297.03, Y:-209.24, Z:-15.35 [[ 7.43344464e-01 6.67069970e-01 4.95647285e-02 2.97026523e+02] [-6.65377473e-01 7.44991317e-01 -4.75474120e-02 -2.09244462e+02] [-6.86427430e-02 2.36485170e-03 9.97638502e-01 -1.53479258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06864 meters Centerline goodness [0,1] 0.9951035597120893 Centerline is valid? [True, True] Translation: X:297.04, Y:-209.27, Z:-15.35 [[ 7.39470453e-01 6.71378882e-01 4.93340162e-02 2.97044976e+02] [-6.69711234e-01 7.41111699e-01 -4.73319307e-02 -2.09270511e+02] [-6.83396753e-02 1.96101939e-03 9.97660184e-01 -1.53481094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09864 meters Centerline goodness [0,1] 0.9954458645511973 Centerline is valid? [True, True] Translation: X:297.07, Y:-209.29, Z:-15.35 [[ 7.37163069e-01 6.73992402e-01 4.82167195e-02 2.97067029e+02] [-6.72403721e-01 7.38736332e-01 -4.62803153e-02 -2.09293899e+02] [-6.68120234e-02 1.69503760e-03 9.97764141e-01 -1.53493368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12864 meters Centerline goodness [0,1] 0.9962790697674418 Centerline is valid? [True, True] Translation: X:297.09, Y:-209.32, Z:-15.35 [[ 7.33290876e-01 6.78235668e-01 4.77584600e-02 2.97086145e+02] [-6.76684087e-01 7.34843276e-01 -4.58694430e-02 -2.09320960e+02] [-6.62052755e-02 1.31825414e-03 9.97805153e-01 -1.53515267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15864 meters Centerline goodness [0,1] 0.9969158466735203 Centerline is valid? [True, True] Translation: X:297.11, Y:-209.35, Z:-15.35 [[ 7.31637462e-01 6.80006553e-01 4.79344510e-02 2.97107631e+02] [-6.78446316e-01 7.33205095e-01 -4.60530608e-02 -2.09345737e+02] [-6.64621668e-02 1.17319280e-03 9.97788256e-01 -1.53529222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18864 meters Centerline goodness [0,1] 0.9974034881442289 Centerline is valid? [True, True] Translation: X:297.13, Y:-209.37, Z:-15.35 [[ 7.28659097e-01 6.83246315e-01 4.72270287e-02 2.97129024e+02] [-6.81736954e-01 7.30187436e-01 -4.53986158e-02 -2.09369586e+02] [-6.55030200e-02 8.83703695e-04 9.97851980e-01 -1.53543225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21864 meters Centerline goodness [0,1] 0.9972559780478244 Centerline is valid? [True, True] Translation: X:297.15, Y:-209.39, Z:-15.36 [[ 7.27208144e-01 6.84864924e-01 4.61340535e-02 2.97152026e+02] [-6.83425781e-01 7.28669665e-01 -4.43815402e-02 -2.09392783e+02] [-6.40118454e-02 7.45415970e-04 9.97948860e-01 -1.53555239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24864 meters Centerline goodness [0,1] 0.9975490196078431 Centerline is valid? [True, True] Translation: X:297.17, Y:-209.42, Z:-15.36 [[ 7.26313651e-01 6.85856680e-01 4.54872947e-02 2.97173148e+02] [-6.84457636e-01 7.27736328e-01 -4.37901903e-02 -2.09416770e+02] [-6.31365514e-02 6.71286831e-04 9.98004672e-01 -1.53569014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27864 meters Centerline goodness [0,1] 0.9974050137093615 Centerline is valid? [True, True] Translation: X:297.20, Y:-209.44, Z:-15.36 [[ 7.26193140e-01 6.85908121e-01 4.66216001e-02 2.97195089e+02] [-6.84435763e-01 7.27687804e-01 -4.49237740e-02 -2.09440002e+02] [-6.47395512e-02 7.13846054e-04 9.97901940e-01 -1.53592582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30864 meters Centerline goodness [0,1] 0.9973077487884869 Centerline is valid? [True, True] Translation: X:297.22, Y:-209.47, Z:-15.36 [[ 7.25925548e-01 6.86189770e-01 4.66443910e-02 2.97216895e+02] [-6.84713737e-01 7.27422216e-01 -4.49890851e-02 -2.09465055e+02] [-6.48012162e-02 7.20670948e-04 9.97897932e-01 -1.53603593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33864 meters Centerline goodness [0,1] 0.9980879541108987 Centerline is valid? [True, True] Translation: X:297.24, Y:-209.49, Z:-15.36 [[ 7.25108791e-01 6.87077967e-01 4.62721105e-02 2.97238839e+02] [-6.85624388e-01 7.26583388e-01 -4.46741365e-02 -2.09488687e+02] [-6.43151617e-02 6.68321660e-04 9.97929413e-01 -1.53599602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36864 meters Centerline goodness [0,1] 0.9979416809605489 Centerline is valid? [True, True] Translation: X:297.26, Y:-209.51, Z:-15.36 [[ 7.24515796e-01 6.87623889e-01 4.74367859e-02 2.97260580e+02] [-6.86094490e-01 7.26066762e-01 -4.58411099e-02 -2.09512664e+02] [-6.59637158e-02 6.66490882e-04 9.97821800e-01 -1.53614305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39864 meters Centerline goodness [0,1] 0.9977486296006265 Centerline is valid? [True, True] Translation: X:297.28, Y:-209.54, Z:-15.36 [[ 7.24076552e-01 6.88126092e-01 4.68575248e-02 2.97284100e+02] [-6.86632218e-01 7.25590841e-01 -4.53225012e-02 -2.09535031e+02] [-6.51869864e-02 6.43074257e-04 9.97872859e-01 -1.53621689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42864 meters Centerline goodness [0,1] 0.9988741494933673 Centerline is valid? [True, True] Translation: X:297.31, Y:-209.56, Z:-15.36 [[ 7.21554175e-01 6.90787022e-01 4.66139705e-02 2.97307957e+02] [-6.89311503e-01 7.23058161e-01 -4.51281307e-02 -2.09556677e+02] [-6.48785388e-02 4.30845051e-04 9.97893075e-01 -1.53634146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45864 meters Centerline goodness [0,1] 0.9992660730012721 Centerline is valid? [True, True] Translation: X:297.33, Y:-209.58, Z:-15.36 [[ 7.17078115e-01 6.95414074e-01 4.68854151e-02 2.97331422e+02] [-6.93928206e-01 7.18609256e-01 -4.54354649e-02 -2.09579748e+02] [-6.52887550e-02 4.56655243e-05 9.97866412e-01 -1.53641573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48864 meters Centerline goodness [0,1] 0.9994614443084455 Centerline is valid? [True, True] Translation: X:297.35, Y:-209.60, Z:-15.37 [[ 7.15238003e-01 6.97364736e-01 4.60111238e-02 2.97354856e+02] [-6.95934985e-01 7.16716412e-01 -4.46327493e-02 -2.09602363e+02] [-6.41022330e-02 -9.77123086e-05 9.97943332e-01 -1.53658926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51864 meters Centerline goodness [0,1] 0.9997544083697627 Centerline is valid? [True, True] Translation: X:297.38, Y:-209.63, Z:-15.37 [[ 7.13071003e-01 6.99538222e-01 4.66478352e-02 2.97377488e+02] [-6.98070438e-01 7.14595134e-01 -4.52930375e-02 -2.09625448e+02] [-6.50185270e-02 -2.66323018e-04 9.97884021e-01 -1.53675245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54864 meters Centerline goodness [0,1] 0.9997550460513424 Centerline is valid? [True, True] Translation: X:297.40, Y:-209.65, Z:-15.37 [[ 7.12426377e-01 7.00221392e-01 4.62456410e-02 2.97401368e+02] [-6.98777398e-01 7.13925707e-01 -4.49469963e-02 -2.09647722e+02] [-6.44888003e-02 -2.93983034e-04 9.97918388e-01 -1.53686428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57864 meters Centerline goodness [0,1] 0.9996081312760225 Centerline is valid? [True, True] Translation: X:297.43, Y:-209.67, Z:-15.37 [[ 7.12410533e-01 7.00300577e-01 4.52806104e-02 2.97425401e+02] [-6.98913600e-01 7.13848046e-01 -4.40539138e-02 -2.09669014e+02] [-6.31744565e-02 -2.62762152e-04 9.98002464e-01 -1.53688449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60864 meters Centerline goodness [0,1] 0.9998040656380113 Centerline is valid? [True, True] Translation: X:297.45, Y:-209.69, Z:-15.37 [[ 7.13277906e-01 6.99406577e-01 4.54430268e-02 2.97450673e+02] [-6.98004986e-01 7.14724015e-01 -4.42563221e-02 -2.09689669e+02] [-6.34323853e-02 -1.52402568e-04 9.97986127e-01 -1.53707200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63864 meters Centerline goodness [0,1] 0.9996573498458075 Centerline is valid? [True, True] Translation: X:297.47, Y:-209.71, Z:-15.37 [[ 7.13640097e-01 6.99022670e-01 4.56631020e-02 2.97474290e+02] [-6.97603598e-01 7.15099503e-01 -4.45187725e-02 -2.09712506e+02] [-6.37732927e-02 -8.43630947e-05 9.97964408e-01 -1.53726131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66864 meters Centerline goodness [0,1] 0.9997056659308315 Centerline is valid? [True, True] Translation: X:297.50, Y:-209.74, Z:-15.37 [[ 7.14120885e-01 6.98593750e-01 4.47004874e-02 2.97496366e+02] [-6.97230967e-01 7.15518534e-01 -4.36142883e-02 -2.09735623e+02] [-6.24526965e-02 -2.06898958e-05 9.98047925e-01 -1.53747920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69864 meters Centerline goodness [0,1] 0.9995598806787618 Centerline is valid? [True, True] Translation: X:297.52, Y:-209.76, Z:-15.38 [[ 7.13869928e-01 6.98956936e-01 4.29991425e-02 2.97519415e+02] [-6.97695278e-01 7.15163757e-01 -4.19773599e-02 -2.09758581e+02] [-6.00917952e-02 -3.39238328e-05 9.98192855e-01 -1.53760095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72864 meters Centerline goodness [0,1] 0.9992168379833578 Centerline is valid? [True, True] Translation: X:297.54, Y:-209.78, Z:-15.38 [[ 7.14265084e-01 6.98668862e-01 4.10756847e-02 2.97540839e+02] [-6.97515048e-01 7.15445191e-01 -4.01364820e-02 -2.09782208e+02] [-5.74295112e-02 1.71795005e-05 9.98349564e-01 -1.53766925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75864 meters Centerline goodness [0,1] 0.9995104758175054 Centerline is valid? [True, True] Translation: X:297.56, Y:-209.81, Z:-15.38 [[ 7.14485017e-01 6.98492164e-01 4.02474395e-02 2.97562710e+02] [-6.97382117e-01 7.15617700e-01 -3.93635563e-02 -2.09806099e+02] [-5.62969158e-02 5.68266459e-05 9.98414069e-01 -1.53772438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78864 meters Centerline goodness [0,1] 0.9994599371563236 Centerline is valid? [True, True] Translation: X:297.58, Y:-209.83, Z:-15.38 [[ 7.14366124e-01 6.98548187e-01 4.13699426e-02 2.97583865e+02] [-6.97373150e-01 7.15563012e-01 -4.05001877e-02 -2.09829830e+02] [-5.78941334e-02 8.16748685e-05 9.98322725e-01 -1.53801204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81864 meters Centerline goodness [0,1] 0.9997058535150505 Centerline is valid? [True, True] Translation: X:297.61, Y:-209.85, Z:-15.38 [[ 7.13914540e-01 6.99016992e-01 4.12465120e-02 2.97607828e+02] [-6.97847441e-01 7.15105055e-01 -4.04191755e-02 -2.09852660e+02] [-5.77492797e-02 7.20642374e-05 9.98331115e-01 -1.53808306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84864 meters Centerline goodness [0,1] 0.9998529267575252 Centerline is valid? [True, True] Translation: X:297.63, Y:-209.88, Z:-15.38 [[ 7.11810422e-01 7.01195633e-01 4.06276692e-02 2.97629380e+02] [-7.00062065e-01 7.12968919e-01 -3.98550678e-02 -2.09877228e+02] [-5.69124648e-02 -7.26373300e-05 9.98379169e-01 -1.53811391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87864 meters Centerline goodness [0,1] 0.9997061560311474 Centerline is valid? [True, True] Translation: X:297.65, Y:-209.90, Z:-15.38 [[ 7.10591359e-01 7.02386419e-01 4.13912821e-02 2.97651094e+02] [-7.01209244e-01 7.11795827e-01 -4.06484610e-02 -2.09901655e+02] [-5.80130688e-02 -1.39504512e-04 9.98315814e-01 -1.53820897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:297.67, Y:-209.93, Z:-15.38 [[ 7.07744752e-01 7.05170416e-01 4.28024682e-02 2.97673607e+02] [-7.03913918e-01 7.09037773e-01 -4.20788862e-02 -2.09925045e+02] [-6.00213524e-02 -3.48142239e-04 9.98197033e-01 -1.53826065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93864 meters Centerline goodness [0,1] 0.9998530995984722 Centerline is valid? [True, True] Translation: X:297.70, Y:-209.95, Z:-15.38 [[ 7.06239293e-01 7.06655411e-01 4.31762760e-02 2.97698294e+02] [-7.05377042e-01 7.07557721e-01 -4.24888163e-02 -2.09946902e+02] [-6.05746594e-02 -4.48282250e-04 9.98163569e-01 -1.53841377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96864 meters Centerline goodness [0,1] 0.9998039696152904 Centerline is valid? [True, True] Translation: X:297.72, Y:-209.97, Z:-15.39 [[ 7.04442376e-01 7.08522398e-01 4.19159971e-02 2.97722359e+02] [-7.07318460e-01 7.05688102e-01 -4.12904344e-02 -2.09968821e+02] [-5.88348180e-02 -5.61226740e-04 9.98267574e-01 -1.53860518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99864 meters Centerline goodness [0,1] 0.9998530852105779 Centerline is valid? [True, True] Translation: X:297.75, Y:-209.99, Z:-15.39 [[ 7.01403360e-01 7.11627855e-01 4.02383313e-02 2.97746234e+02] [-7.10521361e-01 7.02556202e-01 -3.96759235e-02 -2.09992081e+02] [-5.65041816e-02 -7.61367902e-04 9.98402072e-01 -1.53872617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02864 meters Centerline goodness [0,1] 0.9999509803921569 Centerline is valid? [True, True] Translation: X:297.77, Y:-210.01, Z:-15.39 [[ 6.99631747e-01 7.13311639e-01 4.12543831e-02 2.97771956e+02] [-7.12148958e-01 7.00846427e-01 -4.07203509e-02 -2.10012161e+02] [-5.79592872e-02 -8.90015699e-04 9.98318551e-01 -1.53874838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05864 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:297.80, Y:-210.03, Z:-15.39 [[ 6.98041931e-01 7.14832884e-01 4.18498472e-02 2.97797216e+02] [-7.13636804e-01 6.99294602e-01 -4.13469680e-02 -2.10032389e+02] [-5.88215446e-02 -1.00367382e-03 9.98268009e-01 -1.53892461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08864 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:297.82, Y:-210.05, Z:-15.39 [[ 6.95804907e-01 7.16998984e-01 4.20474586e-02 2.97824201e+02] [-7.15793213e-01 6.97073239e-01 -4.15809624e-02 -2.10051212e+02] [-5.91236659e-02 -1.16504780e-03 9.98249986e-01 -1.53902118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11864 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:297.85, Y:-210.07, Z:-15.39 [[ 6.95390572e-01 7.17417575e-01 4.17609219e-02 2.97849530e+02] [-7.16226596e-01 6.96642424e-01 -4.13375898e-02 -2.10072127e+02] [-5.87487433e-02 -1.16451277e-03 9.98272122e-01 -1.53915050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14864 meters Centerline goodness [0,1] 0.9997059976479812 Centerline is valid? [True, True] Translation: X:297.88, Y:-210.09, Z:-15.39 [[ 6.95447260e-01 7.17400882e-01 4.10984585e-02 2.97875329e+02] [-7.16245022e-01 6.96659694e-01 -4.07227188e-02 -2.10091609e+02] [-5.78461539e-02 -1.11606312e-03 9.98324885e-01 -1.53925818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17864 meters Centerline goodness [0,1] 0.9999509491342522 Centerline is valid? [True, True] Translation: X:297.90, Y:-210.11, Z:-15.39 [[ 6.96458669e-01 7.16516202e-01 3.93681960e-02 2.97904341e+02] [-7.15452331e-01 6.97569770e-01 -3.90432894e-02 -2.10107666e+02] [-5.54372129e-02 -9.74030193e-04 9.98461700e-01 -1.53930934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.93, Y:-210.13, Z:-15.39 [[ 6.98981104e-01 7.14068764e-01 3.91307724e-02 2.97930512e+02] [-7.13011862e-01 7.00075167e-01 -3.88438565e-02 -2.10127077e+02] [-5.51316666e-02 -7.49583223e-04 9.98478812e-01 -1.53944950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.96, Y:-210.15, Z:-15.40 [[ 7.00187298e-01 7.12866259e-01 3.94898020e-02 2.97955664e+02] [-7.11785783e-01 7.01299719e-01 -3.92390653e-02 -2.10148241e+02] [-5.56663927e-02 -6.33584572e-04 9.98449223e-01 -1.53958717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26864 meters Centerline goodness [0,1] 0.9999509924038226 Centerline is valid? [True, True] Translation: X:297.98, Y:-210.17, Z:-15.40 [[ 7.02012773e-01 7.11089242e-01 3.91172291e-02 2.97983755e+02] [-7.10024498e-01 7.03101610e-01 -3.89016333e-02 -2.10166327e+02] [-5.51659197e-02 -4.64747472e-04 9.98477093e-01 -1.53972773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29864 meters Centerline goodness [0,1] 0.9998527824124055 Centerline is valid? [True, True] Translation: X:298.01, Y:-210.19, Z:-15.40 [[ 7.02998739e-01 7.10152407e-01 3.84230750e-02 2.98008547e+02] [-7.09123052e-01 7.04047881e-01 -3.82240533e-02 -2.10186563e+02] [-5.41965880e-02 -3.75227001e-04 9.98530214e-01 -1.53985836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.03, Y:-210.21, Z:-15.40 [[ 7.04643674e-01 7.08435386e-01 3.99574380e-02 2.98032294e+02] [-7.07318030e-01 7.05775636e-01 -3.97738121e-02 -2.10209935e+02] [-5.63781621e-02 -2.36251210e-04 9.98409459e-01 -1.54023184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35864 meters Centerline goodness [0,1] 0.9997552618697993 Centerline is valid? [True, True] Translation: X:298.06, Y:-210.23, Z:-15.40 [[ 7.05759173e-01 7.07336268e-01 3.97415886e-02 2.98055897e+02] [-7.06226804e-01 7.06877210e-01 -3.96019043e-02 -2.10233340e+02] [-5.61042865e-02 -1.17167876e-04 9.98424907e-01 -1.54032307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38864 meters Centerline goodness [0,1] 0.9999019896108987 Centerline is valid? [True, True] Translation: X:298.08, Y:-210.26, Z:-15.40 [[ 7.06448955e-01 7.06603545e-01 4.05130226e-02 2.98079831e+02] [-7.05446841e-01 7.07609659e-01 -4.04144157e-02 -2.10255586e+02] [-5.72243755e-02 -2.90620453e-05 9.98361342e-01 -1.54040905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41864 meters Centerline goodness [0,1] 0.9998041136141038 Centerline is valid? [True, True] Translation: X:298.11, Y:-210.28, Z:-15.41 [[ 7.07962924e-01 7.05106820e-01 4.01605517e-02 2.98105221e+02] [-7.03965339e-01 7.09101091e-01 -4.01054126e-02 -2.10277219e+02] [-5.67564910e-02 1.21508814e-04 9.98388044e-01 -1.54068057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44864 meters Centerline goodness [0,1] 0.999607554574442 Centerline is valid? [True, True] Translation: X:298.13, Y:-210.30, Z:-15.41 [[ 7.09879289e-01 7.03178777e-01 4.01372979e-02 2.98127043e+02] [-7.02033100e-01 7.11013020e-01 -4.01249577e-02 -2.10302023e+02] [-5.67531601e-02 3.06164809e-04 9.98388194e-01 -1.54075647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47864 meters Centerline goodness [0,1] 0.9997062423500612 Centerline is valid? [True, True] Translation: X:298.15, Y:-210.40, Z:-13.82 [[ 7.51629170e-01 -6.59465858e-01 -1.25846164e-02 2.98147872e+02] [-6.59310336e-01 -7.51729845e-01 1.45643524e-02 -2.10401911e+02] [-1.90649249e-02 -2.64982447e-03 -9.99814736e-01 -1.38179059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50864 meters Centerline goodness [0,1] 0.9993632133235366 Centerline is valid? [True, True] Translation: X:298.16, Y:-210.35, Z:-15.41 [[ 7.60477691e-01 6.48058271e-01 4.11601644e-02 2.98156942e+02] [-6.47078608e-01 7.61590617e-01 -3.56231261e-02 -2.10347394e+02] [-5.44330565e-02 4.56730845e-04 9.98517318e-01 -1.54082432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53864 meters Centerline goodness [0,1] 0.9994112741009665 Centerline is valid? [True, True] Translation: X:298.18, Y:-210.37, Z:-15.41 [[ 7.59891206e-01 6.48733848e-01 4.13491192e-02 2.98181095e+02] [-6.47744460e-01 7.61015247e-01 -3.58177098e-02 -2.10370618e+02] [-5.47034709e-02 4.33899846e-04 9.98502550e-01 -1.54098741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56864 meters Centerline goodness [0,1] 0.9996073041429413 Centerline is valid? [True, True] Translation: X:298.20, Y:-210.40, Z:-15.41 [[ 7.58193913e-01 6.50675370e-01 4.19946741e-02 2.98203429e+02] [-6.49656077e-01 7.59355950e-01 -3.64077277e-02 -2.10395436e+02] [-5.55785173e-02 3.22022237e-04 9.98454268e-01 -1.54113927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59864 meters Centerline goodness [0,1] 0.9997060840599589 Centerline is valid? [True, True] Translation: X:298.23, Y:-210.42, Z:-15.41 [[ 7.56703789e-01 6.52379040e-01 4.24377649e-02 2.98227601e+02] [-6.51338533e-01 7.57892826e-01 -3.68317879e-02 -2.10417615e+02] [-5.61915639e-02 2.29401914e-04 9.98419980e-01 -1.54125987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.25, Y:-210.44, Z:-15.42 [[ 7.53164892e-01 6.56370327e-01 4.38251023e-02 2.98251683e+02] [-6.55264999e-01 7.54438859e-01 -3.80760856e-02 -2.10439397e+02] [-5.80553730e-02 -3.94847125e-05 9.98313364e-01 -1.54151226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65864 meters Centerline goodness [0,1] 0.9999020328190056 Centerline is valid? [True, True] Translation: X:298.28, Y:-210.46, Z:-15.42 [[ 7.51750936e-01 6.58039199e-01 4.30690384e-02 2.98276147e+02] [-6.56972340e-01 7.52983661e-01 -3.74559967e-02 -2.10461700e+02] [-5.70777963e-02 -1.37586356e-04 9.98369724e-01 -1.54164987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:298.30, Y:-210.48, Z:-15.42 [[ 7.49891216e-01 6.60176443e-01 4.27811649e-02 2.98299864e+02] [-6.59125406e-01 7.51110504e-01 -3.72385410e-02 -2.10484362e+02] [-5.67173899e-02 -2.73297943e-04 9.98390236e-01 -1.54178984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71864 meters Centerline goodness [0,1] 0.9999019655899221 Centerline is valid? [True, True] Translation: X:298.32, Y:-210.51, Z:-15.42 [[ 7.49529346e-01 6.60588079e-01 4.27685616e-02 2.98324581e+02] [-6.59536887e-01 7.50748499e-01 -3.72530113e-02 -2.10505478e+02] [-5.67173286e-02 -2.85218782e-04 9.98390236e-01 -1.54191466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74864 meters Centerline goodness [0,1] 0.9998531571218796 Centerline is valid? [True, True] Translation: X:298.35, Y:-210.53, Z:-15.42 [[ 7.46620416e-01 6.63891436e-01 4.24984058e-02 2.98348127e+02] [-6.62856514e-01 7.47828797e-01 -3.70585016e-02 -2.10528590e+02] [-5.63843535e-02 -5.01711181e-04 9.98409011e-01 -1.54199059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.37, Y:-210.55, Z:-15.42 [[ 7.44500313e-01 6.66270140e-01 4.24662784e-02 2.98372031e+02] [-6.65238485e-01 7.45710181e-01 -3.70686435e-02 -2.10549369e+02] [-5.63652665e-02 -6.52585984e-04 9.98410001e-01 -1.54208895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80864 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:298.40, Y:-210.57, Z:-15.42 [[ 7.40060754e-01 6.71161759e-01 4.30345543e-02 2.98397822e+02] [-6.70108545e-01 7.41310237e-01 -3.75988096e-02 -2.10568828e+02] [-5.71368389e-02 -1.01241916e-03 9.98365843e-01 -1.54222890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83864 meters Centerline goodness [0,1] 0.9999020040178352 Centerline is valid? [True, True] Translation: X:298.42, Y:-210.59, Z:-15.42 [[ 7.37200337e-01 6.74330059e-01 4.25985381e-02 2.98423055e+02] [-6.73301372e-01 7.38429066e-01 -3.72528735e-02 -2.10588872e+02] [-5.65767311e-02 -1.21882331e-03 9.98397510e-01 -1.54249024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86864 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:298.45, Y:-210.61, Z:-15.43 [[ 7.35186450e-01 6.76554494e-01 4.21295670e-02 2.98449261e+02] [-6.75550068e-01 7.36391334e-01 -3.68769517e-02 -2.10608159e+02] [-5.59731154e-02 -1.34919662e-03 9.98431365e-01 -1.54265931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.47, Y:-210.63, Z:-15.43 [[ 7.34319719e-01 6.77452477e-01 4.28099374e-02 2.98473750e+02] [-6.76414838e-01 7.35565184e-01 -3.75076898e-02 -2.10628488e+02] [-5.68991768e-02 -1.41464060e-03 9.98378927e-01 -1.54282114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.50, Y:-210.65, Z:-15.43 [[ 7.33851798e-01 6.77853991e-01 4.44466599e-02 2.98499020e+02] [-6.76733957e-01 7.35195072e-01 -3.89789318e-02 -2.10649038e+02] [-5.90989898e-02 -1.47380486e-03 9.98251039e-01 -1.54300218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95864 meters Centerline goodness [0,1] 0.9999020520103825 Centerline is valid? [True, True] Translation: X:298.53, Y:-210.67, Z:-15.43 [[ 7.35562627e-01 6.75933264e-01 4.54075371e-02 2.98526415e+02] [-6.74758313e-01 7.36961654e-01 -3.98589961e-02 -2.10666862e+02] [-6.04056350e-02 -1.32032517e-03 9.98173039e-01 -1.54297677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98864 meters Centerline goodness [0,1] 0.9999020568070519 Centerline is valid? [True, True] Translation: X:298.55, Y:-210.69, Z:-15.43 [[ 7.35395304e-01 6.76128379e-01 4.52124012e-02 2.98553065e+02] [-6.74961557e-01 7.36782681e-01 -3.97262787e-02 -2.10686476e+02] [-6.01717786e-02 -1.30211385e-03 9.98187188e-01 -1.54315060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01864 meters Centerline goodness [0,1] 0.9999019896108987 Centerline is valid? [True, True] Translation: X:298.58, Y:-210.71, Z:-15.43 [[ 7.34898912e-01 6.76743520e-01 4.40658320e-02 2.98577928e+02] [-6.75634004e-01 7.36217729e-01 -3.87575390e-02 -2.10706416e+02] [-5.86709602e-02 -1.28950125e-03 9.98276543e-01 -1.54331771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04864 meters Centerline goodness [0,1] 0.9999019800039208 Centerline is valid? [True, True] Translation: X:298.60, Y:-210.73, Z:-15.43 [[ 7.33924511e-01 6.77859995e-01 4.31351334e-02 2.98604052e+02] [-6.76796709e-01 7.35189824e-01 -3.79754716e-02 -2.10727051e+02] [-5.74545641e-02 -1.32258693e-03 9.98347246e-01 -1.54340502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07864 meters Centerline goodness [0,1] 0.999902090370588 Centerline is valid? [True, True] Translation: X:298.63, Y:-210.74, Z:-15.43 [[ 7.31832999e-01 6.80159187e-01 4.24728259e-02 2.98631245e+02] [-6.79130041e-01 7.33063007e-01 -3.74301465e-02 -2.10744565e+02] [-5.65937155e-02 -1.45195557e-03 9.98396236e-01 -1.54340669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.66, Y:-210.77, Z:-15.44 [[ 7.30572349e-01 6.81441351e-01 4.36088016e-02 2.98655375e+02] [-6.80356543e-01 7.31871049e-01 -3.84674135e-02 -2.10765633e+02] [-5.81293056e-02 -1.56630486e-03 9.98307834e-01 -1.54354983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13864 meters Centerline goodness [0,1] 0.9998530420299794 Centerline is valid? [True, True] Translation: X:298.68, Y:-210.79, Z:-15.44 [[ 7.31078266e-01 6.80902395e-01 4.35487950e-02 2.98680244e+02] [-6.79818004e-01 7.32372635e-01 -3.84422424e-02 -2.10786881e+02] [-5.80693607e-02 -1.50096696e-03 9.98311423e-01 -1.54357680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16864 meters Centerline goodness [0,1] 0.9998529700058812 Centerline is valid? [True, True] Translation: X:298.71, Y:-210.81, Z:-15.44 [[ 7.31893450e-01 6.80040402e-01 4.33247037e-02 2.98705868e+02] [-6.78964781e-01 7.33173276e-01 -3.82592964e-02 -2.10805870e+02] [-5.77823822e-02 -1.41421948e-03 9.98328201e-01 -1.54371029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19864 meters Centerline goodness [0,1] 0.9998530204301602 Centerline is valid? [True, True] Translation: X:298.73, Y:-210.82, Z:-15.44 [[ 7.33841530e-01 6.78006090e-01 4.22415783e-02 2.98733409e+02] [-6.76979316e-01 7.35055289e-01 -3.73192660e-02 -2.10824044e+02] [-5.63525852e-02 -1.21024753e-03 9.98410197e-01 -1.54387672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:298.76, Y:-210.84, Z:-15.44 [[ 7.34997647e-01 6.76732342e-01 4.25651966e-02 2.98758040e+02] [-6.75686488e-01 7.36228302e-01 -3.76252149e-02 -2.10844379e+02] [-5.67999023e-02 -1.10628380e-03 9.98384969e-01 -1.54399337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.78, Y:-210.87, Z:-15.44 [[ 7.36362138e-01 6.75107659e-01 4.47263946e-02 2.98783277e+02] [-6.73947399e-01 7.37718542e-01 -3.95759545e-02 -2.10866077e+02] [-5.97135206e-02 -1.00100285e-03 9.98215054e-01 -1.54407608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28864 meters Centerline goodness [0,1] 0.9999021191210297 Centerline is valid? [True, True] Translation: X:298.81, Y:-210.89, Z:-15.44 [[ 7.37032973e-01 6.74418584e-01 4.40678015e-02 2.98808341e+02] [-6.73288686e-01 7.38348672e-01 -3.90331236e-02 -2.10886378e+02] [-5.88620666e-02 -9.01653044e-04 9.98265718e-01 -1.54410260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31864 meters Centerline goodness [0,1] 0.9999020759890325 Centerline is valid? [True, True] Translation: X:298.83, Y:-210.91, Z:-15.44 [[ 7.36937707e-01 6.74482906e-01 4.46724231e-02 2.98833913e+02] [-6.73319526e-01 7.38289928e-01 -3.96080598e-02 -2.10907816e+02] [-5.96961594e-02 -8.90141953e-04 9.98216197e-01 -1.54427010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34864 meters Centerline goodness [0,1] 0.9998530708198649 Centerline is valid? [True, True] Translation: X:298.86, Y:-210.93, Z:-15.44 [[ 7.36408919e-01 6.75112656e-01 4.38726106e-02 2.98858472e+02] [-6.73989281e-01 7.37714107e-01 -3.89402775e-02 -2.10929851e+02] [-5.86545179e-02 -8.93701614e-04 9.98277942e-01 -1.54444213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.88, Y:-210.95, Z:-15.45 [[ 7.35717977e-01 6.75859105e-01 4.39719065e-02 2.98883805e+02] [-6.74729495e-01 7.37030267e-01 -3.90703701e-02 -2.10951422e+02] [-5.88146914e-02 -9.24368594e-04 9.98268490e-01 -1.54451592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40864 meters Centerline goodness [0,1] 0.9997059688326962 Centerline is valid? [True, True] Translation: X:298.91, Y:-210.97, Z:-15.45 [[ 7.35326516e-01 6.76336376e-01 4.31743056e-02 2.98908489e+02] [-6.75245969e-01 7.36592334e-01 -3.84007173e-02 -2.10971354e+02] [-5.77736645e-02 -9.16210115e-04 9.98329286e-01 -1.54468420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43864 meters Centerline goodness [0,1] 0.999754986034204 Centerline is valid? [True, True] Translation: X:298.93, Y:-210.99, Z:-15.45 [[ 7.34818293e-01 6.76921334e-01 4.26565826e-02 2.98934124e+02] [-6.75855807e-01 7.36054791e-01 -3.79772795e-02 -2.10992546e+02] [-5.71052127e-02 -9.23299324e-04 9.98367739e-01 -1.54493775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46864 meters Centerline goodness [0,1] 0.9994614706746304 Centerline is valid? [True, True] Translation: X:298.96, Y:-211.01, Z:-15.45 [[ 7.34400166e-01 6.77361595e-01 4.28680121e-02 2.98958441e+02] [-6.76283836e-01 7.35649646e-01 -3.82069589e-02 -2.11014196e+02] [-5.74157646e-02 -9.31746711e-04 9.98349920e-01 -1.54500060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49864 meters Centerline goodness [0,1] 0.9992653900778686 Centerline is valid? [True, True] Translation: X:298.98, Y:-211.03, Z:-15.45 [[ 7.34392328e-01 6.77367809e-01 4.29040793e-02 2.98984363e+02] [-6.76285851e-01 7.35643960e-01 -3.82806831e-02 -2.11034515e+02] [-5.74922293e-02 -9.02381818e-04 9.98345546e-01 -1.54496517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52864 meters Centerline goodness [0,1] 0.9991183817407063 Centerline is valid? [True, True] Translation: X:299.01, Y:-211.06, Z:-15.45 [[ 7.34184863e-01 6.77570985e-01 4.32452085e-02 2.99009630e+02] [-6.76469647e-01 7.35456838e-01 -3.86271393e-02 -2.11055597e+02] [-5.79776131e-02 -8.94609990e-04 9.98317483e-01 -1.54507392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55864 meters Centerline goodness [0,1] 0.9993126135415132 Centerline is valid? [True, True] Translation: X:299.03, Y:-211.08, Z:-15.45 [[ 7.34766730e-01 6.76938787e-01 4.32634975e-02 2.99034155e+02] [-6.75833105e-01 7.36038867e-01 -3.86833365e-02 -2.11076304e+02] [-5.80298665e-02 -8.15675179e-04 9.98314514e-01 -1.54524481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58864 meters Centerline goodness [0,1] 0.999608514803034 Centerline is valid? [True, True] Translation: X:299.06, Y:-211.10, Z:-15.45 [[ 7.35670361e-01 6.75876839e-01 4.44929071e-02 2.99058423e+02] [-6.74703047e-01 7.37014230e-01 -3.98223913e-02 -2.11098476e+02] [-5.97069376e-02 -7.23347049e-04 9.98215687e-01 -1.54546443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61864 meters Centerline goodness [0,1] 0.9995599882663537 Centerline is valid? [True, True] Translation: X:299.08, Y:-211.12, Z:-15.46 [[ 7.37092087e-01 6.74307152e-01 4.47785702e-02 2.99083612e+02] [-6.73112847e-01 7.38450770e-01 -4.01192567e-02 -2.11118967e+02] [-6.01194714e-02 -5.69444244e-04 9.98191026e-01 -1.54556795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64864 meters Centerline goodness [0,1] 0.999460281634856 Centerline is valid? [True, True] Translation: X:299.11, Y:-211.14, Z:-15.46 [[ 7.36943315e-01 6.74501717e-01 4.42942816e-02 2.99109192e+02] [-6.73331164e-01 7.38273073e-01 -3.97242112e-02 -2.11139856e+02] [-5.94953241e-02 -5.50228308e-04 9.98228433e-01 -1.54560561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67864 meters Centerline goodness [0,1] 0.9993149679502863 Centerline is valid? [True, True] Translation: X:299.13, Y:-211.16, Z:-15.46 [[ 7.36816350e-01 6.74641550e-01 4.42769218e-02 2.99134440e+02] [-6.73469614e-01 7.38145310e-01 -3.97514764e-02 -2.11161823e+02] [-5.95007999e-02 -5.29623711e-04 9.98228117e-01 -1.54572570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70864 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:299.16, Y:-211.19, Z:-15.46 [[ 7.36716325e-01 6.74781489e-01 4.38063841e-02 2.99157369e+02] [-6.73632106e-01 7.38017404e-01 -3.93712681e-02 -2.11185306e+02] [-5.88968768e-02 -5.03930876e-04 9.98263945e-01 -1.54575455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73864 meters Centerline goodness [0,1] 0.9994131455399061 Centerline is valid? [True, True] Translation: X:299.18, Y:-211.21, Z:-15.46 [[ 7.36124096e-01 6.75405391e-01 4.41460542e-02 2.99181392e+02] [-6.74236676e-01 7.37446460e-01 -3.97193162e-02 -2.11207672e+02] [-5.93819917e-02 -5.26543119e-04 9.98235194e-01 -1.54581830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76864 meters Centerline goodness [0,1] 0.9993145990404386 Centerline is valid? [True, True] Translation: X:299.21, Y:-211.23, Z:-15.46 [[ 7.34888311e-01 6.76730143e-01 4.44464152e-02 2.99205625e+02] [-6.75545927e-01 7.36230899e-01 -4.00220337e-02 -2.11228664e+02] [-5.98069408e-02 -6.13870053e-04 9.98209774e-01 -1.54601933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79864 meters Centerline goodness [0,1] 0.9990206639898149 Centerline is valid? [True, True] Translation: X:299.23, Y:-211.25, Z:-15.46 [[ 7.33836647e-01 6.77952124e-01 4.31820999e-02 2.99228932e+02] [-6.76835265e-01 7.35105747e-01 -3.89045664e-02 -2.11250765e+02] [-5.81188432e-02 -6.77571505e-04 9.98309441e-01 -1.54611670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82864 meters Centerline goodness [0,1] 0.998921568627451 Centerline is valid? [True, True] Translation: X:299.25, Y:-211.27, Z:-15.46 [[ 7.32113816e-01 6.79985350e-01 4.03643879e-02 2.99250617e+02] [-6.79010882e-01 7.33225304e-01 -3.63988498e-02 -2.11274864e+02] [-5.43468753e-02 -7.59757797e-04 9.98521827e-01 -1.54620801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85864 meters Centerline goodness [0,1] 0.9987249901922323 Centerline is valid? [True, True] Translation: X:299.27, Y:-211.30, Z:-15.46 [[ 7.31103933e-01 6.81070663e-01 4.03706716e-02 2.99274313e+02] [-6.80096036e-01 7.32217235e-01 -3.64321614e-02 -2.11297246e+02] [-5.43729778e-02 -8.20237201e-04 9.98520359e-01 -1.54627647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88864 meters Centerline goodness [0,1] 0.9984824007441132 Centerline is valid? [True, True] Translation: X:299.30, Y:-211.32, Z:-15.46 [[ 7.28950392e-01 6.83334525e-01 4.10518327e-02 2.99298108e+02] [-6.82329194e-01 7.30104749e-01 -3.70665137e-02 -2.11318998e+02] [-5.53009665e-02 -9.91214193e-04 9.98469239e-01 -1.54645211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91864 meters Centerline goodness [0,1] 0.9988237023967064 Centerline is valid? [True, True] Translation: X:299.32, Y:-211.34, Z:-15.47 [[ 7.28107233e-01 6.84201430e-01 4.15723490e-02 2.99322436e+02] [-6.83169724e-01 7.29292338e-01 -3.75741039e-02 -2.11340894e+02] [-5.60266513e-02 -1.04299340e-03 9.98428729e-01 -1.54664514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94864 meters Centerline goodness [0,1] 0.9981417184214387 Centerline is valid? [True, True] Translation: X:299.35, Y:-211.36, Z:-15.47 [[ 7.27388712e-01 6.85053147e-01 4.00979737e-02 2.99345766e+02] [-6.84092681e-01 7.28492347e-01 -3.62781531e-02 -2.11363011e+02] [-5.40635299e-02 -1.04241123e-03 9.98536954e-01 -1.54661170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97864 meters Centerline goodness [0,1] 0.9980380616048656 Centerline is valid? [True, True] Translation: X:299.37, Y:-211.39, Z:-15.47 [[ 7.27577119e-01 6.84872506e-01 3.97641406e-02 2.99369378e+02] [-6.83926138e-01 7.28662235e-01 -3.60053414e-02 -2.11385645e+02] [-5.36336959e-02 -9.99072570e-04 9.98560178e-01 -1.54659858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00864 meters Centerline goodness [0,1] 0.9980399843198745 Centerline is valid? [True, True] Translation: X:299.39, Y:-211.41, Z:-15.47 [[ 7.27836415e-01 6.84542011e-01 4.06987503e-02 2.99393582e+02] [-6.83548682e-01 7.28972754e-01 -3.68771420e-02 -2.11407520e+02] [-5.49122331e-02 -9.79050284e-04 9.98490705e-01 -1.54674315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03864 meters Centerline goodness [0,1] 0.9980918831645383 Centerline is valid? [True, True] Translation: X:299.42, Y:-211.43, Z:-15.47 [[ 7.28554743e-01 6.83712652e-01 4.17731575e-02 2.99418389e+02] [-6.82662412e-01 7.29750767e-01 -3.78926066e-02 -2.11429385e+02] [-5.63916482e-02 -9.10126171e-04 9.98408310e-01 -1.54689201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06864 meters Centerline goodness [0,1] 0.9977470859045939 Centerline is valid? [True, True] Translation: X:299.44, Y:-211.45, Z:-15.47 [[ 7.28884879e-01 6.83411386e-01 4.09354386e-02 2.99442726e+02] [-6.82400285e-01 7.30032992e-01 -3.71709827e-02 -2.11449988e+02] [-5.52872935e-02 -8.40987681e-04 9.98470134e-01 -1.54700505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09864 meters Centerline goodness [0,1] 0.9974550971467724 Centerline is valid? [True, True] Translation: X:299.47, Y:-211.47, Z:-15.47 [[ 7.28664246e-01 6.83776954e-01 3.86974686e-02 2.99466684e+02] [-6.82872307e-01 7.29690648e-01 -3.51705911e-02 -2.11471931e+02] [-5.22860205e-02 -7.97877400e-04 9.98631832e-01 -1.54712827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12864 meters Centerline goodness [0,1] 0.9977487397836833 Centerline is valid? [True, True] Translation: X:299.49, Y:-211.49, Z:-15.47 [[ 7.28878199e-01 6.83525853e-01 3.91021551e-02 2.99491704e+02] [-6.82599954e-01 7.29925905e-01 -3.55735380e-02 -2.11493531e+02] [-5.28571088e-02 -7.62352978e-04 9.98601795e-01 -1.54726637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15864 meters Centerline goodness [0,1] 0.9978926733643715 Centerline is valid? [True, True] Translation: X:299.52, Y:-211.51, Z:-15.47 [[ 7.28889690e-01 6.83431973e-01 4.05038062e-02 2.99518460e+02] [-6.82436064e-01 7.30013816e-01 -3.68896474e-02 -2.11513833e+02] [-5.47799026e-02 -7.52774406e-04 9.98498170e-01 -1.54726325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18864 meters Centerline goodness [0,1] 0.9975046482043253 Centerline is valid? [True, True] Translation: X:299.54, Y:-211.54, Z:-15.47 [[ 7.29607766e-01 6.82624652e-01 4.11836445e-02 2.99543678e+02] [-6.81591420e-01 7.30768863e-01 -3.75500309e-02 -2.11535635e+02] [-5.57283018e-02 -6.73624576e-04 9.98445743e-01 -1.54736005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21864 meters Centerline goodness [0,1] 0.9973547565396297 Centerline is valid? [True, True] Translation: X:299.57, Y:-211.56, Z:-15.47 [[ 7.30954898e-01 6.81146844e-01 4.17601882e-02 2.99568315e+02] [-6.80079672e-01 7.32146629e-01 -3.81176163e-02 -2.11557968e+02] [-5.65382751e-02 -5.37996820e-04 9.98400287e-01 -1.54744121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24864 meters Centerline goodness [0,1] 0.9976485572919218 Centerline is valid? [True, True] Translation: X:299.59, Y:-211.58, Z:-15.48 [[ 7.31073051e-01 6.81003459e-01 4.20295601e-02 2.99593370e+02] [-6.79919839e-01 7.32280028e-01 -3.84053811e-02 -2.11579418e+02] [-5.69316048e-02 -4.99592542e-04 9.98377956e-01 -1.54755694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27864 meters Centerline goodness [0,1] 0.997602622437497 Centerline is valid? [True, True] Translation: X:299.62, Y:-211.60, Z:-15.48 [[ 7.32439262e-01 6.79575032e-01 4.13582310e-02 2.99617599e+02] [-6.78521326e-01 7.33605924e-01 -3.78306669e-02 -2.11600840e+02] [-5.60494200e-02 -3.53775999e-04 9.98427933e-01 -1.54770918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30864 meters Centerline goodness [0,1] 0.9970654406729923 Centerline is valid? [True, True] Translation: X:299.64, Y:-211.62, Z:-15.48 [[ 7.32949049e-01 6.79049221e-01 4.09615404e-02 2.99641740e+02] [-6.78012785e-01 7.34092689e-01 -3.75045055e-02 -2.11624028e+02] [-5.55369726e-02 -2.83556461e-04 9.98456591e-01 -1.54779103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33864 meters Centerline goodness [0,1] 0.9970657276995305 Centerline is valid? [True, True] Translation: X:299.67, Y:-211.65, Z:-15.48 [[ 7.33234758e-01 6.78735035e-01 4.10553463e-02 2.99665953e+02] [-6.77691083e-01 7.34383210e-01 -3.76310575e-02 -2.11647065e+02] [-5.56918741e-02 -2.30442747e-04 9.98447977e-01 -1.54782282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36864 meters Centerline goodness [0,1] 0.996771668949325 Centerline is valid? [True, True] Translation: X:299.69, Y:-211.67, Z:-15.48 [[ 7.33667158e-01 6.78260178e-01 4.11780423e-02 2.99691717e+02] [-6.77206946e-01 7.34821817e-01 -3.77842520e-02 -2.11668517e+02] [-5.58860773e-02 -1.64991461e-04 9.98437138e-01 -1.54784278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39864 meters Centerline goodness [0,1] 0.9969178082191781 Centerline is valid? [True, True] Translation: X:299.72, Y:-211.69, Z:-15.48 [[ 7.33031565e-01 6.78911044e-01 4.17674433e-02 2.99715791e+02] [-6.77826100e-01 7.34220512e-01 -3.83668909e-02 -2.11690415e+02] [-5.67142195e-02 -1.86921125e-04 9.98390436e-01 -1.54818536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42864 meters Centerline goodness [0,1] 0.9972080721003135 Centerline is valid? [True, True] Translation: X:299.74, Y:-211.71, Z:-15.48 [[ 7.32992918e-01 6.79016055e-01 4.07256553e-02 2.99739052e+02] [-6.77982662e-01 7.34123403e-01 -3.74478172e-02 -2.11712604e+02] [-5.53253258e-02 -1.62303319e-04 9.98468368e-01 -1.54834216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45864 meters Centerline goodness [0,1] 0.9972589329417523 Centerline is valid? [True, True] Translation: X:299.76, Y:-211.73, Z:-15.48 [[ 7.32180853e-01 6.79916797e-01 4.03031925e-02 2.99763380e+02] [-6.78904144e-01 7.33289239e-01 -3.70952116e-02 -2.11734828e+02] [-5.47755548e-02 -2.01600677e-04 9.98498672e-01 -1.54845008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48864 meters Centerline goodness [0,1] 0.9967705631942065 Centerline is valid? [True, True] Translation: X:299.79, Y:-211.75, Z:-15.48 [[ 7.31685385e-01 6.80508360e-01 3.93048342e-02 2.99788758e+02] [-6.79544178e-01 7.32740286e-01 -3.62130219e-02 -2.11754124e+02] [-5.34434996e-02 -2.12832403e-04 9.98570852e-01 -1.54847918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51864 meters Centerline goodness [0,1] 0.9969164504918996 Centerline is valid? [True, True] Translation: X:299.81, Y:-211.78, Z:-15.48 [[ 7.30648146e-01 6.81696930e-01 3.79813352e-02 2.99812754e+02] [-6.80796582e-01 7.31634625e-01 -3.50255669e-02 -2.11775650e+02] [-5.16652813e-02 -2.66197646e-04 9.98664422e-01 -1.54847847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54864 meters Centerline goodness [0,1] 0.9977971411787743 Centerline is valid? [True, True] Translation: X:299.84, Y:-211.80, Z:-15.49 [[ 7.29880438e-01 6.82545029e-01 3.75077356e-02 2.99837231e+02] [-6.81666419e-01 7.30843482e-01 -3.46222167e-02 -2.11797084e+02] [-5.10435059e-02 -2.97685140e-04 9.98696386e-01 -1.54865648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57864 meters Centerline goodness [0,1] 0.9981907975160139 Centerline is valid? [True, True] Translation: X:299.86, Y:-211.82, Z:-15.49 [[ 7.29033769e-01 6.83406627e-01 3.82772290e-02 2.99862313e+02] [-6.82490740e-01 7.30037854e-01 -3.53711925e-02 -2.11818465e+02] [-5.21167335e-02 -3.37060587e-04 9.98640943e-01 -1.54890274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60864 meters Centerline goodness [0,1] 0.9981907975160139 Centerline is valid? [True, True] Translation: X:299.89, Y:-211.84, Z:-15.49 [[ 7.28665274e-01 6.83800580e-01 3.82581402e-02 2.99886405e+02] [-6.82884152e-01 7.29668865e-01 -3.53918302e-02 -2.11840313e+02] [-5.21167278e-02 -3.37079994e-04 9.98640943e-01 -1.54902753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63864 meters Centerline goodness [0,1] 0.9985787797108552 Centerline is valid? [True, True] Translation: X:299.91, Y:-211.86, Z:-15.49 [[ 7.29139676e-01 6.83285966e-01 3.84138245e-02 2.99912221e+02] [-6.82359319e-01 7.30150816e-01 -3.55744995e-02 -2.11861263e+02] [-5.23554416e-02 -2.73252085e-04 9.98628476e-01 -1.54910896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66864 meters Centerline goodness [0,1] 0.9991190289741582 Centerline is valid? [True, True] Translation: X:299.94, Y:-211.88, Z:-15.49 [[ 7.28872434e-01 6.83538234e-01 3.89930533e-02 2.99936763e+02] [-6.82581668e-01 7.29914661e-01 -3.61504404e-02 -2.11883957e+02] [-5.31718095e-02 -2.66883901e-04 9.98585343e-01 -1.54923515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69864 meters Centerline goodness [0,1] 0.9989727032579983 Centerline is valid? [True, True] Translation: X:299.96, Y:-211.91, Z:-15.49 [[ 7.28489689e-01 6.83876021e-01 4.02039885e-02 2.99961123e+02] [-6.82857433e-01 7.29598186e-01 -3.73123724e-02 -2.11905260e+02] [-5.48497938e-02 -2.71913779e-04 9.98494580e-01 -1.54937679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72864 meters Centerline goodness [0,1] 0.9992167229647035 Centerline is valid? [True, True] Translation: X:299.99, Y:-211.92, Z:-15.49 [[ 7.27901038e-01 6.84518647e-01 3.99286887e-02 2.99987275e+02] [-6.83512987e-01 7.28995293e-01 -3.70925850e-02 -2.11924955e+02] [-5.44983922e-02 -2.92046152e-04 9.98513816e-01 -1.54943071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75864 meters Centerline goodness [0,1] 0.999755285826155 Centerline is valid? [True, True] Translation: X:300.01, Y:-211.95, Z:-15.49 [[ 7.27192900e-01 6.85308092e-01 3.92849221e-02 3.00012372e+02] [-6.84333711e-01 7.28253196e-01 -3.65329286e-02 -2.11946457e+02] [-5.36456817e-02 -3.17510238e-04 9.98559983e-01 -1.54947434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78864 meters Centerline goodness [0,1] 0.9996556473829201 Centerline is valid? [True, True] Translation: X:300.04, Y:-211.97, Z:-15.50 [[ 7.28068507e-01 6.84399145e-01 3.89109157e-02 3.00038559e+02] [-6.83439895e-01 7.29107511e-01 -3.62235696e-02 -2.11967043e+02] [-5.31616210e-02 -2.20031893e-04 9.98585897e-01 -1.54964424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81864 meters Centerline goodness [0,1] 0.9995592987954167 Centerline is valid? [True, True] Translation: X:300.06, Y:-211.99, Z:-15.50 [[ 7.28813363e-01 6.83548666e-01 3.99036654e-02 3.00064117e+02] [-6.82536301e-01 7.29904927e-01 -3.71886388e-02 -2.11988378e+02] [-5.45461265e-02 -1.32123267e-04 9.98511243e-01 -1.54988053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84864 meters Centerline goodness [0,1] 0.9999019127023051 Centerline is valid? [True, True] Translation: X:300.09, Y:-212.01, Z:-15.50 [[ 7.30273207e-01 6.81909071e-01 4.12439442e-02 3.00088745e+02] [-6.80822589e-01 7.31436955e-01 -3.84783444e-02 -2.12009630e+02] [-5.64060770e-02 1.98951027e-05 9.98407910e-01 -1.55004675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87864 meters Centerline goodness [0,1] 0.9998531714956931 Centerline is valid? [True, True] Translation: X:300.11, Y:-212.03, Z:-15.50 [[ 7.31281513e-01 6.80785334e-01 4.19365929e-02 3.00112933e+02] [-6.79657952e-01 7.32482976e-01 -3.91632205e-02 -2.12032216e+02] [-5.73795865e-02 1.36800297e-04 9.98352425e-01 -1.55019512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90864 meters Centerline goodness [0,1] 0.9998531571218796 Centerline is valid? [True, True] Translation: X:300.14, Y:-212.05, Z:-15.50 [[ 7.34131676e-01 6.77718557e-01 4.18119534e-02 3.00137105e+02] [-6.76590517e-01 7.35321285e-01 -3.90881052e-02 -2.12054186e+02] [-5.72359536e-02 4.06245049e-04 9.98360596e-01 -1.55024059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93864 meters Centerline goodness [0,1] 0.999657098069952 Centerline is valid? [True, True] Translation: X:300.16, Y:-212.08, Z:-15.50 [[ 7.34953581e-01 6.76835234e-01 4.16809294e-02 3.00161838e+02] [-6.75710501e-01 7.36134371e-01 -3.90065027e-02 -2.12076071e+02] [-5.70837401e-02 5.03727164e-04 9.98369267e-01 -1.55030886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96864 meters Centerline goodness [0,1] 0.9998039888273632 Centerline is valid? [True, True] Translation: X:300.19, Y:-212.10, Z:-15.50 [[ 7.35772325e-01 6.75892352e-01 4.25278054e-02 3.00185561e+02] [-6.74717481e-01 7.37000099e-01 -3.98393560e-02 -2.12097312e+02] [-5.82701128e-02 6.18441872e-04 9.98300662e-01 -1.55049143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99864 meters Centerline goodness [0,1] 0.9997550820475141 Centerline is valid? [True, True] Translation: X:300.21, Y:-212.12, Z:-15.51 [[ 7.34906982e-01 6.76857695e-01 4.21353670e-02 3.00208290e+02] [-6.75703942e-01 7.36113676e-01 -3.95074625e-02 -2.12120041e+02] [-5.77573499e-02 5.63276484e-04 9.98330492e-01 -1.55059783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02864 meters Centerline goodness [0,1] 0.9997546373540093 Centerline is valid? [True, True] Translation: X:300.23, Y:-212.14, Z:-15.51 [[ 7.34316200e-01 6.77580965e-01 4.07891499e-02 3.00230825e+02] [-6.76499008e-01 7.35448007e-01 -3.82795217e-02 -2.12143158e+02] [-5.59357742e-02 5.15453469e-04 9.98434236e-01 -1.55060637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05864 meters Centerline goodness [0,1] 0.9991179929439435 Centerline is valid? [True, True] Translation: X:300.25, Y:-212.17, Z:-15.51 [[ 7.33893647e-01 6.78111222e-01 3.95636901e-02 3.00253974e+02] [-6.77092301e-01 7.34959139e-01 -3.71628974e-02 -2.12165685e+02] [-5.42782734e-02 4.85344337e-04 9.98525730e-01 -1.55066567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08864 meters Centerline goodness [0,1] 0.9996075738251742 Centerline is valid? [True, True] Translation: X:300.28, Y:-212.19, Z:-15.51 [[ 7.33892111e-01 6.78100181e-01 3.97808294e-02 3.00277608e+02] [-6.77068057e-01 7.34969305e-01 -3.74027564e-02 -2.12188508e+02] [-5.46005044e-02 5.15258973e-04 9.98508147e-01 -1.55080916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11864 meters Centerline goodness [0,1] 0.9997060552616108 Centerline is valid? [True, True] Translation: X:300.30, Y:-212.21, Z:-15.51 [[ 7.34041496e-01 6.77831720e-01 4.15600961e-02 3.00299565e+02] [-6.76702376e-01 7.35216847e-01 -3.91162642e-02 -2.12211615e+02] [-5.70699275e-02 5.89145326e-04 9.98370010e-01 -1.55090632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14864 meters Centerline goodness [0,1] 0.9997060552616108 Centerline is valid? [True, True] Translation: X:300.32, Y:-212.24, Z:-15.51 [[ 7.33989784e-01 6.77863721e-01 4.19496491e-02 3.00321286e+02] [-6.76710940e-01 7.35187317e-01 -3.95210342e-02 -2.12236614e+02] [-5.76307253e-02 6.20248920e-04 9.98337776e-01 -1.55116300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17864 meters Centerline goodness [0,1] 0.999608265595926 Centerline is valid? [True, True] Translation: X:300.34, Y:-212.26, Z:-15.51 [[ 7.34331665e-01 6.77558569e-01 4.08826630e-02 3.00343081e+02] [-6.76461035e-01 7.35468527e-01 -3.85553243e-02 -2.12261032e+02] [-5.61914023e-02 6.56866908e-04 9.98419799e-01 -1.55130777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20864 meters Centerline goodness [0,1] 0.9996572491798462 Centerline is valid? [True, True] Translation: X:300.36, Y:-212.29, Z:-15.51 [[ 7.34560481e-01 6.77369217e-01 3.98979136e-02 3.00364571e+02] [-6.76321578e-01 7.35642900e-01 -3.76649215e-02 -2.12286039e+02] [-5.48636753e-02 6.83342933e-04 9.98493621e-01 -1.55143527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23864 meters Centerline goodness [0,1] 0.999510068100534 Centerline is valid? [True, True] Translation: X:300.39, Y:-212.31, Z:-15.51 [[ 7.34188117e-01 6.77887607e-01 3.78972324e-02 3.00385256e+02] [-6.76941363e-01 7.35165278e-01 -3.58106936e-02 -2.12311655e+02] [-5.21363548e-02 6.37581555e-04 9.98639772e-01 -1.55141255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26864 meters Centerline goodness [0,1] 0.9995584988962473 Centerline is valid? [True, True] Translation: X:300.41, Y:-212.33, Z:-15.51 [[ 7.32589486e-01 6.79636945e-01 3.75002434e-02 3.00407635e+02] [-6.78711067e-01 7.33548458e-01 -3.54675502e-02 -2.12334484e+02] [-5.16133032e-02 5.31324093e-04 9.98667004e-01 -1.55143509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29864 meters Centerline goodness [0,1] 0.9999019848076451 Centerline is valid? [True, True] Translation: X:300.43, Y:-212.36, Z:-15.52 [[ 7.28945288e-01 6.83520054e-01 3.79355106e-02 3.00428387e+02] [-6.82576339e-01 7.29931680e-01 -3.59066094e-02 -2.12360041e+02] [-5.22332185e-02 2.80071815e-04 9.98634874e-01 -1.55151039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32864 meters Centerline goodness [0,1] 0.9999019944136815 Centerline is valid? [True, True] Translation: X:300.45, Y:-212.38, Z:-15.52 [[ 7.25819384e-01 6.86836592e-01 3.79699473e-02 3.00450471e+02] [-6.85894685e-01 7.26811869e-01 -3.59581551e-02 -2.12384351e+02] [-5.22943850e-02 5.57410034e-05 9.98631711e-01 -1.55158335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35864 meters Centerline goodness [0,1] 0.9999020136201068 Centerline is valid? [True, True] Translation: X:300.47, Y:-212.41, Z:-15.52 [[ 7.20077955e-01 6.92912101e-01 3.68857595e-02 3.00473351e+02] [-6.92029296e-01 7.21021983e-01 -3.49678867e-02 -2.12408329e+02] [-5.08251153e-02 -3.46421907e-04 9.98707509e-01 -1.55175336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38864 meters Centerline goodness [0,1] 0.9998038446449589 Centerline is valid? [True, True] Translation: X:300.50, Y:-212.43, Z:-15.52 [[ 7.17080160e-01 6.96023036e-01 3.67148142e-02 3.00496981e+02] [-6.95150638e-01 7.18019251e-01 -3.48417271e-02 -2.12430112e+02] [-5.06125880e-02 -5.38015237e-04 9.98718217e-01 -1.55195530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41864 meters Centerline goodness [0,1] 0.9995592124595944 Centerline is valid? [True, True] Translation: X:300.52, Y:-212.45, Z:-15.52 [[ 7.14816010e-01 6.98336493e-01 3.69352846e-02 3.00521419e+02] [-6.97454974e-01 7.15769291e-01 -3.50839226e-02 -2.12451694e+02] [-5.09375259e-02 -6.82148412e-04 9.98701609e-01 -1.55204846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44864 meters Centerline goodness [0,1] 0.999559277214632 Centerline is valid? [True, True] Translation: X:300.55, Y:-212.47, Z:-15.52 [[ 7.11404022e-01 7.01714795e-01 3.87383901e-02 3.00548021e+02] [-7.00748112e-01 7.12457337e-01 -3.68324153e-02 -2.12470696e+02] [-5.34453010e-02 -9.43125322e-04 9.98570333e-01 -1.55198638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47864 meters Centerline goodness [0,1] 0.9996077662286723 Centerline is valid? [True, True] Translation: X:300.58, Y:-212.49, Z:-15.52 [[ 7.10303166e-01 7.02750707e-01 4.01354843e-02 3.00575742e+02] [-7.01712597e-01 7.11435436e-01 -3.81975246e-02 -2.12488227e+02] [-5.53971432e-02 -1.03175234e-03 9.98463866e-01 -1.55200742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50864 meters Centerline goodness [0,1] 0.9996077277630676 Centerline is valid? [True, True] Translation: X:300.60, Y:-212.51, Z:-15.52 [[ 7.10082628e-01 7.03007430e-01 3.95375145e-02 3.00601504e+02] [-7.01998449e-01 7.11181786e-01 -3.76649042e-02 -2.12508690e+02] [-5.45970677e-02 -1.01007974e-03 9.98507957e-01 -1.55215379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53864 meters Centerline goodness [0,1] 0.9997056948055133 Centerline is valid? [True, True] Translation: X:300.63, Y:-212.53, Z:-15.52 [[ 7.10328416e-01 7.02765426e-01 3.94245686e-02 3.00628167e+02] [-7.01759633e-01 7.11420996e-01 -3.75976454e-02 -2.12529138e+02] [-5.44697912e-02 -9.59894932e-04 9.98514958e-01 -1.55238554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56864 meters Centerline goodness [0,1] 0.9995597945707997 Centerline is valid? [True, True] Translation: X:300.66, Y:-212.55, Z:-15.52 [[ 7.11139257e-01 7.01892914e-01 4.03397371e-02 3.00656763e+02] [-7.00836100e-01 7.12281936e-01 -3.85124007e-02 -2.12547468e+02] [-5.57648472e-02 -8.83863984e-04 9.98443539e-01 -1.55247292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59864 meters Centerline goodness [0,1] 0.9996574001566171 Centerline is valid? [True, True] Translation: X:300.68, Y:-212.57, Z:-15.52 [[ 7.11894886e-01 7.01111699e-01 4.05962542e-02 3.00682320e+02] [-7.00037771e-01 7.13051014e-01 -3.87991184e-02 -2.12568077e+02] [-5.61497160e-02 -7.98017285e-04 9.98422041e-01 -1.55248463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62864 meters Centerline goodness [0,1] 0.9996570644718793 Centerline is valid? [True, True] Translation: X:300.71, Y:-212.59, Z:-15.53 [[ 7.15075861e-01 6.97918024e-01 3.97107524e-02 3.00707793e+02] [-6.96883408e-01 7.16177474e-01 -3.79913426e-02 -2.12588065e+02] [-5.49547892e-02 -5.07072429e-04 9.98488715e-01 -1.55254140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65864 meters Centerline goodness [0,1] 0.999901927131859 Centerline is valid? [True, True] Translation: X:300.73, Y:-212.61, Z:-15.53 [[ 7.16963614e-01 6.95962846e-01 3.99861659e-02 3.00733181e+02] [-6.94908672e-01 7.18077716e-01 -3.82927052e-02 -2.12609811e+02] [-5.53634748e-02 -3.32257133e-04 9.98466211e-01 -1.55277573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68864 meters Centerline goodness [0,1] 0.9997056370504832 Centerline is valid? [True, True] Translation: X:300.76, Y:-212.63, Z:-15.53 [[ 7.20727669e-01 6.92066547e-01 3.99439787e-02 3.00759750e+02] [-6.91006681e-01 7.21833703e-01 -3.82867147e-02 -2.12629327e+02] [-5.53298645e-02 -7.26154216e-06 9.98468130e-01 -1.55283455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71864 meters Centerline goodness [0,1] 0.9997061128526645 Centerline is valid? [True, True] Translation: X:300.78, Y:-212.65, Z:-15.53 [[ 7.21724586e-01 6.91027325e-01 3.99356768e-02 3.00784624e+02] [-6.89964864e-01 7.22828630e-01 -3.83048101e-02 -2.12651615e+02] [-5.53363209e-02 9.13093691e-05 9.98467768e-01 -1.55299622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74864 meters Centerline goodness [0,1] 0.9997058102476097 Centerline is valid? [True, True] Translation: X:300.81, Y:-212.67, Z:-15.53 [[ 7.22997469e-01 6.89718807e-01 3.95300867e-02 3.00808279e+02] [-6.88673677e-01 7.24077289e-01 -3.79558534e-02 -2.12674467e+02] [-5.48017039e-02 2.18655821e-04 9.98497234e-01 -1.55316965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77864 meters Centerline goodness [0,1] 0.9995592340467212 Centerline is valid? [True, True] Translation: X:300.83, Y:-212.70, Z:-15.53 [[ 7.24449908e-01 6.88193243e-01 3.95270882e-02 3.00830859e+02] [-6.87143778e-01 7.25527345e-01 -3.79934135e-02 -2.12698238e+02] [-5.48247938e-02 3.63532187e-04 9.98495924e-01 -1.55326021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80864 meters Centerline goodness [0,1] 0.9991678088897592 Centerline is valid? [True, True] Translation: X:300.86, Y:-212.72, Z:-15.53 [[ 7.24581220e-01 6.88046006e-01 3.96831089e-02 3.00855365e+02] [-6.86985781e-01 7.25666955e-01 -3.81838696e-02 -2.12720129e+02] [-5.50689798e-02 4.05583244e-04 9.98482470e-01 -1.55334039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83864 meters Centerline goodness [0,1] 0.9991619836340333 Centerline is valid? [True, True] Translation: X:300.88, Y:-212.74, Z:-15.53 [[ 7.24568141e-01 6.88110193e-01 3.87991136e-02 3.00880821e+02] [-6.87094722e-01 7.25606082e-01 -3.73718753e-02 -2.12741394e+02] [-5.38688412e-02 4.19804061e-04 9.98547932e-01 -1.55347396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86864 meters Centerline goodness [0,1] 0.9993625263570833 Centerline is valid? [True, True] Translation: X:300.90, Y:-212.76, Z:-15.54 [[ 7.24831076e-01 6.87874629e-01 3.80579253e-02 3.00904088e+02] [-6.86895285e-01 7.25829378e-01 -3.66957947e-02 -2.12764170e+02] [-5.28656664e-02 4.56442885e-04 9.98601529e-01 -1.55363550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89864 meters Centerline goodness [0,1] 0.9994116204952194 Centerline is valid? [True, True] Translation: X:300.93, Y:-212.79, Z:-15.54 [[ 7.24516072e-01 6.88210386e-01 3.79858750e-02 3.00925868e+02] [-6.87233173e-01 7.25511030e-01 -3.66648506e-02 -2.12789714e+02] [-5.27923023e-02 4.59120106e-04 9.98605409e-01 -1.55388465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92864 meters Centerline goodness [0,1] 0.9993146325941157 Centerline is valid? [True, True] Translation: X:300.95, Y:-212.81, Z:-15.54 [[ 7.23756125e-01 6.88985571e-01 3.84181620e-02 3.00949585e+02] [-6.87984963e-01 7.24774926e-01 -3.71213771e-02 -2.12813108e+02] [-5.34206137e-02 4.35706233e-04 9.98572005e-01 -1.55403764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95864 meters Centerline goodness [0,1] 0.9993139608957711 Centerline is valid? [True, True] Translation: X:300.97, Y:-212.83, Z:-15.54 [[ 7.23311407e-01 6.89525157e-01 3.70899776e-02 3.00973206e+02] [-6.88591459e-01 7.24261618e-01 -3.58735575e-02 -2.12834388e+02] [-5.15985676e-02 4.07911552e-04 9.98667823e-01 -1.55405568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98864 meters Centerline goodness [0,1] 0.9993634939287113 Centerline is valid? [True, True] Translation: X:301.00, Y:-212.86, Z:-15.54 [[ 7.22857202e-01 6.90033627e-01 3.64836843e-02 3.00996532e+02] [-6.89129200e-01 7.23777204e-01 -3.53200336e-02 -2.12858010e+02] [-5.07780699e-02 3.89368496e-04 9.98709886e-01 -1.55411914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01864 meters Centerline goodness [0,1] 0.999314196139904 Centerline is valid? [True, True] Translation: X:301.02, Y:-212.88, Z:-15.54 [[ 7.21703464e-01 6.91239714e-01 3.64933843e-02 3.01017770e+02] [-6.90334459e-01 7.22625455e-01 -3.53664749e-02 -2.12883303e+02] [-5.08177605e-02 3.31466783e-04 9.98707888e-01 -1.55412612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04864 meters Centerline goodness [0,1] 0.9993638676844784 Centerline is valid? [True, True] Translation: X:301.04, Y:-212.91, Z:-15.54 [[ 7.21463374e-01 6.91475852e-01 3.67661003e-02 3.01041977e+02] [-6.90555370e-01 7.22399493e-01 -3.56686567e-02 -2.12905745e+02] [-5.12238270e-02 3.44601385e-04 9.98687139e-01 -1.55426692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07864 meters Centerline goodness [0,1] 0.9995095875631406 Centerline is valid? [True, True] Translation: X:301.07, Y:-212.93, Z:-15.54 [[ 7.20266299e-01 6.92724853e-01 3.67251542e-02 3.01067150e+02] [-6.91806110e-01 7.21201912e-01 -3.56666177e-02 -2.12927003e+02] [-5.11934039e-02 2.82776647e-04 9.98688718e-01 -1.55438691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10864 meters Centerline goodness [0,1] 0.999265102150801 Centerline is valid? [True, True] Translation: X:301.09, Y:-212.95, Z:-15.54 [[ 7.19883199e-01 6.93124852e-01 3.66894977e-02 3.01090955e+02] [-6.92206491e-01 7.20817495e-01 -3.56694976e-02 -2.12949302e+02] [-5.11698471e-02 2.81163630e-04 9.98689926e-01 -1.55449604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13864 meters Centerline goodness [0,1] 0.9989714957390537 Centerline is valid? [True, True] Translation: X:301.12, Y:-212.97, Z:-15.55 [[ 7.19040005e-01 6.93981074e-01 3.70370069e-02 3.01116464e+02] [-6.93044360e-01 7.19993199e-01 -3.60459215e-02 -2.12970848e+02] [-5.16815804e-02 2.50170799e-04 9.98663583e-01 -1.55458744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16864 meters Centerline goodness [0,1] 0.9993142297330394 Centerline is valid? [True, True] Translation: X:301.14, Y:-212.99, Z:-15.55 [[ 7.18237146e-01 6.94789694e-01 3.74524176e-02 3.01141961e+02] [-6.93830886e-01 7.19212925e-01 -3.64893158e-02 -2.12992541e+02] [-5.22886634e-02 2.22338016e-04 9.98631987e-01 -1.55467602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19864 meters Centerline goodness [0,1] 0.9992159937279498 Centerline is valid? [True, True] Translation: X:301.17, Y:-213.01, Z:-15.55 [[ 7.17672809e-01 6.95383231e-01 3.72545482e-02 3.01167234e+02] [-6.94433339e-01 7.18639075e-01 -3.63347974e-02 -2.13013426e+02] [-5.20391829e-02 2.05695840e-04 9.98645023e-01 -1.55469494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22864 meters Centerline goodness [0,1] 0.9983364321362168 Centerline is valid? [True, True] Translation: X:301.19, Y:-213.03, Z:-15.55 [[ 7.17513963e-01 6.95560700e-01 3.70003450e-02 3.01194792e+02] [-6.94622001e-01 7.18467302e-01 -3.61249415e-02 -2.13032015e+02] [-5.17106277e-02 2.18896220e-04 9.98662087e-01 -1.55468252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25864 meters Centerline goodness [0,1] 0.9985316430913808 Centerline is valid? [True, True] Translation: X:301.22, Y:-213.05, Z:-15.55 [[ 7.17667687e-01 6.95387744e-01 3.72689799e-02 3.01220701e+02] [-6.94433100e-01 7.18634690e-01 -3.64259675e-02 -2.13053480e+02] [-5.21129532e-02 2.60926543e-04 9.98641163e-01 -1.55475141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28864 meters Centerline goodness [0,1] 0.9983327612416025 Centerline is valid? [True, True] Translation: X:301.25, Y:-213.07, Z:-15.55 [[ 7.19378256e-01 6.93612475e-01 3.73718906e-02 3.01247929e+02] [-6.92648133e-01 7.20348221e-01 -3.65650846e-02 -2.13072527e+02] [-5.22827737e-02 4.18556615e-04 9.98632233e-01 -1.55473525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31864 meters Centerline goodness [0,1] 0.9975987454670195 Centerline is valid? [True, True] Translation: X:301.27, Y:-213.09, Z:-15.55 [[ 7.20020862e-01 6.92969694e-01 3.69183107e-02 3.01274129e+02] [-6.92025853e-01 7.20966550e-01 -3.61587118e-02 -2.13093521e+02] [-5.16737585e-02 4.86601389e-04 9.98663900e-01 -1.55486920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34864 meters Centerline goodness [0,1] 0.9960278540604158 Centerline is valid? [True, True] Translation: X:301.30, Y:-213.11, Z:-15.55 [[ 7.22182611e-01 6.90781499e-01 3.56818974e-02 3.01301220e+02] [-6.89895410e-01 7.23063276e-01 -3.49831683e-02 -2.13112653e+02] [-4.99659951e-02 6.47458633e-04 9.98750710e-01 -1.55500369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37864 meters Centerline goodness [0,1] 0.9948072306863274 Centerline is valid? [True, True] Translation: X:301.33, Y:-213.13, Z:-15.55 [[ 7.24048610e-01 6.88842092e-01 3.53579255e-02 3.01325428e+02] [-6.87967990e-01 7.24910982e-01 -3.47003315e-02 -2.13133617e+02] [-4.95343974e-02 7.99605837e-04 9.98772098e-01 -1.55509495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40864 meters Centerline goodness [0,1] 0.9933872152828802 Centerline is valid? [True, True] Translation: X:301.35, Y:-213.15, Z:-15.55 [[ 7.27773246e-01 6.84821075e-01 3.69621267e-02 3.01349986e+02] [-6.83858882e-01 7.28710354e-01 -3.63076920e-02 -2.13153877e+02] [-5.17989571e-02 1.14688822e-03 9.98656874e-01 -1.55510564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43864 meters Centerline goodness [0,1] 0.9928424355328954 Centerline is valid? [True, True] Translation: X:301.37, Y:-213.17, Z:-15.55 [[ 7.29736192e-01 6.82693270e-01 3.76163407e-02 3.01374381e+02] [-6.81692201e-01 7.30703833e-01 -3.69817622e-02 -2.13174717e+02] [-5.27336045e-02 1.34416422e-03 9.98607711e-01 -1.55519645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46864 meters Centerline goodness [0,1] 0.9913299044819985 Centerline is valid? [True, True] Translation: X:301.40, Y:-213.20, Z:-15.55 [[ 7.33070635e-01 6.79183618e-01 3.62912745e-02 3.01398719e+02] [-6.78246021e-01 7.33966736e-01 -3.57094665e-02 -2.13195840e+02] [-5.08898730e-02 1.56314877e-03 9.98703048e-01 -1.55530032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49864 meters Centerline goodness [0,1] 0.9906468831105235 Centerline is valid? [True, True] Translation: X:301.42, Y:-213.22, Z:-15.55 [[ 7.34117312e-01 6.78113023e-01 3.51354649e-02 3.01421010e+02] [-6.77231566e-01 7.34955881e-01 -3.46014287e-02 -2.13218652e+02] [-4.92866960e-02 1.60666195e-03 9.98783380e-01 -1.55544071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52864 meters Centerline goodness [0,1] 0.9906468831105235 Centerline is valid? [True, True] Translation: X:301.44, Y:-213.24, Z:-15.56 [[ 7.33783599e-01 6.78474916e-01 3.51200531e-02 3.01444418e+02] [-6.77593126e-01 7.34621817e-01 -3.46170660e-02 -2.13241282e+02] [-4.92867682e-02 1.60432866e-03 9.98783380e-01 -1.55556558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55864 meters Centerline goodness [0,1] 0.9900117508813161 Centerline is valid? [True, True] Translation: X:301.47, Y:-213.27, Z:-15.56 [[ 7.34230602e-01 6.78123162e-01 3.24715426e-02 3.01467610e+02] [-6.77367733e-01 7.34946697e-01 -3.20360369e-02 -2.13265571e+02] [-4.55892316e-02 1.52666350e-03 9.98959104e-01 -1.55552966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58864 meters Centerline goodness [0,1] 0.9902004017835269 Centerline is valid? [True, True] Translation: X:301.49, Y:-213.29, Z:-15.56 [[ 7.33375037e-01 6.79019880e-01 3.30614104e-02 3.01490451e+02] [-6.78236166e-01 7.34118307e-01 -3.26498772e-02 -2.13288175e+02] [-4.64409024e-02 1.52116067e-03 9.98919881e-01 -1.55563675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61864 meters Centerline goodness [0,1] 0.9922047359905869 Centerline is valid? [True, True] Translation: X:301.51, Y:-213.31, Z:-15.56 [[ 7.31175072e-01 6.81346176e-01 3.39175948e-02 3.01511920e+02] [-6.80522403e-01 7.31959932e-01 -3.35248820e-02 -2.13312758e+02] [-4.76683705e-02 1.43087492e-03 9.98862192e-01 -1.55573018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64864 meters Centerline goodness [0,1] 0.9920689317536473 Centerline is valid? [True, True] Translation: X:301.53, Y:-213.34, Z:-15.56 [[ 7.30062931e-01 6.82526987e-01 3.41325290e-02 3.01533801e+02] [-6.81692600e-01 7.30859081e-01 -3.37668813e-02 -2.13335962e+02] [-4.79928765e-02 1.38405584e-03 9.98846719e-01 -1.55588564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67864 meters Centerline goodness [0,1] 0.9933326796744779 Centerline is valid? [True, True] Translation: X:301.56, Y:-213.36, Z:-15.56 [[ 7.28435260e-01 6.84221317e-01 3.49751591e-02 3.01555216e+02] [-6.83345612e-01 7.29273220e-01 -3.46315636e-02 -2.13360106e+02] [-4.92021010e-02 1.32673056e-03 9.98787962e-01 -1.55607027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70864 meters Centerline goodness [0,1] 0.9931446479287044 Centerline is valid? [True, True] Translation: X:301.58, Y:-213.38, Z:-15.56 [[ 7.27976428e-01 6.84736301e-01 3.44458707e-02 3.01578343e+02] [-6.83886012e-01 7.28789765e-01 -3.41379679e-02 -2.13383579e+02] [-4.84793039e-02 1.29458683e-03 9.98823348e-01 -1.55615152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73864 meters Centerline goodness [0,1] 0.9929501615587976 Centerline is valid? [True, True] Translation: X:301.60, Y:-213.41, Z:-15.56 [[ 7.28858033e-01 6.83838828e-01 3.36217959e-02 3.01600176e+02] [-6.83026290e-01 7.29631857e-01 -3.33532597e-02 -2.13407678e+02] [-4.73397874e-02 1.34522077e-03 9.98877938e-01 -1.55618034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76864 meters Centerline goodness [0,1] 0.9932432432432432 Centerline is valid? [True, True] Translation: X:301.62, Y:-213.43, Z:-15.56 [[ 7.29097647e-01 6.83568954e-01 3.39132115e-02 3.01622076e+02] [-6.82740560e-01 7.29884604e-01 -3.36718371e-02 -2.13431523e+02] [-4.77697534e-02 1.39613219e-03 9.98857398e-01 -1.55639248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79864 meters Centerline goodness [0,1] 0.9932422506243572 Centerline is valid? [True, True] Translation: X:301.64, Y:-213.46, Z:-15.56 [[ 7.30493663e-01 6.82069871e-01 3.40543669e-02 3.01642612e+02] [-6.81231515e-01 7.31285426e-01 -3.38415139e-02 -2.13456612e+02] [-4.79857393e-02 1.52210350e-03 9.98846861e-01 -1.55643738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82864 meters Centerline goodness [0,1] 0.9929112686384747 Centerline is valid? [True, True] Translation: X:301.66, Y:-213.48, Z:-15.56 [[ 7.30684792e-01 6.81897767e-01 3.33941778e-02 3.01664277e+02] [-6.81090064e-01 7.31445904e-01 -3.32146787e-02 -2.13482097e+02] [-4.70750498e-02 1.52501784e-03 9.98890191e-01 -1.55647754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85864 meters Centerline goodness [0,1] 0.9918754894283477 Centerline is valid? [True, True] Translation: X:301.68, Y:-213.51, Z:-15.56 [[ 7.31735310e-01 6.80790712e-01 3.29763858e-02 3.01683313e+02] [-6.80000515e-01 7.32476244e-01 -3.28306383e-02 -2.13509142e+02] [-4.65052129e-02 1.59937798e-03 9.98916767e-01 -1.55639571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88864 meters Centerline goodness [0,1] 0.9926405652045923 Centerline is valid? [True, True] Translation: X:301.70, Y:-213.53, Z:-15.57 [[ 7.32742967e-01 6.79726380e-01 3.25544547e-02 3.01703774e+02] [-6.78953965e-01 7.33463886e-01 -3.24382665e-02 -2.13533600e+02] [-4.59266623e-02 1.66593554e-03 9.98943425e-01 -1.55659406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91864 meters Centerline goodness [0,1] 0.9927028747734953 Centerline is valid? [True, True] Translation: X:301.72, Y:-213.56, Z:-15.57 [[ 7.32574705e-01 6.79903294e-01 3.26467964e-02 3.01724235e+02] [-6.79125333e-01 7.33299861e-01 -3.25591053e-02 -2.13559605e+02] [-4.60769342e-02 1.68071042e-03 9.98936480e-01 -1.55674319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94864 meters Centerline goodness [0,1] 0.9934410181106217 Centerline is valid? [True, True] Translation: X:301.74, Y:-213.59, Z:-15.57 [[ 7.32590505e-01 6.79841725e-01 3.35615991e-02 3.01738975e+02] [-6.79017890e-01 7.33356765e-01 -3.35046278e-02 -2.13589712e+02] [-4.73904697e-02 1.75624599e-03 9.98874897e-01 -1.55695196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97864 meters Centerline goodness [0,1] 0.9934947419907068 Centerline is valid? [True, True] Translation: X:301.76, Y:-213.62, Z:-15.57 [[ 7.31248567e-01 6.81284255e-01 3.35752414e-02 3.01757987e+02] [-6.80459899e-01 7.32017026e-01 -3.35469715e-02 -2.13616287e+02] [-4.74326718e-02 1.68456945e-03 9.98873017e-01 -1.55696829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00864 meters Centerline goodness [0,1] 0.9946667971425776 Centerline is valid? [True, True] Translation: X:301.77, Y:-213.65, Z:-15.57 [[ 7.28165868e-01 6.84564614e-01 3.38490431e-02 3.01773326e+02] [-6.83728995e-01 7.28950637e-01 -3.38471693e-02 -2.13646311e+02] [-4.78448559e-02 1.50278119e-03 9.98853649e-01 -1.55709986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03864 meters Centerline goodness [0,1] 0.9968678118729506 Centerline is valid? [True, True] Translation: X:301.78, Y:-213.74, Z:-14.03 [[ 7.37168048e-01 -6.75423586e-01 -1.96532222e-02 3.01783557e+02] [-6.75110262e-01 -7.37427365e-01 2.06643543e-02 -2.13737292e+02] [-2.84500161e-02 -1.96500970e-03 -9.99593285e-01 -1.40340185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06864 meters Centerline goodness [0,1] 0.9975541750232353 Centerline is valid? [True, True] Translation: X:301.78, Y:-213.70, Z:-15.57 [[ 7.69185211e-01 6.37969218e-01 3.67340298e-02 3.01784554e+02] [-6.37176395e-01 7.70061130e-01 -3.18134906e-02 -2.13695659e+02] [-4.85834762e-02 1.06440976e-03 9.98818559e-01 -1.55734095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09864 meters Centerline goodness [0,1] 0.9978943244699084 Centerline is valid? [True, True] Translation: X:301.81, Y:-213.72, Z:-15.58 [[ 7.67696695e-01 6.39741111e-01 3.70553161e-02 3.01805961e+02] [-6.38934975e-01 7.68589842e-01 -3.21209238e-02 -2.13720153e+02] [-4.90294149e-02 9.83189572e-04 9.98796851e-01 -1.55756918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12864 meters Centerline goodness [0,1] 0.9989218328840971 Centerline is valid? [True, True] Translation: X:301.83, Y:-213.75, Z:-15.58 [[ 7.65427868e-01 6.42407139e-01 3.78582523e-02 3.01825968e+02] [-6.41567392e-01 7.66363060e-01 -3.28472649e-02 -2.13745962e+02] [-5.01144835e-02 8.53591699e-04 9.98743115e-01 -1.55771913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15864 meters Centerline goodness [0,1] 0.998725427717045 Centerline is valid? [True, True] Translation: X:301.85, Y:-213.77, Z:-15.58 [[ 7.64764163e-01 6.43191288e-01 3.79571184e-02 3.01849329e+02] [-6.42346537e-01 7.65705088e-01 -3.29643024e-02 -2.13769741e+02] [-5.02663108e-02 8.28293545e-04 9.98735506e-01 -1.55779866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18864 meters Centerline goodness [0,1] 0.9990206160325156 Centerline is valid? [True, True] Translation: X:301.87, Y:-213.80, Z:-15.58 [[ 7.64519955e-01 6.43459428e-01 3.83301944e-02 3.01869922e+02] [-6.42596517e-01 7.65479751e-01 -3.33236700e-02 -2.13796523e+02] [-5.07834173e-02 8.45761262e-04 9.98709332e-01 -1.55797204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21864 meters Centerline goodness [0,1] 0.9983861502347418 Centerline is valid? [True, True] Translation: X:301.89, Y:-213.82, Z:-15.58 [[ 7.63912224e-01 6.44161145e-01 3.86591894e-02 3.01892976e+02] [-6.43282406e-01 7.64889354e-01 -3.36455308e-02 -2.13819687e+02] [-5.12431461e-02 8.33455857e-04 9.98685859e-01 -1.55802498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24864 meters Centerline goodness [0,1] 0.9990183085456241 Centerline is valid? [True, True] Translation: X:301.92, Y:-213.84, Z:-15.58 [[ 7.61553220e-01 6.46899168e-01 3.94735406e-02 3.01916153e+02] [-6.45984786e-01 7.62575236e-01 -3.43899064e-02 -2.13841291e+02] [-5.23483463e-02 6.90437202e-04 9.98628647e-01 -1.55831737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27864 meters Centerline goodness [0,1] 0.9996082464130063 Centerline is valid? [True, True] Translation: X:301.94, Y:-213.86, Z:-15.59 [[ 7.60020875e-01 6.48654492e-01 4.01947645e-02 3.01940108e+02] [-6.47706969e-01 7.61082770e-01 -3.50528178e-02 -2.13863410e+02] [-5.33287104e-02 6.06444209e-04 9.98576828e-01 -1.55862262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30864 meters Centerline goodness [0,1] 0.9994128584010177 Centerline is valid? [True, True] Translation: X:301.96, Y:-213.89, Z:-15.59 [[ 7.58602830e-01 6.50314164e-01 4.01650952e-02 3.01962750e+02] [-6.49368423e-01 7.59665203e-01 -3.50632340e-02 -2.13886271e+02] [-5.33141429e-02 5.17123993e-04 9.98577656e-01 -1.55869617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33864 meters Centerline goodness [0,1] 0.9994608371728262 Centerline is valid? [True, True] Translation: X:301.98, Y:-213.91, Z:-15.59 [[ 7.56522299e-01 6.52747272e-01 3.99375749e-02 3.01982566e+02] [-6.51813877e-01 7.57575648e-01 -3.48971052e-02 -2.13912264e+02] [-5.30347245e-02 3.68572726e-04 9.98592601e-01 -1.55881517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36864 meters Centerline goodness [0,1] 0.9992171445346902 Centerline is valid? [True, True] Translation: X:302.01, Y:-213.94, Z:-15.59 [[ 7.55096507e-01 6.54342801e-01 4.08015201e-02 3.02006074e+02] [-6.53368938e-01 7.56198000e-01 -3.56877583e-02 -2.13936189e+02] [-5.42060556e-02 2.89255757e-04 9.98529729e-01 -1.55887506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39864 meters Centerline goodness [0,1] 0.999461180504531 Centerline is valid? [True, True] Translation: X:302.03, Y:-213.96, Z:-15.59 [[ 7.54665914e-01 6.54763907e-01 4.19950522e-02 3.02029254e+02] [-6.53730639e-01 7.55833407e-01 -3.67710862e-02 -2.13958266e+02] [-5.58176435e-02 2.96433071e-04 9.98440936e-01 -1.55914045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42864 meters Centerline goodness [0,1] 0.9994121105232217 Centerline is valid? [True, True] Translation: X:302.05, Y:-213.98, Z:-15.59 [[ 7.54169701e-01 6.55355137e-01 4.16858032e-02 3.02052535e+02] [-6.54335941e-01 7.55320837e-01 -3.65364048e-02 -2.13982266e+02] [-5.54304764e-02 2.78130197e-04 9.98462511e-01 -1.55935907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45864 meters Centerline goodness [0,1] 0.9996569300137228 Centerline is valid? [True, True] Translation: X:302.07, Y:-214.01, Z:-15.59 [[ 7.52727774e-01 6.57007246e-01 4.17417892e-02 3.02074113e+02] [-6.55985623e-01 7.53884238e-01 -3.66253713e-02 -2.14007739e+02] [-5.55316112e-02 1.86920619e-04 9.98456912e-01 -1.55947713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48864 meters Centerline goodness [0,1] 0.999755034050267 Centerline is valid? [True, True] Translation: X:302.10, Y:-214.03, Z:-15.60 [[ 7.50996291e-01 6.59000316e-01 4.15108836e-02 3.02099037e+02] [-6.57990815e-01 7.52142658e-01 -3.64624379e-02 -2.14029549e+02] [-5.52508645e-02 6.93755365e-05 9.98472502e-01 -1.55960399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51864 meters Centerline goodness [0,1] 0.9996084573218481 Centerline is valid? [True, True] Translation: X:302.12, Y:-214.05, Z:-15.60 [[ 7.46586580e-01 6.64057217e-01 4.04535620e-02 3.02122672e+02] [-6.63103823e-01 7.47681711e-01 -3.55721682e-02 -2.14052367e+02] [-5.38683434e-02 -2.67208196e-04 9.98548011e-01 -1.55978772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.15, Y:-214.07, Z:-15.60 [[ 7.43979132e-01 6.66954488e-01 4.08259968e-02 3.02145686e+02] [-6.65985707e-01 7.45098320e-01 -3.59378891e-02 -2.14074812e+02] [-5.43883180e-02 -4.52490825e-04 9.98519758e-01 -1.55996155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57864 meters Centerline goodness [0,1] 0.9998041232065031 Centerline is valid? [True, True] Translation: X:302.17, Y:-214.10, Z:-15.60 [[ 7.40222552e-01 6.71031414e-01 4.22778307e-02 3.02169840e+02] [-6.69997005e-01 7.41428538e-01 -3.72523355e-02 -2.14095449e+02] [-5.63434776e-02 -7.51001110e-04 9.98411162e-01 -1.56015850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60864 meters Centerline goodness [0,1] 0.9999020232204967 Centerline is valid? [True, True] Translation: X:302.19, Y:-214.12, Z:-15.60 [[ 7.38494833e-01 6.72875950e-01 4.31663960e-02 3.02194795e+02] [-6.71798600e-01 7.39754808e-01 -3.80718339e-02 -2.14116229e+02] [-5.75501704e-02 -8.83271836e-04 9.98342225e-01 -1.56037989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63864 meters Centerline goodness [0,1] 0.999362932470842 Centerline is valid? [True, True] Translation: X:302.22, Y:-214.14, Z:-15.61 [[ 7.36957376e-01 6.74610161e-01 4.23669319e-02 3.02219344e+02] [-6.73573167e-01 7.38173547e-01 -3.74032543e-02 -2.14138892e+02] [-5.65067638e-02 -9.72624317e-04 9.98401743e-01 -1.56057089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66864 meters Centerline goodness [0,1] 0.9999021047479197 Centerline is valid? [True, True] Translation: X:302.24, Y:-214.16, Z:-15.61 [[ 7.35818339e-01 6.75824994e-01 4.28012778e-02 3.02243665e+02] [-6.74766409e-01 7.37061381e-01 -3.78260976e-02 -2.14160123e+02] [-5.71109911e-02 -1.04772826e-03 9.98367286e-01 -1.56078971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69864 meters Centerline goodness [0,1] 0.9997059544229355 Centerline is valid? [True, True] Translation: X:302.27, Y:-214.18, Z:-15.61 [[ 7.33571382e-01 6.78331597e-01 4.17045652e-02 3.02269194e+02] [-6.77328746e-01 7.34754951e-01 -3.68908034e-02 -2.14179373e+02] [-5.56668333e-02 -1.18566321e-03 9.98448696e-01 -1.56084994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72864 meters Centerline goodness [0,1] 0.9998528979111503 Centerline is valid? [True, True] Translation: X:302.29, Y:-214.20, Z:-15.61 [[ 7.32500954e-01 6.79464832e-01 4.20701125e-02 3.02293506e+02] [-6.78444206e-01 7.33707000e-01 -3.72491398e-02 -2.14199895e+02] [-5.61766165e-02 -1.25719360e-03 9.98420056e-01 -1.56109200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75864 meters Centerline goodness [0,1] 0.9995584122467004 Centerline is valid? [True, True] Translation: X:302.32, Y:-214.22, Z:-15.61 [[ 7.31122454e-01 6.80911970e-01 4.26479365e-02 3.02317374e+02] [-6.79863532e-01 7.32364005e-01 -3.77960524e-02 -2.14221901e+02] [-5.69695981e-02 -1.36123414e-03 9.98374986e-01 -1.56131736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78864 meters Centerline goodness [0,1] 0.9993633692458375 Centerline is valid? [True, True] Translation: X:302.34, Y:-214.24, Z:-15.61 [[ 7.29074818e-01 6.83154678e-01 4.18281613e-02 3.02340810e+02] [-6.82147985e-01 7.30272202e-01 -3.71030754e-02 -2.14243429e+02] [-5.58930830e-02 -1.48207793e-03 9.98435660e-01 -1.56137950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81864 meters Centerline goodness [0,1] 0.9995588883987648 Centerline is valid? [True, True] Translation: X:302.37, Y:-214.26, Z:-15.62 [[ 7.27383154e-01 6.84868987e-01 4.32228853e-02 3.02365715e+02] [-6.83794931e-01 7.28664378e-01 -3.83759885e-02 -2.14263462e+02] [-5.77775012e-02 -1.64154233e-03 9.98328135e-01 -1.56159088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84864 meters Centerline goodness [0,1] 0.9996567786222114 Centerline is valid? [True, True] Translation: X:302.39, Y:-214.28, Z:-15.62 [[ 7.24701126e-01 6.87721070e-01 4.29884635e-02 3.02393122e+02] [-6.86661630e-01 7.25972706e-01 -3.82025654e-02 -2.14280493e+02] [-5.74811603e-02 -1.83308621e-03 9.98344908e-01 -1.56171371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87864 meters Centerline goodness [0,1] 0.9995103799451626 Centerline is valid? [True, True] Translation: X:302.42, Y:-214.30, Z:-15.62 [[ 7.21920285e-01 6.90593588e-01 4.37218376e-02 3.02419597e+02] [-6.89501174e-01 7.23240064e-01 -3.88836814e-02 -2.14298163e+02] [-5.84742057e-02 -2.07533998e-03 9.98286763e-01 -1.56192162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90864 meters Centerline goodness [0,1] 0.9995103080162577 Centerline is valid? [True, True] Translation: X:302.44, Y:-214.32, Z:-15.62 [[ 7.21061861e-01 6.91410438e-01 4.49599722e-02 3.02444748e+02] [-6.90255319e-01 7.22458881e-01 -4.00094989e-02 -2.14317645e+02] [-6.01447163e-02 -2.18453620e-03 9.98187277e-01 -1.56222614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93864 meters Centerline goodness [0,1] 0.9996072270227808 Centerline is valid? [True, True] Translation: X:302.47, Y:-214.34, Z:-15.62 [[ 7.20964992e-01 6.91482594e-01 4.54015754e-02 3.02471739e+02] [-6.90302466e-01 7.22389819e-01 -4.04407501e-02 -2.14337031e+02] [-6.07617107e-02 -2.18445442e-03 9.98149910e-01 -1.56227099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96864 meters Centerline goodness [0,1] 0.9995593419506463 Centerline is valid? [True, True] Translation: X:302.50, Y:-214.35, Z:-15.62 [[ 7.22388824e-01 6.89899104e-01 4.68360220e-02 3.02499440e+02] [-6.88637249e-01 7.23902530e-01 -4.17596206e-02 -2.14353835e+02] [-6.27146397e-02 -2.08634610e-03 9.98029319e-01 -1.56239281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99864 meters Centerline goodness [0,1] 0.999754950009802 Centerline is valid? [True, True] Translation: X:302.53, Y:-214.37, Z:-15.62 [[ 7.22846404e-01 6.89423217e-01 4.67835966e-02 3.02525575e+02] [-6.88160846e-01 7.24355966e-01 -4.17502586e-02 -2.14372258e+02] [-6.26715749e-02 -2.01561513e-03 9.98032169e-01 -1.56246323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02864 meters Centerline goodness [0,1] 0.999706414835837 Centerline is valid? [True, True] Translation: X:302.55, Y:-214.39, Z:-15.63 [[ 7.23110005e-01 6.89172212e-01 4.64067201e-02 3.02553033e+02] [-6.87927292e-01 7.24594961e-01 -4.14509850e-02 -2.14390161e+02] [-6.21929425e-02 -1.95082732e-03 9.98062239e-01 -1.56272653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05864 meters Centerline goodness [0,1] 0.9997061416397296 Centerline is valid? [True, True] Translation: X:302.58, Y:-214.41, Z:-15.63 [[ 7.23963323e-01 6.88374456e-01 4.49189870e-02 3.02579495e+02] [-6.87204469e-01 7.25353282e-01 -4.01576238e-02 -2.14408977e+02] [-6.02256171e-02 -1.79588186e-03 9.98183175e-01 -1.56287098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08864 meters Centerline goodness [0,1] 0.9996571148665198 Centerline is valid? [True, True] Translation: X:302.60, Y:-214.43, Z:-15.63 [[ 7.24206714e-01 6.88149338e-01 4.44423641e-02 3.02604372e+02] [-6.87001515e-01 7.25567011e-01 -3.97672168e-02 -2.14428836e+02] [-5.96116972e-02 -1.73228608e-03 9.98220138e-01 -1.56298139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11864 meters Centerline goodness [0,1] 0.9996573330722538 Centerline is valid? [True, True] Translation: X:302.63, Y:-214.45, Z:-15.63 [[ 7.24680680e-01 6.87734015e-01 4.31258232e-02 3.02629793e+02] [-6.86650517e-01 7.25960944e-01 -3.86235164e-02 -2.14449197e+02] [-5.78703693e-02 -1.62265267e-03 9.98322787e-01 -1.56296638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14864 meters Centerline goodness [0,1] 0.9997067305342392 Centerline is valid? [True, True] Translation: X:302.66, Y:-214.47, Z:-15.63 [[ 7.25763282e-01 6.86582261e-01 4.32718964e-02 3.02655706e+02] [-6.85487300e-01 7.27050561e-01 -3.87897343e-02 -2.14469125e+02] [-5.80932001e-02 -1.51017054e-03 9.98310022e-01 -1.56298510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17864 meters Centerline goodness [0,1] 0.9997059688326962 Centerline is valid? [True, True] Translation: X:302.68, Y:-214.49, Z:-15.63 [[ 7.26255105e-01 6.86113361e-01 4.24497252e-02 3.02678853e+02] [-6.85056880e-01 7.27493259e-01 -3.80871417e-02 -2.14491062e+02] [-5.70139857e-02 -1.41949514e-03 9.98372371e-01 -1.56320885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20864 meters Centerline goodness [0,1] 0.9993629949039592 Centerline is valid? [True, True] Translation: X:302.70, Y:-214.51, Z:-15.63 [[ 7.26463688e-01 6.85896726e-01 4.23815035e-02 3.02703279e+02] [-6.84841277e-01 7.27697596e-01 -3.80609204e-02 -2.14512340e+02] [-5.69467789e-02 -1.37472643e-03 9.98376269e-01 -1.56327973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23864 meters Centerline goodness [0,1] 0.9992174125703106 Centerline is valid? [True, True] Translation: X:302.73, Y:-214.53, Z:-15.63 [[ 7.26183144e-01 6.86184882e-01 4.25246812e-02 3.02728910e+02] [-6.85120644e-01 7.27425884e-01 -3.82267630e-02 -2.14532942e+02] [-5.71641807e-02 -1.37490600e-03 9.98363845e-01 -1.56341735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26864 meters Centerline goodness [0,1] 0.9995599882663537 Centerline is valid? [True, True] Translation: X:302.76, Y:-214.55, Z:-15.64 [[ 7.25263910e-01 6.87135361e-01 4.28632295e-02 3.02755247e+02] [-6.86053471e-01 7.26528006e-01 -3.85705999e-02 -2.14551763e+02] [-5.76445598e-02 -1.43260331e-03 9.98336142e-01 -1.56353381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29864 meters Centerline goodness [0,1] 0.9995106435037925 Centerline is valid? [True, True] Translation: X:302.78, Y:-214.57, Z:-15.64 [[ 7.24149128e-01 6.88323982e-01 4.26395970e-02 3.02779898e+02] [-6.87253288e-01 7.25401867e-01 -3.84063820e-02 -2.14573218e+02] [-5.73668771e-02 -1.49225512e-03 9.98352049e-01 -1.56363468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32864 meters Centerline goodness [0,1] 0.9996564417177914 Centerline is valid? [True, True] Translation: X:302.80, Y:-214.59, Z:-15.64 [[ 7.20921548e-01 6.91756486e-01 4.17742078e-02 3.02803587e+02] [-6.90732460e-01 7.22128844e-01 -3.76643192e-02 -2.14594712e+02] [-5.62208975e-02 -1.70178200e-03 9.98416904e-01 -1.56375510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35864 meters Centerline goodness [0,1] 0.9994619974567153 Centerline is valid? [True, True] Translation: X:302.83, Y:-214.61, Z:-15.64 [[ 7.18746085e-01 6.94009450e-01 4.18920922e-02 3.02828464e+02] [-6.92981532e-01 7.19963491e-01 -3.78043509e-02 -2.14614424e+02] [-5.63973537e-02 -1.85871704e-03 9.98406672e-01 -1.56383893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38864 meters Centerline goodness [0,1] 0.999510906778832 Centerline is valid? [True, True] Translation: X:302.86, Y:-214.63, Z:-15.64 [[ 7.17059186e-01 6.95784940e-01 4.13453860e-02 3.02857403e+02] [-6.94784856e-01 7.18247533e-01 -3.73428095e-02 -2.14629839e+02] [-5.56787860e-02 -1.94914346e-03 9.98446831e-01 -1.56394726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41864 meters Centerline goodness [0,1] 0.999510906778832 Centerline is valid? [True, True] Translation: X:302.88, Y:-214.65, Z:-15.64 [[ 7.16702731e-01 6.96153142e-01 4.13279352e-02 3.02881733e+02] [-6.95152558e-01 7.17890656e-01 -3.73621156e-02 -2.14651425e+02] [-5.56786926e-02 -1.95168956e-03 9.98446831e-01 -1.56407181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44864 meters Centerline goodness [0,1] 0.9999021287007585 Centerline is valid? [True, True] Translation: X:302.91, Y:-214.67, Z:-15.64 [[ 7.16216902e-01 6.96617498e-01 4.19214771e-02 3.02907865e+02] [-6.95586504e-01 7.17439969e-01 -3.79381961e-02 -2.14671242e+02] [-5.65045545e-02 -1.98803642e-03 9.98400362e-01 -1.56420777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47864 meters Centerline goodness [0,1] 0.9998528546203649 Centerline is valid? [True, True] Translation: X:302.93, Y:-214.69, Z:-15.64 [[ 7.17109137e-01 6.95633024e-01 4.30021157e-02 3.02934989e+02] [-6.94544109e-01 7.18394714e-01 -3.89553020e-02 -2.14688642e+02] [-5.79910872e-02 -1.93166314e-03 9.98315232e-01 -1.56437823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50864 meters Centerline goodness [0,1] 0.9998043148573944 Centerline is valid? [True, True] Translation: X:302.96, Y:-214.71, Z:-15.65 [[ 7.17540701e-01 6.95260205e-01 4.18161421e-02 3.02960726e+02] [-6.94228039e-01 7.18755812e-01 -3.79145465e-02 -2.14707954e+02] [-5.64160706e-02 -1.82470805e-03 9.98405678e-01 -1.56450037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53864 meters Centerline goodness [0,1] 0.9999019944136815 Centerline is valid? [True, True] Translation: X:302.99, Y:-214.73, Z:-15.65 [[ 7.18364353e-01 6.94427829e-01 4.15047824e-02 3.02986802e+02] [-6.93407694e-01 7.19560300e-01 -3.76662265e-02 -2.14727240e+02] [-5.60216696e-02 -1.72166103e-03 9.98428069e-01 -1.56465277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56864 meters Centerline goodness [0,1] 0.9996090313752322 Centerline is valid? [True, True] Translation: X:303.01, Y:-214.75, Z:-15.65 [[ 7.19931929e-01 6.92799404e-01 4.15572295e-02 3.03013086e+02] [-6.91772038e-01 7.21128639e-01 -3.77482841e-02 -2.14746237e+02] [-5.61200971e-02 -1.57193438e-03 9.98422788e-01 -1.56473744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59864 meters Centerline goodness [0,1] 0.9998529411764706 Centerline is valid? [True, True] Translation: X:303.04, Y:-214.77, Z:-15.65 [[ 7.20879352e-01 6.91767526e-01 4.23160825e-02 3.03038371e+02] [-6.90698441e-01 7.22118731e-01 -3.84733960e-02 -2.14765662e+02] [-5.71718818e-02 -1.49297542e-03 9.98363234e-01 -1.56481263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62864 meters Centerline goodness [0,1] 0.9998534010946052 Centerline is valid? [True, True] Translation: X:303.07, Y:-214.78, Z:-15.65 [[ 7.21603413e-01 6.90924500e-01 4.37247022e-02 3.03065341e+02] [-6.89779125e-01 7.22925478e-01 -3.97933732e-02 -2.14784997e+02] [-5.91039177e-02 -1.44535285e-03 9.98250789e-01 -1.56502123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65864 meters Centerline goodness [0,1] 0.9999510811075237 Centerline is valid? [True, True] Translation: X:303.09, Y:-214.81, Z:-15.65 [[ 7.21712746e-01 6.90774753e-01 4.42826573e-02 3.03091828e+02] [-6.89597072e-01 7.23068616e-01 -4.03442066e-02 -2.14805241e+02] [-5.98881591e-02 -1.42026268e-03 9.98204083e-01 -1.56519799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68864 meters Centerline goodness [0,1] 0.9999019559782343 Centerline is valid? [True, True] Translation: X:303.12, Y:-214.83, Z:-15.65 [[ 7.21567323e-01 6.91000408e-01 4.31165180e-02 3.03116807e+02] [-6.89882110e-01 7.22853064e-01 -3.93207639e-02 -2.14825308e+02] [-5.83375710e-02 -1.37273608e-03 9.98295970e-01 -1.56515775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71864 meters Centerline goodness [0,1] 0.9999510667449599 Centerline is valid? [True, True] Translation: X:303.14, Y:-214.85, Z:-15.65 [[ 7.21659558e-01 6.90927028e-01 4.27472178e-02 3.03142303e+02] [-6.89825611e-01 7.22923285e-01 -3.90198743e-02 -2.14845247e+02] [-5.78628449e-02 -1.32906043e-03 9.98323657e-01 -1.56522703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74864 meters Centerline goodness [0,1] 0.9999022339541477 Centerline is valid? [True, True] Translation: X:303.17, Y:-214.86, Z:-15.65 [[ 7.23849235e-01 6.88684242e-01 4.19082364e-02 3.03168750e+02] [-6.87619905e-01 7.25060551e-01 -3.82892177e-02 -2.14863991e+02] [-5.67551898e-02 -1.10131660e-03 9.98387518e-01 -1.56537574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77864 meters Centerline goodness [0,1] 0.9998533437622213 Centerline is valid? [True, True] Translation: X:303.19, Y:-214.88, Z:-15.66 [[ 7.27016109e-01 6.85315805e-01 4.23063124e-02 3.03194176e+02] [-6.84223320e-01 7.28245547e-01 -3.86894345e-02 -2.14884258e+02] [-5.73238646e-02 -8.19123401e-04 9.98355299e-01 -1.56564530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80864 meters Centerline goodness [0,1] 0.9997554175023236 Centerline is valid? [True, True] Translation: X:303.22, Y:-214.90, Z:-15.66 [[ 7.28999390e-01 6.83162103e-01 4.30050077e-02 3.03219346e+02] [-6.82027263e-01 7.30266486e-01 -3.93658731e-02 -2.14904405e+02] [-5.82983885e-02 -6.32890187e-04 9.98299002e-01 -1.56572088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83864 meters Centerline goodness [0,1] 0.999510355971209 Centerline is valid? [True, True] Translation: X:303.25, Y:-214.92, Z:-15.66 [[ 7.30689303e-01 6.81338079e-01 4.32615886e-02 3.03245194e+02] [-6.80184245e-01 7.31968721e-01 -3.96381669e-02 -2.14923600e+02] [-5.86731221e-02 -4.62666492e-04 9.98277141e-01 -1.56583880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86864 meters Centerline goodness [0,1] 0.9991678496255323 Centerline is valid? [True, True] Translation: X:303.27, Y:-214.94, Z:-15.66 [[ 7.34963866e-01 6.76736636e-01 4.30771481e-02 3.03271621e+02] [-6.75582511e-01 7.36225184e-01 -3.95063326e-02 -2.14942204e+02] [-5.84498639e-02 -6.64408945e-05 9.98290343e-01 -1.56611316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89864 meters Centerline goodness [0,1] 0.9990704046186213 Centerline is valid? [True, True] Translation: X:303.30, Y:-214.96, Z:-15.66 [[ 7.36567662e-01 6.74982620e-01 4.32035034e-02 3.03295990e+02] [-6.73816385e-01 7.37833621e-01 -3.96613924e-02 -2.14964948e+02] [-5.86477480e-02 1.02070576e-04 9.98278734e-01 -1.56622706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92864 meters Centerline goodness [0,1] 0.9989731553469268 Centerline is valid? [True, True] Translation: X:303.32, Y:-214.99, Z:-15.66 [[ 7.39479864e-01 6.71758541e-01 4.37034754e-02 3.03318963e+02] [-6.70557028e-01 7.40770078e-01 -4.01617182e-02 -2.14987925e+02] [-5.93532041e-02 3.93109279e-04 9.98236967e-01 -1.56633956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95864 meters Centerline goodness [0,1] 0.998776728482654 Centerline is valid? [True, True] Translation: X:303.34, Y:-215.01, Z:-15.67 [[ 7.41117250e-01 6.69996719e-01 4.30071826e-02 3.03342775e+02] [-6.68828035e-01 7.42363852e-01 -3.95597060e-02 -2.15010413e+02] [-5.84318510e-02 5.53971128e-04 9.98291246e-01 -1.56658823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98864 meters Centerline goodness [0,1] 0.9988760201339002 Centerline is valid? [True, True] Translation: X:303.37, Y:-215.03, Z:-15.67 [[ 7.41444181e-01 6.69686148e-01 4.22017804e-02 3.03365320e+02] [-6.68558070e-01 7.42643998e-01 -3.88587254e-02 -2.15034113e+02] [-5.73640490e-02 5.97234954e-04 9.98353149e-01 -1.56671678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01864 meters Centerline goodness [0,1] 0.9982390060167294 Centerline is valid? [True, True] Translation: X:303.39, Y:-215.06, Z:-15.67 [[ 7.41567053e-01 6.69568226e-01 4.19129718e-02 3.03387868e+02] [-6.68453089e-01 7.42750289e-01 -3.86325678e-02 -2.15058587e+02] [-5.69980118e-02 6.31783947e-04 9.98374092e-01 -1.56679238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04864 meters Centerline goodness [0,1] 0.9987274862960063 Centerline is valid? [True, True] Translation: X:303.41, Y:-215.08, Z:-15.67 [[ 7.40936566e-01 6.70264576e-01 4.19333340e-02 3.03409623e+02] [-6.69147176e-01 7.42121977e-01 -3.86914411e-02 -2.15084022e+02] [-5.70531511e-02 6.08331453e-04 9.98370957e-01 -1.56694101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07864 meters Centerline goodness [0,1] 0.9982397809505182 Centerline is valid? [True, True] Translation: X:303.43, Y:-215.11, Z:-15.67 [[ 7.40201330e-01 6.71085900e-01 4.17816473e-02 3.03433053e+02] [-6.69975606e-01 7.41379381e-01 -3.85914582e-02 -2.15106700e+02] [-5.68742353e-02 5.72764197e-04 9.98381186e-01 -1.56699716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10864 meters Centerline goodness [0,1] 0.9987269878574226 Centerline is valid? [True, True] Translation: X:303.45, Y:-215.13, Z:-15.67 [[ 7.38906501e-01 6.72537841e-01 4.13525742e-02 3.03454486e+02] [-6.71450380e-01 7.40062577e-01 -3.82330876e-02 -2.15131417e+02] [-5.63166908e-02 4.84475373e-04 9.98412838e-01 -1.56711677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13864 meters Centerline goodness [0,1] 0.9984833659491194 Centerline is valid? [True, True] Translation: X:303.48, Y:-215.16, Z:-15.67 [[ 7.37812187e-01 6.73728650e-01 4.15076274e-02 3.03477356e+02] [-6.72632807e-01 7.38978706e-01 -3.84132650e-02 -2.15155882e+02] [-5.65533700e-02 4.22383140e-04 9.98399488e-01 -1.56726322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16864 meters Centerline goodness [0,1] 0.9994617868675996 Centerline is valid? [True, True] Translation: X:303.50, Y:-215.18, Z:-15.68 [[ 7.35824779e-01 6.75791625e-01 4.32154332e-02 3.03499038e+02] [-6.74604779e-01 7.37092658e-01 -4.00350700e-02 -2.15179782e+02] [-5.89091435e-02 3.05458807e-04 9.98263302e-01 -1.56752705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19864 meters Centerline goodness [0,1] 0.9993634627625716 Centerline is valid? [True, True] Translation: X:303.52, Y:-215.20, Z:-15.68 [[ 7.34948289e-01 6.76686078e-01 4.41244235e-02 3.03522982e+02] [-6.75447912e-01 7.36271607e-01 -4.09174500e-02 -2.15202018e+02] [-6.01758290e-02 2.68460165e-04 9.98187757e-01 -1.56762635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22864 meters Centerline goodness [0,1] 0.9998043818466353 Centerline is valid? [True, True] Translation: X:303.55, Y:-215.22, Z:-15.68 [[ 7.34039561e-01 6.77623356e-01 4.48610170e-02 3.03547682e+02] [-6.76342486e-01 7.35409094e-01 -4.16449990e-02 -2.15224217e+02] [-6.12108238e-02 2.27665019e-04 9.98124833e-01 -1.56773620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25864 meters Centerline goodness [0,1] 0.9996084381577015 Centerline is valid? [True, True] Translation: X:303.57, Y:-215.25, Z:-15.68 [[ 7.33577053e-01 6.78095909e-01 4.52840554e-02 3.03572270e+02] [-6.76788866e-01 7.34973393e-01 -4.20825812e-02 -2.15246655e+02] [-6.18186020e-02 2.23071368e-04 9.98087376e-01 -1.56789469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28864 meters Centerline goodness [0,1] 0.9998531714956931 Centerline is valid? [True, True] Translation: X:303.60, Y:-215.27, Z:-15.68 [[ 7.32745964e-01 6.78969519e-01 4.56480490e-02 3.03597309e+02] [-6.77640224e-01 7.34166438e-01 -4.24660777e-02 -2.15268549e+02] [-6.23464379e-02 1.83892916e-04 9.98054552e-01 -1.56796334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31864 meters Centerline goodness [0,1] 0.9998044679082955 Centerline is valid? [True, True] Translation: X:303.62, Y:-215.29, Z:-15.68 [[ 7.31643339e-01 6.80237584e-01 4.44393279e-02 3.03622207e+02] [-6.78977657e-01 7.32991690e-01 -4.13826479e-02 -2.15289628e+02] [-6.07236905e-02 1.04027939e-04 9.98154609e-01 -1.56810977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.65, Y:-215.31, Z:-15.68 [[ 7.30789564e-01 6.81163812e-01 4.42998139e-02 3.03648666e+02] [-6.79911050e-01 7.32131038e-01 -4.12929346e-02 -2.15308948e+02] [-6.05605215e-02 5.65127069e-05 9.98164526e-01 -1.56838143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37864 meters Centerline goodness [0,1] 0.9999511121975068 Centerline is valid? [True, True] Translation: X:303.67, Y:-215.33, Z:-15.68 [[ 7.30257821e-01 6.81675151e-01 4.51940581e-02 3.03673124e+02] [-6.80369563e-01 7.31654964e-01 -4.21695666e-02 -2.15329407e+02] [-6.18124026e-02 4.59942826e-05 9.98087784e-01 -1.56849090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40864 meters Centerline goodness [0,1] 0.999902186139776 Centerline is valid? [True, True] Translation: X:303.70, Y:-215.35, Z:-15.68 [[ 7.30062685e-01 6.81844927e-01 4.57817752e-02 3.03699527e+02] [-6.80502827e-01 7.31496748e-01 -4.27599239e-02 -2.15349170e+02] [-6.26448569e-02 6.27974318e-05 9.98035880e-01 -1.56849687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.72, Y:-215.37, Z:-15.69 [[ 7.29988146e-01 6.81857915e-01 4.67663439e-02 3.03724257e+02] [-6.80454588e-01 7.31484637e-01 -4.37238862e-02 -2.15370247e+02] [-6.40223400e-02 9.55453039e-05 9.97948461e-01 -1.56867151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46864 meters Centerline goodness [0,1] 0.9998531786815446 Centerline is valid? [True, True] Translation: X:303.75, Y:-215.39, Z:-15.69 [[ 7.31386913e-01 6.80450751e-01 4.53867789e-02 3.03748755e+02] [-6.79123968e-01 7.32793776e-01 -4.24725473e-02 -2.15390633e+02] [-6.21596258e-02 2.40615819e-04 9.98066192e-01 -1.56878131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49864 meters Centerline goodness [0,1] 0.9999511121975068 Centerline is valid? [True, True] Translation: X:303.77, Y:-215.41, Z:-15.69 [[ 7.31596568e-01 6.80270159e-01 4.47098839e-02 3.03773009e+02] [-6.78979878e-01 7.32961412e-01 -4.18795121e-02 -2.15412861e+02] [-6.12600020e-02 2.81795731e-04 9.98121803e-01 -1.56900436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52864 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:303.80, Y:-215.43, Z:-15.69 [[ 7.32333794e-01 6.79517216e-01 4.40859197e-02 3.03798653e+02] [-6.78258747e-01 7.33659468e-01 -4.13383150e-02 -2.15433903e+02] [-6.04341491e-02 3.71784376e-04 9.98172117e-01 -1.56905032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.82, Y:-215.46, Z:-15.69 [[ 7.32347281e-01 6.79446740e-01 4.49398245e-02 3.03822610e+02] [-6.78136224e-01 7.33724713e-01 -4.21818394e-02 -2.15455143e+02] [-6.16337730e-02 4.16432514e-04 9.98098745e-01 -1.56926567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.85, Y:-215.48, Z:-15.69 [[ 7.33051397e-01 6.78678928e-01 4.50617487e-02 3.03845414e+02] [-6.77357294e-01 7.34434918e-01 -4.23372987e-02 -2.15479402e+02] [-6.18283542e-02 5.12511800e-04 9.98086666e-01 -1.56938611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61864 meters Centerline goodness [0,1] 0.999902186139776 Centerline is valid? [True, True] Translation: X:303.87, Y:-215.50, Z:-15.69 [[ 7.33627625e-01 6.77985695e-01 4.61075382e-02 3.03868410e+02] [-6.76597820e-01 7.35074838e-01 -4.33632567e-02 -2.15501424e+02] [-6.32921589e-02 6.16223206e-04 9.97994851e-01 -1.56939788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.89, Y:-215.52, Z:-15.70 [[ 7.34774276e-01 6.76755300e-01 4.59241528e-02 3.03893800e+02] [-6.75373437e-01 7.36207648e-01 -4.32321502e-02 -2.15523221e+02] [-6.30672993e-02 7.49918922e-04 9.98008995e-01 -1.56950802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67864 meters Centerline goodness [0,1] 0.9998043531425777 Centerline is valid? [True, True] Translation: X:303.92, Y:-215.55, Z:-15.70 [[ 7.37621408e-01 6.73650644e-01 4.59289528e-02 3.03916683e+02] [-6.72259758e-01 7.39049195e-01 -4.32793818e-02 -2.15545417e+02] [-6.30989390e-02 1.04761181e-03 9.98006727e-01 -1.56981455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70864 meters Centerline goodness [0,1] 0.9996084764841189 Centerline is valid? [True, True] Translation: X:303.94, Y:-215.57, Z:-15.70 [[ 7.42830348e-01 6.67955797e-01 4.51456336e-02 3.03937359e+02] [-6.66599721e-01 7.44199383e-01 -4.25686518e-02 -2.15570150e+02] [-6.20313304e-02 1.52721962e-03 9.98073034e-01 -1.56995540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73864 meters Centerline goodness [0,1] 0.9991691916723683 Centerline is valid? [True, True] Translation: X:303.96, Y:-215.59, Z:-15.70 [[ 7.44748126e-01 6.65795981e-01 4.54526154e-02 3.03960471e+02] [-6.64416026e-01 7.46131826e-01 -4.28794001e-02 -2.15592056e+02] [-6.24625752e-02 1.73490686e-03 9.98045799e-01 -1.57000754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76864 meters Centerline goodness [0,1] 0.9988763496018369 Centerline is valid? [True, True] Translation: X:303.98, Y:-215.61, Z:-15.70 [[ 7.46191212e-01 6.64215035e-01 4.49117060e-02 3.03983212e+02] [-6.62862692e-01 7.47539219e-01 -4.24048214e-02 -2.15614175e+02] [-6.17391816e-02 1.87181078e-03 9.98090562e-01 -1.57003343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79864 meters Centerline goodness [0,1] 0.9991196752579841 Centerline is valid? [True, True] Translation: X:304.00, Y:-215.64, Z:-15.70 [[ 7.48230494e-01 6.62022166e-01 4.33333569e-02 3.04004691e+02] [-6.60757647e-01 7.49481574e-01 -4.09475519e-02 -2.15637794e+02] [-5.95857396e-02 2.00536004e-03 9.98221177e-01 -1.57005786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82864 meters Centerline goodness [0,1] 0.998581629658613 Centerline is valid? [True, True] Translation: X:304.03, Y:-215.66, Z:-15.70 [[ 7.48511564e-01 6.61800850e-01 4.18338819e-02 3.04025986e+02] [-6.60620042e-01 7.49677076e-01 -3.95656621e-02 -2.15663564e+02] [-5.75464911e-02 1.97905482e-03 9.98340866e-01 -1.57023386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85864 meters Centerline goodness [0,1] 0.9990219570639151 Centerline is valid? [True, True] Translation: X:304.05, Y:-215.69, Z:-15.70 [[ 7.47218512e-01 6.63249333e-01 4.20097404e-02 3.04047334e+02] [-6.62058661e-01 7.48396084e-01 -3.97697261e-02 -2.15687713e+02] [-5.78171695e-02 1.90376306e-03 9.98325373e-01 -1.57042202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88864 meters Centerline goodness [0,1] 0.9988755255695707 Centerline is valid? [True, True] Translation: X:304.07, Y:-215.71, Z:-15.71 [[ 7.46404131e-01 6.64176925e-01 4.18316470e-02 3.04068495e+02] [-6.62995818e-01 7.47573134e-01 -3.96352641e-02 -2.15712020e+02] [-5.75970433e-02 1.84971786e-03 9.98338199e-01 -1.57052497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91864 meters Centerline goodness [0,1] 0.9993637742866931 Centerline is valid? [True, True] Translation: X:304.09, Y:-215.74, Z:-15.71 [[ 7.45444675e-01 6.65278967e-01 4.14262380e-02 3.04086517e+02] [-6.64120426e-01 7.46592763e-01 -3.92849317e-02 -2.15740103e+02] [-5.70639683e-02 1.77273235e-03 9.98368950e-01 -1.57057226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94864 meters Centerline goodness [0,1] 0.9993641788124816 Centerline is valid? [True, True] Translation: X:304.11, Y:-215.76, Z:-15.71 [[ 7.44883184e-01 6.65939927e-01 4.09030029e-02 3.04107771e+02] [-6.64809596e-01 7.46003376e-01 -3.88222281e-02 -2.15764518e+02] [-5.63670500e-02 1.72531605e-03 9.98408623e-01 -1.57058459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97864 meters Centerline goodness [0,1] 0.9996577519190338 Centerline is valid? [True, True] Translation: X:304.13, Y:-215.79, Z:-15.71 [[ 7.43320567e-01 6.67616249e-01 4.19890267e-02 3.04126115e+02] [-6.66425642e-01 7.44503703e-01 -3.98885851e-02 -2.15792228e+02] [-5.78912534e-02 1.66744165e-03 9.98321503e-01 -1.57077140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00864 meters Centerline goodness [0,1] 0.9994619974567153 Centerline is valid? [True, True] Translation: X:304.15, Y:-215.82, Z:-15.71 [[ 7.42961714e-01 6.68018220e-01 4.19469914e-02 3.04147200e+02] [-6.66828509e-01 7.44143062e-01 -3.98853833e-02 -2.15817615e+02] [-5.78587253e-02 1.66186296e-03 9.98323398e-01 -1.57096690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03864 meters Centerline goodness [0,1] 0.9994123408423115 Centerline is valid? [True, True] Translation: X:304.17, Y:-215.85, Z:-15.71 [[ 7.42279221e-01 6.68821134e-01 4.12292209e-02 3.04165294e+02] [-6.67671218e-01 7.43421646e-01 -3.92351855e-02 -2.15845474e+02] [-5.68920165e-02 1.59589877e-03 9.98379062e-01 -1.57099666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06864 meters Centerline goodness [0,1] 0.9998532863849765 Centerline is valid? [True, True] Translation: X:304.19, Y:-215.87, Z:-15.71 [[ 7.41125137e-01 6.70111422e-01 4.10391732e-02 3.04186467e+02] [-6.68972710e-01 7.42258990e-01 -3.90781932e-02 -2.15869848e+02] [-5.66484389e-02 1.50774434e-03 9.98393049e-01 -1.57111485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09864 meters Centerline goodness [0,1] 0.9994612068965517 Centerline is valid? [True, True] Translation: X:304.20, Y:-215.90, Z:-15.71 [[ 7.38303943e-01 6.73286760e-01 3.99027310e-02 3.04203218e+02] [-6.72213323e-01 7.39380400e-01 -3.80246386e-02 -2.15899074e+02] [-5.51047829e-02 1.25059317e-03 9.98479794e-01 -1.57119353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12864 meters Centerline goodness [0,1] 0.9997062423500612 Centerline is valid? [True, True] Translation: X:304.22, Y:-215.93, Z:-15.71 [[ 7.35628831e-01 6.76236314e-01 3.94293050e-02 3.04223187e+02] [-6.75191182e-01 7.36684041e-01 -3.75964173e-02 -2.15925013e+02] [-5.44710024e-02 1.03468941e-03 9.98514817e-01 -1.57125695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15864 meters Centerline goodness [0,1] 0.9996091268871843 Centerline is valid? [True, True] Translation: X:304.24, Y:-215.95, Z:-15.71 [[ 7.29961579e-01 6.82357586e-01 3.92965494e-02 3.04242612e+02] [-6.81326781e-01 7.31018309e-01 -3.74973309e-02 -2.15951999e+02] [-5.43130853e-02 5.97819354e-04 9.98523776e-01 -1.57137320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18864 meters Centerline goodness [0,1] 0.9999510787143486 Centerline is valid? [True, True] Translation: X:304.26, Y:-215.98, Z:-15.72 [[ 7.25718072e-01 6.86868735e-01 3.93016586e-02 3.04264607e+02] [-6.85843196e-01 7.26781442e-01 -3.75212775e-02 -2.15975703e+02] [-5.43359085e-02 2.75094093e-04 9.98522675e-01 -1.57158139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21864 meters Centerline goodness [0,1] 0.9999510523739599 Centerline is valid? [True, True] Translation: X:304.28, Y:-216.00, Z:-15.72 [[ 7.18415690e-01 6.94534373e-01 3.87414686e-02 3.04284187e+02] [-6.93547410e-01 7.19459470e-01 -3.70143475e-02 -2.16002221e+02] [-5.35806531e-02 -2.77357152e-04 9.98563487e-01 -1.57172160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24864 meters Centerline goodness [0,1] 0.9999510835004647 Centerline is valid? [True, True] Translation: X:304.31, Y:-216.03, Z:-15.72 [[ 7.15679039e-01 6.97362962e-01 3.85799509e-02 3.04306153e+02] [-6.96387222e-01 7.16717989e-01 -3.68803619e-02 -2.16026426e+02] [-5.33699433e-02 -4.72082851e-04 9.98574697e-01 -1.57184424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27864 meters Centerline goodness [0,1] 0.9999021191210297 Centerline is valid? [True, True] Translation: X:304.33, Y:-216.05, Z:-15.72 [[ 7.12562235e-01 7.00512660e-01 3.92055379e-02 3.04328207e+02] [-6.99507572e-01 7.13639640e-01 -3.75182656e-02 -2.16050340e+02] [-5.42606460e-02 -6.90471451e-04 9.98526567e-01 -1.57187652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30864 meters Centerline goodness [0,1] 0.999951045185294 Centerline is valid? [True, True] Translation: X:304.35, Y:-216.07, Z:-15.72 [[ 7.11713288e-01 7.01409549e-01 3.85855005e-02 3.04352368e+02] [-7.00435417e-01 7.12758111e-01 -3.69608124e-02 -2.16072401e+02] [-5.34267952e-02 -7.21149773e-04 9.98571508e-01 -1.57203647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33864 meters Centerline goodness [0,1] 0.999951045185294 Centerline is valid? [True, True] Translation: X:304.38, Y:-216.09, Z:-15.72 [[ 7.11338970e-01 7.01790254e-01 3.85656484e-02 3.04376028e+02] [-7.00815559e-01 7.12383267e-01 -3.69815180e-02 -2.16094650e+02] [-5.34267915e-02 -7.21011552e-04 9.98571509e-01 -1.57216095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36864 meters Centerline goodness [0,1] 0.9997552498898624 Centerline is valid? [True, True] Translation: X:304.40, Y:-216.12, Z:-15.72 [[ 7.09661674e-01 7.03458543e-01 3.90690174e-02 3.04399892e+02] [-7.02458627e-01 7.10735809e-01 -3.75031635e-02 -2.16115585e+02] [-5.41496704e-02 -8.29810511e-04 9.98532486e-01 -1.57239090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39864 meters Centerline goodness [0,1] 0.999804171154411 Centerline is valid? [True, True] Translation: X:304.42, Y:-216.14, Z:-15.73 [[ 7.08761934e-01 7.04319761e-01 3.98772486e-02 3.04424459e+02] [-7.03277369e-01 7.09882303e-01 -3.83152350e-02 -2.16136538e+02] [-5.52943302e-02 -8.88386411e-04 9.98469703e-01 -1.57254888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42864 meters Centerline goodness [0,1] 0.9995590828924162 Centerline is valid? [True, True] Translation: X:304.45, Y:-216.16, Z:-15.73 [[ 7.06636514e-01 7.06387517e-01 4.10062458e-02 3.04451674e+02] [-7.05286550e-01 7.07824531e-01 -3.94374888e-02 -2.16155029e+02] [-5.68833765e-02 -1.05318401e-03 9.98380274e-01 -1.57263915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45864 meters Centerline goodness [0,1] 0.9991669116926394 Centerline is valid? [True, True] Translation: X:304.48, Y:-216.18, Z:-15.73 [[ 7.06232612e-01 7.06801449e-01 4.08314643e-02 3.04477240e+02] [-7.05708385e-01 7.07411195e-01 -3.93074643e-02 -2.16175563e+02] [-5.66672076e-02 -1.05489350e-03 9.98392565e-01 -1.57265079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48864 meters Centerline goodness [0,1] 0.998581352118188 Centerline is valid? [True, True] Translation: X:304.50, Y:-216.19, Z:-15.73 [[ 7.06946472e-01 7.06005503e-01 4.22245803e-02 3.04503893e+02] [-7.04832504e-01 7.08205650e-01 -4.06927500e-02 -2.16194933e+02] [-5.86329917e-02 -9.93660590e-04 9.98279112e-01 -1.57276575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51864 meters Centerline goodness [0,1] 0.9985330073349633 Centerline is valid? [True, True] Translation: X:304.53, Y:-216.22, Z:-15.73 [[ 7.07724799e-01 7.05214377e-01 4.24062719e-02 3.04528810e+02] [-7.04027371e-01 7.08993560e-01 -4.09095700e-02 -2.16215456e+02] [-5.89157906e-02 -9.02458920e-04 9.98262548e-01 -1.57300868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54864 meters Centerline goodness [0,1] 0.9971593691840532 Centerline is valid? [True, True] Translation: X:304.56, Y:-216.23, Z:-15.73 [[ 7.09427868e-01 7.03562721e-01 4.13714637e-02 3.04556482e+02] [-7.02428065e-01 7.10632802e-01 -3.99478945e-02 -2.16233025e+02] [-5.75057685e-02 -7.20327541e-04 9.98344914e-01 -1.57323808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57864 meters Centerline goodness [0,1] 0.9977492905372346 Centerline is valid? [True, True] Translation: X:304.58, Y:-216.25, Z:-15.73 [[ 7.09176068e-01 7.03801232e-01 4.16308810e-02 3.04582793e+02] [-7.02650400e-01 7.10396589e-01 -4.02380702e-02 -2.16253544e+02] [-5.78940393e-02 -7.16078762e-04 9.98322477e-01 -1.57341787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60864 meters Centerline goodness [0,1] 0.9978961788737218 Centerline is valid? [True, True] Translation: X:304.61, Y:-216.27, Z:-15.74 [[ 7.09145222e-01 7.03776112e-01 4.25703859e-02 3.04609666e+02] [-7.02569985e-01 7.10421492e-01 -4.11912469e-02 -2.16272890e+02] [-5.92323326e-02 -6.98099476e-04 9.98243980e-01 -1.57351816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63864 meters Centerline goodness [0,1] 0.9974587039390089 Centerline is valid? [True, True] Translation: X:304.63, Y:-216.29, Z:-15.73 [[ 7.09017749e-01 7.03932953e-01 4.20978488e-02 3.04634422e+02] [-7.02751189e-01 7.10266109e-01 -4.07777004e-02 -2.16294717e+02] [-5.86054423e-02 -6.72199891e-04 9.98280998e-01 -1.57349740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66864 meters Centerline goodness [0,1] 0.9975536963647929 Centerline is valid? [True, True] Translation: X:304.66, Y:-216.31, Z:-15.74 [[ 7.07572599e-01 7.05418041e-01 4.15500115e-02 3.04663159e+02] [-7.04266909e-01 7.08791096e-01 -4.02902248e-02 -2.16312945e+02] [-5.78717297e-02 -7.54039110e-04 9.98323742e-01 -1.57365833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69864 meters Centerline goodness [0,1] 0.997360058665363 Centerline is valid? [True, True] Translation: X:304.69, Y:-216.33, Z:-15.74 [[ 7.06328008e-01 7.06683549e-01 4.12202277e-02 3.04690381e+02] [-7.05550306e-01 7.07529285e-01 -4.00134657e-02 -2.16332973e+02] [-5.74413761e-02 -8.20312792e-04 9.98348544e-01 -1.57376501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72864 meters Centerline goodness [0,1] 0.9973560517038778 Centerline is valid? [True, True] Translation: X:304.72, Y:-216.35, Z:-15.74 [[ 7.05420068e-01 7.07587908e-01 4.12538408e-02 3.04716152e+02] [-7.06451868e-01 7.06624798e-01 -4.00893062e-02 -2.16353838e+02] [-5.75176952e-02 -8.64051831e-04 9.98344113e-01 -1.57391357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75864 meters Centerline goodness [0,1] 0.9969625710366451 Centerline is valid? [True, True] Translation: X:304.74, Y:-216.38, Z:-15.74 [[ 7.05816355e-01 7.07174811e-01 4.15579131e-02 3.04741033e+02] [-7.06018684e-01 7.07038286e-01 -4.04287039e-02 -2.16375843e+02] [-5.79731967e-02 -8.05422727e-04 9.98317815e-01 -1.57401336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78864 meters Centerline goodness [0,1] 0.9975037932553472 Centerline is valid? [True, True] Translation: X:304.77, Y:-216.40, Z:-15.74 [[ 7.06586415e-01 7.06416920e-01 4.13614886e-02 3.04766685e+02] [-7.05268013e-01 7.07795613e-01 -4.02790210e-02 -2.16395868e+02] [-5.77292622e-02 -7.10325774e-04 9.98332023e-01 -1.57407855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81864 meters Centerline goodness [0,1] 0.9968687313469348 Centerline is valid? [True, True] Translation: X:304.80, Y:-216.41, Z:-15.74 [[ 7.08385127e-01 7.04656584e-01 4.06153970e-02 3.04795209e+02] [-7.03543788e-01 7.09548320e-01 -3.95894071e-02 -2.16412219e+02] [-5.67155231e-02 -5.30162992e-04 9.98390239e-01 -1.57420933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84864 meters Centerline goodness [0,1] 0.9965250587314017 Centerline is valid? [True, True] Translation: X:304.82, Y:-216.43, Z:-15.74 [[ 7.11149678e-01 7.01887891e-01 4.02432983e-02 3.04821565e+02] [-7.00788880e-01 7.12287379e-01 -3.92636716e-02 -2.16431006e+02] [-5.62234892e-02 -2.79708502e-04 9.98418169e-01 -1.57427380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87864 meters Centerline goodness [0,1] 0.9961846996673841 Centerline is valid? [True, True] Translation: X:304.85, Y:-216.45, Z:-15.74 [[ 7.12473475e-01 7.00552849e-01 4.00905749e-02 3.04847270e+02] [-6.99457884e-01 7.13600508e-01 -3.91533321e-02 -2.16452229e+02] [-5.60376329e-02 -1.45958168e-04 9.98428647e-01 -1.57436642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90864 meters Centerline goodness [0,1] 0.996470242180606 Centerline is valid? [True, True] Translation: X:304.87, Y:-216.47, Z:-15.74 [[ 7.13509386e-01 6.99459908e-01 4.07454784e-02 3.04872993e+02] [-6.98324582e-01 7.14671839e-01 -3.98364298e-02 -2.16472625e+02] [-5.69836315e-02 -2.99026560e-05 9.98375112e-01 -1.57445426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93864 meters Centerline goodness [0,1] 0.9953944145026947 Centerline is valid? [True, True] Translation: X:304.90, Y:-216.49, Z:-15.75 [[ 7.15026004e-01 6.97833764e-01 4.20220333e-02 3.04899763e+02] [-6.96620777e-01 7.16259743e-01 -4.11275260e-02 -2.16491672e+02] [-5.87988671e-02 1.33829089e-04 9.98269841e-01 -1.57464529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96864 meters Centerline goodness [0,1] 0.9952546352918155 Centerline is valid? [True, True] Translation: X:304.92, Y:-216.51, Z:-15.75 [[ 7.16129524e-01 6.96623971e-01 4.32844970e-02 3.04924143e+02] [-6.95332275e-01 7.17436388e-01 -4.24035013e-02 -2.16512512e+02] [-6.05931686e-02 2.69291468e-04 9.98162510e-01 -1.57480035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99864 meters Centerline goodness [0,1] 0.9957931810399647 Centerline is valid? [True, True] Translation: X:304.95, Y:-216.53, Z:-15.75 [[ 7.16746376e-01 6.95992102e-01 4.32391842e-02 3.04948908e+02] [-6.94699441e-01 7.18049351e-01 -4.24006735e-02 -2.16534026e+02] [-6.05584020e-02 3.52291995e-04 9.98164594e-01 -1.57486194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02864 meters Centerline goodness [0,1] 0.9952014885178475 Centerline is valid? [True, True] Translation: X:304.97, Y:-216.55, Z:-15.75 [[ 7.17997479e-01 6.94812549e-01 4.14142707e-02 3.04974150e+02] [-6.93622999e-01 7.19190735e-01 -4.06426097e-02 -2.16554975e+02] [-5.80237550e-02 4.55400641e-04 9.98315099e-01 -1.57490513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05864 meters Centerline goodness [0,1] 0.9960855311444928 Centerline is valid? [True, True] Translation: X:305.00, Y:-216.58, Z:-15.75 [[ 7.18538611e-01 6.94225212e-01 4.18762518e-02 3.04997492e+02] [-6.93006663e-01 7.19757654e-01 -4.11179246e-02 -2.16576908e+02] [-5.86858527e-02 5.24294932e-04 9.98276362e-01 -1.57514206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08864 meters Centerline goodness [0,1] 0.9955990220048899 Centerline is valid? [True, True] Translation: X:305.02, Y:-216.60, Z:-15.75 [[ 7.18711523e-01 6.94053642e-01 4.17527176e-02 3.05020942e+02] [-6.92839690e-01 7.19923068e-01 -4.10358400e-02 -2.16600277e+02] [-5.85398187e-02 5.64991097e-04 9.98284914e-01 -1.57512667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11864 meters Centerline goodness [0,1] 0.99506329732636 Centerline is valid? [True, True] Translation: X:305.04, Y:-216.62, Z:-15.75 [[ 7.18337408e-01 6.94422791e-01 4.20518213e-02 3.05044487e+02] [-6.93189449e-01 7.19566997e-01 -4.13730003e-02 -2.16623451e+02] [-5.89894571e-02 5.69894926e-04 9.98258443e-01 -1.57536355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14864 meters Centerline goodness [0,1] 0.995396895352823 Centerline is valid? [True, True] Translation: X:305.07, Y:-216.65, Z:-15.76 [[ 7.18332298e-01 6.94448698e-01 4.17099008e-02 3.05067748e+02] [-6.93232900e-01 7.19541975e-01 -4.10791074e-02 -2.16646887e+02] [-5.85393570e-02 5.93774123e-04 9.98284925e-01 -1.57550127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17864 meters Centerline goodness [0,1] 0.9956447271837534 Centerline is valid? [True, True] Translation: X:305.09, Y:-216.67, Z:-15.76 [[ 7.17824945e-01 6.94946941e-01 4.21437729e-02 3.05091233e+02] [-6.93703969e-01 7.19060777e-01 -4.15499968e-02 -2.16670078e+02] [-5.91789772e-02 5.90321699e-04 9.98247214e-01 -1.57569632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20864 meters Centerline goodness [0,1] 0.9955942823575484 Centerline is valid? [True, True] Translation: X:305.11, Y:-216.69, Z:-15.76 [[ 7.16029794e-01 6.96826461e-01 4.16439433e-02 3.05114709e+02] [-6.95613604e-01 7.17239620e-01 -4.10979538e-02 -2.16692699e+02] [-5.85068278e-02 4.59265917e-04 9.98286903e-01 -1.57576057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23864 meters Centerline goodness [0,1] 0.9954895327744276 Centerline is valid? [True, True] Translation: X:305.14, Y:-216.72, Z:-15.76 [[ 7.14949425e-01 6.97987553e-01 4.07516270e-02 3.05137572e+02] [-6.96825960e-01 7.16109789e-01 -4.02535985e-02 -2.16715932e+02] [-5.72791498e-02 3.82495490e-04 9.98358128e-01 -1.57576010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26864 meters Centerline goodness [0,1] 0.9958888018794049 Centerline is valid? [True, True] Translation: X:305.16, Y:-216.74, Z:-15.76 [[ 7.13605393e-01 6.99369124e-01 4.06223016e-02 3.05160759e+02] [-6.98214919e-01 7.14760617e-01 -4.01644996e-02 -2.16739951e+02] [-5.71250322e-02 2.98506488e-04 9.98366987e-01 -1.57591073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29864 meters Centerline goodness [0,1] 0.995550557402699 Centerline is valid? [True, True] Translation: X:305.18, Y:-216.76, Z:-15.76 [[ 7.11308108e-01 7.01753967e-01 3.97762043e-02 3.05183997e+02] [-7.00648879e-01 7.12419366e-01 -3.93674522e-02 -2.16762647e+02] [-5.59636040e-02 1.33234974e-04 9.98432801e-01 -1.57585863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32864 meters Centerline goodness [0,1] 0.995940526264306 Centerline is valid? [True, True] Translation: X:305.21, Y:-216.78, Z:-15.76 [[ 7.09200071e-01 7.03839745e-01 4.05570304e-02 3.05208658e+02] [-7.02691943e-01 7.10358792e-01 -4.01798405e-02 -2.16784381e+02] [-5.70902118e-02 -3.55274748e-06 9.98369024e-01 -1.57621358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35864 meters Centerline goodness [0,1] 0.995598806787618 Centerline is valid? [True, True] Translation: X:305.23, Y:-216.81, Z:-15.76 [[ 7.08546998e-01 7.04475288e-01 4.09355583e-02 3.05232178e+02] [-7.03304479e-01 7.09728517e-01 -4.05985463e-02 -2.16807167e+02] [-5.76538057e-02 -2.41833643e-05 9.98336636e-01 -1.57628846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38864 meters Centerline goodness [0,1] 0.9957944153748349 Centerline is valid? [True, True] Translation: X:305.26, Y:-216.83, Z:-15.76 [[ 7.07821093e-01 7.05171588e-01 4.15009839e-02 3.05256166e+02] [-7.03966792e-01 7.09036690e-01 -4.12034803e-02 -2.16830001e+02] [-5.84812439e-02 -5.06221121e-05 9.98288506e-01 -1.57640669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41864 meters Centerline goodness [0,1] 0.9963341316779901 Centerline is valid? [True, True] Translation: X:305.28, Y:-216.85, Z:-15.76 [[ 7.06586313e-01 7.06443607e-01 4.09049138e-02 3.05283148e+02] [-7.05272840e-01 7.07769323e-01 -4.06547215e-02 -2.16849215e+02] [-5.76715112e-02 -1.23054968e-04 9.98335606e-01 -1.57635709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44864 meters Centerline goodness [0,1] 0.9953946401450199 Centerline is valid? [True, True] Translation: X:305.31, Y:-216.87, Z:-15.77 [[ 7.06172459e-01 7.06896563e-01 4.02207269e-02 3.05308850e+02] [-7.05762977e-01 7.07316926e-01 -4.00173328e-02 -2.16870492e+02] [-5.67369159e-02 -1.27161635e-04 9.98389156e-01 -1.57653334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47864 meters Centerline goodness [0,1] 0.9953019477341686 Centerline is valid? [True, True] Translation: X:305.33, Y:-216.89, Z:-15.77 [[ 7.05943990e-01 7.07144665e-01 3.98686085e-02 3.05334444e+02] [-7.06028869e-01 7.07068886e-01 -3.97092801e-02 -2.16891904e+02] [-5.62700582e-02 -1.15860934e-04 9.98415578e-01 -1.57683830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50864 meters Centerline goodness [0,1] 0.9959399305385707 Centerline is valid? [True, True] Translation: X:305.36, Y:-216.91, Z:-15.77 [[ 7.05533681e-01 7.07525678e-01 4.03687998e-02 3.05359018e+02] [-7.06379838e-01 7.06687626e-01 -4.02507536e-02 -2.16914547e+02] [-5.70065731e-02 -1.17443960e-04 9.98373796e-01 -1.57689148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53864 meters Centerline goodness [0,1] 0.9956508991399531 Centerline is valid? [True, True] Translation: X:305.38, Y:-216.94, Z:-15.77 [[ 7.06284717e-01 7.06805348e-01 3.98509628e-02 3.05384200e+02] [-7.05685225e-01 7.07408085e-01 -3.97764285e-02 -2.16936307e+02] [-5.63050857e-02 -2.87520890e-05 9.98413610e-01 -1.57691793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56864 meters Centerline goodness [0,1] 0.9963330562753631 Centerline is valid? [True, True] Translation: X:305.41, Y:-216.96, Z:-15.77 [[ 7.06960970e-01 7.06155724e-01 3.93735961e-02 3.05407805e+02] [-7.05058972e-01 7.08056559e-01 -3.93415136e-02 -2.16958788e+02] [-5.56599680e-02 5.22073968e-05 9.98449781e-01 -1.57709503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59864 meters Centerline goodness [0,1] 0.9970654406729923 Centerline is valid? [True, True] Translation: X:305.43, Y:-216.98, Z:-15.77 [[ 7.09531180e-01 7.03584552e-01 3.91699065e-02 3.05431503e+02] [-7.02492897e-01 7.10611496e-01 -3.91794894e-02 -2.16981219e+02] [-5.54006694e-02 2.82488321e-04 9.98464164e-01 -1.57720185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62864 meters Centerline goodness [0,1] 0.9983871756023655 Centerline is valid? [True, True] Translation: X:305.42, Y:-217.11, Z:-14.21 [[ 7.50564355e-01 -6.60700015e-01 -1.13419242e-02 3.05416572e+02] [-6.60568205e-01 -7.50645529e-01 1.34512712e-02 -2.17108010e+02] [-1.74010198e-02 -2.60393014e-03 -9.99845200e-01 -1.42126975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65864 meters Centerline goodness [0,1] 0.9987786408715619 Centerline is valid? [True, True] Translation: X:305.46, Y:-217.02, Z:-15.77 [[ 7.58401874e-01 6.50154196e-01 4.61098477e-02 3.05456532e+02] [-6.48922298e-01 7.59802175e-01 -4.00063192e-02 -2.17020142e+02] [-6.10446389e-02 4.19159153e-04 9.98134949e-01 -1.57736842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68864 meters Centerline goodness [0,1] 0.9988757454296607 Centerline is valid? [True, True] Translation: X:305.48, Y:-217.04, Z:-15.78 [[ 7.57730328e-01 6.50890134e-01 4.67630647e-02 3.05480773e+02] [-6.49621983e-01 7.59171837e-01 -4.06128344e-02 -2.17041918e+02] [-6.19356949e-02 3.95261497e-04 9.98080064e-01 -1.57752934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71864 meters Centerline goodness [0,1] 0.9995112175570654 Centerline is valid? [True, True] Translation: X:305.50, Y:-217.06, Z:-15.78 [[ 7.57646246e-01 6.51094159e-01 4.52610440e-02 3.05503905e+02] [-6.49904280e-01 7.58996864e-01 -3.93470055e-02 -2.17064127e+02] [-5.99715959e-02 3.95764818e-04 9.98200006e-01 -1.57777967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74864 meters Centerline goodness [0,1] 0.999706716199042 Centerline is valid? [True, True] Translation: X:305.53, Y:-217.09, Z:-15.78 [[ 7.57334852e-01 6.51472019e-01 4.50347771e-02 3.05528411e+02] [-6.50292415e-01 7.58672561e-01 -3.91882730e-02 -2.17086071e+02] [-5.96967130e-02 3.92870994e-04 9.98216484e-01 -1.57790165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77864 meters Centerline goodness [0,1] 0.999609145983975 Centerline is valid? [True, True] Translation: X:305.55, Y:-217.11, Z:-15.78 [[ 7.57153611e-01 6.51703502e-01 4.47320332e-02 3.05553332e+02] [-6.50537681e-01 7.58473719e-01 -3.89659293e-02 -2.17108475e+02] [-5.93223042e-02 4.03320877e-04 9.98238800e-01 -1.57781880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80864 meters Centerline goodness [0,1] 0.9999023055881203 Centerline is valid? [True, True] Translation: X:305.58, Y:-217.13, Z:-15.78 [[ 7.57398677e-01 6.51433972e-01 4.45086924e-02 3.05578315e+02] [-6.50276895e-01 7.58705196e-01 -3.88121727e-02 -2.17130073e+02] [-5.90525440e-02 4.53313954e-04 9.98254773e-01 -1.57795833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83864 meters Centerline goodness [0,1] 0.9996575510004403 Centerline is valid? [True, True] Translation: X:305.60, Y:-217.15, Z:-15.78 [[ 7.56980337e-01 6.51929618e-01 4.43682637e-02 3.05602379e+02] [-6.50778290e-01 7.58279352e-01 -3.87303668e-02 -2.17152488e+02] [-5.88930115e-02 4.44223302e-04 9.98264201e-01 -1.57810231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86864 meters Centerline goodness [0,1] 0.9998533079067038 Centerline is valid? [True, True] Translation: X:305.63, Y:-217.17, Z:-15.78 [[ 7.56562032e-01 6.52377666e-01 4.49140635e-02 3.05627322e+02] [-6.51196103e-01 7.57893912e-01 -3.92486133e-02 -2.17173730e+02] [-5.96450140e-02 4.46147534e-04 9.98219552e-01 -1.57825818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89864 meters Centerline goodness [0,1] 0.9999511121975068 Centerline is valid? [True, True] Translation: X:305.65, Y:-217.19, Z:-15.78 [[ 7.55328936e-01 6.53843184e-01 4.43541301e-02 3.05653196e+02] [-6.52691143e-01 7.56630005e-01 -3.87982971e-02 -2.17193554e+02] [-5.89276678e-02 3.55928654e-04 9.98262192e-01 -1.57823866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92864 meters Centerline goodness [0,1] 0.9998533079067038 Centerline is valid? [True, True] Translation: X:305.68, Y:-217.21, Z:-15.78 [[ 7.54368367e-01 6.54947571e-01 4.44077324e-02 3.05679178e+02] [-6.53792411e-01 7.55674262e-01 -3.88830733e-02 -2.17214725e+02] [-5.90241548e-02 2.98722048e-04 9.98256510e-01 -1.57839650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95864 meters Centerline goodness [0,1] 0.9997545530410878 Centerline is valid? [True, True] Translation: X:305.70, Y:-217.24, Z:-15.79 [[ 7.53436592e-01 6.55933637e-01 4.56548543e-02 3.05702923e+02] [-6.54711909e-01 7.54818519e-01 -4.00164871e-02 -2.17236030e+02] [-6.07092894e-02 2.59108840e-04 9.98155456e-01 -1.57854212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98864 meters Centerline goodness [0,1] 0.999804228660924 Centerline is valid? [True, True] Translation: X:305.73, Y:-217.26, Z:-15.79 [[ 7.52845964e-01 6.56611185e-01 4.56585911e-02 3.05727338e+02] [-6.55388114e-01 7.54229207e-01 -4.00589939e-02 -2.17258055e+02] [-6.07402264e-02 2.34153983e-04 9.98153580e-01 -1.57873852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01864 meters Centerline goodness [0,1] 0.99975546534944 Centerline is valid? [True, True] Translation: X:305.75, Y:-217.28, Z:-15.79 [[ 7.53263212e-01 6.56196675e-01 4.47264711e-02 3.05753544e+02] [-6.55019999e-01 7.54589848e-01 -3.92805588e-02 -2.17276610e+02] [-5.95259130e-02 2.91866806e-04 9.98226718e-01 -1.57867637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04864 meters Centerline goodness [0,1] 0.9995112175570654 Centerline is valid? [True, True] Translation: X:305.78, Y:-217.30, Z:-15.79 [[ 7.53474463e-01 6.56055355e-01 4.32158012e-02 3.05778762e+02] [-6.54954672e-01 7.54712707e-01 -3.79882720e-02 -2.17296675e+02] [-5.75379236e-02 3.18802002e-04 9.98343270e-01 -1.57866886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07864 meters Centerline goodness [0,1] 0.9999021526418786 Centerline is valid? [True, True] Translation: X:305.80, Y:-217.32, Z:-15.79 [[ 7.52827635e-01 6.56812331e-01 4.29896995e-02 3.05802754e+02] [-6.55722279e-01 7.54054029e-01 -3.78260958e-02 -2.17318865e+02] [-5.72612022e-02 2.87226501e-04 9.98359190e-01 -1.57891515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10864 meters Centerline goodness [0,1] 0.9994131455399061 Centerline is valid? [True, True] Translation: X:305.83, Y:-217.34, Z:-15.79 [[ 7.52384426e-01 6.57315041e-01 4.30651993e-02 3.05827523e+02] [-6.56219663e-01 7.53615856e-01 -3.79327752e-02 -2.17340837e+02] [-5.73884007e-02 2.79798658e-04 9.98351888e-01 -1.57899148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13864 meters Centerline goodness [0,1] 0.9993141625434772 Centerline is valid? [True, True] Translation: X:305.85, Y:-217.36, Z:-15.79 [[ 7.51033958e-01 6.58886007e-01 4.26289049e-02 3.05853632e+02] [-6.57812994e-01 7.52242777e-01 -3.75881659e-02 -2.17360519e+02] [-5.68336023e-02 1.88141528e-04 9.98383647e-01 -1.57908139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16864 meters Centerline goodness [0,1] 0.9994615233992559 Centerline is valid? [True, True] Translation: X:305.88, Y:-217.38, Z:-15.79 [[ 7.50598758e-01 6.59423614e-01 4.19762123e-02 3.05879213e+02] [-6.58381887e-01 7.51771553e-01 -3.70516295e-02 -2.17381154e+02] [-5.59892417e-02 1.74529245e-04 9.98431357e-01 -1.57930903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19864 meters Centerline goodness [0,1] 0.9991199335060871 Centerline is valid? [True, True] Translation: X:305.90, Y:-217.40, Z:-15.79 [[ 7.50163267e-01 6.59938262e-01 4.16720865e-02 3.05903579e+02] [-6.58910200e-01 7.51319814e-01 -3.68223479e-02 -2.17403520e+02] [-5.56095405e-02 1.64609937e-04 9.98452579e-01 -1.57944746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22864 meters Centerline goodness [0,1] 0.9991199335060871 Centerline is valid? [True, True] Translation: X:305.93, Y:-217.42, Z:-15.80 [[ 7.49815564e-01 6.60334527e-01 4.16525220e-02 3.05928161e+02] [-6.59305847e-01 7.50971561e-01 -3.68444691e-02 -2.17424820e+02] [-5.56095346e-02 1.64805153e-04 9.98452579e-01 -1.57957162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25864 meters Centerline goodness [0,1] 0.9996086680037176 Centerline is valid? [True, True] Translation: X:305.95, Y:-217.45, Z:-15.80 [[ 7.49653617e-01 6.60464904e-01 4.24919335e-02 3.05952424e+02] [-6.59392217e-01 7.50856894e-01 -3.76275027e-02 -2.17447737e+02] [-5.67570062e-02 1.88743223e-04 9.98388004e-01 -1.57969980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28864 meters Centerline goodness [0,1] 0.9992182155770546 Centerline is valid? [True, True] Translation: X:305.98, Y:-217.47, Z:-15.80 [[ 7.49806294e-01 6.60208609e-01 4.37620273e-02 3.05976321e+02] [-6.59067994e-01 7.51082241e-01 -3.87923540e-02 -2.17469351e+02] [-5.84799276e-02 2.44599681e-04 9.98288555e-01 -1.57970140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31864 meters Centerline goodness [0,1] 0.9994618921827609 Centerline is valid? [True, True] Translation: X:306.00, Y:-217.49, Z:-15.80 [[ 7.49567952e-01 6.60465896e-01 4.39623176e-02 3.06001255e+02] [-6.59313008e-01 7.50856002e-01 -3.90079618e-02 -2.17490555e+02] [-5.87727984e-02 2.54190154e-04 9.98271353e-01 -1.57978170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34864 meters Centerline goodness [0,1] 0.9994621815870532 Centerline is valid? [True, True] Translation: X:306.03, Y:-217.51, Z:-15.80 [[ 7.49105138e-01 6.60940370e-01 4.47137579e-02 3.06026446e+02] [-6.59745988e-01 7.50438381e-01 -3.97173445e-02 -2.17512291e+02] [-5.98057165e-02 2.52744469e-04 9.98210004e-01 -1.57996232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37864 meters Centerline goodness [0,1] 0.999461022098094 Centerline is valid? [True, True] Translation: X:306.05, Y:-217.54, Z:-15.80 [[ 7.48670460e-01 6.61434465e-01 4.46877047e-02 3.06050452e+02] [-6.60239833e-01 7.50002926e-01 -3.97363143e-02 -2.17535642e+02] [-5.97988771e-02 2.44801999e-04 9.98210416e-01 -1.58022236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40864 meters Centerline goodness [0,1] 0.9992664319248826 Centerline is valid? [True, True] Translation: X:306.07, Y:-217.56, Z:-15.80 [[ 7.48370074e-01 6.61817800e-01 4.40389703e-02 3.06072562e+02] [-6.60655869e-01 7.49664685e-01 -3.92005370e-02 -2.17560874e+02] [-5.89580740e-02 2.41904592e-04 9.98260430e-01 -1.58039650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43864 meters Centerline goodness [0,1] 0.9991201916027176 Centerline is valid? [True, True] Translation: X:306.10, Y:-217.58, Z:-15.80 [[ 7.48133098e-01 6.62108065e-01 4.37010072e-02 3.06096473e+02] [-6.60961987e-01 7.49408332e-01 -3.89410255e-02 -2.17583067e+02] [-5.85330660e-02 2.48365449e-04 9.98285439e-01 -1.58042040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46864 meters Centerline goodness [0,1] 0.9988253144731046 Centerline is valid? [True, True] Translation: X:306.12, Y:-217.61, Z:-15.80 [[ 7.47645410e-01 6.62685276e-01 4.32962564e-02 3.06121186e+02] [-6.61558933e-01 7.48897971e-01 -3.86213363e-02 -2.17605491e+02] [-5.80182695e-02 2.32039651e-04 9.98315495e-01 -1.58049953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49864 meters Centerline goodness [0,1] 0.9986308737959024 Centerline is valid? [True, True] Translation: X:306.14, Y:-217.63, Z:-15.81 [[ 7.46838147e-01 6.63682538e-01 4.19317410e-02 3.06144673e+02] [-6.62625592e-01 7.48014343e-01 -3.74415231e-02 -2.17627871e+02] [-5.62148288e-02 1.77713035e-04 9.98418680e-01 -1.58069329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52864 meters Centerline goodness [0,1] 0.999168500855955 Centerline is valid? [True, True] Translation: X:306.17, Y:-217.65, Z:-15.81 [[ 7.43275369e-01 6.67657067e-01 4.21398444e-02 3.06168061e+02] [-6.66593865e-01 7.44468960e-01 -3.76641450e-02 -2.17651631e+02] [-5.65185386e-02 -9.53304603e-05 9.98401545e-01 -1.58070369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55864 meters Centerline goodness [0,1] 0.9995101400999314 Centerline is valid? [True, True] Translation: X:306.19, Y:-217.67, Z:-15.81 [[ 7.40665858e-01 6.70563756e-01 4.19325213e-02 3.06193036e+02] [-6.69513372e-01 7.41851851e-01 -3.75190162e-02 -2.17673665e+02] [-5.62666110e-02 -2.85329437e-04 9.98415739e-01 -1.58079163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58864 meters Centerline goodness [0,1] 0.9995603107137623 Centerline is valid? [True, True] Translation: X:306.22, Y:-217.70, Z:-15.81 [[ 7.36405444e-01 6.75276001e-01 4.13442268e-02 3.06215608e+02] [-6.74260172e-01 7.37564881e-01 -3.70306024e-02 -2.17696561e+02] [-5.54999268e-02 -6.07228302e-04 9.98458507e-01 -1.58088614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61864 meters Centerline goodness [0,1] 0.9998044487900268 Centerline is valid? [True, True] Translation: X:306.24, Y:-217.72, Z:-15.81 [[ 7.34822383e-01 6.76997869e-01 4.13515550e-02 3.06239358e+02] [-6.75982368e-01 7.35984634e-01 -3.70736666e-02 -2.17719415e+02] [-5.55329024e-02 -7.10362019e-04 9.98456605e-01 -1.58101376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64864 meters Centerline goodness [0,1] 0.9998044392294906 Centerline is valid? [True, True] Translation: X:306.26, Y:-217.74, Z:-15.81 [[ 7.32607514e-01 6.79335665e-01 4.22999358e-02 3.06263966e+02] [-6.78274640e-01 7.33827147e-01 -3.79635364e-02 -2.17739523e+02] [-5.68308254e-02 -8.78601689e-04 9.98383436e-01 -1.58122260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67864 meters Centerline goodness [0,1] 0.9998532505013942 Centerline is valid? [True, True] Translation: X:306.29, Y:-217.76, Z:-15.81 [[ 7.31705024e-01 6.80315793e-01 4.21684744e-02 3.06289481e+02] [-6.79260862e-01 7.32918528e-01 -3.78828912e-02 -2.17760567e+02] [-5.66783854e-02 -9.24292438e-04 9.98392060e-01 -1.58127357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70864 meters Centerline goodness [0,1] 0.9995107871434862 Centerline is valid? [True, True] Translation: X:306.31, Y:-217.78, Z:-15.81 [[ 7.31603091e-01 6.80444756e-01 4.18551352e-02 3.06314401e+02] [-6.79403386e-01 7.32798832e-01 -3.76418769e-02 -2.17782565e+02] [-5.62846119e-02 -8.97607133e-04 9.98414361e-01 -1.58142430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73864 meters Centerline goodness [0,1] 0.9996078239129369 Centerline is valid? [True, True] Translation: X:306.34, Y:-217.80, Z:-15.82 [[ 7.31803090e-01 6.80243124e-01 4.16356777e-02 3.06339224e+02] [-6.79210071e-01 7.32986066e-01 -3.74847507e-02 -2.17803985e+02] [-5.60171155e-02 -8.47915188e-04 9.98429449e-01 -1.58150713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76864 meters Centerline goodness [0,1] 0.9995594929274142 Centerline is valid? [True, True] Translation: X:306.36, Y:-217.82, Z:-15.82 [[ 7.32892063e-01 6.79023011e-01 4.23907348e-02 3.06364943e+02] [-6.77947674e-01 7.34116617e-01 -3.82065967e-02 -2.17824532e+02] [-5.70629011e-02 -7.37388601e-04 9.98370313e-01 -1.58158969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79864 meters Centerline goodness [0,1] 0.9994602021788203 Centerline is valid? [True, True] Translation: X:306.39, Y:-217.85, Z:-15.82 [[ 7.32854744e-01 6.79077056e-01 4.21696214e-02 3.06389518e+02] [-6.78010663e-01 7.34066654e-01 -3.80485072e-02 -2.17847062e+02] [-5.67931811e-02 -7.07424031e-04 9.98385714e-01 -1.58163897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82864 meters Centerline goodness [0,1] 0.9985319305113776 Centerline is valid? [True, True] Translation: X:306.41, Y:-217.87, Z:-15.82 [[ 7.34934359e-01 6.76775884e-01 4.29638278e-02 3.06411791e+02] [-6.75662507e-01 7.36188933e-01 -3.88076204e-02 -2.17871028e+02] [-5.78935561e-02 -5.07993993e-04 9.98322632e-01 -1.58175370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85864 meters Centerline goodness [0,1] 0.9986795128869761 Centerline is valid? [True, True] Translation: X:306.44, Y:-217.89, Z:-15.82 [[ 7.35758536e-01 6.75841271e-01 4.35655171e-02 3.06435725e+02] [-6.74692287e-01 7.37047088e-01 -3.93942681e-02 -2.17893116e+02] [-5.87341097e-02 -4.08649337e-04 9.98273578e-01 -1.58190951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88864 meters Centerline goodness [0,1] 0.9985812827161098 Centerline is valid? [True, True] Translation: X:306.46, Y:-217.91, Z:-15.82 [[ 7.37048438e-01 6.74525385e-01 4.21319917e-02 3.06460488e+02] [-6.73446494e-01 7.38251607e-01 -3.81363937e-02 -2.17913903e+02] [-5.68279763e-02 -2.65272679e-04 9.98383950e-01 -1.58188569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91864 meters Centerline goodness [0,1] 0.9981918584762742 Centerline is valid? [True, True] Translation: X:306.48, Y:-217.94, Z:-15.82 [[ 7.36901218e-01 6.74692670e-01 4.20285301e-02 3.06484439e+02] [-6.73617201e-01 7.38098733e-01 -3.80805384e-02 -2.17935932e+02] [-5.67138649e-02 -2.49545671e-04 9.98390442e-01 -1.58212488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94864 meters Centerline goodness [0,1] 0.9982364179689414 Centerline is valid? [True, True] Translation: X:306.51, Y:-217.96, Z:-15.82 [[ 7.35691262e-01 6.76117755e-01 4.02883137e-02 3.06507561e+02] [-6.75130038e-01 7.36793511e-01 -3.65342767e-02 -2.17959011e+02] [-5.43856413e-02 -3.21902664e-04 9.98519954e-01 -1.58223675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97864 meters Centerline goodness [0,1] 0.998435972629521 Centerline is valid? [True, True] Translation: X:306.53, Y:-217.98, Z:-15.82 [[ 7.34418951e-01 6.77436505e-01 4.13350511e-02 3.06530913e+02] [-6.76397729e-01 7.35581137e-01 -3.75033866e-02 -2.17980710e+02] [-5.58114470e-02 -4.15736822e-04 9.98441240e-01 -1.58234959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00864 meters Centerline goodness [0,1] 0.9983854396007632 Centerline is valid? [True, True] Translation: X:306.55, Y:-218.00, Z:-15.82 [[ 7.32709582e-01 6.79270020e-01 4.15801413e-02 3.06554948e+02] [-6.78219732e-01 7.33888246e-01 -3.77629273e-02 -2.18002953e+02] [-5.61664014e-02 -5.31213590e-04 9.98421280e-01 -1.58239248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03864 meters Centerline goodness [0,1] 0.9991179929439435 Centerline is valid? [True, True] Translation: X:306.58, Y:-218.03, Z:-15.83 [[ 7.31578834e-01 6.80486860e-01 4.15937910e-02 3.06578180e+02] [-6.79435559e-01 7.32760042e-01 -3.78158831e-02 -2.18026100e+02] [-5.62114796e-02 -5.95000966e-04 9.98418708e-01 -1.58255043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06864 meters Centerline goodness [0,1] 0.999119847440223 Centerline is valid? [True, True] Translation: X:306.60, Y:-218.05, Z:-15.83 [[ 7.30846168e-01 6.81316415e-01 4.08879212e-02 3.06602623e+02] [-6.80299616e-01 7.31988771e-01 -3.72138717e-02 -2.18047839e+02] [-5.52839208e-02 -6.18421526e-04 9.98470483e-01 -1.58259136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09864 meters Centerline goodness [0,1] 0.9988245665589186 Centerline is valid? [True, True] Translation: X:306.63, Y:-218.07, Z:-15.83 [[ 7.30565224e-01 6.81618189e-01 4.08790590e-02 3.06627649e+02] [-6.80600064e-01 7.31707777e-01 -3.72462429e-02 -2.18068730e+02] [-5.52992420e-02 -6.11480343e-04 9.98469639e-01 -1.58262776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12864 meters Centerline goodness [0,1] 0.9983860713063041 Centerline is valid? [True, True] Translation: X:306.65, Y:-218.09, Z:-15.83 [[ 7.30646084e-01 6.81516007e-01 4.11367444e-02 3.06653714e+02] [-6.80482546e-01 7.31802978e-01 -3.75220812e-02 -2.18089543e+02] [-5.56758910e-02 -5.77474869e-04 9.98448728e-01 -1.58269283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15864 meters Centerline goodness [0,1] 0.9989233630224136 Centerline is valid? [True, True] Translation: X:306.68, Y:-218.11, Z:-15.83 [[ 7.30509619e-01 6.81679433e-01 4.08515188e-02 3.06679291e+02] [-6.80658288e-01 7.31650765e-01 -3.73022006e-02 -2.18110696e+02] [-5.53171879e-02 -5.56308503e-04 9.98468677e-01 -1.58285134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18864 meters Centerline goodness [0,1] 0.9987761895437635 Centerline is valid? [True, True] Translation: X:306.70, Y:-218.13, Z:-15.83 [[ 7.30153266e-01 6.82095964e-01 4.02654158e-02 3.06704404e+02] [-6.81102413e-01 7.31262465e-01 -3.68063900e-02 -2.18131559e+02] [-5.45500773e-02 -5.50566003e-04 9.98510884e-01 -1.58296158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21864 meters Centerline goodness [0,1] 0.9993139272762913 Centerline is valid? [True, True] Translation: X:306.73, Y:-218.15, Z:-15.83 [[ 7.28723031e-01 6.83684059e-01 3.92281905e-02 3.06729539e+02] [-6.82741342e-01 7.29777855e-01 -3.58962666e-02 -2.18153497e+02] [-5.31695700e-02 -6.24271183e-04 9.98585303e-01 -1.58306497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24864 meters Centerline goodness [0,1] 0.9988253144731046 Centerline is valid? [True, True] Translation: X:306.76, Y:-218.17, Z:-15.83 [[ 7.26761608e-01 6.85800222e-01 3.86732695e-02 3.06755153e+02] [-6.84884990e-01 7.27789467e-01 -3.54265677e-02 -2.18174607e+02] [-5.24415462e-02 -7.40072516e-04 9.98623721e-01 -1.58309462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27864 meters Centerline goodness [0,1] 0.9990221005280657 Centerline is valid? [True, True] Translation: X:306.78, Y:-218.19, Z:-15.83 [[ 7.25144429e-01 6.87517285e-01 3.85427121e-02 3.06780537e+02] [-6.86608711e-01 7.26167534e-01 -3.53438989e-02 -2.18194405e+02] [-5.22880075e-02 -8.34330482e-04 9.98631698e-01 -1.58319587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30864 meters Centerline goodness [0,1] 0.999119847440223 Centerline is valid? [True, True] Translation: X:306.81, Y:-218.22, Z:-15.83 [[ 7.24649776e-01 6.88021483e-01 3.88476567e-02 3.06806087e+02] [-6.87097329e-01 7.25689819e-01 -3.56587673e-02 -2.18215894e+02] [-5.27253469e-02 -8.52003389e-04 9.98608688e-01 -1.58340411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33864 meters Centerline goodness [0,1] 0.9993632757016212 Centerline is valid? [True, True] Translation: X:306.83, Y:-218.24, Z:-15.84 [[ 7.24145701e-01 6.88525510e-01 3.93144331e-02 3.06832757e+02] [-6.87577628e-01 7.25211599e-01 -3.61267418e-02 -2.18235677e+02] [-5.33854663e-02 -8.70699892e-04 9.98573600e-01 -1.58361248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36864 meters Centerline goodness [0,1] 0.99926614481409 Centerline is valid? [True, True] Translation: X:306.86, Y:-218.26, Z:-15.84 [[ 7.23331937e-01 6.89347416e-01 3.98879433e-02 3.06858364e+02] [-6.88370733e-01 7.24430328e-01 -3.66937753e-02 -2.18257279e+02] [-5.41907950e-02 -9.15913174e-04 9.98530179e-01 -1.58378674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39864 meters Centerline goodness [0,1] 0.9990714041346953 Centerline is valid? [True, True] Translation: X:306.88, Y:-218.28, Z:-15.84 [[ 7.22829910e-01 6.89864627e-01 4.00464404e-02 3.06883670e+02] [-6.88878772e-01 7.23937796e-01 -3.68796036e-02 -2.18278107e+02] [-5.44330658e-02 -9.29462066e-04 9.98516989e-01 -1.58377562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42864 meters Centerline goodness [0,1] 0.9990212870075851 Centerline is valid? [True, True] Translation: X:306.91, Y:-218.30, Z:-15.84 [[ 7.24035661e-01 6.88663715e-01 3.89184934e-02 3.06910044e+02] [-6.87728984e-01 7.25080454e-01 -3.58772892e-02 -2.18297015e+02] [-5.29264262e-02 -7.88939134e-04 9.98598103e-01 -1.58394693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45864 meters Centerline goodness [0,1] 0.9985342974399062 Centerline is valid? [True, True] Translation: X:306.94, Y:-218.32, Z:-15.84 [[ 7.25519771e-01 6.87136597e-01 3.82669553e-02 3.06935840e+02] [-6.86229076e-01 7.26527966e-01 -3.53096422e-02 -2.18316677e+02] [-5.20645606e-02 -6.42053912e-04 9.98643515e-01 -1.58397796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48864 meters Centerline goodness [0,1] 0.9991195891415994 Centerline is valid? [True, True] Translation: X:306.96, Y:-218.34, Z:-15.84 [[ 7.25698261e-01 6.86868968e-01 3.96617649e-02 3.06960365e+02] [-6.85891634e-01 7.26781012e-01 -3.66336956e-02 -2.18338061e+02] [-5.39879663e-02 -6.18663537e-04 9.98541395e-01 -1.58424060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51864 meters Centerline goodness [0,1] 0.998923942284177 Centerline is valid? [True, True] Translation: X:306.99, Y:-218.36, Z:-15.84 [[ 7.25680123e-01 6.86765069e-01 4.17384550e-02 3.06986407e+02] [-6.85680118e-01 7.26879195e-01 -3.85928956e-02 -2.18357698e+02] [-5.68430672e-02 -6.13131564e-04 9.98382937e-01 -1.58426985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54864 meters Centerline goodness [0,1] 0.9987270501835985 Centerline is valid? [True, True] Translation: X:307.01, Y:-218.38, Z:-15.84 [[ 7.25282942e-01 6.87212103e-01 4.12817039e-02 3.07012960e+02] [-6.86149420e-01 7.26456570e-01 -3.82076581e-02 -2.18378023e+02] [-5.62461301e-02 -6.14054546e-04 9.98416745e-01 -1.58430962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57864 meters Centerline goodness [0,1] 0.9994603610675039 Centerline is valid? [True, True] Translation: X:307.04, Y:-218.40, Z:-15.85 [[ 7.24244273e-01 6.88333083e-01 4.08387010e-02 3.07039324e+02] [-6.87292630e-01 7.25394462e-01 -3.78380185e-02 -2.18398002e+02] [-5.56693275e-02 -6.64169963e-04 9.98449040e-01 -1.58457216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60864 meters Centerline goodness [0,1] 0.9994623130315768 Centerline is valid? [True, True] Translation: X:307.06, Y:-218.42, Z:-15.85 [[ 7.23465144e-01 6.89171779e-01 4.05024039e-02 3.07063904e+02] [-6.88147487e-01 7.24597666e-01 -3.75667233e-02 -2.18419858e+02] [-5.52378729e-02 -6.93412606e-04 9.98472982e-01 -1.58481565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63864 meters Centerline goodness [0,1] 0.9994608900215644 Centerline is valid? [True, True] Translation: X:307.09, Y:-218.44, Z:-15.85 [[ 7.22587713e-01 6.90109349e-01 4.02005274e-02 3.07091162e+02] [-6.89099548e-01 7.23704741e-01 -3.73264148e-02 -2.18438876e+02] [-5.48526201e-02 -7.30556563e-04 9.98494194e-01 -1.58493911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66864 meters Centerline goodness [0,1] 0.9994622867478125 Centerline is valid? [True, True] Translation: X:307.12, Y:-218.46, Z:-15.85 [[ 7.21858209e-01 6.90884218e-01 3.99965333e-02 3.07116572e+02] [-6.89883674e-01 7.22965023e-01 -3.71764988e-02 -2.18459443e+02] [-5.46007510e-02 -7.56794473e-04 9.98507980e-01 -1.58497906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69864 meters Centerline goodness [0,1] 0.9993649863227824 Centerline is valid? [True, True] Translation: X:307.14, Y:-218.48, Z:-15.85 [[ 7.22267256e-01 6.90422869e-01 4.05742901e-02 3.07141501e+02] [-6.89390197e-01 7.23405673e-01 -3.77543183e-02 -2.18480603e+02] [-5.54181164e-02 -7.02809985e-04 9.98462988e-01 -1.58502574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72864 meters Centerline goodness [0,1] 0.9990711771607352 Centerline is valid? [True, True] Translation: X:307.17, Y:-218.50, Z:-15.85 [[ 7.22910962e-01 6.89742255e-01 4.06861465e-02 3.07166464e+02] [-6.88700531e-01 7.24054717e-01 -3.78991482e-02 -2.18501691e+02] [-5.55996402e-02 -6.22860992e-04 9.98452949e-01 -1.58511125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75864 meters Centerline goodness [0,1] 0.9996090886880039 Centerline is valid? [True, True] Translation: X:307.19, Y:-218.52, Z:-15.85 [[ 7.22800264e-01 6.89934069e-01 3.93796622e-02 3.07192582e+02] [-6.88956514e-01 7.23871972e-01 -3.67190729e-02 -2.18520356e+02] [-5.38395731e-02 -5.90319170e-04 9.98549424e-01 -1.58536335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78864 meters Centerline goodness [0,1] 0.9996577017114915 Centerline is valid? [True, True] Translation: X:307.22, Y:-218.54, Z:-15.86 [[ 7.21636615e-01 6.91173924e-01 3.89769444e-02 3.07216938e+02] [-6.90216205e-01 7.22688165e-01 -3.63786614e-02 -2.18542406e+02] [-5.33121586e-02 -6.50344591e-04 9.98577684e-01 -1.58559503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81864 meters Centerline goodness [0,1] 0.9996572995202193 Centerline is valid? [True, True] Translation: X:307.24, Y:-218.56, Z:-15.86 [[ 7.19515409e-01 6.93415556e-01 3.83724313e-02 3.07241423e+02] [-6.92488515e-01 7.20537483e-01 -3.58523706e-02 -2.18564736e+02] [-5.25093666e-02 -7.76134882e-04 9.98620130e-01 -1.58559055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84864 meters Centerline goodness [0,1] 0.9993640855060412 Centerline is valid? [True, True] Translation: X:307.27, Y:-218.58, Z:-15.86 [[ 7.17408672e-01 6.95529080e-01 3.95486598e-02 3.07266308e+02] [-6.94545644e-01 7.18497339e-01 -3.69854488e-02 -2.18584596e+02] [-5.41400619e-02 -9.34667661e-04 9.98532914e-01 -1.58566460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87864 meters Centerline goodness [0,1] 0.9994617078541718 Centerline is valid? [True, True] Translation: X:307.29, Y:-218.61, Z:-15.86 [[ 7.16465950e-01 6.96479560e-01 3.99094730e-02 3.07291326e+02] [-6.95478169e-01 7.17575939e-01 -3.73482040e-02 -2.18606133e+02] [-5.46503383e-02 -9.97450761e-04 9.98505055e-01 -1.58574530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90864 meters Centerline goodness [0,1] 0.9996084189916788 Centerline is valid? [True, True] Translation: X:307.32, Y:-218.63, Z:-15.86 [[ 7.15844583e-01 6.97061904e-01 4.08807548e-02 3.07315550e+02] [-6.96009859e-01 7.17010198e-01 -3.82969055e-02 -2.18627075e+02] [-5.60072320e-02 -1.03877602e-03 9.98429823e-01 -1.58594559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93864 meters Centerline goodness [0,1] 0.9999510667449599 Centerline is valid? [True, True] Translation: X:307.34, Y:-218.65, Z:-15.86 [[ 7.16646727e-01 6.96202015e-01 4.14755675e-02 3.07340783e+02] [-6.95115485e-01 7.17845274e-01 -3.88924956e-02 -2.18648669e+02] [-5.68500739e-02 -9.58129445e-04 9.98382267e-01 -1.58610343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96864 meters Centerline goodness [0,1] 0.9997556923678296 Centerline is valid? [True, True] Translation: X:307.37, Y:-218.67, Z:-15.86 [[ 7.16952971e-01 6.95899800e-01 4.12541657e-02 3.07365560e+02] [-6.94822104e-01 7.18138327e-01 -3.87245009e-02 -2.18669854e+02] [-5.65745700e-02 -9.00660213e-04 9.98397970e-01 -1.58614863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99864 meters Centerline goodness [0,1] 0.9997555490368633 Centerline is valid? [True, True] Translation: X:307.39, Y:-218.69, Z:-15.86 [[ 7.16669711e-01 6.96175789e-01 4.15186214e-02 3.07393709e+02] [-6.95082497e-01 7.17870782e-01 -3.90110568e-02 -2.18688373e+02] [-5.69635585e-02 -9.00824240e-04 9.98375852e-01 -1.58633183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02864 meters Centerline goodness [0,1] 0.9996085722673451 Centerline is valid? [True, True] Translation: X:307.42, Y:-218.71, Z:-15.87 [[ 7.15793509e-01 6.97086131e-01 4.13591424e-02 3.07420846e+02] [-6.96000393e-01 7.16986780e-01 -3.89025782e-02 -2.18708199e+02] [-5.67724061e-02 -9.39766406e-04 9.98386704e-01 -1.58658884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05864 meters Centerline goodness [0,1] 0.9998531714956931 Centerline is valid? [True, True] Translation: X:307.45, Y:-218.73, Z:-15.87 [[ 7.14824441e-01 6.98126400e-01 4.05653541e-02 3.07445596e+02] [-6.97081401e-01 7.15973869e-01 -3.81960623e-02 -2.18730347e+02] [-5.57094130e-02 -9.73875014e-04 9.98446550e-01 -1.58675176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08864 meters Centerline goodness [0,1] 0.9997061991969445 Centerline is valid? [True, True] Translation: X:307.47, Y:-218.75, Z:-15.87 [[ 7.15108899e-01 6.97867130e-01 4.00091368e-02 3.07470354e+02] [-6.96848113e-01 7.16226664e-01 -3.77103863e-02 -2.18750728e+02] [-5.49724497e-02 -9.13258697e-04 9.98487454e-01 -1.58673128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11864 meters Centerline goodness [0,1] 0.9996077662286723 Centerline is valid? [True, True] Translation: X:307.50, Y:-218.77, Z:-15.87 [[ 7.15141833e-01 6.97833894e-01 4.00001754e-02 3.07496133e+02] [-6.96813263e-01 7.16259083e-01 -3.77386092e-02 -2.18771530e+02] [-5.49857696e-02 -8.84194527e-04 9.98486747e-01 -1.58692608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14864 meters Centerline goodness [0,1] 0.9996077662286723 Centerline is valid? [True, True] Translation: X:307.52, Y:-218.79, Z:-15.87 [[ 7.14772026e-01 6.98213825e-01 3.99800591e-02 3.07520016e+02] [-6.97192597e-01 7.15888729e-01 -3.77599118e-02 -2.18793652e+02] [-5.49857661e-02 -8.84072548e-04 9.98486747e-01 -1.58705025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17864 meters Centerline goodness [0,1] 0.9996088402112263 Centerline is valid? [True, True] Translation: X:307.55, Y:-218.81, Z:-15.87 [[ 7.15123568e-01 6.97865314e-01 3.97779641e-02 3.07545246e+02] [-6.96851753e-01 7.16228541e-01 -3.76073385e-02 -2.18814096e+02] [-5.47349702e-02 -8.25449968e-04 9.98500577e-01 -1.58715753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20864 meters Centerline goodness [0,1] 0.9997063861022755 Centerline is valid? [True, True] Translation: X:307.57, Y:-218.84, Z:-15.87 [[ 7.15850917e-01 6.97092404e-01 4.02448179e-02 3.07568922e+02] [-6.96052087e-01 7.16980900e-01 -3.80773157e-02 -2.18836603e+02] [-5.53981733e-02 -7.54808132e-04 9.98464057e-01 -1.58728635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23864 meters Centerline goodness [0,1] 0.9997064722860917 Centerline is valid? [True, True] Translation: X:307.59, Y:-218.86, Z:-15.87 [[ 7.15834369e-01 6.97038159e-01 4.14603617e-02 3.07594262e+02] [-6.95932597e-01 7.17033634e-01 -3.92503145e-02 -2.18857558e+02] [-5.70874407e-02 -7.56893092e-04 9.98368895e-01 -1.58741028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26864 meters Centerline goodness [0,1] 0.9996580528552587 Centerline is valid? [True, True] Translation: X:307.62, Y:-218.88, Z:-15.88 [[ 7.15779328e-01 6.97131640e-01 4.08341798e-02 3.07619274e+02] [-6.96057190e-01 7.16942781e-01 -3.86967252e-02 -2.18878452e+02] [-5.62524819e-02 -7.24608565e-04 9.98416313e-01 -1.58757903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29864 meters Centerline goodness [0,1] 0.9997067735314241 Centerline is valid? [True, True] Translation: X:307.64, Y:-218.90, Z:-15.88 [[ 7.16443733e-01 6.96584412e-01 3.84517247e-02 3.07643533e+02] [-6.95629254e-01 7.17474582e-01 -3.64714316e-02 -2.18899446e+02] [-5.29935658e-02 -6.18416006e-04 9.98594662e-01 -1.58779318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32864 meters Centerline goodness [0,1] 0.999657651489216 Centerline is valid? [True, True] Translation: X:307.67, Y:-218.92, Z:-15.88 [[ 7.16377940e-01 6.96651273e-01 3.84662285e-02 3.07666712e+02] [-6.95693618e-01 7.17409678e-01 -3.65204700e-02 -2.18922380e+02] [-5.30380765e-02 -5.98250530e-04 9.98592311e-01 -1.58790170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35864 meters Centerline goodness [0,1] 0.9996577519190338 Centerline is valid? [True, True] Translation: X:307.69, Y:-218.94, Z:-15.88 [[ 7.17939828e-01 6.94983075e-01 3.95085884e-02 3.07691279e+02] [-6.93968030e-01 7.19025949e-01 -3.75507463e-02 -2.18943970e+02] [-5.45048334e-02 -4.58520891e-04 9.98513401e-01 -1.58790962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38864 meters Centerline goodness [0,1] 0.999804084831268 Centerline is valid? [True, True] Translation: X:307.72, Y:-218.97, Z:-15.88 [[ 7.18473688e-01 6.94404998e-01 3.99657202e-02 3.07715122e+02] [-6.93363173e-01 7.19584288e-01 -3.80258238e-02 -2.18966120e+02] [-5.51640263e-02 -3.90204741e-04 9.98477230e-01 -1.58805163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41864 meters Centerline goodness [0,1] 0.9995110024449878 Centerline is valid? [True, True] Translation: X:307.74, Y:-218.99, Z:-15.88 [[ 7.20311598e-01 6.92452924e-01 4.07449305e-02 3.07737247e+02] [-6.91364557e-01 7.21463029e-01 -3.88091206e-02 -2.18990103e+02] [-5.62694500e-02 -2.14941147e-04 9.98415596e-01 -1.58819063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44864 meters Centerline goodness [0,1] 0.9993637431480031 Centerline is valid? [True, True] Translation: X:307.76, Y:-219.01, Z:-15.88 [[ 7.20810265e-01 6.91892341e-01 4.14433392e-02 3.07760746e+02] [-6.90762936e-01 7.22000670e-01 -3.95170571e-02 -2.19013339e+02] [-5.72636678e-02 -1.43222280e-04 9.98359080e-01 -1.58833127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47864 meters Centerline goodness [0,1] 0.9996573666177191 Centerline is valid? [True, True] Translation: X:307.78, Y:-219.04, Z:-15.88 [[ 7.20393084e-01 6.92461162e-01 3.91323877e-02 3.07782802e+02] [-6.91453492e-01 7.21455137e-01 -3.73437158e-02 -2.19037599e+02] [-5.40913349e-02 -1.56071518e-04 9.98535980e-01 -1.58836539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50864 meters Centerline goodness [0,1] 0.9996568122763152 Centerline is valid? [True, True] Translation: X:307.80, Y:-219.06, Z:-15.88 [[ 7.18001239e-01 6.95012377e-01 3.78419961e-02 3.07803296e+02] [-6.94072656e-01 7.18997700e-01 -3.61310855e-02 -2.19063562e+02] [-5.23198598e-02 -3.22930581e-04 9.98630326e-01 -1.58841245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53864 meters Centerline goodness [0,1] 0.999853379600215 Centerline is valid? [True, True] Translation: X:307.83, Y:-219.09, Z:-15.89 [[ 7.16293584e-01 6.96762034e-01 3.80285469e-02 3.07825940e+02] [-6.95813438e-01 7.17302229e-01 -3.63479272e-02 -2.19087645e+02] [-5.26038171e-02 -4.24986875e-04 9.98615370e-01 -1.58855429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56864 meters Centerline goodness [0,1] 0.9997548178296475 Centerline is valid? [True, True] Translation: X:307.85, Y:-219.11, Z:-15.89 [[ 7.14582296e-01 6.98469259e-01 3.88951882e-02 3.07848965e+02] [-6.97477334e-01 7.15639859e-01 -3.72150656e-02 -2.19110297e+02] [-5.38285263e-02 -5.35285102e-04 9.98550050e-01 -1.58873225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59864 meters Centerline goodness [0,1] 0.9997552019583843 Centerline is valid? [True, True] Translation: X:307.87, Y:-219.13, Z:-15.89 [[ 7.12724122e-01 7.00257702e-01 4.07857314e-02 3.07871451e+02] [-6.99167735e-01 7.13889833e-01 -3.90612920e-02 -2.19133258e+02] [-5.64694896e-02 -6.76142393e-04 9.98404096e-01 -1.58900191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62864 meters Centerline goodness [0,1] 0.9999015457320075 Centerline is valid? [True, True] Translation: X:307.89, Y:-219.16, Z:-15.89 [[ 7.12022141e-01 7.00968926e-01 4.08293621e-02 3.07894199e+02] [-6.99875629e-01 7.13191466e-01 -3.91412450e-02 -2.19157265e+02] [-5.65559490e-02 -7.06042478e-04 9.98399182e-01 -1.58912086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65864 meters Centerline goodness [0,1] 0.9996574001566171 Centerline is valid? [True, True] Translation: X:307.92, Y:-219.18, Z:-15.89 [[ 7.10921147e-01 7.02169729e-01 3.93547240e-02 3.07916213e+02] [-7.01153815e-01 7.12009211e-01 -3.77652159e-02 -2.19180883e+02] [-5.45385174e-02 -7.45624211e-04 9.98511389e-01 -1.58912991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68864 meters Centerline goodness [0,1] 0.999804228660924 Centerline is valid? [True, True] Translation: X:307.94, Y:-219.20, Z:-15.89 [[ 7.09222455e-01 7.03879210e-01 3.94660225e-02 3.07941405e+02] [-7.02858227e-01 7.10319173e-01 -3.79075778e-02 -2.19201672e+02] [-5.47158284e-02 -8.54113242e-04 9.98501602e-01 -1.58923398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71864 meters Centerline goodness [0,1] 0.9998046016315764 Centerline is valid? [True, True] Translation: X:307.97, Y:-219.22, Z:-15.89 [[ 7.08527652e-01 7.04548658e-01 3.99969389e-02 3.07965818e+02] [-7.03498963e-01 7.09655123e-01 -3.84553710e-02 -2.19223989e+02] [-5.54777126e-02 -8.91111278e-04 9.98459528e-01 -1.58942541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74864 meters Centerline goodness [0,1] 0.999755632667025 Centerline is valid? [True, True] Translation: X:307.99, Y:-219.25, Z:-15.89 [[ 7.07020335e-01 7.06098921e-01 3.93263161e-02 3.07989924e+02] [-7.05084369e-01 7.08112546e-01 -3.78504310e-02 -2.19247027e+02] [-5.45736063e-02 -9.67346350e-04 9.98509282e-01 -1.58943689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77864 meters Centerline goodness [0,1] 0.9997067878610174 Centerline is valid? [True, True] Translation: X:308.02, Y:-219.27, Z:-15.89 [[ 7.05990394e-01 7.07170409e-01 3.85691018e-02 3.08015086e+02] [-7.06194079e-01 7.07042437e-01 -3.71606687e-02 -2.19269071e+02] [-5.35489170e-02 -1.00219613e-03 9.98564725e-01 -1.58943673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80864 meters Centerline goodness [0,1] 0.9999509948054494 Centerline is valid? [True, True] Translation: X:308.04, Y:-219.29, Z:-15.90 [[ 7.05842153e-01 7.07321813e-01 3.85059522e-02 3.08040885e+02] [-7.06346786e-01 7.06890999e-01 -3.71393693e-02 -2.19289848e+02] [-5.34889970e-02 -9.84023177e-04 9.98567954e-01 -1.58961415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83864 meters Centerline goodness [0,1] 0.9999511193665069 Centerline is valid? [True, True] Translation: X:308.07, Y:-219.31, Z:-15.90 [[ 7.06522456e-01 7.06609559e-01 3.91017987e-02 3.08065444e+02] [-7.05600795e-01 7.07603062e-01 -3.77548063e-02 -2.19312036e+02] [-5.43464595e-02 -9.15641826e-04 9.98521719e-01 -1.58983733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86864 meters Centerline goodness [0,1] 0.9995114324799688 Centerline is valid? [True, True] Translation: X:308.09, Y:-219.33, Z:-15.90 [[ 7.09481998e-01 7.03544689e-01 4.07451247e-02 3.08090131e+02] [-7.02442167e-01 7.10650690e-01 -3.93776445e-02 -2.19333497e+02] [-5.66594837e-02 -6.83363828e-04 9.98393327e-01 -1.58998534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89864 meters Centerline goodness [0,1] 0.9995099720684079 Centerline is valid? [True, True] Translation: X:308.12, Y:-219.35, Z:-15.90 [[ 7.13177422e-01 6.99847221e-01 3.98977685e-02 3.08115228e+02] [-6.98782937e-01 7.14292472e-01 -3.85833062e-02 -2.19353466e+02] [-5.55010952e-02 -3.63136988e-04 9.98458560e-01 -1.59008939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92864 meters Centerline goodness [0,1] 0.9996083423088221 Centerline is valid? [True, True] Translation: X:308.14, Y:-219.38, Z:-15.90 [[ 7.14826301e-01 6.98189231e-01 3.94354852e-02 3.08137967e+02] [-6.97145026e-01 7.15913232e-01 -3.81714254e-02 -2.19375841e+02] [-5.48832638e-02 -2.06313529e-04 9.98492757e-01 -1.59021941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95864 meters Centerline goodness [0,1] 0.9988267500977708 Centerline is valid? [True, True] Translation: X:308.16, Y:-219.40, Z:-15.90 [[ 7.17837881e-01 6.95095404e-01 3.93847263e-02 3.08158587e+02] [-6.94047179e-01 7.18917503e-01 -3.81593591e-02 -2.19402100e+02] [-5.48387642e-02 5.73752360e-05 9.98495221e-01 -1.59042539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98864 meters Centerline goodness [0,1] 0.9988743698918416 Centerline is valid? [True, True] Translation: X:308.18, Y:-219.43, Z:-15.91 [[ 7.18952267e-01 6.93973430e-01 3.88396256e-02 3.08180959e+02] [-6.92950256e-01 7.20000590e-01 -3.76708640e-02 -2.19426533e+02] [-5.41071321e-02 1.69624581e-04 9.98535122e-01 -1.59050427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01864 meters Centerline goodness [0,1] 0.9985828079949176 Centerline is valid? [True, True] Translation: X:308.20, Y:-219.45, Z:-15.91 [[ 7.19898877e-01 6.92946877e-01 3.96261573e-02 3.08203165e+02] [-6.91878066e-01 7.20988590e-01 -3.84733016e-02 -2.19449936e+02] [-5.52299615e-02 2.80417518e-04 9.98473621e-01 -1.59061901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04864 meters Centerline goodness [0,1] 0.9990709046454768 Centerline is valid? [True, True] Translation: X:308.22, Y:-219.48, Z:-15.91 [[ 7.20119984e-01 6.92700353e-01 3.99178009e-02 3.08222899e+02] [-6.91613273e-01 7.21225425e-01 -3.87939095e-02 -2.19476716e+02] [-5.56622877e-02 3.28588565e-04 9.98449599e-01 -1.59082016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07864 meters Centerline goodness [0,1] 0.9993628075678855 Centerline is valid? [True, True] Translation: X:308.24, Y:-219.50, Z:-15.91 [[ 7.19762192e-01 6.93054504e-01 4.02224107e-02 3.08243623e+02] [-6.91948991e-01 7.20885111e-01 -3.91311996e-02 -2.19502120e+02] [-5.61157912e-02 3.33301459e-04 9.98424212e-01 -1.59089292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10864 meters Centerline goodness [0,1] 0.9991688260890823 Centerline is valid? [True, True] Translation: X:308.26, Y:-219.53, Z:-15.91 [[ 7.19309274e-01 6.93500892e-01 4.06285691e-02 3.08263030e+02] [-6.92371262e-01 7.20455691e-01 -3.95680915e-02 -2.19530038e+02] [-5.67115905e-02 3.31641559e-04 9.98390548e-01 -1.59094026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13864 meters Centerline goodness [0,1] 0.9983345579230958 Centerline is valid? [True, True] Translation: X:308.28, Y:-219.56, Z:-15.91 [[ 7.18520038e-01 6.94444756e-01 3.84113983e-02 3.08282242e+02] [-6.93434524e-01 7.19545974e-01 -3.74453278e-02 -2.19556390e+02] [-5.36424786e-02 2.69428644e-04 9.98560169e-01 -1.59093764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16864 meters Centerline goodness [0,1] 0.999119804400978 Centerline is valid? [True, True] Translation: X:308.30, Y:-219.58, Z:-15.91 [[ 7.17631384e-01 6.95394907e-01 3.78301561e-02 3.08303214e+02] [-6.94414505e-01 7.18627772e-01 -3.69136889e-02 -2.19582431e+02] [-5.28553920e-02 2.20612581e-04 9.98602152e-01 -1.59116219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19864 meters Centerline goodness [0,1] 0.9993632445141066 Centerline is valid? [True, True] Translation: X:308.32, Y:-219.61, Z:-15.91 [[ 7.15579756e-01 6.97519067e-01 3.75867551e-02 3.08320842e+02] [-6.96552132e-01 7.16566217e-01 -3.67149009e-02 -2.19611444e+02] [-5.25427423e-02 9.13054249e-05 9.98618672e-01 -1.59099360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22864 meters Centerline goodness [0,1] 0.9996088784589812 Centerline is valid? [True, True] Translation: X:308.34, Y:-219.64, Z:-15.91 [[ 7.13972517e-01 6.99133049e-01 3.81605235e-02 3.08343012e+02] [-6.98136516e-01 7.14991594e-01 -3.73152125e-02 -2.19635624e+02] [-5.33727518e-02 7.81280112e-07 9.98574659e-01 -1.59104635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25864 meters Centerline goodness [0,1] 0.9993644585675874 Centerline is valid? [True, True] Translation: X:308.36, Y:-219.66, Z:-15.91 [[ 7.12263353e-01 7.00889530e-01 3.78785210e-02 3.08364525e+02] [-6.99908070e-01 7.13269834e-01 -3.70787861e-02 -2.19660870e+02] [-5.30057394e-02 -1.01622008e-04 9.98594203e-01 -1.59121511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28864 meters Centerline goodness [0,1] 0.9986804164019354 Centerline is valid? [True, True] Translation: X:308.38, Y:-219.69, Z:-15.91 [[ 7.11208999e-01 7.02001708e-01 3.70858786e-02 3.08383827e+02] [-7.01060446e-01 7.12175244e-01 -3.63410477e-02 -2.19687717e+02] [-5.19231222e-02 -1.53362488e-04 9.98651073e-01 -1.59147956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31864 meters Centerline goodness [0,1] 0.9991199335060871 Centerline is valid? [True, True] Translation: X:308.41, Y:-219.71, Z:-15.92 [[ 7.10358179e-01 7.02818279e-01 3.79173357e-02 3.08406050e+02] [-7.01833311e-01 7.11369405e-01 -3.71964176e-02 -2.19712061e+02] [-5.31155548e-02 -1.88869774e-04 9.98588355e-01 -1.59158228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34864 meters Centerline goodness [0,1] 0.9995598161009488 Centerline is valid? [True, True] Translation: X:308.43, Y:-219.74, Z:-15.92 [[ 7.09639011e-01 7.03582606e-01 3.72020184e-02 3.08429126e+02] [-7.02633507e-01 7.10613447e-01 -3.65333340e-02 -2.19736137e+02] [-5.21404729e-02 -2.13905675e-04 9.98639738e-01 -1.59158712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37864 meters Centerline goodness [0,1] 0.9992169529682376 Centerline is valid? [True, True] Translation: X:308.45, Y:-219.76, Z:-15.92 [[ 7.09249120e-01 7.04006497e-01 3.66133529e-02 3.08451212e+02] [-7.03085808e-01 7.10193499e-01 -3.59936165e-02 -2.19760204e+02] [-5.13423051e-02 -2.13887913e-04 9.98681091e-01 -1.59170051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40864 meters Centerline goodness [0,1] 0.9995600097775605 Centerline is valid? [True, True] Translation: X:308.47, Y:-219.79, Z:-15.92 [[ 7.08136972e-01 7.05127597e-01 3.65663932e-02 3.08470957e+02] [-7.04208774e-01 7.09080390e-01 -3.59861482e-02 -2.19786751e+02] [-5.13033386e-02 -2.67252892e-04 9.98683081e-01 -1.59182894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43864 meters Centerline goodness [0,1] 0.9996091650788999 Centerline is valid? [True, True] Translation: X:308.49, Y:-219.81, Z:-15.92 [[ 7.07279209e-01 7.05942141e-01 3.74408142e-02 3.08494084e+02] [-7.04977833e-01 7.08269440e-01 -3.68870540e-02 -2.19810382e+02] [-5.25583104e-02 -3.05497701e-04 9.98617810e-01 -1.59204282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46864 meters Centerline goodness [0,1] 0.9994614970382337 Centerline is valid? [True, True] Translation: X:308.52, Y:-219.83, Z:-15.92 [[ 7.04645179e-01 7.08584280e-01 3.71952935e-02 3.08518452e+02] [-7.07634189e-01 7.05626031e-01 -3.66845798e-02 -2.19832479e+02] [-5.22400839e-02 -4.71049033e-04 9.98634444e-01 -1.59198836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49864 meters Centerline goodness [0,1] 0.9995603751465416 Centerline is valid? [True, True] Translation: X:308.54, Y:-219.86, Z:-15.92 [[ 7.02858729e-01 7.10327866e-01 3.77349946e-02 3.08540570e+02] [-7.09350415e-01 7.03870716e-01 -3.72559376e-02 -2.19855291e+02] [-5.30244883e-02 -5.81673145e-04 9.98593043e-01 -1.59213225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52864 meters Centerline goodness [0,1] 0.9996581697431389 Centerline is valid? [True, True] Translation: X:308.56, Y:-219.88, Z:-15.92 [[ 6.99573518e-01 7.13552868e-01 3.79367529e-02 3.08560916e+02] [-7.12567749e-01 7.00600925e-01 -3.74906133e-02 -2.19880919e+02] [-5.33300588e-02 -8.05066346e-04 9.98576615e-01 -1.59229573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55864 meters Centerline goodness [0,1] 0.9991196322018977 Centerline is valid? [True, True] Translation: X:308.58, Y:-219.90, Z:-15.92 [[ 6.96975388e-01 7.16105716e-01 3.76551828e-02 3.08583735e+02] [-7.15137385e-01 6.97991159e-01 -3.72406183e-02 -2.19903966e+02] [-5.29512043e-02 -9.72834570e-04 9.98596627e-01 -1.59232162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58864 meters Centerline goodness [0,1] 0.9991190720892673 Centerline is valid? [True, True] Translation: X:308.61, Y:-219.93, Z:-15.92 [[ 6.95460839e-01 7.17619667e-01 3.68270908e-02 3.08607728e+02] [-7.16694610e-01 6.96434426e-01 -3.64407264e-02 -2.19926394e+02] [-5.17982358e-02 -1.05067930e-03 9.98657018e-01 -1.59244394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61864 meters Centerline goodness [0,1] 0.9991201916027176 Centerline is valid? [True, True] Translation: X:308.63, Y:-219.95, Z:-15.93 [[ 6.92644325e-01 7.20375710e-01 3.60926053e-02 3.08631603e+02] [-7.19489092e-01 6.93583003e-01 -3.57500255e-02 -2.19947393e+02] [-5.07866676e-02 -1.20618354e-03 9.98708796e-01 -1.59256708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64864 meters Centerline goodness [0,1] 0.9985341542069774 Centerline is valid? [True, True] Translation: X:308.66, Y:-219.97, Z:-15.93 [[ 6.91009812e-01 7.21946455e-01 3.60382507e-02 3.08655012e+02] [-7.21063041e-01 6.91947709e-01 -3.57275662e-02 -2.19968880e+02] [-5.07299748e-02 -1.29775188e-03 9.98711563e-01 -1.59263015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67864 meters Centerline goodness [0,1] 0.9984833659491194 Centerline is valid? [True, True] Translation: X:308.68, Y:-219.99, Z:-15.93 [[ 6.88774728e-01 7.24080362e-01 3.60139409e-02 3.08680601e+02] [-7.23199370e-01 6.89714131e-01 -3.57363831e-02 -2.19988353e+02] [-5.07153372e-02 -1.43094184e-03 9.98712124e-01 -1.59271629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70864 meters Centerline goodness [0,1] 0.998286329808069 Centerline is valid? [True, True] Translation: X:308.70, Y:-220.01, Z:-15.93 [[ 6.87599226e-01 7.25207203e-01 3.58024605e-02 3.08704981e+02] [-7.24336419e-01 6.88529094e-01 -3.55589358e-02 -2.20009400e+02] [-5.04386321e-02 -1.48272927e-03 9.98726061e-01 -1.59281772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73864 meters Centerline goodness [0,1] 0.9983859134262656 Centerline is valid? [True, True] Translation: X:308.73, Y:-220.03, Z:-15.93 [[ 6.88155747e-01 7.24637612e-01 3.66333135e-02 3.08729053e+02] [-7.23723370e-01 6.89128598e-01 -3.64178261e-02 -2.20030236e+02] [-5.16347905e-02 -1.45124876e-03 9.98664980e-01 -1.59295846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76864 meters Centerline goodness [0,1] 0.9981918584762742 Centerline is valid? [True, True] Translation: X:308.75, Y:-220.05, Z:-15.93 [[ 6.88629713e-01 7.24160281e-01 3.71619016e-02 3.08753306e+02] [-7.23216954e-01 6.89630259e-01 -3.69776087e-02 -2.20051600e+02] [-5.24056873e-02 -1.41223722e-03 9.98624879e-01 -1.59303015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79864 meters Centerline goodness [0,1] 0.9972589329417523 Centerline is valid? [True, True] Translation: X:308.78, Y:-220.07, Z:-15.93 [[ 6.89569877e-01 7.23309832e-01 3.62804706e-02 3.08780295e+02] [-7.22408178e-01 6.90522415e-01 -3.61277982e-02 -2.20070763e+02] [-5.11840698e-02 -1.29666727e-03 9.98688395e-01 -1.59312795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82864 meters Centerline goodness [0,1] 0.9973603167619886 Centerline is valid? [True, True] Translation: X:308.81, Y:-220.09, Z:-15.93 [[ 6.89505889e-01 7.23455709e-01 3.45465712e-02 3.08807012e+02] [-7.22637655e-01 6.90369694e-01 -3.44166409e-02 -2.20089902e+02] [-4.87488211e-02 -1.23417663e-03 9.98810307e-01 -1.59330600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85864 meters Centerline goodness [0,1] 0.9966697683530046 Centerline is valid? [True, True] Translation: X:308.83, Y:-220.11, Z:-15.93 [[ 6.89337595e-01 7.23630190e-01 3.42494908e-02 3.08832370e+02] [-7.22824802e-01 6.90186841e-01 -3.41530458e-02 -2.20111829e+02] [-4.83527229e-02 -1.21340297e-03 9.98829586e-01 -1.59334536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88864 meters Centerline goodness [0,1] 0.9968656643322396 Centerline is valid? [True, True] Translation: X:308.86, Y:-220.13, Z:-15.93 [[ 6.89020457e-01 7.23899922e-01 3.49243826e-02 3.08858805e+02] [-7.23060949e-01 6.89903898e-01 -3.48636909e-02 -2.20131383e+02] [-4.93322908e-02 -1.23066100e-03 9.98781663e-01 -1.59349395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91864 meters Centerline goodness [0,1] 0.9962839820066497 Centerline is valid? [True, True] Translation: X:308.88, Y:-220.15, Z:-15.94 [[ 6.88542447e-01 7.24335517e-01 3.53179560e-02 3.08883573e+02] [-7.23476185e-01 6.89446515e-01 -3.52946656e-02 -2.20153645e+02] [-4.99150215e-02 -1.24982468e-03 9.98752686e-01 -1.59359399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94864 meters Centerline goodness [0,1] 0.9966232749339337 Centerline is valid? [True, True] Translation: X:308.86, Y:-220.28, Z:-14.41 [[ 7.70923183e-01 -6.36674506e-01 -1.79727580e-02 3.08858126e+02] [-6.36394327e-01 -7.71125384e-01 1.91807967e-02 -2.20282157e+02] [-2.60711741e-02 -3.34915959e-03 -9.99654479e-01 -1.44068710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97864 meters Centerline goodness [0,1] 0.9959429074200802 Centerline is valid? [True, True] Translation: X:308.91, Y:-220.19, Z:-15.94 [[ 7.38940184e-01 6.72694265e-01 3.80766439e-02 3.08906910e+02] [-6.71885335e-01 7.39919586e-01 -3.30015548e-02 -2.20187092e+02] [-5.03736113e-02 -1.19696365e-03 9.98729726e-01 -1.59379994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00864 meters Centerline goodness [0,1] 0.9963838936669273 Centerline is valid? [True, True] Translation: X:308.94, Y:-220.21, Z:-15.94 [[ 7.38959820e-01 6.72639512e-01 3.86583983e-02 3.08935345e+02] [-6.71803696e-01 7.39969381e-01 -3.35426546e-02 -2.20205089e+02] [-5.11681459e-02 -1.18418090e-03 9.98689350e-01 -1.59391798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03864 meters Centerline goodness [0,1] 0.9963838936669273 Centerline is valid? [True, True] Translation: X:308.96, Y:-220.23, Z:-15.94 [[ 7.38600213e-01 6.73035393e-01 3.86404516e-02 3.08960109e+02] [-6.72199038e-01 7.39609328e-01 -3.35633191e-02 -2.20226196e+02] [-5.11681400e-02 -1.18419973e-03 9.98689351e-01 -1.59404184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06864 meters Centerline goodness [0,1] 0.9963339524880243 Centerline is valid? [True, True] Translation: X:308.99, Y:-220.25, Z:-15.94 [[ 7.37727087e-01 6.73950766e-01 3.93587314e-02 3.08986127e+02] [-6.73082416e-01 7.38775214e-01 -3.42234318e-02 -2.20245210e+02] [-5.21421632e-02 -1.24411739e-03 9.98638897e-01 -1.59416730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09864 meters Centerline goodness [0,1] 0.997262818319566 Centerline is valid? [True, True] Translation: X:309.01, Y:-220.26, Z:-15.94 [[ 7.34607305e-01 6.77407714e-01 3.83522683e-02 3.09012293e+02] [-6.76586347e-01 7.35606382e-01 -3.33791060e-02 -2.20264060e+02] [-5.08234372e-02 -1.42808597e-03 9.98706633e-01 -1.59424207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12864 meters Centerline goodness [0,1] 0.9968250866995555 Centerline is valid? [True, True] Translation: X:309.04, Y:-220.28, Z:-15.94 [[ 7.33096796e-01 6.79142124e-01 3.65385006e-02 3.09038909e+02] [-6.78397405e-01 7.34005355e-01 -3.18292158e-02 -2.20282498e+02] [-4.84360163e-02 -1.45372781e-03 9.98825229e-01 -1.59440930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15864 meters Centerline goodness [0,1] 0.9965781883951703 Centerline is valid? [True, True] Translation: X:309.07, Y:-220.30, Z:-15.95 [[ 7.32911727e-01 6.79316754e-01 3.70019965e-02 3.09065478e+02] [-6.78551694e-01 7.33843725e-01 -3.22643088e-02 -2.20301576e+02] [-4.90713684e-02 -1.46087713e-03 9.98794206e-01 -1.59452687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18864 meters Centerline goodness [0,1] 0.9963826563034658 Centerline is valid? [True, True] Translation: X:309.09, Y:-220.32, Z:-15.95 [[ 7.33687746e-01 6.78430462e-01 3.78734569e-02 3.09093954e+02] [-6.77625982e-01 7.34663272e-01 -3.30591210e-02 -2.20318353e+02] [-5.02525525e-02 -1.40896645e-03 9.98735548e-01 -1.59457703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21864 meters Centerline goodness [0,1] 0.9968711806404302 Centerline is valid? [True, True] Translation: X:309.12, Y:-220.34, Z:-15.95 [[ 7.34048249e-01 6.77967624e-01 3.91544272e-02 3.09120384e+02] [-6.77105333e-01 7.35090432e-01 -3.42114607e-02 -2.20337886e+02] [-5.19763075e-02 -1.39880868e-03 9.98647339e-01 -1.59483384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24864 meters Centerline goodness [0,1] 0.9962821641718032 Centerline is valid? [True, True] Translation: X:309.15, Y:-220.36, Z:-15.95 [[ 7.36373065e-01 6.75512299e-01 3.79188888e-02 3.09147349e+02] [-6.74698637e-01 7.37347804e-01 -3.31657232e-02 -2.20356100e+02] [-5.03632633e-02 -1.16147737e-03 9.98730290e-01 -1.59506347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27864 meters Centerline goodness [0,1] 0.9955964380076329 Centerline is valid? [True, True] Translation: X:309.17, Y:-220.38, Z:-15.95 [[ 7.37259763e-01 6.74600842e-01 3.69018321e-02 3.09173185e+02] [-6.73827659e-01 7.38181960e-01 -3.23060239e-02 -2.20375488e+02] [-4.90339377e-02 -1.04754360e-03 9.98796564e-01 -1.59520440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30864 meters Centerline goodness [0,1] 0.995296423321901 Centerline is valid? [True, True] Translation: X:309.20, Y:-220.39, Z:-15.95 [[ 7.40350551e-01 6.71249902e-01 3.61196682e-02 3.09201468e+02] [-6.70503749e-01 7.41230701e-01 -3.16507640e-02 -2.20392204e+02] [-4.80185792e-02 -7.85712406e-04 9.98846134e-01 -1.59531080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33864 meters Centerline goodness [0,1] 0.9943159545276362 Centerline is valid? [True, True] Translation: X:309.23, Y:-220.41, Z:-15.95 [[ 7.42569191e-01 6.68799252e-01 3.60354981e-02 3.09227110e+02] [-6.68052254e-01 7.43442800e-01 -3.16067847e-02 -2.20411780e+02] [-4.79289255e-02 -6.03371222e-04 9.98850566e-01 -1.59540071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36864 meters Centerline goodness [0,1] 0.9949176562576357 Centerline is valid? [True, True] Translation: X:309.25, Y:-220.43, Z:-15.96 [[ 7.43262318e-01 6.67968185e-01 3.71433883e-02 3.09252505e+02] [-6.67171872e-01 7.44189633e-01 -3.26110872e-02 -2.20432917e+02] [-4.94248932e-02 -5.42431608e-04 9.98777696e-01 -1.59560187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39864 meters Centerline goodness [0,1] 0.9943304007820137 Centerline is valid? [True, True] Translation: X:309.28, Y:-220.45, Z:-15.96 [[ 7.43911851e-01 6.67204455e-01 3.78599164e-02 3.09277627e+02] [-6.66374290e-01 7.44874479e-01 -3.32763486e-02 -2.20453987e+02] [-5.04030136e-02 -4.74204818e-04 9.98728848e-01 -1.59578389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42864 meters Centerline goodness [0,1] 0.9942074517696726 Centerline is valid? [True, True] Translation: X:309.30, Y:-220.47, Z:-15.96 [[ 7.45367635e-01 6.65566873e-01 3.80503168e-02 3.09304091e+02] [-6.64724357e-01 7.46338143e-01 -3.34799279e-02 -2.20473923e+02] [-5.06815336e-02 -3.38117674e-04 9.98714808e-01 -1.59588181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45864 meters Centerline goodness [0,1] 0.9946157611355849 Centerline is valid? [True, True] Translation: X:309.33, Y:-220.50, Z:-15.96 [[ 7.45879259e-01 6.65001363e-01 3.79119911e-02 3.09328821e+02] [-6.64162737e-01 7.46842093e-01 -3.33878248e-02 -2.20495228e+02] [-5.05172198e-02 -2.76445757e-04 9.98723152e-01 -1.59606670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48864 meters Centerline goodness [0,1] 0.9949126840483296 Centerline is valid? [True, True] Translation: X:309.35, Y:-220.52, Z:-15.96 [[ 7.46240535e-01 6.64570281e-01 3.83589043e-02 3.09353541e+02] [-6.63710270e-01 7.47225726e-01 -3.37992755e-02 -2.20517069e+02] [-5.11247542e-02 -2.36809310e-04 9.98692247e-01 -1.59629197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51864 meters Centerline goodness [0,1] 0.9947633729750893 Centerline is valid? [True, True] Translation: X:309.38, Y:-220.54, Z:-15.96 [[ 7.46643385e-01 6.64196376e-01 3.69706532e-02 3.09379488e+02] [-6.63395659e-01 7.47558118e-01 -3.26045905e-02 -2.20535703e+02] [-4.92935628e-02 -1.82169005e-04 9.98784317e-01 -1.59616871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54864 meters Centerline goodness [0,1] 0.9939278194015964 Centerline is valid? [True, True] Translation: X:309.41, Y:-220.56, Z:-15.96 [[ 7.46197469e-01 6.64720917e-01 3.65436691e-02 3.09406288e+02] [-6.63938449e-01 7.47091736e-01 -3.22439793e-02 -2.20555346e+02] [-4.87347207e-02 -2.02371191e-04 9.98811737e-01 -1.59628650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57864 meters Centerline goodness [0,1] 0.9935818921169958 Centerline is valid? [True, True] Translation: X:309.43, Y:-220.57, Z:-15.96 [[ 7.46765476e-01 6.64044080e-01 3.72395617e-02 3.09434536e+02] [-6.63228875e-01 7.47693415e-01 -3.28940204e-02 -2.20573163e+02] [-4.96868546e-02 -1.34233880e-04 9.98764836e-01 -1.59646376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60864 meters Centerline goodness [0,1] 0.9943337241109809 Centerline is valid? [True, True] Translation: X:309.46, Y:-220.59, Z:-15.97 [[ 7.47568561e-01 6.63096583e-01 3.80022029e-02 3.09460340e+02] [-6.62244551e-01 7.48533846e-01 -3.36041071e-02 -2.20593789e+02] [-5.07287037e-02 -4.53777921e-05 9.98712469e-01 -1.59668015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63864 meters Centerline goodness [0,1] 0.9938773510971787 Centerline is valid? [True, True] Translation: X:309.49, Y:-220.61, Z:-15.97 [[ 7.51126432e-01 6.59052256e-01 3.81995789e-02 3.09486337e+02] [-6.58184246e-01 7.52097107e-01 -3.38147922e-02 -2.20614936e+02] [-5.10155079e-02 2.56823190e-04 9.98697828e-01 -1.59686562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66864 meters Centerline goodness [0,1] 0.9911967525798405 Centerline is valid? [True, True] Translation: X:309.51, Y:-220.64, Z:-15.97 [[ 7.54180843e-01 6.55547296e-01 3.83275077e-02 3.09511582e+02] [-6.54667137e-01 7.55153938e-01 -3.39627895e-02 -2.20635250e+02] [-5.12073832e-02 5.22325551e-04 9.98687905e-01 -1.59695119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69864 meters Centerline goodness [0,1] 0.9913536221972546 Centerline is valid? [True, True] Translation: X:309.54, Y:-220.66, Z:-15.97 [[ 7.57205169e-01 6.52023632e-01 3.88009859e-02 3.09536153e+02] [-6.51115482e-01 7.58198231e-01 -3.44103519e-02 -2.20655235e+02] [-5.18552015e-02 7.91773704e-04 9.98654300e-01 -1.59713926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72864 meters Centerline goodness [0,1] 0.9905969929967188 Centerline is valid? [True, True] Translation: X:309.56, Y:-220.68, Z:-15.97 [[ 7.62542476e-01 6.45785152e-01 3.86071228e-02 3.09560942e+02] [-6.44877265e-01 7.63518201e-01 -3.42530319e-02 -2.20675541e+02] [-5.15973403e-02 1.22253602e-03 9.98667222e-01 -1.59733352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75864 meters Centerline goodness [0,1] 0.9893934209883181 Centerline is valid? [True, True] Translation: X:309.58, Y:-220.70, Z:-15.98 [[ 7.65147158e-01 6.42747538e-01 3.77548502e-02 3.09583791e+02] [-6.41875104e-01 7.66076779e-01 -3.35070005e-02 -2.20697606e+02] [-5.04596561e-02 1.40388781e-03 9.98725113e-01 -1.59752964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78864 meters Centerline goodness [0,1] 0.9895421003762889 Centerline is valid? [True, True] Translation: X:309.61, Y:-220.72, Z:-15.98 [[ 7.65357837e-01 6.42453599e-01 3.84805818e-02 3.09607147e+02] [-6.41545921e-01 7.66323186e-01 -3.41702488e-02 -2.20719050e+02] [-5.14413614e-02 1.46540748e-03 9.98674942e-01 -1.59759419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81864 meters Centerline goodness [0,1] 0.9899315738025416 Centerline is valid? [True, True] Translation: X:309.63, Y:-220.74, Z:-15.98 [[ 7.65649101e-01 6.42170838e-01 3.73907620e-02 3.09629314e+02] [-6.41312152e-01 7.66560156e-01 -3.32302622e-02 -2.20743775e+02] [-5.00017736e-02 1.46357034e-03 9.98748057e-01 -1.59766856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84864 meters Centerline goodness [0,1] 0.9894288650712083 Centerline is valid? [True, True] Translation: X:309.65, Y:-220.77, Z:-15.98 [[ 7.65694194e-01 6.42143308e-01 3.69374104e-02 3.09652655e+02] [-6.41303705e-01 7.66583201e-01 -3.28596195e-02 -2.20767717e+02] [-4.94161831e-02 1.47232177e-03 9.98777189e-01 -1.59776814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87864 meters Centerline goodness [0,1] 0.9913451664955258 Centerline is valid? [True, True] Translation: X:309.67, Y:-220.79, Z:-15.98 [[ 7.65250817e-01 6.42673850e-01 3.68986528e-02 3.09673448e+02] [-6.41835006e-01 7.66138490e-01 -3.28578620e-02 -2.20793417e+02] [-4.93863668e-02 1.46165866e-03 9.98778679e-01 -1.59804057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90864 meters Centerline goodness [0,1] 0.9928609847929196 Centerline is valid? [True, True] Translation: X:309.70, Y:-220.82, Z:-15.98 [[ 7.64365158e-01 6.43683053e-01 3.76567607e-02 3.09695900e+02] [-6.42808865e-01 7.65290808e-01 -3.35669801e-02 -2.20818076e+02] [-5.04248691e-02 1.45133045e-03 9.98726803e-01 -1.59822402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93864 meters Centerline goodness [0,1] 0.9927110850210351 Centerline is valid? [True, True] Translation: X:309.72, Y:-220.84, Z:-15.98 [[ 7.63875185e-01 6.44278147e-01 3.74215364e-02 3.09719679e+02] [-6.43413895e-01 7.64789925e-01 -3.33905757e-02 -2.20840919e+02] [-5.01324323e-02 1.42869567e-03 9.98741557e-01 -1.59827114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96864 meters Centerline goodness [0,1] 0.9941689533516268 Centerline is valid? [True, True] Translation: X:309.74, Y:-220.87, Z:-15.98 [[ 7.63271935e-01 6.44999351e-01 3.73067069e-02 3.09741820e+02] [-6.44139592e-01 7.64181831e-01 -3.33213970e-02 -2.20865280e+02] [-5.00013870e-02 1.40256020e-03 9.98748164e-01 -1.59840666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99864 meters Centerline goodness [0,1] 0.9934771947032859 Centerline is valid? [True, True] Translation: X:309.76, Y:-220.89, Z:-15.99 [[ 7.62944396e-01 6.45435734e-01 3.64494318e-02 3.09764948e+02] [-6.44613987e-01 7.63813357e-01 -3.25877816e-02 -2.20888401e+02] [-4.88738816e-02 1.36685176e-03 9.98804023e-01 -1.59854680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02864 meters Centerline goodness [0,1] 0.9949583945178658 Centerline is valid? [True, True] Translation: X:309.79, Y:-220.91, Z:-15.99 [[ 7.62426342e-01 6.46043230e-01 3.65269549e-02 3.09788300e+02] [-6.45217063e-01 7.63299618e-01 -3.26899781e-02 -2.20911701e+02] [-4.90001497e-02 1.35588588e-03 9.98797851e-01 -1.59878740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05864 meters Centerline goodness [0,1] 0.9956947162426615 Centerline is valid? [True, True] Translation: X:309.81, Y:-220.94, Z:-15.99 [[ 7.62020145e-01 6.46548745e-01 3.60557739e-02 3.09809100e+02] [-6.45742773e-01 7.62871515e-01 -3.23004921e-02 -2.20937290e+02] [-4.83897656e-02 1.33087025e-03 9.98827642e-01 -1.59886980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08864 meters Centerline goodness [0,1] 0.9954358068315665 Centerline is valid? [True, True] Translation: X:309.83, Y:-220.96, Z:-15.99 [[ 7.61232654e-01 6.47449492e-01 3.65239889e-02 3.09832203e+02] [-6.46621847e-01 7.62107226e-01 -3.27530602e-02 -2.20960745e+02] [-4.90411481e-02 1.31548982e-03 9.98795893e-01 -1.59892842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11864 meters Centerline goodness [0,1] 0.9977021609465141 Centerline is valid? [True, True] Translation: X:309.85, Y:-220.99, Z:-15.99 [[ 7.58898940e-01 6.50159753e-01 3.69417748e-02 3.09853494e+02] [-6.49314624e-01 7.59796622e-01 -3.31604213e-02 -2.20985861e+02] [-4.96278070e-02 1.17857402e-03 9.98767086e-01 -1.59898308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14864 meters Centerline goodness [0,1] 0.998238747553816 Centerline is valid? [True, True] Translation: X:309.88, Y:-221.01, Z:-15.99 [[ 7.56163156e-01 6.53336835e-01 3.69900178e-02 3.09876296e+02] [-6.52492036e-01 7.57066707e-01 -3.32286771e-02 -2.21009440e+02] [-4.97134296e-02 9.90609340e-04 9.98763032e-01 -1.59907073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17864 meters Centerline goodness [0,1] 0.9987249901922323 Centerline is valid? [True, True] Translation: X:309.90, Y:-221.03, Z:-15.99 [[ 7.54458101e-01 6.55250484e-01 3.79443917e-02 3.09900234e+02] [-6.54363092e-01 7.55411143e-01 -3.41020430e-02 -2.21030721e+02] [-5.10089965e-02 8.99153148e-04 9.98697789e-01 -1.59924127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20864 meters Centerline goodness [0,1] 0.9996088402112263 Centerline is valid? [True, True] Translation: X:309.92, Y:-221.05, Z:-16.00 [[ 7.51474912e-01 6.58605991e-01 3.90333755e-02 3.09924664e+02] [-6.57669709e-01 7.52487632e-01 -3.51129264e-02 -2.21051683e+02] [-5.24977160e-02 7.15414568e-04 9.98620788e-01 -1.59952377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23864 meters Centerline goodness [0,1] 0.9994624969460054 Centerline is valid? [True, True] Translation: X:309.95, Y:-221.07, Z:-16.00 [[ 7.49783804e-01 6.60497378e-01 3.95911813e-02 3.09949070e+02] [-6.59534938e-01 7.50828098e-01 -3.56487442e-02 -2.21073258e+02] [-5.32720735e-02 6.17083749e-04 9.98579844e-01 -1.59966079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26864 meters Centerline goodness [0,1] 0.9992664677979364 Centerline is valid? [True, True] Translation: X:309.97, Y:-221.09, Z:-16.00 [[ 7.48537707e-01 6.61954160e-01 3.88328719e-02 3.09973465e+02] [-6.61028398e-01 7.49544134e-01 -3.50006750e-02 -2.21093793e+02] [-5.22757937e-02 5.29693901e-04 9.98632545e-01 -1.59974619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29864 meters Centerline goodness [0,1] 0.99926614481409 Centerline is valid? [True, True] Translation: X:310.00, Y:-221.12, Z:-16.00 [[ 7.48308300e-01 6.62262205e-01 3.79928878e-02 3.09998618e+02] [-6.61374849e-01 7.49271980e-01 -3.42754931e-02 -2.21115583e+02] [-5.11663699e-02 5.21095510e-04 9.98690007e-01 -1.59980051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32864 meters Centerline goodness [0,1] 0.9990213827861232 Centerline is valid? [True, True] Translation: X:310.02, Y:-221.14, Z:-16.00 [[ 7.50182891e-01 6.60103858e-01 3.85814374e-02 3.10024473e+02] [-6.59184064e-01 7.51174014e-01 -3.48420749e-02 -2.21135485e+02] [-5.19807613e-02 7.05659781e-04 9.98647837e-01 -1.59990487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35864 meters Centerline goodness [0,1] 0.9981903550816785 Centerline is valid? [True, True] Translation: X:310.05, Y:-221.15, Z:-16.00 [[ 7.52076310e-01 6.57955142e-01 3.84220617e-02 3.10050648e+02] [-6.57038490e-01 7.53056615e-01 -3.47297675e-02 -2.21154060e+02] [-5.17846169e-02 8.74661966e-04 9.98657894e-01 -1.59996650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38864 meters Centerline goodness [0,1] 0.9973093292891737 Centerline is valid? [True, True] Translation: X:310.08, Y:-221.18, Z:-16.00 [[ 7.52702142e-01 6.57274714e-01 3.78078681e-02 3.10076402e+02] [-6.56384682e-01 7.53650505e-01 -3.42062178e-02 -2.21175519e+02] [-5.09768009e-02 9.30587955e-04 9.98699404e-01 -1.60015737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41864 meters Centerline goodness [0,1] 0.9979477156120206 Centerline is valid? [True, True] Translation: X:310.10, Y:-221.20, Z:-16.00 [[ 7.53102939e-01 6.56853132e-01 3.71473540e-02 3.10101584e+02] [-6.55991720e-01 7.54017921e-01 -3.36427980e-02 -2.21196278e+02] [-5.01081479e-02 9.68133481e-04 9.98743329e-01 -1.60024419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44864 meters Centerline goodness [0,1] 0.9975045261046142 Centerline is valid? [True, True] Translation: X:310.13, Y:-221.22, Z:-16.00 [[ 7.52783486e-01 6.57218512e-01 3.71598108e-02 3.10126656e+02] [-6.56355219e-01 7.53699467e-01 -3.36888847e-02 -2.21218260e+02] [-5.01482882e-02 9.70400303e-04 9.98741312e-01 -1.60026325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47864 meters Centerline goodness [0,1] 0.9981911513077487 Centerline is valid? [True, True] Translation: X:310.15, Y:-221.24, Z:-16.00 [[ 7.52496765e-01 6.57494887e-01 3.80669465e-02 3.10152275e+02] [-6.56587396e-01 7.53458339e-01 -3.45474013e-02 -2.21239353e+02] [-5.13965980e-02 1.00253041e-03 9.98677818e-01 -1.60036991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50864 meters Centerline goodness [0,1] 0.9976009791921665 Centerline is valid? [True, True] Translation: X:310.18, Y:-221.26, Z:-16.00 [[ 7.51755276e-01 6.58309397e-01 3.86360323e-02 3.10178336e+02] [-6.57374073e-01 7.52746817e-01 -3.50935641e-02 -2.21259259e+02] [-5.21855734e-02 9.83446076e-04 9.98636920e-01 -1.60044765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53864 meters Centerline goodness [0,1] 0.9979942272882931 Centerline is valid? [True, True] Translation: X:310.20, Y:-221.28, Z:-16.01 [[ 7.51755291e-01 6.58318959e-01 3.84724553e-02 3.10204561e+02] [-6.57390630e-01 7.52738443e-01 -3.49627803e-02 -2.21280220e+02] [-5.19763572e-02 9.92023468e-04 9.98647823e-01 -1.60062462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56864 meters Centerline goodness [0,1] 0.9980441054227177 Centerline is valid? [True, True] Translation: X:310.23, Y:-221.30, Z:-16.01 [[ 7.51604121e-01 6.58508713e-01 3.81774754e-02 3.10229801e+02] [-6.57592985e-01 7.52572441e-01 -3.47302033e-02 -2.21301644e+02] [-5.16014573e-02 9.98123915e-04 9.98667259e-01 -1.60094790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59864 meters Centerline goodness [0,1] 0.9977518205366307 Centerline is valid? [True, True] Translation: X:310.26, Y:-221.32, Z:-16.01 [[ 7.52365491e-01 6.57674307e-01 3.75589279e-02 3.10255085e+02] [-6.56785237e-01 7.53301648e-01 -3.42020335e-02 -2.21322984e+02] [-5.07870009e-02 1.06428036e-03 9.98708941e-01 -1.60103072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62864 meters Centerline goodness [0,1] 0.9970661581340766 Centerline is valid? [True, True] Translation: X:310.28, Y:-221.34, Z:-16.01 [[ 7.53275369e-01 6.56606846e-01 3.79956383e-02 3.10279804e+02] [-6.55693843e-01 7.54232105e-01 -3.46340423e-02 -2.21343078e+02] [-5.13984795e-02 1.17546491e-03 9.98677533e-01 -1.60117608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65864 meters Centerline goodness [0,1] 0.9961342728518301 Centerline is valid? [True, True] Translation: X:310.30, Y:-221.36, Z:-16.01 [[ 7.54064420e-01 6.55650856e-01 3.88433417e-02 3.10304236e+02] [-6.54693687e-01 7.55063100e-01 -3.54385584e-02 -2.21363573e+02] [-5.25644951e-02 1.29246542e-03 9.98616695e-01 -1.60116842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68864 meters Centerline goodness [0,1] 0.9968714865327272 Centerline is valid? [True, True] Translation: X:310.33, Y:-221.39, Z:-16.01 [[ 7.54991033e-01 6.54554504e-01 3.93311832e-02 3.10327947e+02] [-6.53569936e-01 7.56013500e-01 -3.59155420e-02 -2.21385028e+02] [-5.32435853e-02 1.41023322e-03 9.98580559e-01 -1.60130797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71864 meters Centerline goodness [0,1] 0.9970169690449411 Centerline is valid? [True, True] Translation: X:310.35, Y:-221.41, Z:-16.01 [[ 7.55345302e-01 6.54154164e-01 3.91893357e-02 3.10350381e+02] [-6.53174490e-01 7.56359839e-01 -3.58173117e-02 -2.21408021e+02] [-5.30712832e-02 1.45696377e-03 9.98589664e-01 -1.60147996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74864 meters Centerline goodness [0,1] 0.9965815304976315 Centerline is valid? [True, True] Translation: X:310.37, Y:-221.43, Z:-16.02 [[ 7.55441884e-01 6.54120635e-01 3.78649515e-02 3.10373285e+02] [-6.53204484e-01 7.56388882e-01 -3.46375551e-02 -2.21431485e+02] [-5.12977678e-02 1.43310379e-03 9.98682375e-01 -1.60159916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77864 meters Centerline goodness [0,1] 0.9958435207823961 Centerline is valid? [True, True] Translation: X:310.39, Y:-221.46, Z:-16.02 [[ 7.55969720e-01 6.53511706e-01 3.78448429e-02 3.10394461e+02] [-6.52594043e-01 7.56914924e-01 -3.46527516e-02 -2.21456577e+02] [-5.12913052e-02 1.49911186e-03 9.98682610e-01 -1.60169414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80864 meters Centerline goodness [0,1] 0.9968246213971665 Centerline is valid? [True, True] Translation: X:310.42, Y:-221.48, Z:-16.02 [[ 7.55635777e-01 6.53930997e-01 3.72669252e-02 3.10417232e+02] [-6.53040127e-01 7.56552765e-01 -3.41541567e-02 -2.21480919e+02] [-5.05288570e-02 1.47130519e-03 9.98721518e-01 -1.60173701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83864 meters Centerline goodness [0,1] 0.996626411773334 Centerline is valid? [True, True] Translation: X:310.44, Y:-221.51, Z:-16.02 [[ 7.55322773e-01 6.54306517e-01 3.70201313e-02 3.10437664e+02] [-6.53426171e-01 7.56228037e-01 -3.39616823e-02 -2.21507459e+02] [-5.02170113e-02 1.46210947e-03 9.98737260e-01 -1.60187928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86864 meters Centerline goodness [0,1] 0.9967692985461843 Centerline is valid? [True, True] Translation: X:310.46, Y:-221.53, Z:-16.02 [[ 7.54216708e-01 6.55606316e-01 3.65720552e-02 3.10459631e+02] [-6.54747087e-01 7.55101612e-01 -3.35828433e-02 -2.21531669e+02] [-4.96327420e-02 1.38329494e-03 9.98766578e-01 -1.60204281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89864 meters Centerline goodness [0,1] 0.9977507212361254 Centerline is valid? [True, True] Translation: X:310.48, Y:-221.56, Z:-16.02 [[ 7.53319644e-01 6.56651596e-01 3.63069618e-02 3.10481629e+02] [-6.55804567e-01 7.54192893e-01 -3.33683983e-02 -2.21555448e+02] [-4.92938646e-02 1.32679859e-03 9.98783437e-01 -1.60220728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92864 meters Centerline goodness [0,1] 0.998287587455355 Centerline is valid? [True, True] Translation: X:310.50, Y:-221.58, Z:-16.02 [[ 7.50487439e-01 6.59849067e-01 3.69839675e-02 3.10499751e+02] [-6.58972469e-01 7.51397273e-01 -3.40209308e-02 -2.21583520e+02] [-5.02383317e-02 1.16086488e-03 9.98736583e-01 -1.60221586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95864 meters Centerline goodness [0,1] 0.998287587455355 Centerline is valid? [True, True] Translation: X:310.52, Y:-221.61, Z:-16.02 [[ 7.50154393e-01 6.60228534e-01 3.69684899e-02 3.10523901e+02] [-6.59351569e-01 7.51063873e-01 -3.40377429e-02 -2.21605322e+02] [-5.02383863e-02 1.15833056e-03 9.98736583e-01 -1.60233974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98864 meters Centerline goodness [0,1] 0.9990222439501344 Centerline is valid? [True, True] Translation: X:310.54, Y:-221.63, Z:-16.02 [[ 7.46665396e-01 6.64238688e-01 3.57456525e-02 3.10542589e+02] [-6.63421843e-01 7.47520024e-01 -3.29434867e-02 -2.21632131e+02] [-4.86029294e-02 8.83314908e-04 9.98817789e-01 -1.60229054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01864 meters Centerline goodness [0,1] 0.9993149344294382 Centerline is valid? [True, True] Translation: X:310.56, Y:-221.66, Z:-16.02 [[ 7.45193821e-01 6.65924795e-01 3.50761496e-02 3.10564735e+02] [-6.65138785e-01 7.46018471e-01 -3.23548643e-02 -2.21655505e+02] [-4.77133619e-02 7.80137416e-04 9.98860764e-01 -1.60246192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04864 meters Centerline goodness [0,1] 0.9995594929274142 Centerline is valid? [True, True] Translation: X:310.58, Y:-221.68, Z:-16.03 [[ 7.42702022e-01 6.68714083e-01 3.48594635e-02 3.10583524e+02] [-6.67939449e-01 7.43519396e-01 -3.21838513e-02 -2.21682904e+02] [-4.74404818e-02 6.19000663e-04 9.98873875e-01 -1.60278251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07864 meters Centerline goodness [0,1] 0.9995113369820172 Centerline is valid? [True, True] Translation: X:310.60, Y:-221.71, Z:-16.03 [[ 7.41650813e-01 6.69808290e-01 3.62067207e-02 3.10604766e+02] [-6.68972288e-01 7.42533839e-01 -3.34600714e-02 -2.21708302e+02] [-4.92965485e-02 5.94396394e-04 9.98784009e-01 -1.60292181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10864 meters Centerline goodness [0,1] 0.9995593635250918 Centerline is valid? [True, True] Translation: X:310.63, Y:-221.73, Z:-16.03 [[ 7.39557114e-01 6.72142513e-01 3.57731514e-02 3.10625303e+02] [-6.71327521e-01 7.40421659e-01 -3.30927023e-02 -2.21733783e+02] [-4.87302282e-02 4.58442347e-04 9.98811872e-01 -1.60276488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13864 meters Centerline goodness [0,1] 0.9992669338285602 Centerline is valid? [True, True] Translation: X:310.65, Y:-221.76, Z:-16.03 [[ 7.38784651e-01 6.73008089e-01 3.54591451e-02 3.10649053e+02] [-6.72206860e-01 7.39635001e-01 -3.28329418e-02 -2.21756680e+02] [-4.83236602e-02 4.20592872e-04 9.98831641e-01 -1.60287360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16864 meters Centerline goodness [0,1] 0.9996578355655489 Centerline is valid? [True, True] Translation: X:310.67, Y:-221.78, Z:-16.03 [[ 7.36723910e-01 6.75267912e-01 3.53712835e-02 3.10669117e+02] [-6.74471624e-01 7.37572478e-01 -3.27851855e-02 -2.21782261e+02] [-4.82276689e-02 2.96702980e-04 9.98836325e-01 -1.60303496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19864 meters Centerline goodness [0,1] 0.9998532074179185 Centerline is valid? [True, True] Translation: X:310.69, Y:-221.81, Z:-16.03 [[ 7.35095374e-01 6.77041317e-01 3.53531597e-02 3.10690046e+02] [-6.76246631e-01 7.35944981e-01 -3.27944791e-02 -2.21806837e+02] [-4.82211977e-02 1.99614725e-04 9.98836661e-01 -1.60309407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22864 meters Centerline goodness [0,1] 0.9996577686516085 Centerline is valid? [True, True] Translation: X:310.71, Y:-221.83, Z:-16.03 [[ 7.31029138e-01 6.81356756e-01 3.67337780e-02 3.10712036e+02] [-6.80503276e-01 7.31951477e-01 -3.40929096e-02 -2.21831200e+02] [-5.01167774e-02 -7.45459599e-05 9.98743362e-01 -1.60336279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25864 meters Centerline goodness [0,1] 0.9998042861336726 Centerline is valid? [True, True] Translation: X:310.74, Y:-221.85, Z:-16.04 [[ 7.28333937e-01 6.84227878e-01 3.69037564e-02 3.10735433e+02] [-6.83368273e-01 7.29268230e-01 -3.42877893e-02 -2.21854465e+02] [-5.03733984e-02 -2.45895707e-04 9.98730424e-01 -1.60353119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28864 meters Centerline goodness [0,1] 0.9998532863849765 Centerline is valid? [True, True] Translation: X:310.76, Y:-221.88, Z:-16.04 [[ 7.24717575e-01 6.88080647e-01 3.64617667e-02 3.10756294e+02] [-6.87244614e-01 7.25634062e-01 -3.39123615e-02 -2.21879358e+02] [-4.97923396e-02 -4.81268398e-04 9.98759476e-01 -1.60363360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.78, Y:-221.90, Z:-16.04 [[ 7.24024225e-01 6.88862683e-01 3.54559720e-02 3.10779731e+02] [-6.88071581e-01 7.24891686e-01 -3.30082316e-02 -2.21902512e+02] [-4.84398783e-02 -4.97487428e-04 9.98825976e-01 -1.60357500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34864 meters Centerline goodness [0,1] 0.9998534010946052 Centerline is valid? [True, True] Translation: X:310.80, Y:-221.92, Z:-16.04 [[ 7.23238891e-01 6.89651384e-01 3.61451945e-02 3.10804611e+02] [-6.88828346e-01 7.24141342e-01 -3.36871691e-02 -2.21924686e+02] [-4.94066324e-02 -5.33963701e-04 9.98778604e-01 -1.60371900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37864 meters Centerline goodness [0,1] 0.999853279209664 Centerline is valid? [True, True] Translation: X:310.83, Y:-221.95, Z:-16.04 [[ 7.23031953e-01 6.89880765e-01 3.59071719e-02 3.10828364e+02] [-6.89067016e-01 7.23922827e-01 -3.35020595e-02 -2.21947073e+02] [-4.91064478e-02 -5.19388287e-04 9.98793416e-01 -1.60390364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40864 meters Centerline goodness [0,1] 0.9999510906778832 Centerline is valid? [True, True] Translation: X:310.85, Y:-221.97, Z:-16.04 [[ 7.23539932e-01 6.89246695e-01 3.78015847e-02 3.10850634e+02] [-6.88341800e-01 7.24526583e-01 -3.53100003e-02 -2.21971231e+02] [-5.17255540e-02 -4.72215615e-04 9.98661226e-01 -1.60407343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43864 meters Centerline goodness [0,1] 0.9999510978531958 Centerline is valid? [True, True] Translation: X:310.87, Y:-221.99, Z:-16.04 [[ 7.23694316e-01 6.89081626e-01 3.78556402e-02 3.10874764e+02] [-6.88171900e-01 7.24683604e-01 -3.53993026e-02 -2.21993176e+02] [-5.18263707e-02 -4.32913765e-04 9.98656017e-01 -1.60424142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.90, Y:-222.01, Z:-16.04 [[ 7.23789854e-01 6.89027155e-01 3.70111719e-02 3.10898140e+02] [-6.88155694e-01 7.24735418e-01 -3.46455711e-02 -2.22014695e+02] [-5.06950464e-02 -3.93335845e-04 9.98714102e-01 -1.60439915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.92, Y:-222.04, Z:-16.05 [[ 7.23713451e-01 6.89123133e-01 3.67171362e-02 3.10921381e+02] [-6.88263903e-01 7.24644167e-01 -3.44039395e-02 -2.22037751e+02] [-5.03154092e-02 -3.72485630e-04 9.98733308e-01 -1.60452352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52864 meters Centerline goodness [0,1] 0.9999022339541477 Centerline is valid? [True, True] Translation: X:310.95, Y:-222.06, Z:-16.04 [[ 7.25101623e-01 6.87659184e-01 3.67761101e-02 3.10945079e+02] [-6.86793407e-01 7.26033599e-01 -3.44968136e-02 -2.22061184e+02] [-5.04227422e-02 -2.43894421e-04 9.98727935e-01 -1.60448718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55864 meters Centerline goodness [0,1] 0.9999022673964034 Centerline is valid? [True, True] Translation: X:310.97, Y:-222.08, Z:-16.05 [[ 7.25339505e-01 6.87367371e-01 3.75326384e-02 3.10969043e+02] [-6.86463174e-01 7.26309891e-01 -3.52456116e-02 -2.22083788e+02] [-5.14870098e-02 -1.99739610e-04 9.98673644e-01 -1.60464724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58864 meters Centerline goodness [0,1] 0.9999511432479968 Centerline is valid? [True, True] Translation: X:310.99, Y:-222.11, Z:-16.05 [[ 7.26539288e-01 6.86052693e-01 3.83714125e-02 3.10993013e+02] [-6.85103667e-01 7.27551851e-01 -3.60731084e-02 -2.22106847e+02] [-5.26652454e-02 -7.98649146e-05 9.98612220e-01 -1.60487313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.02, Y:-222.13, Z:-16.05 [[ 7.26618837e-01 6.85981252e-01 3.81416676e-02 3.11017110e+02] [-6.85041422e-01 7.27619213e-01 -3.58961061e-02 -2.22129909e+02] [-5.23766660e-02 -4.58354002e-05 9.98627399e-01 -1.60492526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64864 meters Centerline goodness [0,1] 0.9999510308016257 Centerline is valid? [True, True] Translation: X:311.04, Y:-222.15, Z:-16.05 [[ 7.26216777e-01 6.86452467e-01 3.73122506e-02 3.11041830e+02] [-6.85551796e-01 7.27174675e-01 -3.51528995e-02 -2.22151451e+02] [-5.12633183e-02 -5.08550354e-05 9.98685170e-01 -1.60500320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67864 meters Centerline goodness [0,1] 0.9998532935595873 Centerline is valid? [True, True] Translation: X:311.07, Y:-222.17, Z:-16.05 [[ 7.25757851e-01 6.86934265e-01 3.73745411e-02 3.11066685e+02] [-6.86029252e-01 7.26719555e-01 -3.52498777e-02 -2.22173878e+02] [-5.13751587e-02 -5.71529387e-05 9.98679423e-01 -1.60516466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.09, Y:-222.20, Z:-16.05 [[ 7.25059006e-01 6.87613698e-01 3.84296822e-02 3.11090815e+02] [-6.86655634e-01 7.26076715e-01 -3.62855965e-02 -2.22197046e+02] [-5.28533706e-02 -7.87592222e-05 9.98602281e-01 -1.60531971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.11, Y:-222.22, Z:-16.06 [[ 7.24888508e-01 6.87744299e-01 3.92992439e-02 3.11114658e+02] [-6.86740312e-01 7.25953012e-01 -3.71479115e-02 -2.22219458e+02] [-5.40776688e-02 -6.02808622e-05 9.98536730e-01 -1.60550339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76864 meters Centerline goodness [0,1] 0.9999511217557066 Centerline is valid? [True, True] Translation: X:311.14, Y:-222.24, Z:-16.06 [[ 7.24427998e-01 6.88211533e-01 3.96101145e-02 3.11139337e+02] [-6.87190039e-01 7.25510083e-01 -3.74829270e-02 -2.22242127e+02] [-5.45337202e-02 -6.59943336e-05 9.98511927e-01 -1.60554787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.16, Y:-222.26, Z:-16.06 [[ 7.23859294e-01 6.88786114e-01 4.00176395e-02 3.11164162e+02] [-6.87742075e-01 7.24964608e-01 -3.79098487e-02 -2.22264291e+02] [-5.51231497e-02 -8.04181372e-05 9.98479560e-01 -1.60569548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.19, Y:-222.28, Z:-16.06 [[ 7.22256091e-01 6.90549007e-01 3.85772942e-02 3.11188881e+02] [-6.89579345e-01 7.23285584e-01 -3.65826463e-02 -2.22284584e+02] [-5.31645108e-02 -1.80066101e-04 9.98585751e-01 -1.60585944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.21, Y:-222.31, Z:-16.06 [[ 7.21352357e-01 6.91476264e-01 3.88761419e-02 3.11213852e+02] [-6.90490909e-01 7.22399146e-01 -3.69022707e-02 -2.22306253e+02] [-5.36011360e-02 -2.24082662e-04 9.98562401e-01 -1.60600043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88864 meters Centerline goodness [0,1] 0.9999511217557066 Centerline is valid? [True, True] Translation: X:311.24, Y:-222.33, Z:-16.06 [[ 7.20335462e-01 6.92468819e-01 4.00469302e-02 3.11237244e+02] [-6.91422476e-01 7.21447751e-01 -3.80539483e-02 -2.22328021e+02] [-5.52429404e-02 -2.77739140e-04 9.98472904e-01 -1.60612411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91864 meters Centerline goodness [0,1] 0.9999022196147452 Centerline is valid? [True, True] Translation: X:311.26, Y:-222.35, Z:-16.06 [[ 7.20517333e-01 6.92264696e-01 4.03033786e-02 3.11261436e+02] [-6.91202460e-01 7.21643634e-01 -3.83356834e-02 -2.22350820e+02] [-5.56231168e-02 -2.36270045e-04 9.98451808e-01 -1.60618368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94864 meters Centerline goodness [0,1] 0.999853422582694 Centerline is valid? [True, True] Translation: X:311.28, Y:-222.37, Z:-16.06 [[ 7.21111933e-01 6.91648092e-01 4.02554111e-02 3.11284332e+02] [-6.90585124e-01 7.22234652e-01 -3.83313667e-02 -2.22374525e+02] [-5.55856695e-02 -1.58582213e-04 9.98453909e-01 -1.60631679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.31, Y:-222.40, Z:-16.07 [[ 7.21100865e-01 6.91677484e-01 3.99474572e-02 3.11307640e+02] [-6.90628519e-01 7.22206508e-01 -3.80789720e-02 -2.22398460e+02] [-5.51886811e-02 -1.30073594e-04 9.98475935e-01 -1.60654806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00864 meters Centerline goodness [0,1] 0.999951093069888 Centerline is valid? [True, True] Translation: X:311.33, Y:-222.42, Z:-16.07 [[ 7.19998311e-01 6.92757103e-01 4.11099546e-02 3.11330849e+02] [-6.91645539e-01 7.21170965e-01 -3.92286648e-02 -2.22420582e+02] [-5.68232418e-02 -1.88944280e-04 9.98384236e-01 -1.60658226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03864 meters Centerline goodness [0,1] 0.999951093069888 Centerline is valid? [True, True] Translation: X:311.36, Y:-222.44, Z:-16.07 [[ 7.19143472e-01 6.93646457e-01 4.10762612e-02 3.11356118e+02] [-6.92535954e-01 7.20315583e-01 -3.92353579e-02 -2.22442597e+02] [-5.68033381e-02 -2.30936241e-04 9.98385360e-01 -1.60671616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06864 meters Centerline goodness [0,1] 0.9999510739272959 Centerline is valid? [True, True] Translation: X:311.38, Y:-222.47, Z:-16.07 [[ 7.15676819e-01 6.97273287e-01 4.02076257e-02 3.11379654e+02] [-6.96212700e-01 7.16805228e-01 -3.84466135e-02 -2.22465598e+02] [-5.56288328e-02 -4.77709569e-04 9.98451403e-01 -1.60691576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09864 meters Centerline goodness [0,1] 0.9998533437622213 Centerline is valid? [True, True] Translation: X:311.40, Y:-222.49, Z:-16.07 [[ 7.13433356e-01 6.99569863e-01 4.01852364e-02 3.11402436e+02] [-6.98511877e-01 7.14563932e-01 -3.84648563e-02 -2.22488855e+02] [-5.56237748e-02 -6.27753378e-04 9.98451602e-01 -1.60704427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12864 meters Centerline goodness [0,1] 0.9998042765572246 Centerline is valid? [True, True] Translation: X:311.43, Y:-222.51, Z:-16.07 [[ 7.10746827e-01 7.02176216e-01 4.22789429e-02 3.11425504e+02] [-7.01007348e-01 7.12002699e-01 -4.05074549e-02 -2.22510456e+02] [-5.85460929e-02 -8.47304546e-04 9.98284347e-01 -1.60712449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15864 meters Centerline goodness [0,1] 0.9998044870228261 Centerline is valid? [True, True] Translation: X:311.45, Y:-222.53, Z:-16.07 [[ 7.10338459e-01 7.02593428e-01 4.22107656e-02 3.11450839e+02] [-7.01426833e-01 7.11590997e-01 -4.04802496e-02 -2.22532433e+02] [-5.84779581e-02 -8.53085474e-04 9.98288335e-01 -1.60717410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18864 meters Centerline goodness [0,1] 0.9997554175023236 Centerline is valid? [True, True] Translation: X:311.47, Y:-222.55, Z:-16.07 [[ 7.09976891e-01 7.02918311e-01 4.28796243e-02 3.11474992e+02] [-7.01712352e-01 7.11270065e-01 -4.11663652e-02 -2.22554403e+02] [-5.94355850e-02 -8.61993997e-04 9.98231771e-01 -1.60742252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.50, Y:-222.58, Z:-16.08 [[ 7.10103007e-01 7.02870127e-01 4.15608446e-02 3.11498177e+02] [-7.01734854e-01 7.11317749e-01 -3.99406291e-02 -2.22576425e+02] [-5.76360415e-02 -8.02732390e-04 9.98337339e-01 -1.60758397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24864 meters Centerline goodness [0,1] 0.9998043244300949 Centerline is valid? [True, True] Translation: X:311.52, Y:-222.60, Z:-16.08 [[ 7.09559263e-01 7.03430870e-01 4.13601662e-02 3.11524100e+02] [-7.02305241e-01 7.10763213e-01 -3.97869825e-02 -2.22597627e+02] [-5.73846763e-02 -8.16239448e-04 9.98351808e-01 -1.60772865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27864 meters Centerline goodness [0,1] 0.9998044201056131 Centerline is valid? [True, True] Translation: X:311.55, Y:-222.62, Z:-16.08 [[ 7.08648379e-01 7.04320082e-01 4.18413170e-02 3.11548210e+02] [-7.03167191e-01 7.09882009e-01 -4.02918677e-02 -2.22618646e+02] [-5.80807697e-02 -8.68674616e-04 9.98311509e-01 -1.60791880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30864 meters Centerline goodness [0,1] 0.9997066875244427 Centerline is valid? [True, True] Translation: X:311.57, Y:-222.64, Z:-16.08 [[ 7.07653087e-01 7.05218986e-01 4.35119513e-02 3.11572428e+02] [-7.03971357e-01 7.08988911e-01 -4.19410650e-02 -2.22639808e+02] [-6.04271263e-02 -9.51443293e-04 9.98172158e-01 -1.60805368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33864 meters Centerline goodness [0,1] 0.9997555848853693 Centerline is valid? [True, True] Translation: X:311.60, Y:-222.66, Z:-16.08 [[ 7.06170446e-01 7.06731096e-01 4.30634362e-02 3.11598793e+02] [-7.05509439e-01 7.07481501e-01 -4.15494451e-02 -2.22659899e+02] [-5.98308694e-02 -1.04067056e-03 9.98207986e-01 -1.60807505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36864 meters Centerline goodness [0,1] 0.9994622604614783 Centerline is valid? [True, True] Translation: X:311.62, Y:-222.68, Z:-16.08 [[ 7.04801954e-01 7.08064483e-01 4.35762961e-02 3.11623107e+02] [-7.06813446e-01 7.06146865e-01 -4.20874935e-02 -2.22680543e+02] [-6.05719242e-02 -1.13696436e-03 9.98163188e-01 -1.60828180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39864 meters Centerline goodness [0,1] 0.9997068738091749 Centerline is valid? [True, True] Translation: X:311.65, Y:-222.70, Z:-16.09 [[ 7.03975378e-01 7.08886670e-01 4.35701294e-02 3.11648562e+02] [-7.07635042e-01 7.05321417e-01 -4.21229859e-02 -2.22701524e+02] [-6.05913686e-02 -1.17820541e-03 9.98161960e-01 -1.60854589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42864 meters Centerline goodness [0,1] 0.9997558951325489 Centerline is valid? [True, True] Translation: X:311.67, Y:-222.72, Z:-16.09 [[ 7.03412264e-01 7.09453578e-01 4.34374091e-02 3.11673155e+02] [-7.08207937e-01 7.04751162e-01 -4.20394676e-02 -2.22722951e+02] [-6.04376152e-02 -1.19164081e-03 9.98171265e-01 -1.60854422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45864 meters Centerline goodness [0,1] 0.9998534010946052 Centerline is valid? [True, True] Translation: X:311.70, Y:-222.74, Z:-16.09 [[ 7.04014874e-01 7.08862899e-01 4.33179910e-02 3.11698104e+02] [-7.07620414e-01 7.05345421e-01 -4.19664828e-02 -2.22743346e+02] [-6.03026292e-02 -1.10766665e-03 9.98179526e-01 -1.60869483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48864 meters Centerline goodness [0,1] 0.9997557281743124 Centerline is valid? [True, True] Translation: X:311.72, Y:-222.76, Z:-16.09 [[ 7.05349630e-01 7.07561944e-01 4.28718365e-02 3.11724390e+02] [-7.06340240e-01 7.06650674e-01 -4.15727009e-02 -2.22761876e+02] [-5.97106733e-02 -9.58814096e-04 9.98215265e-01 -1.60880034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51864 meters Centerline goodness [0,1] 0.9998044296680194 Centerline is valid? [True, True] Translation: X:311.75, Y:-222.78, Z:-16.09 [[ 7.06738820e-01 7.06211396e-01 4.22575986e-02 3.11749688e+02] [-7.05019828e-01 7.08000576e-01 -4.10149526e-02 -2.22781963e+02] [-5.88836310e-02 -8.05585708e-04 9.98264529e-01 -1.60901784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54864 meters Centerline goodness [0,1] 0.9996085531144493 Centerline is valid? [True, True] Translation: X:311.77, Y:-222.80, Z:-16.09 [[ 7.07482282e-01 7.05433667e-01 4.28037747e-02 3.11774943e+02] [-7.04207175e-01 7.08775579e-01 -4.15864533e-02 -2.22803813e+02] [-5.96747544e-02 -7.21046437e-04 9.98217613e-01 -1.60914158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57864 meters Centerline goodness [0,1] 0.9997555490368633 Centerline is valid? [True, True] Translation: X:311.80, Y:-222.82, Z:-16.09 [[ 7.10874318e-01 7.02007722e-01 4.29285772e-02 3.11800730e+02] [-7.00765212e-01 7.12169219e-01 -4.17507111e-02 -2.22823352e+02] [-5.98817329e-02 -4.03345246e-04 9.98205397e-01 -1.60913185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60864 meters Centerline goodness [0,1] 0.9997556684910086 Centerline is valid? [True, True] Translation: X:311.82, Y:-222.85, Z:-16.09 [[ 7.12412391e-01 7.00422158e-01 4.33288043e-02 3.11824807e+02] [-6.99150868e-01 7.13728759e-01 -4.21820113e-02 -2.22845240e+02] [-6.04702291e-02 -2.42383577e-04 9.98169972e-01 -1.60933263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63864 meters Centerline goodness [0,1] 0.9998533079067038 Centerline is valid? [True, True] Translation: X:311.85, Y:-222.87, Z:-16.10 [[ 7.14228390e-01 6.98505036e-01 4.43680296e-02 3.11847934e+02] [-6.97165488e-01 7.15605137e-01 -4.32385286e-02 -2.22867692e+02] [-6.19523199e-02 -4.96743642e-05 9.98079109e-01 -1.60952726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66864 meters Centerline goodness [0,1] 0.9999022435114131 Centerline is valid? [True, True] Translation: X:311.87, Y:-222.89, Z:-16.10 [[ 7.16980169e-01 6.95668898e-01 4.45446004e-02 3.11872424e+02] [-6.94310487e-01 7.18362535e-01 -4.34535934e-02 -2.22889762e+02] [-6.22284855e-02 2.27581456e-04 9.98061904e-01 -1.60970977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69864 meters Centerline goodness [0,1] 0.999853135555882 Centerline is valid? [True, True] Translation: X:311.90, Y:-222.91, Z:-16.10 [[ 7.17359679e-01 6.95273450e-01 4.46085277e-02 3.11896781e+02] [-6.93907486e-01 7.18745255e-01 -4.35621209e-02 -2.22911465e+02] [-6.23497538e-02 2.95517750e-04 9.98054318e-01 -1.60983403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.92, Y:-222.93, Z:-16.10 [[ 7.18329391e-01 6.94289832e-01 4.43228440e-02 3.11919601e+02] [-6.92936642e-01 7.19695394e-01 -4.33284015e-02 -2.22934688e+02] [-6.19814153e-02 4.11141634e-04 9.98077219e-01 -1.61001345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75864 meters Centerline goodness [0,1] 0.9999022960429897 Centerline is valid? [True, True] Translation: X:311.94, Y:-222.96, Z:-16.10 [[ 7.19681071e-01 6.92867831e-01 4.46466672e-02 3.11938903e+02] [-6.91489318e-01 7.21064384e-01 -4.36884117e-02 -2.22960446e+02] [-6.24634166e-02 5.69029524e-04 9.98047092e-01 -1.61020899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78864 meters Centerline goodness [0,1] 0.9997556804300024 Centerline is valid? [True, True] Translation: X:311.96, Y:-222.98, Z:-16.10 [[ 7.19711098e-01 6.92846428e-01 4.44945282e-02 3.11961685e+02] [-6.91474659e-01 7.21084925e-01 -4.35812674e-02 -2.22984456e+02] [-6.22794590e-02 5.99083052e-04 9.98058570e-01 -1.61032363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81864 meters Centerline goodness [0,1] 0.9998044965786901 Centerline is valid? [True, True] Translation: X:311.98, Y:-223.01, Z:-16.10 [[ 7.20027503e-01 6.92545680e-01 4.40553738e-02 3.11984541e+02] [-6.91197554e-01 7.21373729e-01 -4.31958838e-02 -2.23008031e+02] [-6.16955120e-02 6.51257704e-04 9.98094805e-01 -1.61042653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84864 meters Centerline goodness [0,1] 0.9998044965786901 Centerline is valid? [True, True] Translation: X:312.01, Y:-223.03, Z:-16.11 [[ 7.19669575e-01 6.92919047e-01 4.40329206e-02 3.12007982e+02] [-6.91570219e-01 7.21015097e-01 -4.32187646e-02 -2.23030572e+02] [-6.16955057e-02 6.51373400e-04 9.98094805e-01 -1.61055039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87864 meters Centerline goodness [0,1] 0.9998043818466353 Centerline is valid? [True, True] Translation: X:312.03, Y:-223.06, Z:-16.11 [[ 7.20415487e-01 6.92117361e-01 4.44419236e-02 3.12027920e+02] [-6.90739113e-01 7.21784583e-01 -4.36634107e-02 -2.23056510e+02] [-6.22976999e-02 7.58022445e-04 9.98057324e-01 -1.61071438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90864 meters Centerline goodness [0,1] 0.9997555968325349 Centerline is valid? [True, True] Translation: X:312.05, Y:-223.08, Z:-16.11 [[ 7.20084575e-01 6.92421540e-01 4.50623616e-02 3.12046733e+02] [-6.91002384e-01 7.21492768e-01 -4.43158148e-02 -2.23084108e+02] [-6.31973927e-02 7.72935327e-04 9.98000748e-01 -1.61078506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93864 meters Centerline goodness [0,1] 0.9999022243950134 Centerline is valid? [True, True] Translation: X:312.07, Y:-223.11, Z:-16.11 [[ 7.19009118e-01 6.93511442e-01 4.54727128e-02 3.12069000e+02] [-6.92065467e-01 7.20445255e-01 -4.47663315e-02 -2.23108666e+02] [-6.38065633e-02 7.17306330e-04 9.97962027e-01 -1.61094309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96864 meters Centerline goodness [0,1] 0.9999023246727876 Centerline is valid? [True, True] Translation: X:312.09, Y:-223.14, Z:-16.11 [[ 7.16509154e-01 6.96191063e-01 4.39617443e-02 3.12088120e+02] [-6.94842102e-01 7.17856364e-01 -4.33208193e-02 -2.23135482e+02] [-6.17177852e-02 4.93292804e-04 9.98093518e-01 -1.61108264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99864 meters Centerline goodness [0,1] 0.9998534870091815 Centerline is valid? [True, True] Translation: X:312.11, Y:-223.16, Z:-16.11 [[ 7.15466079e-01 6.97249626e-01 4.41729467e-02 3.12109997e+02] [-6.95887056e-01 7.16828271e-01 -4.35710361e-02 -2.23160162e+02] [-6.20443056e-02 4.34216520e-04 9.98073302e-01 -1.61122669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.13, Y:-223.18, Z:-16.11 [[ 7.14262613e-01 6.98521059e-01 4.35574382e-02 3.12132246e+02] [-6.97195966e-01 7.15589413e-01 -4.30067092e-02 -2.23183948e+02] [-6.12103337e-02 3.50014247e-04 9.98124828e-01 -1.61118102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.15, Y:-223.21, Z:-16.11 [[ 7.11144132e-01 7.01666344e-01 4.40268690e-02 3.12153791e+02] [-7.00315830e-01 7.12505670e-01 -4.35133129e-02 -2.23208641e+02] [-6.19012209e-02 1.11523835e-04 9.98082274e-01 -1.61128699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08864 meters Centerline goodness [0,1] 0.9999022052711359 Centerline is valid? [True, True] Translation: X:312.18, Y:-223.23, Z:-16.12 [[ 7.09763833e-01 7.03054432e-01 4.41561660e-02 3.12175394e+02] [-7.01695704e-01 7.11136038e-01 -4.36883777e-02 -2.23233610e+02] [-6.21163485e-02 2.42384147e-05 9.98068915e-01 -1.61155998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11864 meters Centerline goodness [0,1] 0.9998533580995209 Centerline is valid? [True, True] Translation: X:312.19, Y:-223.26, Z:-16.12 [[ 7.09237219e-01 7.03565932e-01 4.44696075e-02 3.12194741e+02] [-7.02185821e-01 7.10629987e-01 -4.40464984e-02 -2.23261079e+02] [-6.25910523e-02 1.34881659e-05 9.98039258e-01 -1.61165002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14864 meters Centerline goodness [0,1] 0.9997553097778212 Centerline is valid? [True, True] Translation: X:312.22, Y:-223.29, Z:-16.12 [[ 7.08588124e-01 7.04275197e-01 4.35811691e-02 3.12215544e+02] [-7.02948379e-01 7.09927072e-01 -4.32103006e-02 -2.23285425e+02] [-6.13713947e-02 -1.70063406e-05 9.98114999e-01 -1.61168232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17864 meters Centerline goodness [0,1] 0.9997066588442358 Centerline is valid? [True, True] Translation: X:312.24, Y:-223.31, Z:-16.12 [[ 7.08107996e-01 7.04759151e-01 4.35615178e-02 3.12237762e+02] [-7.03431808e-01 7.09446643e-01 -4.32337051e-02 -2.23309755e+02] [-6.13739218e-02 -2.84249441e-05 9.98114844e-01 -1.61188380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20864 meters Centerline goodness [0,1] 0.9995108589317159 Centerline is valid? [True, True] Translation: X:312.26, Y:-223.34, Z:-16.12 [[ 7.07192776e-01 7.05682881e-01 4.34747043e-02 3.12258984e+02] [-7.04359716e-01 7.08527816e-01 -4.31940388e-02 -2.23335584e+02] [-6.12843310e-02 -7.53182178e-05 9.98120346e-01 -1.61202573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23864 meters Centerline goodness [0,1] 0.9997558832145298 Centerline is valid? [True, True] Translation: X:312.28, Y:-223.36, Z:-16.12 [[ 7.03073235e-01 7.09749859e-01 4.40813249e-02 3.12276156e+02] [-7.08394589e-01 7.04453671e-01 -4.38421211e-02 -2.23363629e+02] [-6.21701905e-02 -4.02750094e-04 9.98065481e-01 -1.61219536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26864 meters Centerline goodness [0,1] 0.9995114802149487 Centerline is valid? [True, True] Translation: X:312.30, Y:-223.39, Z:-16.12 [[ 7.00995450e-01 7.11835991e-01 4.35304532e-02 3.12297871e+02] [-7.10515795e-01 7.02345513e-01 -4.33368821e-02 -2.23388167e+02] [-6.14221709e-02 -5.50117404e-04 9.98111724e-01 -1.61231859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29864 meters Centerline goodness [0,1] 0.9994616551656634 Centerline is valid? [True, True] Translation: X:312.32, Y:-223.41, Z:-16.12 [[ 6.96464023e-01 7.16286660e-01 4.32583461e-02 3.12318337e+02] [-7.14988753e-01 6.97805562e-01 -4.31101105e-02 -2.23413152e+02] [-6.10651116e-02 -9.04589937e-04 9.98133375e-01 -1.61243805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32864 meters Centerline goodness [0,1] 0.999264994119953 Centerline is valid? [True, True] Translation: X:312.34, Y:-223.44, Z:-16.12 [[ 6.93161051e-01 7.19530952e-01 4.24613397e-02 3.12338888e+02] [-7.18284165e-01 6.94459436e-01 -4.23550484e-02 -2.23437648e+02] [-5.99634463e-02 -1.14043811e-03 9.98199922e-01 -1.61244659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35864 meters Centerline goodness [0,1] 0.9992180627504643 Centerline is valid? [True, True] Translation: X:312.36, Y:-223.46, Z:-16.13 [[ 6.92064584e-01 7.20550114e-01 4.30597842e-02 3.12360843e+02] [-7.19267419e-01 6.93401795e-01 -4.29922170e-02 -2.23461130e+02] [-6.08357785e-02 -1.21810901e-03 9.98147045e-01 -1.61256082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38864 meters Centerline goodness [0,1] 0.9994123696195093 Centerline is valid? [True, True] Translation: X:312.38, Y:-223.49, Z:-16.13 [[ 6.91374447e-01 7.21187441e-01 4.34747048e-02 3.12383713e+02] [-7.19878528e-01 6.92738836e-01 -4.34489295e-02 -2.23485062e+02] [-6.14514387e-02 -1.25702696e-03 9.98109283e-01 -1.61262548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41864 meters Centerline goodness [0,1] 0.9995608042162796 Centerline is valid? [True, True] Translation: X:312.51, Y:-223.50, Z:-14.59 [[ 7.70902138e-01 -6.36916562e-01 -6.86925518e-03 3.12506575e+02] [-6.36850567e-01 -7.70926582e-01 9.67271063e-03 -2.23504475e+02] [-1.14564010e-02 -3.08202425e-03 -9.99929624e-01 -1.45853204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44864 meters Centerline goodness [0,1] 0.9996580695584213 Centerline is valid? [True, True] Translation: X:312.43, Y:-223.55, Z:-16.13 [[ 7.42987292e-01 6.67586819e-01 4.79345799e-02 3.12434537e+02] [-6.66312504e-01 7.44530839e-01 -4.12489614e-02 -2.23548043e+02] [-6.32260359e-02 -1.29195579e-03 9.97998396e-01 -1.61306729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47864 meters Centerline goodness [0,1] 0.999706572769953 Centerline is valid? [True, True] Translation: X:312.46, Y:-223.57, Z:-16.13 [[ 7.42139074e-01 6.68572701e-01 4.73301044e-02 3.12459801e+02] [-6.67329861e-01 7.43645600e-01 -4.07685978e-02 -2.23569004e+02] [-6.24535954e-02 -1.32882252e-03 9.98046984e-01 -1.61318965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50864 meters Centerline goodness [0,1] 0.9997064722860917 Centerline is valid? [True, True] Translation: X:312.49, Y:-223.59, Z:-16.13 [[ 7.40934686e-01 6.69980829e-01 4.62761204e-02 3.12486224e+02] [-6.68792963e-01 7.42377110e-01 -3.99023849e-02 -2.23589263e+02] [-6.10881654e-02 -1.38408256e-03 9.98131414e-01 -1.61332755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53864 meters Centerline goodness [0,1] 0.9995595791534133 Centerline is valid? [True, True] Translation: X:312.51, Y:-223.61, Z:-16.13 [[ 7.39946094e-01 6.71099899e-01 4.58770505e-02 3.12512070e+02] [-6.69932064e-01 7.41365546e-01 -3.95999504e-02 -2.23609310e+02] [-6.05871873e-02 -1.43267850e-03 9.98161881e-01 -1.61349653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56864 meters Centerline goodness [0,1] 0.9996090886880039 Centerline is valid? [True, True] Translation: X:312.54, Y:-223.63, Z:-16.14 [[ 7.38763239e-01 6.72410862e-01 4.57439490e-02 3.12537358e+02] [-6.71249898e-01 7.40176576e-01 -3.95248083e-02 -2.23628540e+02] [-6.04355100e-02 -1.50614563e-03 9.98170968e-01 -1.61354902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59864 meters Centerline goodness [0,1] 0.9986808676959156 Centerline is valid? [True, True] Translation: X:312.56, Y:-223.65, Z:-16.14 [[ 7.38097295e-01 6.73240750e-01 4.42637099e-02 3.12563756e+02] [-6.72153234e-01 7.39421836e-01 -3.82802634e-02 -2.23647424e+02] [-5.85013868e-02 -1.49743689e-03 9.98286204e-01 -1.61355169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62864 meters Centerline goodness [0,1] 0.9991196752579841 Centerline is valid? [True, True] Translation: X:312.59, Y:-223.67, Z:-16.14 [[ 7.38271150e-01 6.73051041e-01 4.42493568e-02 3.12589154e+02] [-6.71961832e-01 7.39594603e-01 -3.83029907e-02 -2.23667573e+02] [-5.85064532e-02 -1.45588583e-03 9.98285969e-01 -1.61362578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65864 meters Centerline goodness [0,1] 0.9992668980010753 Centerline is valid? [True, True] Translation: X:312.61, Y:-223.69, Z:-16.14 [[ 7.40098945e-01 6.70978796e-01 4.51775040e-02 3.12614725e+02] [-6.69837325e-01 7.41475412e-01 -3.91429761e-02 -2.23686531e+02] [-5.97621153e-02 -1.29190313e-03 9.98211811e-01 -1.61389674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68864 meters Centerline goodness [0,1] 0.9994621289912474 Centerline is valid? [True, True] Translation: X:312.64, Y:-223.71, Z:-16.14 [[ 7.41694113e-01 6.69214332e-01 4.51887237e-02 3.12639165e+02] [-6.68066838e-01 7.43068582e-01 -3.91890677e-02 -2.23707170e+02] [-5.98042066e-02 -1.12278688e-03 9.98209495e-01 -1.61399369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71864 meters Centerline goodness [0,1] 0.9997064722860917 Centerline is valid? [True, True] Translation: X:312.66, Y:-223.73, Z:-16.14 [[ 7.44859581e-01 6.65731771e-01 4.45579803e-02 3.12663325e+02] [-6.64607742e-01 7.46190702e-01 -3.86779793e-02 -2.23728861e+02] [-5.89979102e-02 -8.03915189e-04 9.98257782e-01 -1.61408935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74864 meters Centerline goodness [0,1] 0.9995593635250918 Centerline is valid? [True, True] Translation: X:312.69, Y:-223.75, Z:-16.14 [[ 7.45702492e-01 6.64807689e-01 4.42552861e-02 3.12687678e+02] [-6.63695144e-01 7.47014222e-01 -3.84513680e-02 -2.23749523e+02] [-5.86220932e-02 -6.98737575e-04 9.98280002e-01 -1.61421334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77864 meters Centerline goodness [0,1] 0.999559902200489 Centerline is valid? [True, True] Translation: X:312.71, Y:-223.77, Z:-16.14 [[ 7.46615506e-01 6.63822319e-01 4.36487671e-02 3.12711596e+02] [-6.62736326e-01 7.47890089e-01 -3.79602017e-02 -2.23771285e+02] [-5.78433094e-02 -5.85948355e-04 9.98325502e-01 -1.61446897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80864 meters Centerline goodness [0,1] 0.9995110980737264 Centerline is valid? [True, True] Translation: X:312.74, Y:-223.79, Z:-16.15 [[ 7.46237141e-01 6.64262020e-01 4.34292324e-02 3.12735303e+02] [-6.63185488e-01 7.47499580e-01 -3.78072285e-02 -2.23794490e+02] [-5.75772390e-02 -5.88478539e-04 9.98340881e-01 -1.61454852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83864 meters Centerline goodness [0,1] 0.9994131455399061 Centerline is valid? [True, True] Translation: X:312.76, Y:-223.82, Z:-16.15 [[ 7.45546661e-01 6.64989081e-01 4.41553858e-02 3.12757831e+02] [-6.63875108e-01 7.46852818e-01 -3.84799932e-02 -2.23817390e+02] [-5.85663496e-02 -6.25031031e-04 9.98283323e-01 -1.61466334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86864 meters Centerline goodness [0,1] 0.9992180627504643 Centerline is valid? [True, True] Translation: X:312.78, Y:-223.84, Z:-16.15 [[ 7.43635780e-01 6.67139291e-01 4.39430751e-02 3.12780684e+02] [-6.66037514e-01 7.44932605e-01 -3.83333192e-02 -2.23841731e+02] [-5.83082928e-02 -7.61708802e-04 9.98298334e-01 -1.61469477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89864 meters Centerline goodness [0,1] 0.9997061416397296 Centerline is valid? [True, True] Translation: X:312.80, Y:-223.86, Z:-16.15 [[ 7.41087738e-01 6.70019305e-01 4.31635774e-02 3.12803497e+02] [-6.68958934e-01 7.42343077e-01 -3.76921818e-02 -2.23864595e+02] [-5.72966723e-02 -9.41446941e-04 9.98356752e-01 -1.61488956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92864 meters Centerline goodness [0,1] 0.9992665753960492 Centerline is valid? [True, True] Translation: X:312.83, Y:-223.89, Z:-16.15 [[ 7.39988804e-01 6.71265684e-01 4.26491548e-02 3.12827161e+02] [-6.70230445e-01 7.41216152e-01 -3.72795739e-02 -2.23887912e+02] [-5.66367411e-02 -9.98294692e-04 9.98394352e-01 -1.61502856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95864 meters Centerline goodness [0,1] 0.9995598806787618 Centerline is valid? [True, True] Translation: X:312.85, Y:-223.91, Z:-16.15 [[ 7.38637868e-01 6.72659817e-01 4.40780002e-02 3.12849144e+02] [-6.71554084e-01 7.39951034e-01 -3.85691407e-02 -2.23911177e+02] [-5.85594730e-02 -1.11213322e-03 9.98283302e-01 -1.61507016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98864 meters Centerline goodness [0,1] 0.9997553217518963 Centerline is valid? [True, True] Translation: X:312.87, Y:-223.93, Z:-16.15 [[ 7.38194066e-01 6.73095213e-01 4.48592752e-02 3.12873662e+02] [-6.71948500e-01 7.39554957e-01 -3.92896694e-02 -2.23932529e+02] [-5.96215878e-02 -1.13972194e-03 9.98220400e-01 -1.61514065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01864 meters Centerline goodness [0,1] 0.9997551420176298 Centerline is valid? [True, True] Translation: X:312.90, Y:-223.95, Z:-16.15 [[ 7.37302875e-01 6.74095715e-01 4.44908675e-02 3.12898456e+02] [-6.72967349e-01 7.38643059e-01 -3.90048594e-02 -2.23954072e+02] [-5.91558790e-02 -1.18250621e-03 9.98248057e-01 -1.61538787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04864 meters Centerline goodness [0,1] 0.9996088593360387 Centerline is valid? [True, True] Translation: X:312.92, Y:-223.98, Z:-16.16 [[ 7.36792940e-01 6.74661236e-01 4.43664321e-02 3.12923229e+02] [-6.73537752e-01 7.38126541e-01 -3.89372067e-02 -2.23975213e+02] [-5.90174650e-02 -1.19380794e-03 9.98256236e-01 -1.61552834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07864 meters Centerline goodness [0,1] 0.999804228660924 Centerline is valid? [True, True] Translation: X:312.95, Y:-223.99, Z:-16.16 [[ 7.35996630e-01 6.75479510e-01 4.51264010e-02 3.12949103e+02] [-6.74316278e-01 7.37377695e-01 -3.96445630e-02 -2.23994084e+02] [-6.00542916e-02 -1.25120202e-03 9.98194328e-01 -1.61566093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10864 meters Centerline goodness [0,1] 0.9997060264576189 Centerline is valid? [True, True] Translation: X:312.98, Y:-224.01, Z:-16.16 [[ 7.34951009e-01 6.76643955e-01 4.47210565e-02 3.12975030e+02] [-6.75501435e-01 7.36309209e-01 -3.93263152e-02 -2.24014987e+02] [-5.95384393e-02 -1.30622283e-03 9.98225159e-01 -1.61578127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13864 meters Centerline goodness [0,1] 0.9998042957091834 Centerline is valid? [True, True] Translation: X:313.00, Y:-224.04, Z:-16.16 [[ 7.33975602e-01 6.77695424e-01 4.48188418e-02 3.13000526e+02] [-6.76547358e-01 7.35341453e-01 -3.94540165e-02 -2.24035847e+02] [-5.96949587e-02 -1.36378350e-03 9.98215734e-01 -1.61601280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16864 meters Centerline goodness [0,1] 0.999706716199042 Centerline is valid? [True, True] Translation: X:313.03, Y:-224.06, Z:-16.16 [[ 7.32717676e-01 6.79060167e-01 4.47447979e-02 3.13025504e+02] [-6.77916065e-01 7.34081199e-01 -3.94284542e-02 -2.24056406e+02] [-5.96206076e-02 -1.44329195e-03 9.98220066e-01 -1.61598447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19864 meters Centerline goodness [0,1] 0.9994620763851533 Centerline is valid? [True, True] Translation: X:313.05, Y:-224.08, Z:-16.16 [[ 7.30705662e-01 6.81285058e-01 4.38167288e-02 3.13051388e+02] [-6.80189899e-01 7.32016544e-01 -3.86455856e-02 -2.24075173e+02] [-5.84032304e-02 -1.56514810e-03 9.98291848e-01 -1.61604331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22864 meters Centerline goodness [0,1] 0.9993154034229829 Centerline is valid? [True, True] Translation: X:313.08, Y:-224.09, Z:-16.16 [[ 7.29652367e-01 6.82441168e-01 4.33759813e-02 3.13077704e+02] [-6.81367865e-01 7.30938744e-01 -3.82934157e-02 -2.24094930e+02] [-5.78381886e-02 -1.61411838e-03 9.98324666e-01 -1.61623584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25864 meters Centerline goodness [0,1] 0.9996573498458075 Centerline is valid? [True, True] Translation: X:313.10, Y:-224.11, Z:-16.16 [[ 7.27944369e-01 6.84299399e-01 4.27940153e-02 3.13103376e+02] [-6.83255770e-01 7.29199154e-01 -3.78172757e-02 -2.24114217e+02] [-5.70836988e-02 -1.71038501e-03 9.98367931e-01 -1.61649935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28864 meters Centerline goodness [0,1] 0.9996573666177191 Centerline is valid? [True, True] Translation: X:313.13, Y:-224.13, Z:-16.17 [[ 7.26493717e-01 6.85811293e-01 4.32406068e-02 3.13129651e+02] [-6.84746394e-01 7.27777128e-01 -3.82469271e-02 -2.24132474e+02] [-5.76996991e-02 -1.82269737e-03 9.98332321e-01 -1.61656891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31864 meters Centerline goodness [0,1] 0.9994618395303326 Centerline is valid? [True, True] Translation: X:313.16, Y:-224.15, Z:-16.17 [[ 7.25711786e-01 6.86589263e-01 4.40180393e-02 3.13155096e+02] [-6.85485022e-01 7.27043054e-01 -3.89702743e-02 -2.24152731e+02] [-5.87595817e-02 -1.89251924e-03 9.98270369e-01 -1.61674916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34864 meters Centerline goodness [0,1] 0.9995108828564441 Centerline is valid? [True, True] Translation: X:313.18, Y:-224.17, Z:-16.17 [[ 7.26019344e-01 6.86261860e-01 4.40519229e-02 3.13180876e+02] [-6.85153236e-01 7.27352231e-01 -3.90355693e-02 -2.24171668e+02] [-5.88298868e-02 -1.84173904e-03 9.98266323e-01 -1.61705016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37864 meters Centerline goodness [0,1] 0.9999019944136815 Centerline is valid? [True, True] Translation: X:313.21, Y:-224.19, Z:-16.17 [[ 7.25919740e-01 6.86309229e-01 4.49463398e-02 3.13207138e+02] [-6.85153347e-01 7.27307486e-01 -3.98586499e-02 -2.24189753e+02] [-6.00451687e-02 -1.86095436e-03 9.98193926e-01 -1.61720424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40864 meters Centerline goodness [0,1] 0.9996560365584001 Centerline is valid? [True, True] Translation: X:313.23, Y:-224.21, Z:-16.17 [[ 7.24922158e-01 6.87336926e-01 4.53411037e-02 3.13233628e+02] [-6.86161035e-01 7.26336129e-01 -4.02350911e-02 -2.24208499e+02] [-6.05879455e-02 -1.94398961e-03 9.98160970e-01 -1.61731258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43864 meters Centerline goodness [0,1] 0.9998041903270022 Centerline is valid? [True, True] Translation: X:313.26, Y:-224.23, Z:-16.17 [[ 7.24259821e-01 6.88079801e-01 4.46531108e-02 3.13260000e+02] [-6.86938525e-01 7.25632408e-01 -3.96619525e-02 -2.24227907e+02] [-5.96923327e-02 -1.94838345e-03 9.98214921e-01 -1.61736169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46864 meters Centerline goodness [0,1] 0.9993154368979512 Centerline is valid? [True, True] Translation: X:313.29, Y:-224.25, Z:-16.17 [[ 7.22628502e-01 6.89787420e-01 4.47366079e-02 3.13287356e+02] [-6.88642768e-01 7.24009014e-01 -3.97754353e-02 -2.24245948e+02] [-5.98263023e-02 -2.06467826e-03 9.98206667e-01 -1.61740803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49864 meters Centerline goodness [0,1] 0.9995110502640329 Centerline is valid? [True, True] Translation: X:313.31, Y:-224.26, Z:-16.18 [[ 7.21627315e-01 6.90791780e-01 4.53953263e-02 3.13313582e+02] [-6.89612890e-01 7.23050539e-01 -4.03977741e-02 -2.24264742e+02] [-6.07295654e-02 -2.15306492e-03 9.98151934e-01 -1.61754878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52864 meters Centerline goodness [0,1] 0.9998531499339175 Centerline is valid? [True, True] Translation: X:313.34, Y:-224.28, Z:-16.18 [[ 7.21341561e-01 6.91033900e-01 4.62439367e-02 3.13342556e+02] [-6.89808662e-01 7.22819041e-01 -4.11903440e-02 -2.24280134e+02] [-6.18899220e-02 -2.18716110e-03 9.98080585e-01 -1.61770946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55864 meters Centerline goodness [0,1] 0.999706414835837 Centerline is valid? [True, True] Translation: X:313.37, Y:-224.30, Z:-16.18 [[ 7.25134172e-01 6.87038406e-01 4.64613930e-02 3.13369427e+02] [-6.85791834e-01 7.26618785e-01 -4.14089521e-02 -2.24297413e+02] [-6.22092614e-02 -1.83579776e-03 9.98061440e-01 -1.61782628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58864 meters Centerline goodness [0,1] 0.9994616815112068 Centerline is valid? [True, True] Translation: X:313.39, Y:-224.32, Z:-16.18 [[ 7.27841961e-01 6.84274998e-01 4.48754666e-02 3.13394491e+02] [-6.83106108e-01 7.29222443e-01 -4.00084227e-02 -2.24316863e+02] [-6.01009607e-02 -1.53489649e-03 9.98191123e-01 -1.61781040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61864 meters Centerline goodness [0,1] 0.9997064292005089 Centerline is valid? [True, True] Translation: X:313.42, Y:-224.34, Z:-16.18 [[ 7.30577300e-01 6.81391021e-01 4.43067084e-02 3.13420258e+02] [-6.80244521e-01 7.31918500e-01 -3.95310150e-02 -2.24335967e+02] [-5.93649782e-02 -1.25893335e-03 9.98235551e-01 -1.61788481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64864 meters Centerline goodness [0,1] 0.9994616024668396 Centerline is valid? [True, True] Translation: X:313.45, Y:-224.35, Z:-16.18 [[ 7.33559513e-01 6.78192102e-01 4.41125261e-02 3.13446893e+02] [-6.77047677e-01 7.34884029e-01 -3.93942516e-02 -2.24354226e+02] [-5.91344612e-02 -9.68255297e-04 9.98249557e-01 -1.61796473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67864 meters Centerline goodness [0,1] 0.9998532648569333 Centerline is valid? [True, True] Translation: X:313.47, Y:-224.38, Z:-16.18 [[ 7.34678449e-01 6.76845623e-01 4.61256938e-02 3.13471549e+02] [-6.75589132e-01 7.36124477e-01 -4.12320180e-02 -2.24375079e+02] [-6.18619631e-02 -8.69742344e-04 9.98084336e-01 -1.61816288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70864 meters Centerline goodness [0,1] 0.9999021909233177 Centerline is valid? [True, True] Translation: X:313.50, Y:-224.40, Z:-16.18 [[ 7.33936968e-01 6.77566915e-01 4.73244359e-02 3.13496241e+02] [-6.76243116e-01 7.35460550e-01 -4.23441595e-02 -2.24396163e+02] [-6.34962571e-02 -9.24879950e-04 9.97981648e-01 -1.61835162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73864 meters Centerline goodness [0,1] 0.9998042382420594 Centerline is valid? [True, True] Translation: X:313.52, Y:-224.42, Z:-16.18 [[ 7.33757524e-01 6.77730633e-01 4.77607032e-02 3.13522226e+02] [-6.76379880e-01 7.35309697e-01 -4.27774298e-02 -2.24416747e+02] [-6.41104827e-02 -9.16117663e-04 9.97942386e-01 -1.61849156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76864 meters Centerline goodness [0,1] 0.9998042382420594 Centerline is valid? [True, True] Translation: X:313.55, Y:-224.44, Z:-16.19 [[ 7.33396059e-01 6.78123384e-01 4.77377814e-02 3.13546649e+02] [-6.76771798e-01 7.34947506e-01 -4.28029998e-02 -2.24438216e+02] [-6.41104785e-02 -9.16032768e-04 9.97942387e-01 -1.61861508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79864 meters Centerline goodness [0,1] 0.9997557878284654 Centerline is valid? [True, True] Translation: X:313.57, Y:-224.46, Z:-16.19 [[ 7.33294704e-01 6.78401452e-01 4.52807494e-02 3.13571156e+02] [-6.77184180e-01 7.34690897e-01 -4.06309299e-02 -2.24459779e+02] [-6.08314363e-02 -8.68961460e-04 9.98147675e-01 -1.61889726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82864 meters Centerline goodness [0,1] 0.9996566102526367 Centerline is valid? [True, True] Translation: X:313.59, Y:-224.48, Z:-16.19 [[ 7.32698567e-01 6.79166611e-01 4.34226257e-02 3.13593831e+02] [-6.78047387e-01 7.33983612e-01 -3.89845803e-02 -2.24482120e+02] [-5.83485209e-02 -8.78651806e-04 9.98295887e-01 -1.61895420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85864 meters Centerline goodness [0,1] 0.9998044679082955 Centerline is valid? [True, True] Translation: X:313.62, Y:-224.51, Z:-16.19 [[ 7.32326346e-01 6.79598135e-01 4.29476189e-02 3.13617521e+02] [-6.78501829e-01 7.33584084e-01 -3.85960955e-02 -2.24505459e+02] [-5.77355242e-02 -8.75100390e-04 9.98331530e-01 -1.61896554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88864 meters Centerline goodness [0,1] 0.9998533150792098 Centerline is valid? [True, True] Translation: X:313.64, Y:-224.53, Z:-16.19 [[ 7.31809227e-01 6.80117797e-01 4.35320281e-02 3.13642366e+02] [-6.78989831e-01 7.33102297e-01 -3.91641622e-02 -2.24527561e+02] [-5.85496735e-02 -8.97109172e-04 9.98284093e-01 -1.61918758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91864 meters Centerline goodness [0,1] 0.9998533007334963 Centerline is valid? [True, True] Translation: X:313.67, Y:-224.55, Z:-16.19 [[ 7.31416222e-01 6.80479743e-01 4.44705546e-02 3.13665627e+02] [-6.79300739e-01 7.32766321e-01 -4.00502843e-02 -2.24550150e+02] [-5.98399319e-02 -9.15452986e-04 9.98207566e-01 -1.61921764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94864 meters Centerline goodness [0,1] 0.9997065440672992 Centerline is valid? [True, True] Translation: X:313.69, Y:-224.57, Z:-16.19 [[ 7.30478122e-01 6.81457037e-01 4.49223767e-02 3.13689377e+02] [-6.80253451e-01 7.31857466e-01 -4.04955680e-02 -2.24572110e+02] [-6.04727666e-02 -9.77475332e-04 9.98169369e-01 -1.61923421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97864 meters Centerline goodness [0,1] 0.999657517491071 Centerline is valid? [True, True] Translation: X:313.71, Y:-224.59, Z:-16.19 [[ 7.29301333e-01 6.82717626e-01 4.49022199e-02 3.13714876e+02] [-6.81515082e-01 7.30681556e-01 -4.05173729e-02 -2.24593347e+02] [-6.04711485e-02 -1.05216603e-03 9.98169391e-01 -1.61936873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00864 meters Centerline goodness [0,1] 0.999706716199042 Centerline is valid? [True, True] Translation: X:313.74, Y:-224.62, Z:-16.20 [[ 7.26859149e-01 6.85355961e-01 4.43055648e-02 3.13738655e+02] [-6.84187654e-01 7.28207186e-01 -4.00193454e-02 -2.24615087e+02] [-5.96911276e-02 -1.22489306e-03 9.98216143e-01 -1.61965168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03864 meters Centerline goodness [0,1] 0.999560031286664 Centerline is valid? [True, True] Translation: X:313.76, Y:-224.64, Z:-16.20 [[ 7.25198920e-01 6.87148365e-01 4.37452945e-02 3.13762333e+02] [-6.86010535e-01 7.26515905e-01 -3.95497902e-02 -2.24637383e+02] [-5.89582259e-02 -1.32826782e-03 9.98259567e-01 -1.61974142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06864 meters Centerline goodness [0,1] 0.999657651489216 Centerline is valid? [True, True] Translation: X:313.79, Y:-224.66, Z:-16.20 [[ 7.21257919e-01 6.91246811e-01 4.43267469e-02 3.13787632e+02] [-6.90084534e-01 7.22616825e-01 -4.01031130e-02 -2.24657153e+02] [-5.97524021e-02 -1.66451468e-03 9.98211841e-01 -1.61983677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09864 meters Centerline goodness [0,1] 0.9990218613977601 Centerline is valid? [True, True] Translation: X:313.81, Y:-224.68, Z:-16.20 [[ 7.18418137e-01 6.94209302e-01 4.41455126e-02 3.13813808e+02] [-6.93060896e-01 7.19770713e-01 -3.99589187e-02 -2.24676641e+02] [-5.95145001e-02 -1.88831660e-03 9.98225655e-01 -1.62000576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12864 meters Centerline goodness [0,1] 0.9989232049336793 Centerline is valid? [True, True] Translation: X:313.84, Y:-224.70, Z:-16.20 [[ 7.16630098e-01 6.96087478e-01 4.36294027e-02 3.13839588e+02] [-6.94967164e-01 7.17954208e-01 -3.95271737e-02 -2.24695945e+02] [-5.88382839e-02 -1.99463989e-03 9.98265535e-01 -1.62024725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15864 meters Centerline goodness [0,1] 0.9988751956181534 Centerline is valid? [True, True] Translation: X:313.86, Y:-224.72, Z:-16.20 [[ 7.17642324e-01 6.95058577e-01 4.33943581e-02 3.13864555e+02] [-6.93946359e-01 7.18950667e-01 -3.93495842e-02 -2.24715946e+02] [-5.85486687e-02 -1.87442975e-03 9.98282796e-01 -1.62040842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18864 meters Centerline goodness [0,1] 0.9988267500977708 Centerline is valid? [True, True] Translation: X:313.89, Y:-224.74, Z:-16.20 [[ 7.18260964e-01 6.94406150e-01 4.36037407e-02 3.13890790e+02] [-6.93279854e-01 7.19581019e-01 -3.95752545e-02 -2.24735114e+02] [-5.88577244e-02 -1.80423452e-03 9.98264751e-01 -1.62045462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21864 meters Centerline goodness [0,1] 0.999315838342374 Centerline is valid? [True, True] Translation: X:313.92, Y:-224.75, Z:-16.21 [[ 7.22619961e-01 6.89751061e-01 4.54297977e-02 3.13918916e+02] [-6.88516772e-01 7.24045133e-01 -4.12710562e-02 -2.24751689e+02] [-6.13599787e-02 -1.45588863e-03 9.98114639e-01 -1.62070008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24864 meters Centerline goodness [0,1] 0.999657785382547 Centerline is valid? [True, True] Translation: X:313.94, Y:-224.77, Z:-16.21 [[ 7.27216859e-01 6.84878385e-01 4.57956122e-02 3.13943125e+02] [-6.83612013e-01 7.28656675e-01 -4.16421094e-02 -2.24772865e+02] [-6.18890592e-02 -1.02358660e-03 9.98082510e-01 -1.62091744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27864 meters Centerline goodness [0,1] 0.9998043435726863 Centerline is valid? [True, True] Translation: X:313.97, Y:-224.79, Z:-16.21 [[ 7.29458346e-01 6.82526976e-01 4.52487399e-02 3.13967444e+02] [-6.81283815e-01 7.30859979e-01 -4.11831845e-02 -2.24794198e+02] [-6.11791275e-02 -7.85816446e-04 9.98126493e-01 -1.62099883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30864 meters Centerline goodness [0,1] 0.9998530924048773 Centerline is valid? [True, True] Translation: X:313.99, Y:-224.81, Z:-16.21 [[ 7.32107602e-01 6.79700866e-01 4.50021342e-02 3.13992484e+02] [-6.78463536e-01 7.33489240e-01 -4.09971325e-02 -2.24814110e+02] [-6.08743677e-02 -5.17994781e-04 9.98145302e-01 -1.62107894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33864 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:314.02, Y:-224.84, Z:-16.21 [[ 7.36669503e-01 6.74798173e-01 4.43336091e-02 3.14016516e+02] [-6.73586179e-01 7.38002317e-01 -4.04257327e-02 -2.24835519e+02] [-5.99975167e-02 -8.21019195e-05 9.98198523e-01 -1.62127690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36864 meters Centerline goodness [0,1] 0.9998533222510145 Centerline is valid? [True, True] Translation: X:314.04, Y:-224.86, Z:-16.21 [[ 7.38597029e-01 6.72691028e-01 4.42855477e-02 3.14039483e+02] [-6.71475461e-01 7.39923487e-01 -4.04220154e-02 -2.24859661e+02] [-5.99594440e-02 1.18921927e-04 9.98200807e-01 -1.62144858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39864 meters Centerline goodness [0,1] 0.999804391412783 Centerline is valid? [True, True] Translation: X:314.06, Y:-224.89, Z:-16.21 [[ 7.41992214e-01 6.68885968e-01 4.51565661e-02 3.14059144e+02] [-6.67612456e-01 7.43364879e-01 -4.12585172e-02 -2.24885122e+02] [-6.11650486e-02 4.66412542e-04 9.98127557e-01 -1.62147936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42864 meters Centerline goodness [0,1] 0.999951102635568 Centerline is valid? [True, True] Translation: X:314.08, Y:-224.91, Z:-16.22 [[ 7.42212820e-01 6.68624059e-01 4.54092260e-02 3.14082338e+02] [-6.67333341e-01 7.43600429e-01 -4.15284794e-02 -2.24909119e+02] [-6.15332604e-02 5.19879246e-04 9.98104898e-01 -1.62154289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:314.10, Y:-224.94, Z:-16.22 [[ 7.41851945e-01 6.69071339e-01 4.47128047e-02 3.14101980e+02] [-6.67818276e-01 7.43198014e-01 -4.09324147e-02 -2.24935508e+02] [-6.06171732e-02 5.05763325e-04 9.98160960e-01 -1.62154740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48864 meters Centerline goodness [0,1] 0.9996089358165909 Centerline is valid? [True, True] Translation: X:314.12, Y:-224.96, Z:-16.22 [[ 7.40131575e-01 6.71023635e-01 4.39605879e-02 3.14123231e+02] [-6.69813660e-01 7.41435868e-01 -4.02804421e-02 -2.24959612e+02] [-5.96230853e-02 3.67424787e-04 9.98220894e-01 -1.62156400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51864 meters Centerline goodness [0,1] 0.999804477466028 Centerline is valid? [True, True] Translation: X:314.15, Y:-224.98, Z:-16.22 [[ 7.37835777e-01 6.73549351e-01 4.39276499e-02 3.14145196e+02] [-6.72343299e-01 7.39142229e-01 -4.02896261e-02 -2.24984187e+02] [-5.96058326e-02 1.92666550e-04 9.98221973e-01 -1.62169059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54864 meters Centerline goodness [0,1] 0.999755285826155 Centerline is valid? [True, True] Translation: X:314.17, Y:-225.01, Z:-16.22 [[ 7.34062673e-01 6.77679128e-01 4.36232931e-02 3.14165316e+02] [-6.76494461e-01 7.35357728e-01 -4.00531752e-02 -2.25011220e+02] [-5.92219265e-02 -1.09375253e-04 9.98244835e-01 -1.62190352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57864 meters Centerline goodness [0,1] 0.9996578021118498 Centerline is valid? [True, True] Translation: X:314.19, Y:-225.04, Z:-16.22 [[ 7.30716336e-01 6.81204785e-01 4.48740056e-02 3.14185210e+02] [-6.79955134e-01 7.32092822e-01 -4.12445803e-02 -2.25036778e+02] [-6.09479429e-02 -3.74221840e-04 9.98140876e-01 -1.62208045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60864 meters Centerline goodness [0,1] 0.9999021239111285 Centerline is valid? [True, True] Translation: X:314.21, Y:-225.06, Z:-16.22 [[ 7.29442602e-01 6.82513269e-01 4.57069718e-02 3.14208443e+02] [-6.81216828e-01 7.30873055e-01 -4.20500993e-02 -2.25059428e+02] [-6.21057449e-02 -4.63224522e-04 9.98069467e-01 -1.62221632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63864 meters Centerline goodness [0,1] 0.9996081696625361 Centerline is valid? [True, True] Translation: X:314.23, Y:-225.08, Z:-16.22 [[ 7.28491435e-01 6.83556647e-01 4.52828882e-02 3.14231970e+02] [-6.82283637e-01 7.29897283e-01 -4.17012657e-02 -2.25082500e+02] [-6.15570344e-02 -5.16758729e-04 9.98103434e-01 -1.62225324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66864 meters Centerline goodness [0,1] 0.9998532433225712 Centerline is valid? [True, True] Translation: X:314.25, Y:-225.11, Z:-16.22 [[ 7.27862605e-01 6.84220681e-01 4.53661503e-02 3.14254464e+02] [-6.82941456e-01 7.29274823e-01 -4.18234434e-02 -2.25106308e+02] [-6.17008562e-02 -5.40704219e-04 9.98094541e-01 -1.62247465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69864 meters Centerline goodness [0,1] 0.9998042382420594 Centerline is valid? [True, True] Translation: X:314.28, Y:-225.13, Z:-16.23 [[ 7.27079930e-01 6.85050745e-01 4.53899973e-02 3.14278229e+02] [-6.83768978e-01 7.28495122e-01 -4.18908313e-02 -2.25129263e+02] [-6.17637369e-02 -5.78289396e-04 9.98090630e-01 -1.62255430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72864 meters Centerline goodness [0,1] 0.9998535227772082 Centerline is valid? [True, True] Translation: X:314.30, Y:-225.15, Z:-16.23 [[ 7.25549042e-01 6.86730155e-01 4.45003541e-02 3.14302681e+02] [-6.85498674e-01 7.26912126e-01 -4.11136198e-02 -2.25151467e+02] [-6.05818095e-02 -6.74986275e-04 9.98163007e-01 -1.62263171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75864 meters Centerline goodness [0,1] 0.9998531786815446 Centerline is valid? [True, True] Translation: X:314.33, Y:-225.17, Z:-16.23 [[ 7.24653159e-01 6.87685373e-01 4.43466709e-02 3.14327999e+02] [-6.86461513e-01 7.26008478e-01 -4.10156281e-02 -2.25173276e+02] [-6.04019065e-02 -7.20178296e-04 9.98173878e-01 -1.62280520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78864 meters Centerline goodness [0,1] 0.9998531786815446 Centerline is valid? [True, True] Translation: X:314.35, Y:-225.19, Z:-16.23 [[ 7.22557723e-01 6.89950880e-01 4.33372814e-02 3.14354735e+02] [-6.88783694e-01 7.23855681e-01 -4.01245113e-02 -2.25193542e+02] [-5.90538793e-02 -8.57737230e-04 9.98254428e-01 -1.62294279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81864 meters Centerline goodness [0,1] 0.999902090370588 Centerline is valid? [True, True] Translation: X:314.38, Y:-225.21, Z:-16.23 [[ 7.21576357e-01 6.90918472e-01 4.42631372e-02 3.14378906e+02] [-6.89700075e-01 7.22932090e-01 -4.10243807e-02 -2.25214328e+02] [-6.03437448e-02 -9.26065825e-04 9.98177226e-01 -1.62314962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84864 meters Centerline goodness [0,1] 0.9999510331994907 Centerline is valid? [True, True] Translation: X:314.40, Y:-225.24, Z:-16.23 [[ 7.19871360e-01 6.92579579e-01 4.60299162e-02 3.14403290e+02] [-6.91262688e-01 7.21340672e-01 -4.27028296e-02 -2.25235458e+02] [-6.27783584e-02 -1.07821960e-03 9.98026911e-01 -1.62321792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87864 meters Centerline goodness [0,1] 0.9999510643503793 Centerline is valid? [True, True] Translation: X:314.43, Y:-225.26, Z:-16.23 [[ 7.19062574e-01 6.93314068e-01 4.75879956e-02 3.14427248e+02] [-6.91905374e-01 7.20634635e-01 -4.41890997e-02 -2.25256040e+02] [-6.49304823e-02 -1.15166205e-03 9.97889125e-01 -1.62345035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90864 meters Centerline goodness [0,1] 0.9999021191210297 Centerline is valid? [True, True] Translation: X:314.45, Y:-225.28, Z:-16.24 [[ 7.18788247e-01 6.93608042e-01 4.74482843e-02 3.14452703e+02] [-6.92205556e-01 7.20351701e-01 -4.41009573e-02 -2.25276586e+02] [-6.47682310e-02 -1.14471620e-03 9.97899677e-01 -1.62355135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93864 meters Centerline goodness [0,1] 0.9999022148340097 Centerline is valid? [True, True] Translation: X:314.48, Y:-225.30, Z:-16.24 [[ 7.19903799e-01 6.92526336e-01 4.63227035e-02 3.14477311e+02] [-6.91184714e-01 7.21391912e-01 -4.30975672e-02 -2.25297331e+02] [-6.32630240e-02 -9.91442218e-04 9.97996396e-01 -1.62368381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.50, Y:-225.32, Z:-16.24 [[ 7.20495788e-01 6.91898933e-01 4.64939353e-02 3.14502321e+02] [-6.90543328e-01 7.21993795e-01 -4.32997797e-02 -2.25318965e+02] [-6.35274042e-02 -9.08767930e-04 9.97979681e-01 -1.62383543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99864 meters Centerline goodness [0,1] 0.9999510739272959 Centerline is valid? [True, True] Translation: X:314.53, Y:-225.34, Z:-16.24 [[ 7.21303549e-01 6.91003738e-01 4.72760491e-02 3.14528245e+02] [-6.89597081e-01 7.22850731e-01 -4.40759230e-02 -2.25338929e+02] [-6.46301542e-02 -8.09305796e-04 9.97908958e-01 -1.62410980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.55, Y:-225.36, Z:-16.24 [[ 7.21363522e-01 6.90984102e-01 4.66437495e-02 3.14552422e+02] [-6.89611990e-01 7.22869550e-01 -4.35306507e-02 -2.25359872e+02] [-6.37963338e-02 -7.64665360e-04 9.97962646e-01 -1.62429132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.58, Y:-225.38, Z:-16.24 [[ 7.22107285e-01 6.90378845e-01 4.40240697e-02 3.14575492e+02] [-6.89153838e-01 7.23447736e-01 -4.11139975e-02 -2.25381776e+02] [-6.02333477e-02 -6.50639495e-04 9.98184112e-01 -1.62435930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08864 meters Centerline goodness [0,1] 0.999951128921904 Centerline is valid? [True, True] Translation: X:314.60, Y:-225.40, Z:-16.24 [[ 7.21779282e-01 6.90727655e-01 4.39314815e-02 3.14599493e+02] [-6.89506928e-01 7.23114701e-01 -4.10527215e-02 -2.25403816e+02] [-6.01237502e-02 -6.60056953e-04 9.98190713e-01 -1.62446385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11864 meters Centerline goodness [0,1] 0.9999510739272959 Centerline is valid? [True, True] Translation: X:314.63, Y:-225.42, Z:-16.24 [[ 7.20103882e-01 6.92487602e-01 4.37186581e-02 3.14625353e+02] [-6.91279324e-01 7.21429363e-01 -4.08970669e-02 -2.25423854e+02] [-5.98606354e-02 -7.71667820e-04 9.98206446e-01 -1.62440216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.65, Y:-225.45, Z:-16.25 [[ 7.18910051e-01 6.93682066e-01 4.44244358e-02 3.14649514e+02] [-6.92434176e-01 7.20280821e-01 -4.15986964e-02 -2.25445046e+02] [-6.08543387e-02 -8.55276596e-04 9.98146291e-01 -1.62452520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.67, Y:-225.47, Z:-16.25 [[ 7.17416736e-01 6.95167801e-01 4.53316080e-02 3.14673155e+02] [-6.93868811e-01 7.18846843e-01 -4.24886942e-02 -2.25466279e+02] [-6.21232554e-02 -9.72088606e-04 9.98068012e-01 -1.62467114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20864 meters Centerline goodness [0,1] 0.9999510691393062 Centerline is valid? [True, True] Translation: X:314.70, Y:-225.49, Z:-16.25 [[ 7.14786626e-01 6.97868844e-01 4.53779278e-02 3.14698428e+02] [-6.96570128e-01 7.16224606e-01 -4.25719494e-02 -2.25485827e+02] [-6.22104256e-02 -1.17904895e-03 9.98062359e-01 -1.62481778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23864 meters Centerline goodness [0,1] 0.9999021670009294 Centerline is valid? [True, True] Translation: X:314.72, Y:-225.51, Z:-16.25 [[ 7.13381417e-01 6.99348388e-01 4.47077845e-02 3.14723843e+02] [-6.98088166e-01 7.14779859e-01 -4.19841194e-02 -2.25506668e+02] [-6.13177501e-02 -1.25928469e-03 9.98117502e-01 -1.62503115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26864 meters Centerline goodness [0,1] 0.9998531571218796 Centerline is valid? [True, True] Translation: X:314.75, Y:-225.53, Z:-16.25 [[ 7.10650619e-01 7.02269349e-01 4.23492492e-02 3.14750341e+02] [-7.01141471e-01 7.11909964e-01 -3.98100598e-02 -2.25526993e+02] [-5.81062372e-02 -1.40177125e-03 9.98309421e-01 -1.62504860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29864 meters Centerline goodness [0,1] 0.9997555848853693 Centerline is valid? [True, True] Translation: X:314.78, Y:-225.55, Z:-16.25 [[ 7.09907827e-01 7.03027184e-01 4.22333495e-02 3.14776218e+02] [-7.01904373e-01 7.11161539e-01 -3.97431406e-02 -2.25547667e+02] [-5.79752420e-02 -1.42980609e-03 9.98316997e-01 -1.62504382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32864 meters Centerline goodness [0,1] 0.9998531786815446 Centerline is valid? [True, True] Translation: X:314.80, Y:-225.57, Z:-16.25 [[ 7.09261447e-01 7.03722858e-01 4.15010709e-02 3.14802349e+02] [-7.02637525e-01 7.10473145e-01 -3.90950007e-02 -2.25568299e+02] [-5.69974420e-02 -1.43163292e-03 9.98373298e-01 -1.62513029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35864 meters Centerline goodness [0,1] 0.9997065440672992 Centerline is valid? [True, True] Translation: X:314.83, Y:-225.59, Z:-16.25 [[ 7.09344121e-01 7.03553614e-01 4.29328466e-02 3.14829860e+02] [-7.02389149e-01 7.10640732e-01 -4.04874471e-02 -2.25587816e+02] [-5.89949192e-02 -1.43603303e-03 9.98257250e-01 -1.62522913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38864 meters Centerline goodness [0,1] 0.9999020807833537 Centerline is valid? [True, True] Translation: X:314.86, Y:-225.61, Z:-16.25 [[ 7.09779110e-01 7.03039660e-01 4.41457935e-02 3.14857608e+02] [-7.01804692e-01 7.11149263e-01 -4.16761371e-02 -2.25606180e+02] [-6.06942257e-02 -1.40087351e-03 9.98155423e-01 -1.62549384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41864 meters Centerline goodness [0,1] 0.9997556804300024 Centerline is valid? [True, True] Translation: X:314.88, Y:-225.63, Z:-16.26 [[ 7.10022138e-01 7.02867637e-01 4.29610097e-02 3.14883529e+02] [-7.01695421e-01 7.11319437e-01 -4.05979645e-02 -2.25626244e+02] [-5.90939966e-02 -1.32009023e-03 9.98251550e-01 -1.62556807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44864 meters Centerline goodness [0,1] 0.9999510763209394 Centerline is valid? [True, True] Translation: X:314.91, Y:-225.65, Z:-16.26 [[ 7.11485237e-01 7.01380941e-01 4.30526727e-02 3.14908832e+02] [-7.00198750e-01 7.12785663e-01 -4.07223390e-02 -2.25645625e+02] [-5.92492003e-02 -1.17208460e-03 9.98242535e-01 -1.62574464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47864 meters Centerline goodness [0,1] 0.9998532935595873 Centerline is valid? [True, True] Translation: X:314.93, Y:-225.67, Z:-16.26 [[ 7.15266901e-01 6.97640142e-01 4.11277596e-02 3.14934980e+02] [-6.96553614e-01 7.16447896e-01 -3.89291150e-02 -2.25665607e+02] [-5.66244101e-02 -8.02982149e-04 9.98395228e-01 -1.62573572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.96, Y:-225.69, Z:-16.26 [[ 7.16753905e-01 6.96120040e-01 4.09967041e-02 3.14959298e+02] [-6.95036771e-01 7.17925098e-01 -3.88257631e-02 -2.25686970e+02] [-5.64599546e-02 -6.65699561e-04 9.98404643e-01 -1.62581545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53864 meters Centerline goodness [0,1] 0.999902095163501 Centerline is valid? [True, True] Translation: X:314.98, Y:-225.71, Z:-16.26 [[ 7.18951068e-01 6.93896762e-01 4.02075273e-02 3.14983667e+02] [-6.92849380e-01 7.20074354e-01 -3.81137994e-02 -2.25707727e+02] [-5.53994513e-02 -4.55803570e-04 9.98464167e-01 -1.62600008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56864 meters Centerline goodness [0,1] 0.9999022148340097 Centerline is valid? [True, True] Translation: X:315.01, Y:-225.73, Z:-16.26 [[ 7.19623008e-01 6.93178852e-01 4.05685221e-02 3.15008327e+02] [-6.92109281e-01 7.20765521e-01 -3.84942368e-02 -2.25729207e+02] [-5.59237829e-02 -3.76512187e-04 9.98434970e-01 -1.62618090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.03, Y:-225.75, Z:-16.26 [[ 7.18767956e-01 6.94055160e-01 4.07438322e-02 3.15032753e+02] [-6.92975370e-01 7.19921705e-01 -3.87023859e-02 -2.25751736e+02] [-5.61939598e-02 -4.16437383e-04 9.98419784e-01 -1.62628140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62864 meters Centerline goodness [0,1] 0.9999021909233177 Centerline is valid? [True, True] Translation: X:315.06, Y:-225.77, Z:-16.26 [[ 7.17733675e-01 6.95221037e-01 3.90651013e-02 3.15056085e+02] [-6.94228171e-01 7.18795867e-01 -3.71449574e-02 -2.25773553e+02] [-5.39037892e-02 -4.59907069e-04 9.98546028e-01 -1.62615076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65864 meters Centerline goodness [0,1] 0.9999021909233177 Centerline is valid? [True, True] Translation: X:315.08, Y:-225.80, Z:-16.26 [[ 7.17359786e-01 6.95607844e-01 3.90469605e-02 3.15079861e+02] [-6.94614513e-01 7.18421543e-01 -3.71640201e-02 -2.25795743e+02] [-5.39037615e-02 -4.62611946e-04 9.98546028e-01 -1.62627425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68864 meters Centerline goodness [0,1] 0.9999019944136815 Centerline is valid? [True, True] Translation: X:315.11, Y:-225.82, Z:-16.26 [[ 7.16437260e-01 6.96517641e-01 3.97596282e-02 3.15105385e+02] [-6.95486818e-01 7.17539487e-01 -3.78836612e-02 -2.25816594e+02] [-5.49157416e-02 -5.11030862e-04 9.98490861e-01 -1.62647586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71864 meters Centerline goodness [0,1] 0.9998530780155738 Centerline is valid? [True, True] Translation: X:315.13, Y:-225.84, Z:-16.27 [[ 7.16383115e-01 6.96526720e-01 4.05679714e-02 3.15130121e+02] [-6.95451166e-01 7.17530687e-01 -3.86961136e-02 -2.25839054e+02] [-5.60616415e-02 -4.91800600e-04 9.98427188e-01 -1.62665932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74864 meters Centerline goodness [0,1] 0.9998046016315764 Centerline is valid? [True, True] Translation: X:315.15, Y:-225.86, Z:-16.27 [[ 7.17207817e-01 6.95677468e-01 4.05685579e-02 3.15154839e+02] [-6.94598182e-01 7.18354164e-01 -3.87383709e-02 -2.25861147e+02] [-5.60920042e-02 -3.95384156e-04 9.98425526e-01 -1.62669476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77864 meters Centerline goodness [0,1] 0.999902186139776 Centerline is valid? [True, True] Translation: X:315.18, Y:-225.88, Z:-16.27 [[ 7.17653887e-01 6.95257429e-01 3.98748885e-02 3.15179742e+02] [-6.94211971e-01 7.18760739e-01 -3.81148114e-02 -2.25882163e+02] [-5.51601101e-02 -3.28382455e-04 9.98477468e-01 -1.62672011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80864 meters Centerline goodness [0,1] 0.9995598591549296 Centerline is valid? [True, True] Translation: X:315.21, Y:-225.90, Z:-16.27 [[ 7.17383287e-01 6.95520400e-01 4.01571154e-02 3.15206915e+02] [-6.94458618e-01 7.18506275e-01 -3.84182460e-02 -2.25902249e+02] [-5.55738132e-02 -3.26847243e-04 9.98454528e-01 -1.62667145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83864 meters Centerline goodness [0,1] 0.9997062711117638 Centerline is valid? [True, True] Translation: X:315.23, Y:-225.92, Z:-16.27 [[ 7.16557423e-01 6.96369270e-01 4.01907899e-02 3.15231358e+02] [-6.95305214e-01 7.17683568e-01 -3.84831785e-02 -2.25924599e+02] [-5.56427725e-02 -3.69458568e-04 9.98450672e-01 -1.62687368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86864 meters Centerline goodness [0,1] 0.9998043244300949 Centerline is valid? [True, True] Translation: X:315.25, Y:-225.95, Z:-16.27 [[ 7.16186612e-01 6.96786730e-01 3.95599523e-02 3.15254894e+02] [-6.95754251e-01 7.17278271e-01 -3.79196991e-02 -2.25947421e+02] [-5.47974373e-02 -3.66424126e-04 9.98497424e-01 -1.62685762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89864 meters Centerline goodness [0,1] 0.999706572769953 Centerline is valid? [True, True] Translation: X:315.28, Y:-225.97, Z:-16.27 [[ 7.16398010e-01 6.96591340e-01 3.91713725e-02 3.15279580e+02] [-6.95576581e-01 7.17468050e-01 -3.75874575e-02 -2.25969106e+02] [-5.42873056e-02 -3.19109540e-04 9.98525306e-01 -1.62693632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92864 meters Centerline goodness [0,1] 0.9997049567269867 Centerline is valid? [True, True] Translation: X:315.31, Y:-225.99, Z:-16.27 [[ 7.16847204e-01 6.96127513e-01 3.91991328e-02 3.15305211e+02] [-6.95108410e-01 7.17918116e-01 -3.76547149e-02 -2.25990333e+02] [-5.43542507e-02 -2.54969783e-04 9.98521683e-01 -1.62702520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95864 meters Centerline goodness [0,1] 0.9998043148573944 Centerline is valid? [True, True] Translation: X:315.33, Y:-226.01, Z:-16.27 [[ 7.17980078e-01 6.94968435e-01 3.90318062e-02 3.15328921e+02] [-6.93954133e-01 7.19040232e-01 -3.75340658e-02 -2.26013005e+02] [-5.41504300e-02 -1.37571777e-04 9.98532780e-01 -1.62722282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98864 meters Centerline goodness [0,1] 0.9994128871275503 Centerline is valid? [True, True] Translation: X:315.35, Y:-226.04, Z:-16.27 [[ 7.18789764e-01 6.94135810e-01 3.89455043e-02 3.15351733e+02] [-6.93122588e-01 7.19844063e-01 -3.74913822e-02 -2.26036448e+02] [-5.40588010e-02 -4.55869358e-05 9.98537753e-01 -1.62727331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01864 meters Centerline goodness [0,1] 0.9996093177711579 Centerline is valid? [True, True] Translation: X:315.38, Y:-226.06, Z:-16.27 [[ 7.21515767e-01 6.91298200e-01 3.90102167e-02 3.15376061e+02] [-6.90275253e-01 7.22569554e-01 -3.75940793e-02 -2.26059074e+02] [-5.41763142e-02 1.96933697e-04 9.98531366e-01 -1.62728342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04864 meters Centerline goodness [0,1] 0.9996090122672401 Centerline is valid? [True, True] Translation: X:315.40, Y:-226.08, Z:-16.27 [[ 7.22121706e-01 6.90665364e-01 3.90076389e-02 3.15399931e+02] [-6.89639443e-01 7.23174446e-01 -3.76318862e-02 -2.26081508e+02] [-5.42003680e-02 2.73595454e-04 9.98530042e-01 -1.62741264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07864 meters Centerline goodness [0,1] 0.9997066301584198 Centerline is valid? [True, True] Translation: X:315.42, Y:-226.10, Z:-16.27 [[ 7.22185788e-01 6.90650710e-01 3.80694734e-02 3.15422800e+02] [-6.89671522e-01 7.23188433e-01 -3.67652324e-02 -2.26104774e+02] [-5.29233366e-02 2.95896696e-04 9.98598534e-01 -1.62748203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10864 meters Centerline goodness [0,1] 0.9992180245344803 Centerline is valid? [True, True] Translation: X:315.45, Y:-226.13, Z:-16.28 [[ 7.21633279e-01 6.91194252e-01 3.86770698e-02 3.15445114e+02] [-6.90182155e-01 7.22668957e-01 -3.73921291e-02 -2.26129837e+02] [-5.37959424e-02 2.89181343e-04 9.98551908e-01 -1.62766235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13864 meters Centerline goodness [0,1] 0.9997064866451424 Centerline is valid? [True, True] Translation: X:315.47, Y:-226.15, Z:-16.28 [[ 7.20326201e-01 6.92545815e-01 3.88646211e-02 3.15468600e+02] [-6.91523665e-01 7.21373860e-01 -3.76134919e-02 -2.26152856e+02] [-5.40849882e-02 2.18178460e-04 9.98536312e-01 -1.62771158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16864 meters Centerline goodness [0,1] 0.999657651489216 Centerline is valid? [True, True] Translation: X:315.49, Y:-226.18, Z:-16.28 [[ 7.16847877e-01 6.96139514e-01 3.89730373e-02 3.15489897e+02] [-6.95114766e-01 7.17906523e-01 -3.77582495e-02 -2.26177669e+02] [-5.42640071e-02 -2.38127221e-05 9.98526623e-01 -1.62796782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19864 meters Centerline goodness [0,1] 0.9998044105422718 Centerline is valid? [True, True] Translation: X:315.51, Y:-226.20, Z:-16.28 [[ 7.15601611e-01 6.97457032e-01 3.83147969e-02 3.15511770e+02] [-6.96466429e-01 7.16626597e-01 -3.71595623e-02 -2.26202005e+02] [-5.33746005e-02 -9.35271626e-05 9.98574556e-01 -1.62805276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22864 meters Centerline goodness [0,1] 0.9995602032838155 Centerline is valid? [True, True] Translation: X:315.53, Y:-226.23, Z:-16.28 [[ 7.13796428e-01 6.99297142e-01 3.84469302e-02 3.15534502e+02] [-6.98300202e-01 7.14831075e-01 -3.73277653e-02 -2.26226077e+02] [-5.35862600e-02 -2.03073563e-04 9.98563204e-01 -1.62808142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25864 meters Centerline goodness [0,1] 0.999657651489216 Centerline is valid? [True, True] Translation: X:315.56, Y:-226.25, Z:-16.28 [[ 7.12408443e-01 7.00678378e-01 3.90387135e-02 3.15558442e+02] [-6.99650320e-01 7.13477211e-01 -3.79433699e-02 -2.26248708e+02] [-5.44393313e-02 -2.82271352e-04 9.98517040e-01 -1.62826921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28864 meters Centerline goodness [0,1] 0.9997556804300024 Centerline is valid? [True, True] Translation: X:315.58, Y:-226.27, Z:-16.28 [[ 7.11226041e-01 7.01857044e-01 3.94234469e-02 3.15582053e+02] [-7.00808139e-01 7.12317745e-01 -3.83586105e-02 -2.26271920e+02] [-5.50042817e-02 -3.46629725e-04 9.98486058e-01 -1.62844411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31864 meters Centerline goodness [0,1] 0.9998044679082955 Centerline is valid? [True, True] Translation: X:315.60, Y:-226.30, Z:-16.29 [[ 7.10178475e-01 7.02864146e-01 4.03549937e-02 3.15603793e+02] [-7.01764361e-01 7.11323996e-01 -3.93059070e-02 -2.26295843e+02] [-5.63321882e-02 -4.05487213e-04 9.98411999e-01 -1.62867669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34864 meters Centerline goodness [0,1] 0.9999511145874072 Centerline is valid? [True, True] Translation: X:315.63, Y:-226.32, Z:-16.29 [[ 7.10250757e-01 7.02819533e-01 3.98568247e-02 3.15627623e+02] [-7.01744583e-01 7.11368095e-01 -3.88583717e-02 -2.26318192e+02] [-5.56632961e-02 -3.70122900e-04 9.98449528e-01 -1.62877934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.37864 meters Centerline goodness [0,1] 0.9994129732902847 Centerline is valid? [True, True] Translation: X:315.65, Y:-226.34, Z:-16.29 [[ 7.10756110e-01 7.02434131e-01 3.75771745e-02 3.15651967e+02] [-7.01476501e-01 7.11748694e-01 -3.66676360e-02 -2.26340032e+02] [-5.25021039e-02 -2.97758540e-04 9.98620769e-01 -1.62880156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40864 meters Centerline goodness [0,1] 0.9995595144870791 Centerline is valid? [True, True] Translation: X:315.68, Y:-226.36, Z:-16.29 [[ 7.10835932e-01 7.02314444e-01 3.82975088e-02 3.15675413e+02] [-7.01318185e-01 7.11866803e-01 -3.73959629e-02 -2.26362664e+02] [-5.35264500e-02 -2.76345255e-04 9.98566394e-01 -1.62895478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43864 meters Centerline goodness [0,1] 0.9997554294658579 Centerline is valid? [True, True] Translation: X:315.70, Y:-226.38, Z:-16.29 [[ 7.10855708e-01 7.02297613e-01 3.82390629e-02 3.15700071e+02] [-7.01302229e-01 7.11883419e-01 -3.73788803e-02 -2.26384186e+02] [-5.34728532e-02 -2.46149634e-04 9.98569273e-01 -1.62905582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46864 meters Centerline goodness [0,1] 0.9996084189916788 Centerline is valid? [True, True] Translation: X:315.72, Y:-226.41, Z:-16.29 [[ 7.09785255e-01 7.03361059e-01 3.85760689e-02 3.15724950e+02] [-7.02347413e-01 7.10832702e-01 -3.77489116e-02 -2.26406374e+02] [-5.39722457e-02 -3.00181395e-04 9.98542391e-01 -1.62916326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49864 meters Centerline goodness [0,1] 0.9998531930511377 Centerline is valid? [True, True] Translation: X:315.75, Y:-226.43, Z:-16.29 [[ 7.08798906e-01 7.04314904e-01 3.93017465e-02 3.15749538e+02] [-7.03261899e-01 7.09887593e-01 -3.85007457e-02 -2.26428315e+02] [-5.50164712e-02 -3.50134380e-04 9.98485386e-01 -1.62930135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52864 meters Centerline goodness [0,1] 0.999902248289345 Centerline is valid? [True, True] Translation: X:315.77, Y:-226.45, Z:-16.29 [[ 7.08596433e-01 7.04471354e-01 4.01398336e-02 3.15774095e+02] [-7.03370773e-01 7.09732341e-01 -3.93644522e-02 -2.26450290e+02] [-5.62196670e-02 -3.39675402e-04 9.98418366e-01 -1.62938569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55864 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:315.80, Y:-226.47, Z:-16.29 [[ 7.08940031e-01 7.04157504e-01 3.95757695e-02 3.15797784e+02] [-7.03084970e-01 7.10043752e-01 -3.88509430e-02 -2.26472375e+02] [-5.54577109e-02 -2.82139927e-04 9.98460997e-01 -1.62944969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58864 meters Centerline goodness [0,1] 0.9999510643503793 Centerline is valid? [True, True] Translation: X:315.82, Y:-226.49, Z:-16.30 [[ 7.10522491e-01 7.02518464e-01 4.03186925e-02 3.15822024e+02] [-7.01400384e-01 7.11665505e-01 -3.96195746e-02 -2.26494705e+02] [-5.65269054e-02 -1.28947537e-04 9.98401068e-01 -1.62965649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61864 meters Centerline goodness [0,1] 0.9999021813557664 Centerline is valid? [True, True] Translation: X:315.85, Y:-226.52, Z:-16.30 [[ 7.11025410e-01 7.02018276e-01 4.01647532e-02 3.15845332e+02] [-7.00905969e-01 7.12158927e-01 -3.95029780e-02 -2.26518751e+02] [-5.63355000e-02 -6.40941350e-05 9.98411893e-01 -1.62980795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64864 meters Centerline goodness [0,1] 0.999951093069888 Centerline is valid? [True, True] Translation: X:315.87, Y:-226.54, Z:-16.30 [[ 7.11727718e-01 7.01307208e-01 4.01479288e-02 3.15867601e+02] [-7.00193223e-01 7.12859173e-01 -3.95126683e-02 -2.26543711e+02] [-5.63303384e-02 1.09536073e-05 9.98412186e-01 -1.62988247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.89, Y:-226.57, Z:-16.30 [[ 7.10906944e-01 7.02110249e-01 4.06511415e-02 3.15890975e+02] [-7.00966993e-01 7.12068254e-01 -4.00509194e-02 -2.26566710e+02] [-5.70665483e-02 -2.26317483e-05 9.98370376e-01 -1.63007848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70864 meters Centerline goodness [0,1] 0.9998532720336496 Centerline is valid? [True, True] Translation: X:315.91, Y:-226.59, Z:-16.30 [[ 7.09742680e-01 7.03324144e-01 4.00059534e-02 3.15914831e+02] [-7.02216508e-01 7.10869285e-01 -3.94567494e-02 -2.26589433e+02] [-5.61898880e-02 -8.87017860e-05 9.98420096e-01 -1.63010975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73864 meters Centerline goodness [0,1] 0.9999509322865554 Centerline is valid? [True, True] Translation: X:315.94, Y:-226.61, Z:-16.30 [[ 7.06048331e-01 7.07055696e-01 3.95979457e-02 3.15937775e+02] [-7.05974081e-01 7.07157776e-01 -3.90957434e-02 -2.26613341e+02] [-5.56448633e-02 -3.51638962e-04 9.98450562e-01 -1.63030258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.96, Y:-226.64, Z:-16.30 [[ 7.04175857e-01 7.08886860e-01 4.01968001e-02 3.15960089e+02] [-7.07772913e-01 7.05322051e-01 -3.97279291e-02 -2.26636439e+02] [-5.65142964e-02 -4.74757738e-04 9.98401677e-01 -1.63046487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79864 meters Centerline goodness [0,1] 0.9998533652671197 Centerline is valid? [True, True] Translation: X:315.98, Y:-226.66, Z:-16.30 [[ 7.02454478e-01 7.10554801e-01 4.08604993e-02 3.15983265e+02] [-7.09404353e-01 7.03641616e-01 -4.04220183e-02 -2.26658414e+02] [-5.74732069e-02 -5.91988258e-04 9.98346874e-01 -1.63049864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82864 meters Centerline goodness [0,1] 0.9999510954616588 Centerline is valid? [True, True] Translation: X:316.01, Y:-226.68, Z:-16.31 [[ 7.02158581e-01 7.10879829e-01 4.02889033e-02 3.16007644e+02] [-7.09759702e-01 7.03313251e-01 -3.98953029e-02 -2.26681002e+02] [-5.66964857e-02 -5.82610678e-04 9.98391291e-01 -1.63055377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85864 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:316.03, Y:-226.70, Z:-16.31 [[ 7.02359171e-01 7.10741022e-01 3.92274788e-02 3.16030376e+02] [-7.09676796e-01 7.03453566e-01 -3.88834869e-02 -2.26703705e+02] [-5.52307991e-02 -5.28657792e-04 9.98473475e-01 -1.63060258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88864 meters Centerline goodness [0,1] 0.9999021095394254 Centerline is valid? [True, True] Translation: X:316.05, Y:-226.73, Z:-16.31 [[ 7.03632155e-01 7.09526579e-01 3.83904161e-02 3.16050746e+02] [-7.08503605e-01 7.04678561e-01 -3.80889466e-02 -2.26728240e+02] [-5.40780232e-02 -3.99140584e-04 9.98536633e-01 -1.63084133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91864 meters Centerline goodness [0,1] 0.9998531571218796 Centerline is valid? [True, True] Translation: X:316.07, Y:-226.75, Z:-16.31 [[ 7.04045193e-01 7.09120330e-01 3.83239338e-02 3.16073894e+02] [-7.08098274e-01 7.05087400e-01 -3.80603967e-02 -2.26751739e+02] [-5.40111240e-02 -3.40872046e-04 9.98540276e-01 -1.63095990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94864 meters Centerline goodness [0,1] 0.9997065871191745 Centerline is valid? [True, True] Translation: X:316.10, Y:-226.78, Z:-16.31 [[ 7.04723889e-01 7.08422344e-01 3.87559434e-02 3.16097590e+02] [-7.07373749e-01 7.05788718e-01 -3.85313530e-02 -2.26775081e+02] [-5.46499790e-02 -2.60971971e-04 9.98505539e-01 -1.63094424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97864 meters Centerline goodness [0,1] 0.9996574336889498 Centerline is valid? [True, True] Translation: X:316.12, Y:-226.80, Z:-16.31 [[ 7.04552504e-01 7.08591244e-01 3.87842411e-02 3.16119516e+02] [-7.07539112e-01 7.05619153e-01 -3.86007278e-02 -2.26799241e+02] [-5.47190411e-02 -2.45128053e-04 9.98501761e-01 -1.63105655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00864 meters Centerline goodness [0,1] 0.9995596653456627 Centerline is valid? [True, True] Translation: X:316.14, Y:-226.83, Z:-16.31 [[ 7.06854572e-01 7.06290189e-01 3.88687775e-02 3.16139287e+02] [-7.05227690e-01 7.07922430e-01 -3.87264513e-02 -2.26825774e+02] [-5.48681920e-02 -3.73690379e-05 9.98493605e-01 -1.63112044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03864 meters Centerline goodness [0,1] 0.9995596222537555 Centerline is valid? [True, True] Translation: X:316.16, Y:-226.85, Z:-16.31 [[ 7.07382597e-01 7.05796800e-01 3.82195957e-02 3.16161344e+02] [-7.04766602e-01 7.08414339e-01 -3.81203447e-02 -2.26850623e+02] [-5.39805269e-02 2.97738651e-05 9.98541988e-01 -1.63121738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06864 meters Centerline goodness [0,1] 0.9994624706802189 Centerline is valid? [True, True] Translation: X:316.18, Y:-226.88, Z:-16.31 [[ 7.09120658e-01 7.04069834e-01 3.78624102e-02 3.16181557e+02] [-7.03054188e-01 7.10130716e-01 -3.78044316e-02 -2.26876526e+02] [-5.35042203e-02 1.88577371e-04 9.98567606e-01 -1.63129577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09864 meters Centerline goodness [0,1] 0.9991202776012903 Centerline is valid? [True, True] Translation: X:316.20, Y:-226.90, Z:-16.31 [[ 7.09411458e-01 7.03796460e-01 3.74956957e-02 3.16203348e+02] [-7.02797916e-01 7.10401639e-01 -3.74780133e-02 -2.26901845e+02] [-5.30138968e-02 2.35435277e-04 9.98593747e-01 -1.63130475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12864 meters Centerline goodness [0,1] 0.9993161725199042 Centerline is valid? [True, True] Translation: X:316.24, Y:-226.99, Z:-14.79 [[ 7.53230795e-01 -6.57577171e-01 -1.53503688e-02 3.16236688e+02] [-6.57364942e-01 -7.53382535e-01 1.69141491e-02 -2.26987330e+02] [-2.26870581e-02 -2.64946367e-03 -9.99739105e-01 -1.47880889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15864 meters Centerline goodness [0,1] 0.9996576347451824 Centerline is valid? [True, True] Translation: X:316.23, Y:-226.95, Z:-16.31 [[ 7.57614243e-01 6.51434235e-01 4.06705821e-02 3.16233255e+02] [-6.50483991e-01 7.58705082e-01 -3.51735132e-02 -2.26954105e+02] [-5.37702080e-02 1.92392079e-04 9.98553317e-01 -1.63145047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18864 meters Centerline goodness [0,1] 0.9993645828241849 Centerline is valid? [True, True] Translation: X:316.26, Y:-226.98, Z:-16.32 [[ 7.56865889e-01 6.52321443e-01 4.03826931e-02 3.16257446e+02] [-6.51383877e-01 7.57942419e-01 -3.49618948e-02 -2.26976901e+02] [-5.34141498e-02 1.56830396e-04 9.98572433e-01 -1.63151795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21864 meters Centerline goodness [0,1] 0.9995108110752372 Centerline is valid? [True, True] Translation: X:316.28, Y:-227.00, Z:-16.32 [[ 7.56323801e-01 6.52977359e-01 3.99359117e-02 3.16279410e+02] [-6.52059397e-01 7.57377416e-01 -3.46120423e-02 -2.27001602e+02] [-5.28474375e-02 1.37324913e-04 9.98602588e-01 -1.63167427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24864 meters Centerline goodness [0,1] 0.9991189427312775 Centerline is valid? [True, True] Translation: X:316.30, Y:-227.02, Z:-16.32 [[ 7.56057118e-01 6.53337055e-01 3.90938214e-02 3.16303164e+02] [-6.52456037e-01 7.57067153e-01 -3.39182244e-02 -2.27024515e+02] [-5.17566809e-02 1.37115186e-04 9.98659715e-01 -1.63169117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27864 meters Centerline goodness [0,1] 0.9987762494493122 Centerline is valid? [True, True] Translation: X:316.33, Y:-227.05, Z:-16.32 [[ 7.55362713e-01 6.54014800e-01 4.11316487e-02 3.16325715e+02] [-6.53038363e-01 7.56481742e-01 -3.57249290e-02 -2.27047981e+02] [-5.44799736e-02 1.24734785e-04 9.98514856e-01 -1.63170268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30864 meters Centerline goodness [0,1] 0.9995113131016957 Centerline is valid? [True, True] Translation: X:316.35, Y:-227.07, Z:-16.32 [[ 7.54419921e-01 6.55019917e-01 4.24204068e-02 3.16349261e+02] [-6.53980859e-01 7.55611608e-01 -3.68800014e-02 -2.27069280e+02] [-5.62104872e-02 8.08736622e-05 9.98418937e-01 -1.63192234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33864 meters Centerline goodness [0,1] 0.999462023768768 Centerline is valid? [True, True] Translation: X:316.37, Y:-227.09, Z:-16.32 [[ 7.53950181e-01 6.55564352e-01 4.23616055e-02 3.16374654e+02] [-6.54527396e-01 7.55139309e-01 -3.68579912e-02 -2.27091103e+02] [-5.61516986e-02 6.22577928e-05 9.98422247e-01 -1.63194322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36864 meters Centerline goodness [0,1] 0.9995601173020527 Centerline is valid? [True, True] Translation: X:316.40, Y:-227.11, Z:-16.32 [[ 7.52407721e-01 6.57317090e-01 4.26246982e-02 3.16400188e+02] [-6.56268582e-01 7.53614120e-01 -3.71120906e-02 -2.27112130e+02] [-5.65169858e-02 -4.98266880e-05 9.98401637e-01 -1.63220127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39864 meters Centerline goodness [0,1] 0.9995107871434862 Centerline is valid? [True, True] Translation: X:316.43, Y:-227.13, Z:-16.32 [[ 7.50255837e-01 6.59765453e-01 4.27285203e-02 3.16425205e+02] [-6.58713473e-01 7.51471560e-01 -3.72431903e-02 -2.27134132e+02] [-5.66810381e-02 -2.03931119e-04 9.98392317e-01 -1.63241594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42864 meters Centerline goodness [0,1] 0.999559686888454 Centerline is valid? [True, True] Translation: X:316.45, Y:-227.16, Z:-16.32 [[ 7.49474883e-01 6.60688338e-01 4.21701185e-02 3.16450531e+02] [-6.59662925e-01 7.50660284e-01 -3.67962373e-02 -2.27155600e+02] [-5.59662781e-02 -2.40208077e-04 9.98432631e-01 -1.63243891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45864 meters Centerline goodness [0,1] 0.9995600742985629 Centerline is valid? [True, True] Translation: X:316.48, Y:-227.18, Z:-16.33 [[ 7.49002715e-01 6.61166301e-01 4.30587516e-02 3.16475829e+02] [-6.60095589e-01 7.50239335e-01 -3.76132115e-02 -2.27176281e+02] [-5.71729571e-02 -2.50494510e-04 9.98364257e-01 -1.63252491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48864 meters Centerline goodness [0,1] 0.9995106195556426 Centerline is valid? [True, True] Translation: X:316.50, Y:-227.20, Z:-16.33 [[ 7.48810046e-01 6.61347492e-01 4.36235019e-02 3.16500757e+02] [-6.60246352e-01 7.50079622e-01 -3.81485894e-02 -2.27197610e+02] [-5.79505738e-02 -2.36211029e-04 9.98319425e-01 -1.63265781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51864 meters Centerline goodness [0,1] 0.9996575677526661 Centerline is valid? [True, True] Translation: X:316.52, Y:-227.22, Z:-16.33 [[ 7.48333400e-01 6.61858503e-01 4.40504733e-02 3.16524647e+02] [-6.60734095e-01 7.49628749e-01 -3.85641626e-02 -2.27219696e+02] [-5.85455201e-02 -2.46798705e-04 9.98284709e-01 -1.63291612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54864 meters Centerline goodness [0,1] 0.9994609164420485 Centerline is valid? [True, True] Translation: X:316.55, Y:-227.24, Z:-16.33 [[ 7.47159882e-01 6.63232593e-01 4.32970880e-02 3.16549127e+02] [-6.62146302e-01 7.48413273e-01 -3.79453414e-02 -2.27242284e+02] [-5.75707025e-02 -3.17769843e-04 9.98341381e-01 -1.63285273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57864 meters Centerline goodness [0,1] 0.9994609164420485 Centerline is valid? [True, True] Translation: X:316.57, Y:-227.26, Z:-16.33 [[ 7.46802122e-01 6.63636736e-01 4.32767009e-02 3.16573771e+02] [-6.62549776e-01 7.48054932e-01 -3.79685830e-02 -2.27263474e+02] [-5.75706960e-02 -3.17950053e-04 9.98341381e-01 -1.63297590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60864 meters Centerline goodness [0,1] 0.999706414835837 Centerline is valid? [True, True] Translation: X:316.60, Y:-227.28, Z:-16.33 [[ 7.45749668e-01 6.64781821e-01 4.38470363e-02 3.16599620e+02] [-6.63665501e-01 7.47037473e-01 -3.85112590e-02 -2.27284052e+02] [-5.83569640e-02 -3.80006697e-04 9.98295708e-01 -1.63321414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.63864 meters Centerline goodness [0,1] 0.9996088784589812 Centerline is valid? [True, True] Translation: X:316.63, Y:-227.30, Z:-16.33 [[ 7.43900250e-01 6.66875590e-01 4.34668364e-02 3.16625024e+02] [-6.65779725e-01 7.45168900e-01 -3.82186927e-02 -2.27304538e+02] [-5.78772479e-02 -5.08443271e-04 9.98323578e-01 -1.63330668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66864 meters Centerline goodness [0,1] 0.9996085531144493 Centerline is valid? [True, True] Translation: X:316.65, Y:-227.32, Z:-16.33 [[ 7.42182844e-01 6.68765918e-01 4.37809576e-02 3.16649880e+02] [-6.67655071e-01 7.43472763e-01 -3.85351417e-02 -2.27324526e+02] [-5.83209389e-02 -6.30457272e-04 9.98297686e-01 -1.63338160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.69864 meters Centerline goodness [0,1] 0.9994106379843819 Centerline is valid? [True, True] Translation: X:316.68, Y:-227.35, Z:-16.34 [[ 7.40401657e-01 6.70785010e-01 4.30448310e-02 3.16675825e+02] [-6.69712492e-01 7.41651475e-01 -3.79244966e-02 -2.27345268e+02] [-5.73634462e-02 -7.48300976e-04 9.98353081e-01 -1.63363197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72864 meters Centerline goodness [0,1] 0.9995109546165885 Centerline is valid? [True, True] Translation: X:316.70, Y:-227.37, Z:-16.34 [[ 7.39842511e-01 6.71394079e-01 4.31630651e-02 3.16701186e+02] [-6.70314309e-01 7.41100130e-01 -3.80699902e-02 -2.27365792e+02] [-5.75481192e-02 -7.67023045e-04 9.98342439e-01 -1.63378399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.75864 meters Centerline goodness [0,1] 0.9996087828255661 Centerline is valid? [True, True] Translation: X:316.73, Y:-227.39, Z:-16.34 [[ 7.39562825e-01 6.71651569e-01 4.39431210e-02 3.16726481e+02] [-6.70530334e-01 7.40866774e-01 -3.88006909e-02 -2.27386565e+02] [-5.86165433e-02 -7.69647064e-04 9.98280276e-01 -1.63389472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78864 meters Centerline goodness [0,1] 0.9994618395303326 Centerline is valid? [True, True] Translation: X:316.75, Y:-227.41, Z:-16.34 [[ 7.41464938e-01 6.69499853e-01 4.47179156e-02 3.16752783e+02] [-6.68332173e-01 7.42811963e-01 -3.95283923e-02 -2.27405880e+02] [-5.96812555e-02 -5.77504701e-04 9.98217318e-01 -1.63408781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.81864 meters Centerline goodness [0,1] 0.9999511002444987 Centerline is valid? [True, True] Translation: X:316.78, Y:-227.43, Z:-16.34 [[ 7.43307258e-01 6.67526204e-01 4.36243782e-02 3.16777498e+02] [-6.66409264e-01 7.44586209e-01 -3.86014298e-02 -2.27425975e+02] [-5.82495763e-02 -3.78966801e-04 9.98301980e-01 -1.63417323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84864 meters Centerline goodness [0,1] 0.9999022100528066 Centerline is valid? [True, True] Translation: X:316.80, Y:-227.45, Z:-16.34 [[ 7.45149752e-01 6.65474621e-01 4.35359124e-02 3.16802768e+02] [-6.64356452e-01 7.46420453e-01 -3.85617997e-02 -2.27447600e+02] [-5.81579945e-02 -1.89048777e-04 9.98307373e-01 -1.63436315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.87864 meters Centerline goodness [0,1] 0.9997067448680352 Centerline is valid? [True, True] Translation: X:316.83, Y:-227.47, Z:-16.35 [[ 7.48997022e-01 6.61145712e-01 4.34719299e-02 3.16827127e+02] [-6.60021063e-01 7.50257500e-01 -3.85471210e-02 -2.27470186e+02] [-5.81004052e-02 1.79289459e-04 9.98310729e-01 -1.63459213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90864 meters Centerline goodness [0,1] 0.9995592987954167 Centerline is valid? [True, True] Translation: X:316.85, Y:-227.49, Z:-16.35 [[ 7.50534614e-01 6.59461806e-01 4.25196370e-02 3.16851722e+02] [-6.58380931e-01 7.51737996e-01 -3.77430150e-02 -2.27492462e+02] [-5.68537036e-02 3.33320947e-04 9.98382464e-01 -1.63459158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93864 meters Centerline goodness [0,1] 0.9997065010027882 Centerline is valid? [True, True] Translation: X:316.87, Y:-227.52, Z:-16.35 [[ 7.51852950e-01 6.57917642e-01 4.31453129e-02 3.16874307e+02] [-6.56799858e-01 7.53089729e-01 -3.83380601e-02 -2.27515829e+02] [-5.77155780e-02 4.86748199e-04 9.98332948e-01 -1.63475706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96864 meters Centerline goodness [0,1] 0.9995106674495987 Centerline is valid? [True, True] Translation: X:316.90, Y:-227.54, Z:-16.35 [[ 7.51902289e-01 6.57891981e-01 4.26742115e-02 3.16897594e+02] [-6.56796351e-01 7.53112130e-01 -3.79561970e-02 -2.27539053e+02] [-5.71095440e-02 5.11085024e-04 9.98367787e-01 -1.63482719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99864 meters Centerline goodness [0,1] 0.9996576347451824 Centerline is valid? [True, True] Translation: X:316.92, Y:-227.56, Z:-16.35 [[ 7.50543641e-01 6.59531844e-01 4.12551898e-02 3.16917781e+02] [-6.58508378e-01 7.51676517e-01 -3.67305082e-02 -2.27564211e+02] [-5.52354972e-02 4.00961262e-04 9.98473274e-01 -1.63489776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02864 meters Centerline goodness [0,1] 0.9996085722673451 Centerline is valid? [True, True] Translation: X:316.94, Y:-227.59, Z:-16.35 [[ 7.48670001e-01 6.61663168e-01 4.11713654e-02 3.16940564e+02] [-6.60645101e-01 7.49801159e-01 -3.66915682e-02 -2.27587962e+02] [-5.51477968e-02 2.70215501e-04 9.98478166e-01 -1.63502799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05864 meters Centerline goodness [0,1] 0.9996565765588972 Centerline is valid? [True, True] Translation: X:316.96, Y:-227.61, Z:-16.35 [[ 7.44917675e-01 6.65901068e-01 4.09075306e-02 3.16961432e+02] [-6.64900684e-01 7.46040058e-01 -3.64871615e-02 -2.27613454e+02] [-5.48154963e-02 -1.95136194e-05 9.98496500e-01 -1.63516359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08864 meters Centerline goodness [0,1] 0.999657098069952 Centerline is valid? [True, True] Translation: X:316.98, Y:-227.64, Z:-16.35 [[ 7.42790854e-01 6.68257684e-01 4.11511244e-02 3.16984806e+02] [-6.67247770e-01 7.43929860e-01 -3.67256966e-02 -2.27637353e+02] [-5.51557791e-02 -1.78484427e-04 9.98477745e-01 -1.63533999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11864 meters Centerline goodness [0,1] 0.9994619185051118 Centerline is valid? [True, True] Translation: X:317.01, Y:-227.66, Z:-16.35 [[ 7.40301281e-01 6.70945793e-01 4.22582037e-02 3.17007302e+02] [-6.69882826e-01 7.41506314e-01 -3.77542771e-02 -2.27659962e+02] [-5.66657983e-02 -3.58505236e-04 9.98393138e-01 -1.63547203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14864 meters Centerline goodness [0,1] 0.9994125422235277 Centerline is valid? [True, True] Translation: X:317.03, Y:-227.68, Z:-16.35 [[ 7.36161159e-01 6.75508253e-01 4.18968699e-02 3.17030450e+02] [-6.74468732e-01 7.37352116e-01 -3.74671484e-02 -2.27682321e+02] [-5.62021136e-02 -6.76269287e-04 9.98419183e-01 -1.63545683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17864 meters Centerline goodness [0,1] 0.999118640748176 Centerline is valid? [True, True] Translation: X:317.05, Y:-227.70, Z:-16.36 [[ 7.34243344e-01 6.77539994e-01 4.27348556e-02 3.17053891e+02] [-6.76459815e-01 7.35485473e-01 -3.82523062e-02 -2.27703535e+02] [-5.73483328e-02 -8.21911290e-04 9.98353892e-01 -1.63558464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20864 meters Centerline goodness [0,1] 0.9992657856093979 Centerline is valid? [True, True] Translation: X:317.08, Y:-227.72, Z:-16.36 [[ 7.30566379e-01 6.81525718e-01 4.23728913e-02 3.17077724e+02] [-6.80468552e-01 7.31793335e-01 -3.79613582e-02 -2.27724262e+02] [-5.68798414e-02 -1.10012797e-03 9.98380425e-01 -1.63573427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23864 meters Centerline goodness [0,1] 0.9979909839278714 Centerline is valid? [True, True] Translation: X:317.10, Y:-227.74, Z:-16.36 [[ 7.28355670e-01 6.83891482e-01 4.23138035e-02 3.17102033e+02] [-6.82839623e-01 7.29582653e-01 -3.79368162e-02 -2.27744641e+02] [-5.68160825e-02 -1.26204643e-03 9.98383864e-01 -1.63586937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26864 meters Centerline goodness [0,1] 0.997992852597053 Centerline is valid? [True, True] Translation: X:317.13, Y:-227.77, Z:-16.36 [[ 7.25996141e-01 6.86359414e-01 4.28993847e-02 3.17126956e+02] [-6.85281062e-01 7.27261048e-01 -3.84868112e-02 -2.27765402e+02] [-5.76148367e-02 -1.45685949e-03 9.98337823e-01 -1.63601325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29864 meters Centerline goodness [0,1] 0.9974537263735187 Centerline is valid? [True, True] Translation: X:317.15, Y:-227.79, Z:-16.36 [[ 7.21973861e-01 6.90521103e-01 4.39812493e-02 3.17151109e+02] [-6.89393664e-01 7.23309974e-01 -3.94849139e-02 -2.27786235e+02] [-5.90772426e-02 -1.81331879e-03 9.98251767e-01 -1.63624205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32864 meters Centerline goodness [0,1] 0.9973052425281724 Centerline is valid? [True, True] Translation: X:317.18, Y:-227.81, Z:-16.36 [[ 7.19998214e-01 6.92632149e-01 4.31657054e-02 3.17176444e+02] [-6.91548856e-01 7.21288402e-01 -3.87713923e-02 -2.27806354e+02] [-5.79892354e-02 -1.93586101e-03 9.98315331e-01 -1.63635199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35864 meters Centerline goodness [0,1] 0.9960807368214776 Centerline is valid? [True, True] Translation: X:317.21, Y:-227.82, Z:-16.37 [[ 7.17218064e-01 6.95558924e-01 4.23796134e-02 3.17205262e+02] [-6.94517906e-01 7.18465963e-01 -3.80990689e-02 -2.27822473e+02] [-5.69484571e-02 -2.10805987e-03 9.98374894e-01 -1.63650162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38864 meters Centerline goodness [0,1] 0.9964245481706421 Centerline is valid? [True, True] Translation: X:317.23, Y:-227.84, Z:-16.37 [[ 7.15671193e-01 6.97156310e-01 4.22826523e-02 3.17231260e+02] [-6.96120898e-01 7.16915765e-01 -3.80457699e-02 -2.27841794e+02] [-5.68369485e-02 -2.20557636e-03 9.98381038e-01 -1.63658426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41864 meters Centerline goodness [0,1] 0.9965228463685782 Centerline is valid? [True, True] Translation: X:317.26, Y:-227.86, Z:-16.37 [[ 7.15836205e-01 6.96948339e-01 4.29131701e-02 3.17257361e+02] [-6.95879301e-01 7.17117977e-01 -3.86497810e-02 -2.27862609e+02] [-5.77107064e-02 -2.19547421e-03 9.98330934e-01 -1.63671284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44864 meters Centerline goodness [0,1] 0.9972559780478244 Centerline is valid? [True, True] Translation: X:317.29, Y:-227.88, Z:-16.37 [[ 7.18012356e-01 6.94673064e-01 4.34464248e-02 3.17285309e+02] [-6.93571164e-01 7.19322793e-01 -3.91632468e-02 -2.27880331e+02] [-5.84576562e-02 -2.01349231e-03 9.98287858e-01 -1.63678625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47864 meters Centerline goodness [0,1] 0.9975018368846437 Centerline is valid? [True, True] Translation: X:317.31, Y:-227.90, Z:-16.37 [[ 7.19876027e-01 6.92751270e-01 4.32918411e-02 3.17312697e+02] [-6.91652747e-01 7.21174249e-01 -3.90407424e-02 -2.27898527e+02] [-5.82664849e-02 -1.83842633e-03 9.98299372e-01 -1.63705383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50864 meters Centerline goodness [0,1] 0.9970644356377514 Centerline is valid? [True, True] Translation: X:317.34, Y:-227.91, Z:-16.37 [[ 7.23977398e-01 6.88509217e-01 4.25650766e-02 3.17341137e+02] [-6.87439379e-01 7.25226114e-01 -3.83951166e-02 -2.27913414e+02] [-5.73046968e-02 -1.46371323e-03 9.98355663e-01 -1.63718616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53864 meters Centerline goodness [0,1] 0.9976501688941107 Centerline is valid? [True, True] Translation: X:317.37, Y:-227.93, Z:-16.37 [[ 7.25906346e-01 6.86443503e-01 4.30731248e-02 3.17366787e+02] [-6.85343393e-01 7.27181968e-01 -3.88692510e-02 -2.27933344e+02] [-5.80035445e-02 -1.30444552e-03 9.98315525e-01 -1.63730853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56864 meters Centerline goodness [0,1] 0.9979441997063142 Centerline is valid? [True, True] Translation: X:317.39, Y:-227.95, Z:-16.37 [[ 7.30197135e-01 6.81889000e-01 4.28898096e-02 3.17393346e+02] [-6.80788603e-01 7.31455093e-01 -3.87340245e-02 -2.27952732e+02] [-5.77842749e-02 -9.15419899e-04 9.98328673e-01 -1.63728537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59864 meters Centerline goodness [0,1] 0.9983849654969902 Centerline is valid? [True, True] Translation: X:317.42, Y:-227.97, Z:-16.37 [[ 7.31935928e-01 6.79979186e-01 4.35672354e-02 3.17418600e+02] [-6.78838788e-01 7.33231023e-01 -3.93721549e-02 -2.27972211e+02] [-5.87170944e-02 -7.57234551e-04 9.98274376e-01 -1.63746147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62864 meters Centerline goodness [0,1] 0.9990201842053694 Centerline is valid? [True, True] Translation: X:317.44, Y:-227.99, Z:-16.38 [[ 7.33445557e-01 6.78453885e-01 4.19278077e-02 3.17443163e+02] [-6.77393300e-01 7.34642759e-01 -3.79253836e-02 -2.27993232e+02] [-5.65325841e-02 -5.85411899e-04 9.98400583e-01 -1.63752173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65864 meters Centerline goodness [0,1] 0.9987270501835985 Centerline is valid? [True, True] Translation: X:317.47, Y:-228.02, Z:-16.38 [[ 7.36645857e-01 6.75110807e-01 3.97275632e-02 3.17466112e+02] [-6.74152045e-01 7.37716284e-01 -3.59681131e-02 -2.28015840e+02] [-5.35901321e-02 -2.86656494e-04 9.98562975e-01 -1.63767598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68864 meters Centerline goodness [0,1] 0.9989237317156695 Centerline is valid? [True, True] Translation: X:317.49, Y:-228.04, Z:-16.38 [[ 7.38306443e-01 6.73298484e-01 3.96578934e-02 3.17489713e+02] [-6.72338555e-01 7.39370770e-01 -3.59406662e-02 -2.28038566e+02] [-5.35206832e-02 -1.28305349e-04 9.98566733e-01 -1.63781632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71864 meters Centerline goodness [0,1] 0.9988250844470554 Centerline is valid? [True, True] Translation: X:317.51, Y:-228.06, Z:-16.38 [[ 7.40243664e-01 6.71092885e-01 4.09103584e-02 3.17511524e+02] [-6.70065757e-01 7.41373277e-01 -3.71153117e-02 -2.28061722e+02] [-5.52376681e-02 6.17440955e-05 9.98473233e-01 -1.63792468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74864 meters Centerline goodness [0,1] 0.9988744249779778 Centerline is valid? [True, True] Translation: X:317.53, Y:-228.09, Z:-16.38 [[ 7.40560419e-01 6.70722664e-01 4.12477069e-02 3.17534713e+02] [-6.69675859e-01 7.41708227e-01 -3.74586488e-02 -2.28085575e+02] [-5.57181283e-02 1.17799187e-04 9.98446532e-01 -1.63798209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77864 meters Centerline goodness [0,1] 0.9992663601682481 Centerline is valid? [True, True] Translation: X:317.56, Y:-228.11, Z:-16.38 [[ 7.40595855e-01 6.70761350e-01 3.99623571e-02 3.17555637e+02] [-6.69776877e-01 7.41673238e-01 -3.63282691e-02 -2.28110249e+02] [-5.40066096e-02 1.38702804e-04 9.98540568e-01 -1.63798616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80864 meters Centerline goodness [0,1] 0.9986776373787835 Centerline is valid? [True, True] Translation: X:317.58, Y:-228.13, Z:-16.38 [[ 7.39669007e-01 6.71839300e-01 3.90091787e-02 3.17578810e+02] [-6.70901028e-01 7.40696934e-01 -3.54945430e-02 -2.28132661e+02] [-5.27406080e-02 8.29152771e-05 9.98608242e-01 -1.63810953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83864 meters Centerline goodness [0,1] 0.998873929008568 Centerline is valid? [True, True] Translation: X:317.60, Y:-228.16, Z:-16.38 [[ 7.38876443e-01 6.72729329e-01 3.86891552e-02 3.17602521e+02] [-6.71805821e-01 7.39888672e-01 -3.52376501e-02 -2.28156169e+02] [-5.23310684e-02 4.46698975e-05 9.98629790e-01 -1.63823558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86864 meters Centerline goodness [0,1] 0.9986280562496938 Centerline is valid? [True, True] Translation: X:317.62, Y:-228.18, Z:-16.38 [[ 7.37803910e-01 6.73846569e-01 3.97012746e-02 3.17622812e+02] [-6.72873528e-01 7.38871302e-01 -3.61996485e-02 -2.28182456e+02] [-5.37271414e-02 -5.69450211e-06 9.98555654e-01 -1.63846293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89864 meters Centerline goodness [0,1] 0.9988254294523565 Centerline is valid? [True, True] Translation: X:317.65, Y:-228.21, Z:-16.39 [[ 7.37711019e-01 6.73902272e-01 4.04744473e-02 3.17645178e+02] [-6.72888774e-01 7.38820498e-01 -3.69455050e-02 -2.28207532e+02] [-5.48010110e-02 2.03049391e-05 9.98497295e-01 -1.63860106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92864 meters Centerline goodness [0,1] 0.9982849022394277 Centerline is valid? [True, True] Translation: X:317.67, Y:-228.23, Z:-16.39 [[ 7.38185141e-01 6.73369230e-01 4.07010772e-02 3.17665916e+02] [-6.72341300e-01 7.39306345e-01 -3.71927996e-02 -2.28234470e+02] [-5.51350514e-02 9.01568794e-05 9.98478902e-01 -1.63860302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95864 meters Centerline goodness [0,1] 0.9978948399099188 Centerline is valid? [True, True] Translation: X:317.69, Y:-228.26, Z:-16.39 [[ 7.38021075e-01 6.73534209e-01 4.09458456e-02 3.17688776e+02] [-6.72491868e-01 7.39156044e-01 -3.74570315e-02 -2.28258462e+02] [-5.54939614e-02 1.08330482e-04 9.98459017e-01 -1.63878528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98864 meters Centerline goodness [0,1] 0.998237626670583 Centerline is valid? [True, True] Translation: X:317.71, Y:-228.28, Z:-16.39 [[ 7.37508016e-01 6.74056253e-01 4.15943951e-02 3.17709961e+02] [-6.72979083e-01 7.38680010e-01 -3.80919420e-02 -2.28284472e+02] [-5.64010599e-02 1.00954709e-04 9.98408188e-01 -1.63904074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01864 meters Centerline goodness [0,1] 0.9973106449562369 Centerline is valid? [True, True] Translation: X:317.73, Y:-228.31, Z:-16.39 [[ 7.36500807e-01 6.75157418e-01 4.15815302e-02 3.17732597e+02] [-6.74080337e-01 7.37673681e-01 -3.81213864e-02 -2.28308069e+02] [-5.64115372e-02 4.71399715e-05 9.98407600e-01 -1.63912446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04864 meters Centerline goodness [0,1] 0.9977465340714251 Centerline is valid? [True, True] Translation: X:317.76, Y:-228.33, Z:-16.39 [[ 7.35078720e-01 6.76750545e-01 4.08408571e-02 3.17755043e+02] [-6.75711750e-01 7.36212400e-01 -3.74824323e-02 -2.28331687e+02] [-5.54338019e-02 -4.41087077e-05 9.98462364e-01 -1.63929539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07864 meters Centerline goodness [0,1] 0.9963291077284518 Centerline is valid? [True, True] Translation: X:317.78, Y:-228.36, Z:-16.40 [[ 7.31521387e-01 6.80647653e-01 3.99403579e-02 3.17775986e+02] [-6.79657834e-01 7.32610866e-01 -3.66953434e-02 -2.28358104e+02] [-5.42373395e-02 -3.02348560e-04 9.98528026e-01 -1.63959256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10864 meters Centerline goodness [0,1] 0.9961329482598267 Centerline is valid? [True, True] Translation: X:317.80, Y:-228.38, Z:-16.40 [[ 7.29472157e-01 6.82884265e-01 3.92358548e-02 3.17798303e+02] [-6.81930229e-01 7.30526450e-01 -3.60869527e-02 -2.28381899e+02] [-5.33060419e-02 -4.31688273e-04 9.98578129e-01 -1.63972912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.13864 meters Centerline goodness [0,1] 0.9950980392156863 Centerline is valid? [True, True] Translation: X:317.82, Y:-228.40, Z:-16.40 [[ 7.27474759e-01 6.84982703e-01 3.97387945e-02 3.17820593e+02] [-6.84005048e-01 7.28559111e-01 -3.65884763e-02 -2.28404813e+02] [-5.40145342e-02 -5.64343041e-04 9.98539990e-01 -1.63977290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16864 meters Centerline goodness [0,1] 0.9955882352941177 Centerline is valid? [True, True] Translation: X:317.84, Y:-228.43, Z:-16.40 [[ 7.23903288e-01 6.88625495e-01 4.19399381e-02 3.17841801e+02] [-6.87540350e-01 7.25116679e-01 -3.86531930e-02 -2.28428822e+02] [-5.70289229e-02 -8.54226209e-04 9.98372161e-01 -1.63993407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.19864 meters Centerline goodness [0,1] 0.9955957915341326 Centerline is valid? [True, True] Translation: X:317.86, Y:-228.45, Z:-16.40 [[ 7.22242586e-01 6.90344239e-01 4.23140486e-02 3.17864521e+02] [-6.89240444e-01 7.23480399e-01 -3.90348962e-02 -2.28451910e+02] [-5.75609005e-02 -9.71889251e-04 9.98341524e-01 -1.64014852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22864 meters Centerline goodness [0,1] 0.9953355918888398 Centerline is valid? [True, True] Translation: X:317.89, Y:-228.48, Z:-16.40 [[ 7.20185940e-01 6.92530807e-01 4.16328397e-02 3.17885809e+02] [-6.91464237e-01 7.21387453e-01 -3.84363322e-02 -2.28475624e+02] [-5.66517524e-02 -1.10631368e-03 9.98393387e-01 -1.64040365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.25864 meters Centerline goodness [0,1] 0.9948092649723324 Centerline is valid? [True, True] Translation: X:317.91, Y:-228.50, Z:-16.41 [[ 7.19002625e-01 6.93761505e-01 4.15956600e-02 3.17909691e+02] [-6.92697385e-01 7.20203842e-01 -3.84286090e-02 -2.28498901e+02] [-5.66176438e-02 -1.18293416e-03 9.98395234e-01 -1.64056416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28864 meters Centerline goodness [0,1] 0.994467835112112 Centerline is valid? [True, True] Translation: X:317.93, Y:-228.52, Z:-16.41 [[ 7.17658386e-01 6.95208823e-01 4.06341480e-02 3.17934363e+02] [-6.94193488e-01 7.18806761e-01 -3.75798069e-02 -2.28521437e+02] [-5.53339136e-02 -1.23849735e-03 9.98467137e-01 -1.64062162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.31864 meters Centerline goodness [0,1] 0.9933923939112134 Centerline is valid? [True, True] Translation: X:317.96, Y:-228.54, Z:-16.41 [[ 7.14793314e-01 6.98130297e-01 4.10439725e-02 3.17958501e+02] [-6.97096995e-01 7.15969261e-01 -3.79973287e-02 -2.28542791e+02] [-5.59133090e-02 -1.45139338e-03 9.98434572e-01 -1.64082489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34864 meters Centerline goodness [0,1] 0.9927564604541895 Centerline is valid? [True, True] Translation: X:317.98, Y:-228.57, Z:-16.41 [[ 7.10779838e-01 7.02178388e-01 4.16837178e-02 3.17981211e+02] [-7.01117534e-01 7.11998856e-01 -3.86242413e-02 -2.28565009e+02] [-5.67998669e-02 -1.77185345e-03 9.98384012e-01 -1.64090247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.37864 meters Centerline goodness [0,1] 0.993595071627634 Centerline is valid? [True, True] Translation: X:318.00, Y:-228.59, Z:-16.41 [[ 7.08491274e-01 7.04443194e-01 4.24252374e-02 3.18004504e+02] [-7.03346298e-01 7.09757656e-01 -3.93453406e-02 -2.28586606e+02] [-5.78281945e-02 -1.96380318e-03 9.98324618e-01 -1.64105668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40864 meters Centerline goodness [0,1] 0.9917731746731306 Centerline is valid? [True, True] Translation: X:318.03, Y:-228.61, Z:-16.41 [[ 7.06543996e-01 7.06407667e-01 4.22349375e-02 3.18027584e+02] [-7.05322403e-01 7.07802107e-01 -3.91980298e-02 -2.28608143e+02] [-5.75837666e-02 -2.09411500e-03 9.98338482e-01 -1.64118592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43864 meters Centerline goodness [0,1] 0.990205680705191 Centerline is valid? [True, True] Translation: X:318.05, Y:-228.63, Z:-16.41 [[ 7.04541245e-01 7.08424610e-01 4.19071201e-02 3.18053191e+02] [-7.07358647e-01 7.05782975e-01 -3.89119164e-02 -2.28627144e+02] [-5.71434910e-02 -2.22831371e-03 9.98363489e-01 -1.64132434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46864 meters Centerline goodness [0,1] 0.990205680705191 Centerline is valid? [True, True] Translation: X:318.08, Y:-228.65, Z:-16.41 [[ 7.04186767e-01 7.08777709e-01 4.18945948e-02 3.18077209e+02] [-7.07711569e-01 7.05428344e-01 -3.89253981e-02 -2.28649049e+02] [-5.71430891e-02 -2.23853923e-03 9.98363489e-01 -1.64144755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49864 meters Centerline goodness [0,1] 0.9901179002984198 Centerline is valid? [True, True] Translation: X:318.10, Y:-228.67, Z:-16.42 [[ 7.03026713e-01 7.09924927e-01 4.19528145e-02 3.18101360e+02] [-7.08855748e-01 7.04273573e-01 -3.90161826e-02 -2.28669490e+02] [-5.72448192e-02 -2.30907510e-03 9.98357501e-01 -1.64164212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52864 meters Centerline goodness [0,1] 0.9904409953190441 Centerline is valid? [True, True] Translation: X:318.13, Y:-228.69, Z:-16.42 [[ 7.03441601e-01 7.09547837e-01 4.13736778e-02 3.18127068e+02] [-7.08505947e-01 7.04653743e-01 -3.85022853e-02 -2.28688903e+02] [-5.64733301e-02 -2.22938753e-03 9.98401619e-01 -1.64167291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55864 meters Centerline goodness [0,1] 0.9906940294852329 Centerline is valid? [True, True] Translation: X:318.15, Y:-228.71, Z:-16.42 [[ 7.03432639e-01 7.09541777e-01 4.16291842e-02 3.18152028e+02] [-7.08485738e-01 7.04659851e-01 -3.87615030e-02 -2.28710610e+02] [-5.68373205e-02 -2.22757692e-03 9.98380968e-01 -1.64176771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58864 meters Centerline goodness [0,1] 0.9899632802937577 Centerline is valid? [True, True] Translation: X:318.18, Y:-228.73, Z:-16.42 [[ 7.03610388e-01 7.09384299e-01 4.13078607e-02 3.18176969e+02] [-7.08342131e-01 7.04818560e-01 -3.84996497e-02 -2.28731508e+02] [-5.64255939e-02 -2.17134468e-03 9.98404446e-01 -1.64182951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61864 meters Centerline goodness [0,1] 0.9902570379436965 Centerline is valid? [True, True] Translation: X:318.20, Y:-228.75, Z:-16.42 [[ 7.03556733e-01 7.09408817e-01 4.17977834e-02 3.18203776e+02] [-7.08339741e-01 7.04793875e-01 -3.89923744e-02 -2.28751735e+02] [-5.71203559e-02 -2.17368354e-03 9.98364933e-01 -1.64193695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64864 meters Centerline goodness [0,1] 0.990128671053924 Centerline is valid? [True, True] Translation: X:318.23, Y:-228.77, Z:-16.42 [[ 7.03675292e-01 7.09267868e-01 4.21921196e-02 3.18229596e+02] [-7.08175962e-01 7.04935777e-01 -3.93999740e-02 -2.28771939e+02] [-5.76878702e-02 -2.15465663e-03 9.98332343e-01 -1.64207203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67864 meters Centerline goodness [0,1] 0.9902565609087348 Centerline is valid? [True, True] Translation: X:318.26, Y:-228.79, Z:-16.42 [[ 7.03271854e-01 7.09640072e-01 4.26575511e-02 3.18255131e+02] [-7.08522232e-01 7.04561007e-01 -3.98752414e-02 -2.28792916e+02] [-5.83519163e-02 -2.18068835e-03 9.98293693e-01 -1.64214395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70864 meters Centerline goodness [0,1] 0.9900631455284155 Centerline is valid? [True, True] Translation: X:318.28, Y:-228.81, Z:-16.42 [[ 7.02911912e-01 7.09973371e-01 4.30425002e-02 3.18280962e+02] [-7.08833433e-01 7.04225090e-01 -4.02763932e-02 -2.28814052e+02] [-5.89067752e-02 -2.19920664e-03 9.98261066e-01 -1.64231607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73864 meters Centerline goodness [0,1] 0.9904538111323249 Centerline is valid? [True, True] Translation: X:318.31, Y:-228.83, Z:-16.42 [[ 7.03052817e-01 7.09892994e-01 4.20555986e-02 3.18307178e+02] [-7.08802450e-01 7.04306369e-01 -3.93906682e-02 -2.28832862e+02] [-5.75831853e-02 -2.11539114e-03 9.98338471e-01 -1.64236000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76864 meters Centerline goodness [0,1] 0.9906052747467828 Centerline is valid? [True, True] Translation: X:318.33, Y:-228.85, Z:-16.42 [[ 7.03210415e-01 7.09755044e-01 4.17479304e-02 3.18332781e+02] [-7.08678192e-01 7.04445538e-01 -3.91369910e-02 -2.28852933e+02] [-5.71868201e-02 -2.06430814e-03 9.98361361e-01 -1.64248619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79864 meters Centerline goodness [0,1] 0.990686274509804 Centerline is valid? [True, True] Translation: X:318.36, Y:-228.87, Z:-16.43 [[ 7.04379147e-01 7.08627847e-01 4.11897008e-02 3.18359217e+02] [-7.07575779e-01 7.05579818e-01 -3.86476055e-02 -2.28872280e+02] [-5.64493910e-02 -1.92226720e-03 9.98403611e-01 -1.64263972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82864 meters Centerline goodness [0,1] 0.990304098721904 Centerline is valid? [True, True] Translation: X:318.38, Y:-228.89, Z:-16.43 [[ 7.05180787e-01 7.07849436e-01 4.08562459e-02 3.18383805e+02] [-7.06811126e-01 7.06360999e-01 -3.83688855e-02 -2.28892806e+02] [-5.60186527e-02 -1.82064830e-03 9.98428062e-01 -1.64269560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85864 meters Centerline goodness [0,1] 0.991090659878598 Centerline is valid? [True, True] Translation: X:318.41, Y:-228.91, Z:-16.43 [[ 7.08112530e-01 7.04918935e-01 4.08159262e-02 3.18410946e+02] [-7.03875870e-01 7.09286158e-01 -3.83654234e-02 -2.28911110e+02] [-5.59946849e-02 -1.56230848e-03 9.98429845e-01 -1.64281343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88864 meters Centerline goodness [0,1] 0.991188564715097 Centerline is valid? [True, True] Translation: X:318.44, Y:-228.93, Z:-16.43 [[ 7.09836552e-01 7.03203150e-01 4.04647963e-02 3.18436183e+02] [-7.02173275e-01 7.10987621e-01 -3.80695979e-02 -2.28931240e+02] [-5.55406304e-02 -1.39010646e-03 9.98455460e-01 -1.64288925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91864 meters Centerline goodness [0,1] 0.9920188023307056 Centerline is valid? [True, True] Translation: X:318.46, Y:-228.95, Z:-16.43 [[ 7.11644918e-01 7.01330904e-01 4.11882670e-02 3.18461082e+02] [-7.00258674e-01 7.12834781e-01 -3.87861389e-02 -2.28951426e+02] [-5.65623471e-02 -1.24048261e-03 9.98398298e-01 -1.64315575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94864 meters Centerline goodness [0,1] 0.9937809118064738 Centerline is valid? [True, True] Translation: X:318.49, Y:-228.97, Z:-16.43 [[ 7.14902175e-01 6.98014378e-01 4.11194328e-02 3.18485212e+02] [-6.96938215e-01 7.16083113e-01 -3.87569273e-02 -2.28972617e+02] [-5.64978239e-02 -9.50292435e-04 9.98402270e-01 -1.64337085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97864 meters Centerline goodness [0,1] 0.9937383817630369 Centerline is valid? [True, True] Translation: X:318.51, Y:-228.99, Z:-16.43 [[ 7.16476779e-01 6.96369615e-01 4.15978984e-02 3.18509312e+02] [-6.95263352e-01 7.17682878e-01 -3.92448431e-02 -2.28994037e+02] [-5.71830157e-02 -8.03475494e-04 9.98363389e-01 -1.64347393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00864 meters Centerline goodness [0,1] 0.9939310884886453 Centerline is valid? [True, True] Translation: X:318.53, Y:-229.01, Z:-16.43 [[ 7.18126198e-01 6.94693092e-01 4.11858288e-02 3.18534959e+02] [-6.93603830e-01 7.19305987e-01 -3.88924749e-02 -2.29014419e+02] [-5.66435468e-02 -6.36943418e-04 9.98394262e-01 -1.64339885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03864 meters Centerline goodness [0,1] 0.9945173291560603 Centerline is valid? [True, True] Translation: X:318.56, Y:-229.04, Z:-16.44 [[ 7.17920168e-01 6.94950583e-01 4.04267214e-02 3.18558842e+02] [-6.93899558e-01 7.19057232e-01 -3.82112607e-02 -2.29035397e+02] [-5.56240643e-02 -6.19449470e-04 9.98451591e-01 -1.64356775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06864 meters Centerline goodness [0,1] 0.9943195729885902 Centerline is valid? [True, True] Translation: X:318.58, Y:-229.06, Z:-16.44 [[ 7.18054994e-01 6.94857398e-01 3.96260184e-02 3.18582787e+02] [-6.93845568e-01 7.19147318e-01 -3.74894887e-02 -2.29056991e+02] [-5.45467935e-02 -5.74822675e-04 9.98511050e-01 -1.64371173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09864 meters Centerline goodness [0,1] 0.9937340904640689 Centerline is valid? [True, True] Translation: X:318.61, Y:-229.08, Z:-16.44 [[ 7.19151154e-01 6.93804246e-01 3.81744138e-02 3.18607313e+02] [-6.92861999e-01 7.20163498e-01 -3.61495170e-02 -2.29078068e+02] [-5.25725077e-02 -4.52633780e-04 9.98617007e-01 -1.64385269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12864 meters Centerline goodness [0,1] 0.9944602412001177 Centerline is valid? [True, True] Translation: X:318.63, Y:-229.10, Z:-16.44 [[ 7.20590744e-01 6.92249320e-01 3.92410302e-02 3.18630895e+02] [-6.91249302e-01 7.21658351e-01 -3.71971273e-02 -2.29100563e+02] [-5.40683032e-02 -3.21429057e-04 9.98537188e-01 -1.64404532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15864 meters Centerline goodness [0,1] 0.9942703232125367 Centerline is valid? [True, True] Translation: X:318.65, Y:-229.12, Z:-16.44 [[ 7.22552200e-01 6.90214048e-01 3.90241897e-02 3.18654161e+02] [-6.89219933e-01 7.23605244e-01 -3.70315270e-02 -2.29124368e+02] [-5.37977884e-02 -1.39038115e-04 9.98551841e-01 -1.64406723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18864 meters Centerline goodness [0,1] 0.9957459292944111 Centerline is valid? [True, True] Translation: X:318.68, Y:-229.15, Z:-16.44 [[ 7.24814658e-01 6.87792536e-01 3.98138105e-02 3.18676726e+02] [-6.86751804e-01 7.25907310e-01 -3.78224431e-02 -2.29147958e+02] [-5.49151302e-02 7.20550244e-05 9.98491023e-01 -1.64424476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21864 meters Centerline goodness [0,1] 0.9959839357429718 Centerline is valid? [True, True] Translation: X:318.70, Y:-229.17, Z:-16.44 [[ 7.29713009e-01 6.82599606e-01 3.97077084e-02 3.18697794e+02] [-6.81554574e-01 7.30792403e-01 -3.77601151e-02 -2.29171770e+02] [-5.47931313e-02 4.91076911e-04 9.98497607e-01 -1.64441351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24864 meters Centerline goodness [0,1] 0.9960807368214776 Centerline is valid? [True, True] Translation: X:318.72, Y:-229.19, Z:-16.45 [[ 7.31517485e-01 6.80724447e-01 3.86832902e-02 3.18720795e+02] [-6.79728266e-01 7.32539295e-01 -3.68193781e-02 -2.29194802e+02] [-5.34008809e-02 6.39893100e-04 9.98572950e-01 -1.64456853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27864 meters Centerline goodness [0,1] 0.996967028666471 Centerline is valid? [True, True] Translation: X:318.74, Y:-229.22, Z:-16.45 [[ 7.33297401e-01 6.78836659e-01 3.81537997e-02 3.18741379e+02] [-6.77863087e-01 7.34288881e-01 -3.63520938e-02 -2.29220335e+02] [-5.26930447e-02 7.93843462e-04 9.98610441e-01 -1.64481555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30864 meters Centerline goodness [0,1] 0.9969173557762881 Centerline is valid? [True, True] Translation: X:318.76, Y:-229.25, Z:-16.45 [[ 7.33360072e-01 6.78789850e-01 3.77802157e-02 3.18763547e+02] [-6.77833419e-01 7.34332129e-01 -3.60302611e-02 -2.29245352e+02] [-5.22002018e-02 8.14462086e-04 9.98636308e-01 -1.64489184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33864 meters Centerline goodness [0,1] 0.9964294448520421 Centerline is valid? [True, True] Translation: X:318.78, Y:-229.27, Z:-16.45 [[ 7.32828181e-01 6.79337118e-01 3.82614364e-02 3.18784906e+02] [-6.78354863e-01 7.33825877e-01 -3.65275475e-02 -2.29270329e+02] [-5.28917510e-02 8.13584739e-04 9.98599920e-01 -1.64496423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36864 meters Centerline goodness [0,1] 0.9968704156479218 Centerline is valid? [True, True] Translation: X:318.80, Y:-229.30, Z:-16.45 [[ 7.30794872e-01 6.81485742e-01 3.89363278e-02 3.18803789e+02] [-6.80469485e-01 7.31831057e-01 -3.72099990e-02 -2.29297214e+02] [-5.38528977e-02 6.97893523e-04 9.98548636e-01 -1.64504014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39864 meters Centerline goodness [0,1] 0.9966252567739411 Centerline is valid? [True, True] Translation: X:318.83, Y:-229.32, Z:-16.45 [[ 7.29577484e-01 6.82769828e-01 3.92690239e-02 3.18825714e+02] [-6.81735986e-01 7.30633259e-01 -3.75644318e-02 -2.29321664e+02] [-5.43391156e-02 6.35056928e-04 9.98522337e-01 -1.64512777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42864 meters Centerline goodness [0,1] 0.9976014489206521 Centerline is valid? [True, True] Translation: X:318.85, Y:-229.35, Z:-16.45 [[ 7.28131161e-01 6.84307562e-01 3.93468321e-02 3.18846037e+02] [-6.83269671e-01 7.29193292e-01 -3.76789031e-02 -2.29347851e+02] [-5.44754044e-02 5.50686400e-04 9.98514961e-01 -1.64535698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45864 meters Centerline goodness [0,1] 0.9968698033845251 Centerline is valid? [True, True] Translation: X:318.87, Y:-229.37, Z:-16.45 [[ 7.26784054e-01 6.85758062e-01 3.89976875e-02 3.18867235e+02] [-6.84738540e-01 7.27829419e-01 -3.73827246e-02 -2.29371678e+02] [-5.40191691e-02 4.65948513e-04 9.98539790e-01 -1.64543338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48864 meters Centerline goodness [0,1] 0.9975521394301381 Centerline is valid? [True, True] Translation: X:318.89, Y:-229.40, Z:-16.46 [[ 7.24354888e-01 6.88278643e-01 3.97807325e-02 3.18889123e+02] [-6.87219422e-01 7.25446354e-01 -3.81713679e-02 -2.29396895e+02] [-5.51313246e-02 3.11524970e-04 9.98479063e-01 -1.64557580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51864 meters Centerline goodness [0,1] 0.997212441314554 Centerline is valid? [True, True] Translation: X:318.91, Y:-229.42, Z:-16.46 [[ 7.22673055e-01 6.90097930e-01 3.88394483e-02 3.18911970e+02] [-6.89088840e-01 7.23715972e-01 -3.73063388e-02 -2.29419615e+02] [-5.38537562e-02 1.96455465e-04 9.98548814e-01 -1.64555526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54864 meters Centerline goodness [0,1] 0.9977003620706527 Centerline is valid? [True, True] Translation: X:318.93, Y:-229.44, Z:-16.46 [[ 7.20390485e-01 6.92413158e-01 4.00195985e-02 3.18934950e+02] [-6.91343157e-01 7.21501224e-01 -3.84788681e-02 -2.29442864e+02] [-5.55174639e-02 5.25348744e-05 9.98457715e-01 -1.64582037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57864 meters Centerline goodness [0,1] 0.9976997993441981 Centerline is valid? [True, True] Translation: X:318.96, Y:-229.47, Z:-16.46 [[ 7.16887513e-01 6.95987088e-01 4.09178251e-02 3.18955875e+02] [-6.94871885e-01 7.18054270e-01 -3.93843687e-02 -2.29467802e+02] [-5.67922311e-02 -1.98484110e-04 9.98385999e-01 -1.64590206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60864 meters Centerline goodness [0,1] 0.9980902947801391 Centerline is valid? [True, True] Translation: X:318.98, Y:-229.49, Z:-16.46 [[ 7.13475448e-01 6.99466158e-01 4.12295964e-02 3.18978743e+02] [-6.98337481e-01 7.14665579e-01 -3.97224419e-02 -2.29490895e+02] [-5.72498772e-02 -4.51185460e-04 9.98359779e-01 -1.64601247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.63864 meters Centerline goodness [0,1] 0.9979446021336987 Centerline is valid? [True, True] Translation: X:319.00, Y:-229.51, Z:-16.46 [[ 7.11549736e-01 7.01420315e-01 4.13099861e-02 3.19003140e+02] [-7.00288229e-01 7.12747644e-01 -3.98395830e-02 -2.29512829e+02] [-5.73878881e-02 -5.81052266e-04 9.98351788e-01 -1.64617531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66864 meters Centerline goodness [0,1] 0.9984820291842131 Centerline is valid? [True, True] Translation: X:319.03, Y:-229.53, Z:-16.46 [[ 7.09759190e-01 7.03201190e-01 4.18327426e-02 3.19026602e+02] [-7.02041234e-01 7.10990566e-01 -4.03797091e-02 -2.29534019e+02] [-5.81377448e-02 -7.08440631e-04 9.98308319e-01 -1.64636994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.69864 meters Centerline goodness [0,1] 0.9983356992510647 Centerline is valid? [True, True] Translation: X:319.05, Y:-229.55, Z:-16.47 [[ 7.07166473e-01 7.05823404e-01 4.15800826e-02 3.19050810e+02] [-7.04680408e-01 7.08387263e-01 -4.01622672e-02 -2.29554646e+02] [-5.78022690e-02 -8.99260791e-04 9.98327646e-01 -1.64656312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72864 meters Centerline goodness [0,1] 0.9983345579230958 Centerline is valid? [True, True] Translation: X:319.08, Y:-229.58, Z:-16.47 [[ 7.06226657e-01 7.06765516e-01 4.15501411e-02 3.19076277e+02] [-7.05623509e-01 7.07447247e-01 -4.01728169e-02 -2.29576418e+02] [-5.77872946e-02 -9.47642178e-04 9.98328468e-01 -1.64660004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.75864 meters Centerline goodness [0,1] 0.9990202801998629 Centerline is valid? [True, True] Translation: X:319.10, Y:-229.60, Z:-16.47 [[ 7.04330857e-01 7.08571540e-01 4.29466666e-02 3.19102672e+02] [-7.07352186e-01 7.05638121e-01 -4.15659417e-02 -2.29595085e+02] [-5.97572485e-02 -1.10224312e-03 9.98212330e-01 -1.64669903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78864 meters Centerline goodness [0,1] 0.9986764057061621 Centerline is valid? [True, True] Translation: X:319.13, Y:-229.62, Z:-16.47 [[ 7.03974856e-01 7.08922711e-01 4.29882684e-02 3.19127599e+02] [-7.07699220e-01 7.05285311e-01 -4.16466664e-02 -2.29616482e+02] [-5.98432619e-02 -1.10455798e-03 9.98207175e-01 -1.64680983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.81864 meters Centerline goodness [0,1] 0.9992662883975738 Centerline is valid? [True, True] Translation: X:319.15, Y:-229.64, Z:-16.47 [[ 7.06052749e-01 7.06852089e-01 4.30074430e-02 3.19153121e+02] [-7.05621120e-01 7.07360810e-01 -4.17075462e-02 -2.29636675e+02] [-5.99028459e-02 -8.99232449e-04 9.98203807e-01 -1.64716376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84864 meters Centerline goodness [0,1] 0.999118554429264 Centerline is valid? [True, True] Translation: X:319.18, Y:-229.66, Z:-16.47 [[ 7.07295350e-01 7.05661058e-01 4.21397633e-02 3.19177794e+02] [-7.04475484e-01 7.08549146e-01 -4.08949941e-02 -2.29658094e+02] [-5.87160980e-02 -7.61591015e-04 9.98274431e-01 -1.64732115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.87864 meters Centerline goodness [0,1] 0.999412455934195 Centerline is valid? [True, True] Translation: X:319.20, Y:-229.68, Z:-16.47 [[ 7.08036102e-01 7.04911448e-01 4.22460491e-02 3.19202805e+02] [-7.03717102e-01 7.09294990e-01 -4.10226549e-02 -2.29679613e+02] [-5.88822500e-02 -6.83746569e-04 9.98264701e-01 -1.64740690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90864 meters Centerline goodness [0,1] 0.9988257168020355 Centerline is valid? [True, True] Translation: X:319.23, Y:-229.70, Z:-16.47 [[ 7.08994274e-01 7.03950978e-01 4.21917069e-02 3.19228583e+02] [-7.02755523e-01 7.10248332e-01 -4.10119754e-02 -2.29699128e+02] [-5.88370096e-02 -5.73199290e-04 9.98267438e-01 -1.64745971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93864 meters Centerline goodness [0,1] 0.9984826978610934 Centerline is valid? [True, True] Translation: X:319.25, Y:-229.72, Z:-16.48 [[ 7.08976158e-01 7.03959454e-01 4.23543967e-02 3.19253886e+02] [-7.02752341e-01 7.10239951e-01 -4.12111506e-02 -2.29720166e+02] [-5.90927637e-02 -5.46928264e-04 9.98252346e-01 -1.64756507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96864 meters Centerline goodness [0,1] 0.9984322947285911 Centerline is valid? [True, True] Translation: X:319.28, Y:-229.74, Z:-16.48 [[ 7.09589097e-01 7.03365623e-01 4.19537234e-02 3.19278949e+02] [-7.02178122e-01 7.10828096e-01 -4.08571020e-02 -2.29741151e+02] [-5.85593663e-02 -4.67232648e-04 9.98283819e-01 -1.64783518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99864 meters Centerline goodness [0,1] 0.9977981112687773 Centerline is valid? [True, True] Translation: X:319.30, Y:-229.76, Z:-16.48 [[ 7.09448136e-01 7.03513229e-01 4.18626195e-02 3.19302784e+02] [-7.02329428e-01 7.10682015e-01 -4.07976367e-02 -2.29763546e+02] [-5.84526879e-02 -4.57542323e-04 9.98290075e-01 -1.64791177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02864 meters Centerline goodness [0,1] 0.9974557197377434 Centerline is valid? [True, True] Translation: X:319.33, Y:-229.79, Z:-16.48 [[ 7.09951786e-01 7.02991859e-01 4.20821569e-02 3.19327184e+02] [-7.01792060e-01 7.11197791e-01 -4.10561379e-02 -2.29785088e+02] [-5.87908677e-02 -3.85045146e-04 9.98270247e-01 -1.64806209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05864 meters Centerline goodness [0,1] 0.9981878734449995 Centerline is valid? [True, True] Translation: X:319.35, Y:-229.81, Z:-16.48 [[ 7.10423101e-01 7.02525015e-01 4.19239910e-02 3.19353258e+02] [-7.01330814e-01 7.11658980e-01 -4.09461215e-02 -2.29805529e+02] [-5.86012593e-02 -3.13516124e-04 9.98281420e-01 -1.64819560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08864 meters Centerline goodness [0,1] 0.9977959543517657 Centerline is valid? [True, True] Translation: X:319.38, Y:-229.83, Z:-16.48 [[ 7.11308935e-01 7.01659050e-01 4.14026167e-02 3.19375873e+02] [-7.00490498e-01 7.12512830e-01 -4.04787445e-02 -2.29827933e+02] [-5.79021730e-02 -2.09247003e-04 9.98322240e-01 -1.64831494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11864 meters Centerline goodness [0,1] 0.9974548480250599 Centerline is valid? [True, True] Translation: X:319.40, Y:-229.85, Z:-16.49 [[ 7.12107840e-01 7.00865429e-01 4.11105087e-02 3.19399753e+02] [-6.99709691e-01 7.13293514e-01 -4.02332090e-02 -2.29850983e+02] [-5.75219245e-02 -1.15037727e-04 9.98344237e-01 -1.64854553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14864 meters Centerline goodness [0,1] 0.9972065670178878 Centerline is valid? [True, True] Translation: X:319.42, Y:-229.87, Z:-16.49 [[ 7.12517378e-01 7.00506515e-01 4.01199331e-02 3.19423740e+02] [-6.99403010e-01 7.13646004e-01 -3.93040817e-02 -2.29873053e+02] [-5.61641953e-02 -5.51606896e-05 9.98421544e-01 -1.64850830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17864 meters Centerline goodness [0,1] 0.9974960722702279 Centerline is valid? [True, True] Translation: X:319.45, Y:-229.89, Z:-16.49 [[ 7.13113468e-01 6.99873619e-01 4.05721441e-02 3.19449292e+02] [-6.98741844e-01 7.14266699e-01 -3.97859130e-02 -2.29893384e+02] [-5.68244423e-02 2.24156268e-05 9.98384186e-01 -1.64866547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20864 meters Centerline goodness [0,1] 0.9971085518255329 Centerline is valid? [True, True] Translation: X:319.47, Y:-229.92, Z:-16.49 [[ 7.12757915e-01 7.00197265e-01 4.12303728e-02 3.19473652e+02] [-6.99026519e-01 7.13949430e-01 -4.04739038e-02 -2.29916163e+02] [-5.77761179e-02 2.69713248e-05 9.98329565e-01 -1.64883900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23864 meters Centerline goodness [0,1] 0.9973552747575668 Centerline is valid? [True, True] Translation: X:319.50, Y:-229.94, Z:-16.49 [[ 7.11593830e-01 7.01277503e-01 4.29428069e-02 3.19496444e+02] [-7.00006659e-01 7.12888394e-01 -4.21996950e-02 -2.29938531e+02] [-6.02071254e-02 -3.12082659e-05 9.98185905e-01 -1.64891893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26864 meters Centerline goodness [0,1] 0.9975037932553472 Centerline is valid? [True, True] Translation: X:319.52, Y:-229.96, Z:-16.49 [[ 7.10643152e-01 7.02198578e-01 4.36287485e-02 3.19520714e+02] [-7.00885857e-01 7.11981145e-01 -4.29169482e-02 -2.29960905e+02] [-6.11990662e-02 -8.01374602e-05 9.98125577e-01 -1.64914883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29864 meters Centerline goodness [0,1] 0.9968229141209248 Centerline is valid? [True, True] Translation: X:319.55, Y:-229.98, Z:-16.49 [[ 7.10253923e-01 7.02602456e-01 4.34643961e-02 3.19545220e+02] [-7.01297555e-01 7.11582590e-01 -4.28013659e-02 -2.29982775e+02] [-6.10008523e-02 -8.16367020e-05 9.98137711e-01 -1.64929895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32864 meters Centerline goodness [0,1] 0.996719866836385 Centerline is valid? [True, True] Translation: X:319.57, Y:-230.00, Z:-16.49 [[ 7.10307941e-01 7.02689651e-01 4.11081957e-02 3.19569106e+02] [-7.01520340e-01 7.11496487e-01 -4.05211156e-02 -2.30004192e+02] [-5.77221054e-02 -5.57652722e-05 9.98332688e-01 -1.64946023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35864 meters Centerline goodness [0,1] 0.9968636675487602 Centerline is valid? [True, True] Translation: X:319.59, Y:-230.03, Z:-16.49 [[ 7.10451968e-01 7.02603910e-01 4.00717693e-02 3.19592066e+02] [-7.01490666e-01 7.11581159e-01 -3.95360637e-02 -2.30026473e+02] [-5.62925090e-02 -2.14978258e-05 9.98414319e-01 -1.64948172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38864 meters Centerline goodness [0,1] 0.9968636675487602 Centerline is valid? [True, True] Translation: X:319.62, Y:-230.05, Z:-16.50 [[ 7.10068797e-01 7.02992267e-01 4.00521555e-02 3.19615416e+02] [-7.01878520e-01 7.11197491e-01 -3.95559268e-02 -2.30049077e+02] [-5.62925032e-02 -2.43183088e-05 9.98414320e-01 -1.64960487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41864 meters Centerline goodness [0,1] 0.9967689822294022 Centerline is valid? [True, True] Translation: X:319.64, Y:-230.07, Z:-16.50 [[ 7.10436412e-01 7.02644392e-01 3.96353691e-02 3.19639461e+02] [-7.01550810e-01 7.11541185e-01 -3.91867743e-02 -2.30071769e+02] [-5.57365647e-02 3.34860181e-05 9.98445509e-01 -1.64972008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44864 meters Centerline goodness [0,1] 0.9967200274146962 Centerline is valid? [True, True] Translation: X:319.66, Y:-230.09, Z:-16.50 [[ 7.10592277e-01 7.02478506e-01 3.97814574e-02 3.19663478e+02] [-7.01374170e-01 7.11704955e-01 -3.93742391e-02 -2.30093906e+02] [-5.59722170e-02 7.73435376e-05 9.98432324e-01 -1.64980499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47864 meters Centerline goodness [0,1] 0.9965741692360397 Centerline is valid? [True, True] Translation: X:319.69, Y:-230.12, Z:-16.50 [[ 7.10244771e-01 7.02732308e-01 4.14688881e-02 3.19687080e+02] [-7.01530083e-01 7.11454352e-01 -4.10882768e-02 -2.30115677e+02] [-5.83772805e-02 9.10612560e-05 9.98294588e-01 -1.64999740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50864 meters Centerline goodness [0,1] 0.9965279475768987 Centerline is valid? [True, True] Translation: X:319.71, Y:-230.14, Z:-16.50 [[ 7.09872141e-01 7.03105314e-01 4.15266429e-02 3.19710562e+02] [-7.01897988e-01 7.11085726e-01 -4.11862129e-02 -2.30138203e+02] [-5.84872482e-02 8.94779518e-05 9.98288152e-01 -1.65003569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53864 meters Centerline goodness [0,1] 0.9957394711067581 Centerline is valid? [True, True] Translation: X:319.73, Y:-230.16, Z:-16.50 [[ 7.09918887e-01 7.03091542e-01 4.09567869e-02 3.19734322e+02] [-7.01914640e-01 7.11099339e-01 -4.06640975e-02 -2.30160767e+02] [-5.77149271e-02 1.20042510e-04 9.98333097e-01 -1.65019276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56864 meters Centerline goodness [0,1] 0.9962223421478683 Centerline is valid? [True, True] Translation: X:319.76, Y:-230.18, Z:-16.50 [[ 7.09747428e-01 7.03353826e-01 3.93952276e-02 3.19757953e+02] [-7.02263247e-01 7.10839912e-01 -3.91529163e-02 -2.30182125e+02] [-5.55420536e-02 1.22861177e-04 9.98456341e-01 -1.65026967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59864 meters Centerline goodness [0,1] 0.9952005485087418 Centerline is valid? [True, True] Translation: X:319.78, Y:-230.20, Z:-16.50 [[ 7.08842139e-01 7.04328257e-01 3.82691719e-02 3.19781023e+02] [-7.03298691e-01 7.09874427e-01 -3.80690127e-02 -2.30204788e+02] [-5.39793878e-02 7.02618617e-05 9.98542048e-01 -1.65031120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62864 meters Centerline goodness [0,1] 0.9958914159941306 Centerline is valid? [True, True] Translation: X:319.80, Y:-230.23, Z:-16.50 [[ 7.07256694e-01 7.05899567e-01 3.86493159e-02 3.19804215e+02] [-7.04849679e-01 7.08311937e-01 -3.84854348e-02 -2.30228444e+02] [-5.45426236e-02 -2.28764902e-05 9.98511443e-01 -1.65040571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65864 meters Centerline goodness [0,1] 0.9958896065766295 Centerline is valid? [True, True] Translation: X:319.83, Y:-230.25, Z:-16.50 [[ 7.05964272e-01 7.07205377e-01 3.84057399e-02 3.19827544e+02] [-7.06168377e-01 7.07008165e-01 -3.82841715e-02 -2.30251507e+02] [-5.42279436e-02 -9.36617035e-05 9.98528578e-01 -1.65047008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68864 meters Centerline goodness [0,1] 0.9960369881109643 Centerline is valid? [True, True] Translation: X:319.85, Y:-230.27, Z:-16.51 [[ 7.03895004e-01 7.09213609e-01 3.93431087e-02 3.19850831e+02] [-7.08126146e-01 7.04993621e-01 -3.92600977e-02 -2.30273824e+02] [-5.55804363e-02 -2.24897247e-04 9.98454187e-01 -1.65068682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71864 meters Centerline goodness [0,1] 0.9962708537782139 Centerline is valid? [True, True] Translation: X:319.87, Y:-230.30, Z:-16.51 [[ 7.02442386e-01 7.10651160e-01 3.93652692e-02 3.19874903e+02] [-7.09562537e-01 7.03544478e-01 -3.93214189e-02 -2.30296952e+02] [-5.56390297e-02 -3.11088916e-04 9.98450901e-01 -1.65091164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74864 meters Centerline goodness [0,1] 0.9963695236226267 Centerline is valid? [True, True] Translation: X:319.90, Y:-230.32, Z:-16.51 [[ 7.00280398e-01 7.12795392e-01 3.91163966e-02 3.19898722e+02] [-7.11721470e-01 7.01371890e-01 -3.91154922e-02 -2.30319283e+02] [-5.53164836e-02 -4.48166836e-04 9.98468771e-01 -1.65114570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77864 meters Centerline goodness [0,1] 0.9961833928658805 Centerline is valid? [True, True] Translation: X:319.97, Y:-230.39, Z:-14.97 [[ 7.62840232e-01 -6.46447198e-01 -1.34462049e-02 3.19966906e+02] [-6.46272999e-01 -7.62952903e-01 1.52996446e-02 -2.30388987e+02] [-2.01492335e-02 -2.98126530e-03 -9.99792539e-01 -1.49722524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80864 meters Centerline goodness [0,1] 0.9960813127602254 Centerline is valid? [True, True] Translation: X:319.95, Y:-230.38, Z:-16.51 [[ 7.49658173e-01 6.60508728e-01 4.17234167e-02 3.19945315e+02] [-6.59527777e-01 7.50818174e-01 -3.59886338e-02 -2.30375567e+02] [-5.50975063e-02 -5.38578827e-04 9.98480833e-01 -1.65123580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83864 meters Centerline goodness [0,1] 0.9963755693784592 Centerline is valid? [True, True] Translation: X:319.97, Y:-230.39, Z:-16.51 [[ 7.48433169e-01 6.61853930e-01 4.23930174e-02 3.19971845e+02] [-6.60841191e-01 7.49632572e-01 -3.66050082e-02 -2.30394181e+02] [-5.60063552e-02 -6.18649874e-04 9.98430221e-01 -1.65126333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86864 meters Centerline goodness [0,1] 0.9960870628515529 Centerline is valid? [True, True] Translation: X:320.00, Y:-230.41, Z:-16.51 [[ 7.47486171e-01 6.62887013e-01 4.29561607e-02 3.19998064e+02] [-6.61846736e-01 7.48719139e-01 -3.71288129e-02 -2.30414349e+02] [-5.67743076e-02 -6.77120528e-04 9.98386809e-01 -1.65140836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89864 meters Centerline goodness [0,1] 0.9966250917094645 Centerline is valid? [True, True] Translation: X:320.02, Y:-230.44, Z:-16.52 [[ 7.47364709e-01 6.63059758e-01 4.23998726e-02 3.20023672e+02] [-6.62044312e-01 7.48566185e-01 -3.66878185e-02 -2.30435739e+02] [-5.60653269e-02 -6.51413622e-04 9.98426890e-01 -1.65161497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92864 meters Centerline goodness [0,1] 0.9955444575009792 Centerline is valid? [True, True] Translation: X:320.05, Y:-230.46, Z:-16.52 [[ 7.47098839e-01 6.63335806e-01 4.27660267e-02 3.20049028e+02] [-6.62300881e-01 7.48321581e-01 -3.70452986e-02 -2.30456246e+02] [-5.65762137e-02 -6.47477621e-04 9.98398073e-01 -1.65179698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95864 meters Centerline goodness [0,1] 0.9953467868338558 Centerline is valid? [True, True] Translation: X:320.08, Y:-230.48, Z:-16.52 [[ 7.47551071e-01 6.62824872e-01 4.27853437e-02 3.20075424e+02] [-6.61785879e-01 7.48774235e-01 -3.71024981e-02 -2.30476162e+02] [-5.66290216e-02 -5.78724111e-04 9.98395122e-01 -1.65177970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98864 meters Centerline goodness [0,1] 0.9951984321411073 Centerline is valid? [True, True] Translation: X:320.10, Y:-230.50, Z:-16.52 [[ 7.47742586e-01 6.62621658e-01 4.25859448e-02 3.20101089e+02] [-6.61589728e-01 7.48954109e-01 -3.69699283e-02 -2.30496608e+02] [-5.63919935e-02 -5.30433850e-04 9.98408565e-01 -1.65186448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01864 meters Centerline goodness [0,1] 0.9943198511409265 Centerline is valid? [True, True] Translation: X:320.13, Y:-230.52, Z:-16.52 [[ 7.48500420e-01 6.61876530e-01 4.08237592e-02 3.20126769e+02] [-6.60925229e-01 7.49612751e-01 -3.54762696e-02 -2.30516269e+02] [-5.40829206e-02 -4.27449706e-04 9.98536356e-01 -1.65195596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04864 meters Centerline goodness [0,1] 0.9940660095140013 Centerline is valid? [True, True] Translation: X:320.15, Y:-230.54, Z:-16.52 [[ 7.48865215e-01 6.61479107e-01 4.05743869e-02 3.20151652e+02] [-6.60536937e-01 7.49963502e-01 -3.52944962e-02 -2.30537422e+02] [-5.37758811e-02 -3.70060702e-04 9.98552962e-01 -1.65212234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07864 meters Centerline goodness [0,1] 0.9953001077058651 Centerline is valid? [True, True] Translation: X:320.18, Y:-230.56, Z:-16.52 [[ 7.49192124e-01 6.61138673e-01 4.00851203e-02 3.20176144e+02] [-6.60216607e-01 7.50263659e-01 -3.49066460e-02 -2.30559034e+02] [-5.31525426e-02 -3.13077860e-04 9.98586355e-01 -1.65228807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10864 meters Centerline goodness [0,1] 0.9959361535448492 Centerline is valid? [True, True] Translation: X:320.20, Y:-230.58, Z:-16.52 [[ 7.51682434e-01 6.58318413e-01 3.98796342e-02 3.20200949e+02] [-6.57399874e-01 7.52739569e-01 -3.47641543e-02 -2.30580105e+02] [-5.29048616e-02 -8.52623601e-05 9.98599554e-01 -1.65240833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.13864 meters Centerline goodness [0,1] 0.9963789391270307 Centerline is valid? [True, True] Translation: X:320.23, Y:-230.60, Z:-16.53 [[ 7.52193366e-01 6.57732562e-01 3.99126124e-02 3.20226491e+02] [-6.56809838e-01 7.53251536e-01 -3.48275849e-02 -2.30601219e+02] [-5.29714732e-02 -1.79181419e-05 9.98596026e-01 -1.65251873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16864 meters Centerline goodness [0,1] 0.9971622877831596 Centerline is valid? [True, True] Translation: X:320.25, Y:-230.62, Z:-16.53 [[ 7.53458020e-01 6.56288621e-01 3.98278438e-02 3.20251307e+02] [-6.55365788e-01 7.54509929e-01 -3.47915342e-02 -2.30623325e+02] [-5.28837916e-02 1.12154286e-04 9.98600667e-01 -1.65274459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.19864 meters Centerline goodness [0,1] 0.9972110774048342 Centerline is valid? [True, True] Translation: X:320.28, Y:-230.65, Z:-16.53 [[ 7.53846213e-01 6.55867395e-01 3.94188757e-02 3.20275630e+02] [-6.54960911e-01 7.54876104e-01 -3.44713318e-02 -2.30645411e+02] [-5.23649899e-02 1.68260172e-04 9.98627999e-01 -1.65294449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22864 meters Centerline goodness [0,1] 0.9977008120536152 Centerline is valid? [True, True] Translation: X:320.30, Y:-230.67, Z:-16.53 [[ 7.54262007e-01 6.55423303e-01 3.88473739e-02 3.20299527e+02] [-6.54540461e-01 7.55261706e-01 -3.40079492e-02 -2.30668893e+02] [-5.16295362e-02 2.23726058e-04 9.98666281e-01 -1.65316310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.25864 meters Centerline goodness [0,1] 0.9973077487884869 Centerline is valid? [True, True] Translation: X:320.32, Y:-230.69, Z:-16.53 [[ 7.54119210e-01 6.55564541e-01 3.92345538e-02 3.20323918e+02] [-6.54662230e-01 7.55139108e-01 -3.43844631e-02 -2.30691214e+02] [-5.21687808e-02 2.44603628e-04 9.98638252e-01 -1.65326239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28864 meters Centerline goodness [0,1] 0.9978461990307895 Centerline is valid? [True, True] Translation: X:320.35, Y:-230.71, Z:-16.53 [[ 7.53645351e-01 6.56056743e-01 4.01028070e-02 3.20347732e+02] [-6.55112665e-01 7.54711528e-01 -3.51838829e-02 -2.30714656e+02] [-5.33486744e-02 2.44312960e-04 9.98575916e-01 -1.65337801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.31864 meters Centerline goodness [0,1] 0.9975532175189625 Centerline is valid? [True, True] Translation: X:320.37, Y:-230.74, Z:-16.53 [[ 7.53010385e-01 6.56774738e-01 4.02778259e-02 3.20371744e+02] [-6.55821365e-01 7.54086794e-01 -3.53757447e-02 -2.30737064e+02] [-5.36068721e-02 2.23244298e-04 9.98562093e-01 -1.65346186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34864 meters Centerline goodness [0,1] 0.9972612119137282 Centerline is valid? [True, True] Translation: X:320.40, Y:-230.76, Z:-16.54 [[ 7.51327926e-01 6.58655404e-01 4.09805730e-02 3.20395555e+02] [-6.57669083e-01 7.52444712e-01 -3.60323906e-02 -2.30760559e+02] [-5.45685442e-02 1.20485427e-04 9.98510020e-01 -1.65361754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.37864 meters Centerline goodness [0,1] 0.9976509738670842 Centerline is valid? [True, True] Translation: X:320.42, Y:-230.78, Z:-16.54 [[ 7.50422685e-01 6.59630132e-01 4.18793927e-02 3.20419825e+02] [-6.58599292e-01 7.51590369e-01 -3.68631187e-02 -2.30783199e+02] [-5.57921720e-02 8.11821148e-05 9.98442400e-01 -1.65370542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40864 meters Centerline goodness [0,1] 0.9972079353416605 Centerline is valid? [True, True] Translation: X:320.44, Y:-230.81, Z:-16.54 [[ 7.49840798e-01 6.60286840e-01 4.19531571e-02 3.20443871e+02] [-6.59251152e-01 7.51013506e-01 -3.69679974e-02 -2.30806169e+02] [-5.59168697e-02 6.24454974e-05 9.98435426e-01 -1.65389490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43864 meters Centerline goodness [0,1] 0.9964785288075907 Centerline is valid? [True, True] Translation: X:320.47, Y:-230.83, Z:-16.54 [[ 7.49046611e-01 6.61227308e-01 4.13233828e-02 3.20466348e+02] [-6.60221776e-01 7.50185608e-01 -3.64521627e-02 -2.30831165e+02] [-5.51033724e-02 2.17717432e-05 9.98480655e-01 -1.65387136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46864 meters Centerline goodness [0,1] 0.9959413202933985 Centerline is valid? [True, True] Translation: X:320.49, Y:-230.85, Z:-16.54 [[ 7.48598131e-01 6.61745085e-01 4.11616399e-02 3.20490584e+02] [-6.60746030e-01 7.49728912e-01 -3.63488865e-02 -2.30854333e+02] [-5.49137685e-02 1.33183347e-05 9.98491101e-01 -1.65390185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49864 meters Centerline goodness [0,1] 0.9955968688845401 Centerline is valid? [True, True] Translation: X:320.51, Y:-230.88, Z:-16.54 [[ 7.48199858e-01 6.62150505e-01 4.18769663e-02 3.20513943e+02] [-6.61114757e-01 7.49370875e-01 -3.70212096e-02 -2.30877398e+02] [-5.58949915e-02 1.37834247e-05 9.98436653e-01 -1.65410752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52864 meters Centerline goodness [0,1] 0.9952052448749938 Centerline is valid? [True, True] Translation: X:320.54, Y:-230.90, Z:-16.54 [[ 7.48003808e-01 6.62308831e-01 4.28639129e-02 3.20537235e+02] [-6.61221601e-01 7.49230947e-01 -3.79339317e-02 -2.30899409e+02] [-5.72389479e-02 3.21802606e-05 9.98360507e-01 -1.65422134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55864 meters Centerline goodness [0,1] 0.9951563188022897 Centerline is valid? [True, True] Translation: X:320.56, Y:-230.92, Z:-16.54 [[ 7.47936127e-01 6.62371251e-01 4.30798892e-02 3.20560371e+02] [-6.61270927e-01 7.49175763e-01 -3.81632996e-02 -2.30923048e+02] [-5.75526813e-02 5.62321777e-05 9.98342469e-01 -1.65423450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58864 meters Centerline goodness [0,1] 0.9936368086147822 Centerline is valid? [True, True] Translation: X:320.58, Y:-230.95, Z:-16.54 [[ 7.47423702e-01 6.62993081e-01 4.24026424e-02 3.20584855e+02] [-6.61925823e-01 7.48625523e-01 -3.76036222e-02 -2.30945876e+02] [-5.66746416e-02 3.84345290e-05 9.98392700e-01 -1.65430439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61864 meters Centerline goodness [0,1] 0.9940237092191633 Centerline is valid? [True, True] Translation: X:320.61, Y:-230.97, Z:-16.54 [[ 7.46968513e-01 6.63553597e-01 4.16493047e-02 3.20608215e+02] [-6.62522701e-01 7.48128748e-01 -3.69735905e-02 -2.30967687e+02] [-5.56930012e-02 2.44981078e-05 9.98447940e-01 -1.65447489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64864 meters Centerline goodness [0,1] 0.9939820930573903 Centerline is valid? [True, True] Translation: X:320.63, Y:-230.99, Z:-16.55 [[ 7.45603659e-01 6.65066098e-01 4.19793827e-02 3.20630199e+02] [-6.64019121e-01 7.46784495e-01 -3.73031495e-02 -2.30991877e+02] [-5.61586122e-02 -6.17480201e-05 9.98421858e-01 -1.65456775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67864 meters Centerline goodness [0,1] 0.993298767364508 Centerline is valid? [True, True] Translation: X:320.65, Y:-231.01, Z:-16.55 [[ 7.44022045e-01 6.66706761e-01 4.39691972e-02 3.20652704e+02] [-6.65558626e-01 7.45320111e-01 -3.91107093e-02 -2.31014186e+02] [-5.88465013e-02 -1.64848564e-04 9.98267029e-01 -1.65469088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70864 meters Centerline goodness [0,1] 0.9938782506489054 Centerline is valid? [True, True] Translation: X:320.68, Y:-231.04, Z:-16.55 [[ 7.43315941e-01 6.67523608e-01 4.35160324e-02 3.20677470e+02] [-6.66398295e-01 7.44588607e-01 -3.87442733e-02 -2.31035525e+02] [-5.82642590e-02 -1.99773806e-04 9.98301175e-01 -1.65483562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73864 meters Centerline goodness [0,1] 0.9934947419907068 Centerline is valid? [True, True] Translation: X:320.70, Y:-231.06, Z:-16.55 [[ 7.42081482e-01 6.68891901e-01 4.35740739e-02 3.20701702e+02] [-6.67763465e-01 7.43359636e-01 -3.88382014e-02 -2.31057088e+02] [-5.83697661e-02 -2.76064567e-04 9.98294994e-01 -1.65514869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76864 meters Centerline goodness [0,1] 0.9938341081477856 Centerline is valid? [True, True] Translation: X:320.72, Y:-231.08, Z:-16.55 [[ 7.42182886e-01 6.68853119e-01 4.24272275e-02 3.20724313e+02] [-6.67781074e-01 7.43394545e-01 -3.78548255e-02 -2.31079691e+02] [-5.68594876e-02 -2.36895856e-04 9.98382163e-01 -1.65529295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79864 meters Centerline goodness [0,1] 0.9926650366748166 Centerline is valid? [True, True] Translation: X:320.75, Y:-231.10, Z:-16.55 [[ 7.43098226e-01 6.67904937e-01 4.13282206e-02 3.20747693e+02] [-6.66884365e-01 7.44246583e-01 -3.69089082e-02 -2.31101326e+02] [-5.54100290e-02 -1.34199959e-04 9.98463675e-01 -1.65532862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82864 meters Centerline goodness [0,1] 0.9932405956112853 Centerline is valid? [True, True] Translation: X:320.77, Y:-231.12, Z:-16.55 [[ 7.44937469e-01 6.65915313e-01 4.03108441e-02 3.20770437e+02] [-6.64939643e-01 7.46027342e-01 -3.60343806e-02 -2.31124195e+02] [-5.40688377e-02 3.90820527e-05 9.98537210e-01 -1.65529722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85864 meters Centerline goodness [0,1] 0.9938875305623471 Centerline is valid? [True, True] Translation: X:320.79, Y:-231.15, Z:-16.55 [[ 7.45323506e-01 6.65436156e-01 4.10803343e-02 3.20794233e+02] [-6.64420055e-01 7.46454762e-01 -3.67597425e-02 -2.31147013e+02] [-5.51258729e-02 1.03302112e-04 9.98479408e-01 -1.65542733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88864 meters Centerline goodness [0,1] 0.9937909455363254 Centerline is valid? [True, True] Translation: X:320.82, Y:-231.17, Z:-16.56 [[ 7.45468488e-01 6.65253811e-01 4.14017066e-02 3.20816288e+02] [-6.64219192e-01 7.46617268e-01 -3.70879978e-02 -2.31171726e+02] [-5.55841610e-02 1.48125530e-04 9.98453994e-01 -1.65561052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91864 meters Centerline goodness [0,1] 0.993296472084944 Centerline is valid? [True, True] Translation: X:320.84, Y:-231.19, Z:-16.56 [[ 7.44536172e-01 6.66217145e-01 4.26685465e-02 3.20838827e+02] [-6.65117430e-01 7.45757805e-01 -3.82635549e-02 -2.31194184e+02] [-5.73122379e-02 1.09006644e-04 9.98356297e-01 -1.65568023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94864 meters Centerline goodness [0,1] 0.9930966952264382 Centerline is valid? [True, True] Translation: X:320.86, Y:-231.22, Z:-16.56 [[ 7.43986565e-01 6.66865709e-01 4.21202827e-02 3.20863382e+02] [-6.65793005e-01 7.45177911e-01 -3.78094545e-02 -2.31216881e+02] [-5.66009330e-02 8.63365437e-05 9.98396878e-01 -1.65579321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97864 meters Centerline goodness [0,1] 0.9936168123342827 Centerline is valid? [True, True] Translation: X:320.89, Y:-231.24, Z:-16.56 [[ 7.41094193e-01 6.70150778e-01 4.09552396e-02 3.20887024e+02] [-6.69139534e-01 7.42224977e-01 -3.68017306e-02 -2.31239302e+02] [-5.50607102e-02 -1.31221059e-04 9.98483000e-01 -1.65584638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00864 meters Centerline goodness [0,1] 0.9926139698689102 Centerline is valid? [True, True] Translation: X:320.91, Y:-231.26, Z:-16.56 [[ 7.37966701e-01 6.73650856e-01 3.99959133e-02 3.20910952e+02] [-6.72689678e-01 7.39049658e-01 -3.59749957e-02 -2.31262046e+02] [-5.37935527e-02 -3.56489106e-04 9.98552015e-01 -1.65600409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03864 meters Centerline goodness [0,1] 0.9915797718705635 Centerline is valid? [True, True] Translation: X:320.94, Y:-231.28, Z:-16.56 [[ 7.36923995e-01 6.74828801e-01 3.93587899e-02 3.20935386e+02] [-6.73897673e-01 7.37974202e-01 -3.54401326e-02 -2.31284460e+02] [-5.29617938e-02 -4.07112804e-04 9.98596456e-01 -1.65607370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06864 meters Centerline goodness [0,1] 0.9914312294961563 Centerline is valid? [True, True] Translation: X:320.96, Y:-231.31, Z:-16.56 [[ 7.35824713e-01 6.75992990e-01 3.99433293e-02 3.20960072e+02] [-6.75033561e-01 7.36907903e-01 -3.60060133e-02 -2.31305892e+02] [-5.37743676e-02 -4.68973428e-04 9.98553002e-01 -1.65609024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09864 meters Centerline goodness [0,1] 0.9917743830787309 Centerline is valid? [True, True] Translation: X:320.99, Y:-231.32, Z:-16.56 [[ 7.33080966e-01 6.78895232e-01 4.11529016e-02 3.20986972e+02] [-6.77879132e-01 7.34234847e-01 -3.71358517e-02 -2.31324685e+02] [-5.54272471e-02 -6.73107165e-04 9.98462502e-01 -1.65618057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12864 meters Centerline goodness [0,1] 0.9916139473297043 Centerline is valid? [True, True] Translation: X:321.01, Y:-231.34, Z:-16.56 [[ 7.31327938e-01 6.80749418e-01 4.17094264e-02 3.21012629e+02] [-6.79706615e-01 7.32515933e-01 -3.76739370e-02 -2.31343611e+02] [-5.61993301e-02 -7.98170388e-04 9.98419250e-01 -1.65635193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15864 meters Centerline goodness [0,1] 0.9916238060249817 Centerline is valid? [True, True] Translation: X:321.04, Y:-231.36, Z:-16.57 [[ 7.27412856e-01 6.84966608e-01 4.11252232e-02 3.21038741e+02] [-6.83957659e-01 7.28573657e-01 -3.71799277e-02 -2.31361920e+02] [-5.54297632e-02 -1.08275399e-03 9.98462002e-01 -1.65654284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18864 meters Centerline goodness [0,1] 0.9909508902367443 Centerline is valid? [True, True] Translation: X:321.06, Y:-231.38, Z:-16.57 [[ 7.24889923e-01 6.87629441e-01 4.12353145e-02 3.21064906e+02] [-6.86617526e-01 7.26060707e-01 -3.73125056e-02 -2.31381008e+02] [-5.55965190e-02 -1.26543030e-03 9.98452516e-01 -1.65667871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21864 meters Centerline goodness [0,1] 0.9902143066836285 Centerline is valid? [True, True] Translation: X:321.10, Y:-231.39, Z:-16.57 [[ 7.20527475e-01 6.92204044e-01 4.11548111e-02 3.21095737e+02] [-6.91201890e-01 7.21700091e-01 -3.72682974e-02 -2.31394030e+02] [-5.54986971e-02 -1.59345094e-03 9.98457488e-01 -1.65674222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24864 meters Centerline goodness [0,1] 0.9898499558693733 Centerline is valid? [True, True] Translation: X:321.12, Y:-231.41, Z:-16.57 [[ 7.18541401e-01 6.94291874e-01 4.07068652e-02 3.21122914e+02] [-6.93313570e-01 7.19691487e-01 -3.68843846e-02 -2.31411500e+02] [-5.49049129e-02 -1.71966467e-03 9.98490107e-01 -1.65686470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27864 meters Centerline goodness [0,1] 0.9898499558693733 Centerline is valid? [True, True] Translation: X:321.15, Y:-231.43, Z:-16.57 [[ 7.18184676e-01 6.94661887e-01 4.06894782e-02 3.21147201e+02] [-6.93683091e-01 7.19334343e-01 -3.69035582e-02 -2.31433114e+02] [-5.49048345e-02 -1.72203299e-03 9.98490107e-01 -1.65698757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30864 meters Centerline goodness [0,1] 0.9908944044646791 Centerline is valid? [True, True] Translation: X:321.17, Y:-231.45, Z:-16.57 [[ 7.16987229e-01 6.95913511e-01 4.04190518e-02 3.21173808e+02] [-6.94947691e-01 7.18123401e-01 -3.66945353e-02 -2.31451478e+02] [-5.45620898e-02 -1.77961349e-03 9.98508794e-01 -1.65710482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33864 meters Centerline goodness [0,1] 0.9908476898981989 Centerline is valid? [True, True] Translation: X:321.20, Y:-231.47, Z:-16.57 [[ 7.16576453e-01 6.96336766e-01 4.04140577e-02 3.21204582e+02] [-6.95369964e-01 7.17712976e-01 -3.67246016e-02 -2.31466059e+02] [-5.45783839e-02 -1.78673715e-03 9.98507891e-01 -1.65716956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36864 meters Centerline goodness [0,1] 0.9922173274596182 Centerline is valid? [True, True] Translation: X:321.24, Y:-231.48, Z:-16.57 [[ 7.17890097e-01 6.94930335e-01 4.12993744e-02 3.21236959e+02] [-6.93916237e-01 7.19075083e-01 -3.75670218e-02 -2.31478745e+02] [-5.58038141e-02 -1.68931356e-03 9.98440324e-01 -1.65724045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39864 meters Centerline goodness [0,1] 0.9926067371719546 Centerline is valid? [True, True] Translation: X:321.26, Y:-231.50, Z:-16.57 [[ 7.19547114e-01 6.93212852e-01 4.13266441e-02 3.21264402e+02] [-6.92192665e-01 7.20731291e-01 -3.76260685e-02 -2.31496728e+02] [-5.58682798e-02 -1.53227088e-03 9.98436972e-01 -1.65732531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42864 meters Centerline goodness [0,1] 0.9923088228089942 Centerline is valid? [True, True] Translation: X:321.29, Y:-231.52, Z:-16.57 [[ 7.21070929e-01 6.91636771e-01 4.11739371e-02 3.21291546e+02] [-6.90619629e-01 7.22244192e-01 -3.75213881e-02 -2.31515235e+02] [-5.56888086e-02 -1.37994703e-03 9.98447221e-01 -1.65742844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45864 meters Centerline goodness [0,1] 0.9931523599902177 Centerline is valid? [True, True] Translation: X:321.32, Y:-231.53, Z:-16.58 [[ 7.23422956e-01 6.89218360e-01 4.04632985e-02 3.21320755e+02] [-6.88230408e-01 7.24552782e-01 -3.69076094e-02 -2.31530955e+02] [-5.47551975e-02 -1.14826058e-03 9.98499149e-01 -1.65755212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48864 meters Centerline goodness [0,1] 0.9929470539256502 Centerline is valid? [True, True] Translation: X:321.35, Y:-231.55, Z:-16.58 [[ 7.24322572e-01 6.88306988e-01 3.98785920e-02 3.21347357e+02] [-6.87344200e-01 7.25418783e-01 -3.64079641e-02 -2.31550052e+02] [-5.39885358e-02 -1.03920874e-03 9.98541015e-01 -1.65774349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51864 meters Centerline goodness [0,1] 0.994128009395185 Centerline is valid? [True, True] Translation: X:321.37, Y:-231.57, Z:-16.58 [[ 7.25870188e-01 6.86687398e-01 3.96596612e-02 3.21374356e+02] [-6.85730910e-01 7.26952287e-01 -3.62421107e-02 -2.31568659e+02] [-5.37176821e-02 -8.88787855e-04 9.98555767e-01 -1.65795558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54864 meters Centerline goodness [0,1] 0.9946189218276098 Centerline is valid? [True, True] Translation: X:321.40, Y:-231.59, Z:-16.58 [[ 7.26570041e-01 6.85892501e-01 4.05888181e-02 3.21399981e+02] [-6.84887338e-01 7.27702413e-01 -3.71286075e-02 -2.31589962e+02] [-5.50028143e-02 -8.22233636e-04 9.98485861e-01 -1.65805927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57864 meters Centerline goodness [0,1] 0.9953502031227057 Centerline is valid? [True, True] Translation: X:321.43, Y:-231.61, Z:-16.58 [[ 7.29404097e-01 6.82809796e-01 4.17186485e-02 3.21426843e+02] [-6.81740500e-01 7.30595956e-01 -3.82026073e-02 -2.31609016e+02] [-5.65645904e-02 -5.76153967e-04 9.98398776e-01 -1.65808879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60864 meters Centerline goodness [0,1] 0.9966224484801018 Centerline is valid? [True, True] Translation: X:321.45, Y:-231.63, Z:-16.58 [[ 7.30761457e-01 6.81362516e-01 4.16270957e-02 3.21451175e+02] [-6.80293527e-01 7.31945990e-01 -3.81547561e-02 -2.31629665e+02] [-5.64660064e-02 -4.36618571e-04 9.98404427e-01 -1.65826028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.63864 meters Centerline goodness [0,1] 0.9965282871253239 Centerline is valid? [True, True] Translation: X:321.48, Y:-231.65, Z:-16.59 [[ 7.32233748e-01 6.79792356e-01 4.14257335e-02 3.21475102e+02] [-6.78729173e-01 7.33404575e-01 -3.80057904e-02 -2.31650962e+02] [-5.62178682e-02 -2.87731461e-04 9.98418484e-01 -1.65851452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66864 meters Centerline goodness [0,1] 0.9969178082191781 Centerline is valid? [True, True] Translation: X:321.50, Y:-231.67, Z:-16.59 [[ 7.33121863e-01 6.78897774e-01 4.03750805e-02 3.21497707e+02] [-6.77884639e-01 7.34232782e-01 -3.70761191e-02 -2.31674138e+02] [-5.48156024e-02 -1.88333350e-04 9.98496477e-01 -1.65873820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.69864 meters Centerline goodness [0,1] 0.9972613458528952 Centerline is valid? [True, True] Translation: X:321.52, Y:-231.70, Z:-16.59 [[ 7.33100879e-01 6.78951631e-01 3.98470068e-02 3.21523074e+02] [-6.77962988e-01 7.34182986e-01 -3.66269106e-02 -2.31695914e+02] [-5.41228950e-02 -1.63575438e-04 9.98534269e-01 -1.65880256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72864 meters Centerline goodness [0,1] 0.9967672413793104 Centerline is valid? [True, True] Translation: X:321.55, Y:-231.72, Z:-16.59 [[ 7.32607681e-01 6.79493237e-01 3.96853441e-02 3.21548553e+02] [-6.78511277e-01 7.33681750e-01 -3.65176109e-02 -2.31716973e+02] [-5.39298824e-02 -1.73871258e-04 9.98544710e-01 -1.65884748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.75864 meters Centerline goodness [0,1] 0.9972101218736235 Centerline is valid? [True, True] Translation: X:321.57, Y:-231.74, Z:-16.59 [[ 7.32048713e-01 6.80084357e-01 3.98741605e-02 3.21573763e+02] [-6.79091746e-01 7.33133843e-01 -3.67310364e-02 -2.31739076e+02] [-5.42132997e-02 -1.89305332e-04 9.98529360e-01 -1.65896305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78864 meters Centerline goodness [0,1] 0.9970635736308912 Centerline is valid? [True, True] Translation: X:321.60, Y:-231.76, Z:-16.59 [[ 7.31291651e-01 6.80912773e-01 3.96272284e-02 3.21598133e+02] [-6.79931520e-01 7.32364491e-01 -3.65428570e-02 -2.31760759e+02] [-5.39040730e-02 -2.20315442e-04 9.98546094e-01 -1.65909240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.81864 meters Centerline goodness [0,1] 0.996620463339374 Centerline is valid? [True, True] Translation: X:321.62, Y:-231.78, Z:-16.59 [[ 7.30266926e-01 6.81998364e-01 3.98553447e-02 3.21623837e+02] [-6.81005244e-01 7.31353647e-01 -3.67926627e-02 -2.31781771e+02] [-5.42408875e-02 -2.73234114e-04 9.98527842e-01 -1.65912077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84864 meters Centerline goodness [0,1] 0.9962655397769151 Centerline is valid? [True, True] Translation: X:321.65, Y:-231.80, Z:-16.59 [[ 7.27978121e-01 6.84415689e-01 4.02867347e-02 3.21651054e+02] [-6.83402520e-01 7.29091887e-01 -3.72292221e-02 -2.31799124e+02] [-5.48529951e-02 -4.29996843e-04 9.98494349e-01 -1.65938142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.87864 meters Centerline goodness [0,1] 0.9973006134969326 Centerline is valid? [True, True] Translation: X:321.68, Y:-231.82, Z:-16.60 [[ 7.26534763e-01 6.85935973e-01 4.04855448e-02 3.21676674e+02] [-6.84913099e-01 7.27661714e-01 -3.74496494e-02 -2.31819843e+02] [-5.51478426e-02 -5.20607800e-04 9.98478064e-01 -1.65959202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90864 meters Centerline goodness [0,1] 0.9968708746883098 Centerline is valid? [True, True] Translation: X:321.70, Y:-231.84, Z:-16.60 [[ 7.25433435e-01 6.87213097e-01 3.85290839e-02 3.21702821e+02] [-6.86286691e-01 7.26455672e-01 -3.56753893e-02 -2.31839283e+02] [-5.25062663e-02 -5.61877248e-04 9.98620437e-01 -1.65961566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93864 meters Centerline goodness [0,1] 0.996767874632713 Centerline is valid? [True, True] Translation: X:321.73, Y:-231.86, Z:-16.60 [[ 7.24300682e-01 6.88311888e-01 4.01903882e-02 3.21728595e+02] [-6.87303532e-01 7.25414593e-01 -3.72494876e-02 -2.31859449e+02] [-5.47939592e-02 -6.43166503e-04 9.98497475e-01 -1.65971138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96864 meters Centerline goodness [0,1] 0.9966231096755249 Centerline is valid? [True, True] Translation: X:321.76, Y:-231.88, Z:-16.60 [[ 7.24435613e-01 6.88090667e-01 4.15244177e-02 3.21756587e+02] [-6.87011758e-01 7.25624455e-01 -3.85226672e-02 -2.31876387e+02] [-5.66382207e-02 -6.20571202e-04 9.98394575e-01 -1.65983092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99864 meters Centerline goodness [0,1] 0.9964785288075907 Centerline is valid? [True, True] Translation: X:321.78, Y:-231.90, Z:-16.60 [[ 7.24486699e-01 6.87935892e-01 4.31651569e-02 3.21781966e+02] [-6.86767428e-01 7.25771205e-01 -4.00831315e-02 -2.31896363e+02] [-5.89026528e-02 -6.04728151e-04 9.98263548e-01 -1.66006778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02864 meters Centerline goodness [0,1] 0.9965765148921603 Centerline is valid? [True, True] Translation: X:321.81, Y:-231.92, Z:-16.60 [[ 7.25697806e-01 6.86620298e-01 4.37636863e-02 3.21809446e+02] [-6.85414381e-01 7.27016052e-01 -4.06790605e-02 -2.31915430e+02] [-5.97479711e-02 -4.75555025e-04 9.98213381e-01 -1.66023758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05864 meters Centerline goodness [0,1] 0.997650858904713 Centerline is valid? [True, True] Translation: X:321.84, Y:-231.94, Z:-16.60 [[ 7.26210902e-01 6.86090087e-01 4.35674019e-02 3.21835136e+02] [-6.84891458e-01 7.27516483e-01 -4.05395876e-02 -2.31936739e+02] [-5.95098122e-02 -3.98650881e-04 9.98227641e-01 -1.66036981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08864 meters Centerline goodness [0,1] 0.9964757709251101 Centerline is valid? [True, True] Translation: X:321.86, Y:-231.96, Z:-16.61 [[ 7.26983925e-01 6.85289745e-01 4.32705242e-02 3.21860019e+02] [-6.84103459e-01 7.28270468e-01 -4.03061023e-02 -2.31958062e+02] [-5.91340035e-02 -2.99626814e-04 9.98250009e-01 -1.66053772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11864 meters Centerline goodness [0,1] 0.9963307240704501 Centerline is valid? [True, True] Translation: X:321.89, Y:-231.98, Z:-16.61 [[ 7.28577467e-01 6.83685259e-01 4.18251299e-02 3.21885154e+02] [-6.82572090e-01 7.29776985e-01 -3.89986364e-02 -2.31978814e+02] [-5.71858100e-02 -1.35138613e-04 9.98363543e-01 -1.66059891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14864 meters Centerline goodness [0,1] 0.9964731814842028 Centerline is valid? [True, True] Translation: X:321.91, Y:-232.00, Z:-16.61 [[ 7.30064820e-01 6.82149085e-01 4.09632087e-02 3.21909731e+02] [-6.81076970e-01 7.31213119e-01 -3.82300269e-02 -2.31999143e+02] [-5.60314135e-02 1.12996458e-05 9.98429006e-01 -1.66078762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17864 meters Centerline goodness [0,1] 0.9963778756730298 Centerline is valid? [True, True] Translation: X:321.93, Y:-232.02, Z:-16.61 [[ 7.30335794e-01 6.81850327e-01 4.11066898e-02 3.21934276e+02] [-6.80768113e-01 7.31491714e-01 -3.84011463e-02 -2.32021491e+02] [-5.62530372e-02 6.16080292e-05 9.98416542e-01 -1.66095001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20864 meters Centerline goodness [0,1] 0.9962302947224126 Centerline is valid? [True, True] Translation: X:321.96, Y:-232.04, Z:-16.61 [[ 7.30864967e-01 6.81283647e-01 4.10973554e-02 3.21958408e+02] [-6.80198747e-01 7.32019517e-01 -3.84329433e-02 -2.32043904e+02] [-5.62678021e-02 1.34922147e-04 9.98415703e-01 -1.66106269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23864 meters Centerline goodness [0,1] 0.9973565694145291 Centerline is valid? [True, True] Translation: X:321.98, Y:-232.07, Z:-16.61 [[ 7.33027734e-01 6.78910218e-01 4.18480143e-02 3.21982132e+02] [-6.77779123e-01 7.34221214e-01 -3.91748539e-02 -2.32065684e+02] [-5.73219085e-02 3.52543969e-04 9.98355685e-01 -1.66127280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26864 meters Centerline goodness [0,1] 0.9974987739087788 Centerline is valid? [True, True] Translation: X:322.01, Y:-232.09, Z:-16.61 [[ 7.33885797e-01 6.77999617e-01 4.15711051e-02 3.22006305e+02] [-6.76879865e-01 7.35062119e-01 -3.89529144e-02 -2.32088769e+02] [-5.69674056e-02 4.48346633e-04 9.98375938e-01 -1.66138193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29864 meters Centerline goodness [0,1] 0.9974545988545694 Centerline is valid? [True, True] Translation: X:322.03, Y:-232.11, Z:-16.62 [[ 7.36542430e-01 6.75074253e-01 4.21900711e-02 3.22028910e+02] [-6.73913768e-01 7.37749444e-01 -3.95725949e-02 -2.32112361e+02] [-5.78401415e-02 7.14425374e-04 9.98325602e-01 -1.66152413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32864 meters Centerline goodness [0,1] 0.9974048866474073 Centerline is valid? [True, True] Translation: X:322.05, Y:-232.13, Z:-16.62 [[ 7.38009992e-01 6.73451151e-01 4.24829293e-02 3.22052548e+02] [-6.72269699e-01 7.39231211e-01 -3.98831741e-02 -2.32134441e+02] [-5.82640767e-02 8.74194916e-04 9.98300823e-01 -1.66167766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35864 meters Centerline goodness [0,1] 0.9976984476764116 Centerline is valid? [True, True] Translation: X:322.08, Y:-232.16, Z:-16.62 [[ 7.41555909e-01 6.69555921e-01 4.23048837e-02 3.22075948e+02] [-6.68375953e-01 7.42760677e-01 -3.97512583e-02 -2.32156598e+02] [-5.80380944e-02 1.20221352e-03 9.98313645e-01 -1.66179476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38864 meters Centerline goodness [0,1] 0.9971139265274177 Centerline is valid? [True, True] Translation: X:322.10, Y:-232.18, Z:-16.62 [[ 7.42506571e-01 6.68462914e-01 4.29106629e-02 3.22098361e+02] [-6.67244938e-01 7.43744282e-01 -4.03563623e-02 -2.32179403e+02] [-5.88912917e-02 1.33294157e-03 9.98263512e-01 -1.66194432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41864 meters Centerline goodness [0,1] 0.9974568396341762 Centerline is valid? [True, True] Translation: X:322.12, Y:-232.20, Z:-16.62 [[ 7.43073763e-01 6.67872194e-01 4.22861019e-02 3.22121816e+02] [-6.66686378e-01 7.44274687e-01 -3.98053354e-02 -2.32203396e+02] [-5.80573519e-02 1.38673223e-03 9.98312286e-01 -1.66198321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44864 meters Centerline goodness [0,1] 0.9972604080035223 Centerline is valid? [True, True] Translation: X:322.14, Y:-232.23, Z:-16.62 [[ 7.43030754e-01 6.67984503e-01 4.12553279e-02 3.22142804e+02] [-6.66853931e-01 7.44173919e-01 -3.88717466e-02 -2.32228724e+02] [-5.66668633e-02 1.37162561e-03 9.98392200e-01 -1.66203136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47864 meters Centerline goodness [0,1] 0.9969639097007982 Centerline is valid? [True, True] Translation: X:322.17, Y:-232.25, Z:-16.62 [[ 7.42653172e-01 6.68450054e-01 4.05066754e-02 3.22165313e+02] [-6.67359026e-01 7.43755833e-01 -3.81993586e-02 -2.32251654e+02] [-5.56614394e-02 1.33637940e-03 9.98448806e-01 -1.66223913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50864 meters Centerline goodness [0,1] 0.9973055065647658 Centerline is valid? [True, True] Translation: X:322.19, Y:-232.28, Z:-16.62 [[ 7.41725877e-01 6.69467165e-01 4.06993707e-02 3.22185963e+02] [-6.68365355e-01 7.42840527e-01 -3.84149045e-02 -2.32277314e+02] [-5.59506591e-02 1.29127940e-03 9.98432700e-01 -1.66238048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53864 meters Centerline goodness [0,1] 0.9979921645445642 Centerline is valid? [True, True] Translation: X:322.21, Y:-232.30, Z:-16.63 [[ 7.41494702e-01 6.69718796e-01 4.07718242e-02 3.22208794e+02] [-6.68611443e-01 7.42613656e-01 -3.85187731e-02 -2.32301733e+02] [-5.60744598e-02 1.30095798e-03 9.98425742e-01 -1.66253089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56864 meters Centerline goodness [0,1] 0.9975521394301381 Centerline is valid? [True, True] Translation: X:322.23, Y:-232.33, Z:-16.63 [[ 7.40763048e-01 6.70463020e-01 4.18263715e-02 3.22230724e+02] [-6.69296434e-01 7.41941797e-01 -3.95557017e-02 -2.32326729e+02] [-5.75533684e-02 1.30716086e-03 9.98341575e-01 -1.66267275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59864 meters Centerline goodness [0,1] 0.9972587987664594 Centerline is valid? [True, True] Translation: X:322.25, Y:-232.35, Z:-16.63 [[ 7.41157846e-01 6.69972741e-01 4.26798872e-02 3.22251648e+02] [-6.68754886e-01 7.42384375e-01 -4.04022626e-02 -2.32351883e+02] [-5.87532960e-02 1.40207090e-03 9.98271548e-01 -1.66270043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62864 meters Centerline goodness [0,1] 0.997408439685101 Centerline is valid? [True, True] Translation: X:322.27, Y:-232.38, Z:-16.63 [[ 7.42917027e-01 6.68040500e-01 4.23813781e-02 3.22272828e+02] [-6.66834438e-01 7.44123259e-01 -4.01548010e-02 -2.32375777e+02] [-5.83620025e-02 1.57032294e-03 9.98294251e-01 -1.66283982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65864 meters Centerline goodness [0,1] 0.9975484187300809 Centerline is valid? [True, True] Translation: X:322.30, Y:-232.40, Z:-16.63 [[ 7.42967482e-01 6.67953569e-01 4.28643339e-02 3.22295279e+02] [-6.66717568e-01 7.44201182e-01 -4.06483162e-02 -2.32399092e+02] [-5.90508759e-02 1.62197265e-03 9.98253657e-01 -1.66302209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68864 meters Centerline goodness [0,1] 0.997106424717999 Centerline is valid? [True, True] Translation: X:322.32, Y:-232.42, Z:-16.63 [[ 7.43093452e-01 6.67906823e-01 4.13835446e-02 3.22317858e+02] [-6.66753249e-01 7.44243207e-01 -3.92702591e-02 -2.32422817e+02] [-5.70282959e-02 1.58885950e-03 9.98371298e-01 -1.66308342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71864 meters Centerline goodness [0,1] 0.9974414485337532 Centerline is valid? [True, True] Translation: X:322.34, Y:-232.45, Z:-16.63 [[ 7.41876365e-01 6.69296710e-01 4.07599576e-02 3.22336177e+02] [-6.68179081e-01 7.42993780e-01 -3.86905443e-02 -2.32449786e+02] [-5.61798490e-02 1.46864935e-03 9.98419585e-01 -1.66330288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74864 meters Centerline goodness [0,1] 0.9974023427927265 Centerline is valid? [True, True] Translation: X:322.36, Y:-232.48, Z:-16.63 [[ 7.41123312e-01 6.70187778e-01 3.98067563e-02 3.22357207e+02] [-6.69122376e-01 7.42190300e-01 -3.77995306e-02 -2.32475153e+02] [-5.48769719e-02 1.37852195e-03 9.98492172e-01 -1.66330125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77864 meters Centerline goodness [0,1] 0.9972582619339045 Centerline is valid? [True, True] Translation: X:322.38, Y:-232.50, Z:-16.63 [[ 7.39231887e-01 6.72161253e-01 4.16589447e-02 3.22377044e+02] [-6.70995868e-01 7.40403629e-01 -3.95854912e-02 -2.32502661e+02] [-5.74522672e-02 1.30987759e-03 9.98347395e-01 -1.66323643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80864 meters Centerline goodness [0,1] 0.9972095755617565 Centerline is valid? [True, True] Translation: X:322.40, Y:-232.53, Z:-16.63 [[ 7.38453462e-01 6.72985742e-01 4.21506271e-02 3.22399668e+02] [-6.71791601e-01 7.39654327e-01 -4.00938975e-02 -2.32527447e+02] [-5.81595152e-02 1.29104014e-03 9.98306468e-01 -1.66333629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83864 meters Centerline goodness [0,1] 0.9976505139500734 Centerline is valid? [True, True] Translation: X:322.42, Y:-232.56, Z:-16.64 [[ 7.37235020e-01 6.74274355e-01 4.28791341e-02 3.22418906e+02] [-6.73038222e-01 7.38479894e-01 -4.08288726e-02 -2.32555570e+02] [-5.91952401e-02 1.24117849e-03 9.98245653e-01 -1.66356365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86864 meters Centerline goodness [0,1] 0.9973031283710896 Centerline is valid? [True, True] Translation: X:322.44, Y:-232.58, Z:-16.64 [[ 7.37233485e-01 6.74239416e-01 4.34511103e-02 3.22438822e+02] [-6.72967563e-01 7.38511709e-01 -4.14139380e-02 -2.32580706e+02] [-6.00120631e-02 1.29055400e-03 9.98196818e-01 -1.66362825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89864 meters Centerline goodness [0,1] 0.9972123049836161 Centerline is valid? [True, True] Translation: X:322.46, Y:-232.61, Z:-16.64 [[ 7.36693999e-01 6.74846300e-01 4.31789749e-02 3.22460010e+02] [-6.73589094e-01 7.37957234e-01 -4.11928812e-02 -2.32606220e+02] [-5.96631004e-02 1.26166175e-03 9.98217773e-01 -1.66367271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92864 meters Centerline goodness [0,1] 0.9965231869154302 Centerline is valid? [True, True] Translation: X:322.48, Y:-232.63, Z:-16.64 [[ 7.35464053e-01 6.76289101e-01 4.15412757e-02 3.22479527e+02] [-6.75125647e-01 7.36635443e-01 -3.96684272e-02 -2.32632640e+02] [-5.74281010e-02 1.12912164e-03 9.98349006e-01 -1.66376018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95864 meters Centerline goodness [0,1] 0.9969046332236035 Centerline is valid? [True, True] Translation: X:322.50, Y:-232.66, Z:-16.64 [[ 7.33689202e-01 6.78259624e-01 4.07926174e-02 3.22498350e+02] [-6.77138837e-01 7.34821691e-01 -3.89881903e-02 -2.32658948e+02] [-5.64194153e-02 9.82948706e-04 9.98406672e-01 -1.66394926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98864 meters Centerline goodness [0,1] 0.996329467038614 Centerline is valid? [True, True] Translation: X:322.52, Y:-232.68, Z:-16.64 [[ 7.32677894e-01 6.79361316e-01 4.06362786e-02 3.22519780e+02] [-6.78249249e-01 7.33803356e-01 -3.88663150e-02 -2.32683764e+02] [-5.62233085e-02 9.14964316e-04 9.98417800e-01 -1.66405632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01864 meters Centerline goodness [0,1] 0.9965230166503428 Centerline is valid? [True, True] Translation: X:322.54, Y:-232.71, Z:-16.64 [[ 7.32006714e-01 6.80084912e-01 4.06286081e-02 3.22541406e+02] [-6.78973666e-01 7.33132838e-01 -3.88716096e-02 -2.32708370e+02] [-5.62221620e-02 8.68524213e-04 9.98417906e-01 -1.66417917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04864 meters Centerline goodness [0,1] 0.9971614545098615 Centerline is valid? [True, True] Translation: X:322.56, Y:-232.73, Z:-16.64 [[ 7.30053879e-01 6.82114808e-01 4.17219636e-02 3.22562536e+02] [-6.80944856e-01 7.31244712e-01 -3.99408821e-02 -2.32734101e+02] [-5.77532324e-02 7.48639432e-04 9.98330608e-01 -1.66431040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07864 meters Centerline goodness [0,1] 0.9972051973522922 Centerline is valid? [True, True] Translation: X:322.58, Y:-232.76, Z:-16.65 [[ 7.28540569e-01 6.83639730e-01 4.31897968e-02 3.22582872e+02] [-6.82386440e-01 7.29819335e-01 -4.13821772e-02 -2.32758493e+02] [-5.98112492e-02 6.76463154e-04 9.98209475e-01 -1.66464372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10864 meters Centerline goodness [0,1] 0.9978448275862069 Centerline is valid? [True, True] Translation: X:322.61, Y:-232.78, Z:-16.65 [[ 7.28127713e-01 6.84083523e-01 4.31250144e-02 3.22606162e+02] [-6.82833012e-01 7.29403384e-01 -4.13494905e-02 -2.32782287e+02] [-5.97420366e-02 6.60526514e-04 9.98213631e-01 -1.66476021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.13864 meters Centerline goodness [0,1] 0.9967680329073013 Centerline is valid? [True, True] Translation: X:322.63, Y:-232.81, Z:-16.65 [[ 7.28131067e-01 6.84092502e-01 4.29254996e-02 3.22628231e+02] [-6.82850976e-01 7.29394937e-01 -4.12015686e-02 -2.32806513e+02] [-5.94953263e-02 6.88422767e-04 9.98228347e-01 -1.66491504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16864 meters Centerline goodness [0,1] 0.9964743903633336 Centerline is valid? [True, True] Translation: X:322.65, Y:-232.83, Z:-16.65 [[ 7.28126988e-01 6.84170946e-01 4.17277590e-02 3.22650203e+02] [-6.82995631e-01 7.29321355e-01 -4.00915208e-02 -2.32829558e+02] [-5.78623994e-02 6.91841157e-04 9.98324328e-01 -1.66498086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.19864 meters Centerline goodness [0,1] 0.9961772201529112 Centerline is valid? [True, True] Translation: X:322.67, Y:-232.85, Z:-16.65 [[ 7.27996167e-01 6.84362961e-01 4.08524034e-02 3.22672608e+02] [-6.83234749e-01 7.29141182e-01 -3.92863098e-02 -2.32853055e+02] [-5.66732650e-02 6.88501347e-04 9.98392542e-01 -1.66506678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22864 meters Centerline goodness [0,1] 0.9961772201529112 Centerline is valid? [True, True] Translation: X:322.70, Y:-232.88, Z:-16.65 [[ 7.27631935e-01 6.84751351e-01 4.08332493e-02 3.22696237e+02] [-6.83622633e-01 7.28776452e-01 -3.93062111e-02 -2.32875358e+02] [-5.66732917e-02 6.85921043e-04 9.98392542e-01 -1.66518960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.25864 meters Centerline goodness [0,1] 0.9965760125220113 Centerline is valid? [True, True] Translation: X:322.72, Y:-232.90, Z:-16.65 [[ 7.26911817e-01 6.85515066e-01 4.08448880e-02 3.22717823e+02] [-6.84384524e-01 7.28058145e-01 -3.93593735e-02 -2.32899906e+02] [-5.67188969e-02 6.57184498e-04 9.98389971e-01 -1.66528669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28864 meters Centerline goodness [0,1] 0.997599098436964 Centerline is valid? [True, True] Translation: X:322.74, Y:-232.92, Z:-16.65 [[ 7.26273673e-01 6.86185557e-01 4.09381733e-02 3.22740941e+02] [-6.85048497e-01 7.27426269e-01 -3.94915328e-02 -2.32923868e+02] [-5.68780221e-02 6.37026504e-04 9.98380932e-01 -1.66542839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.31864 meters Centerline goodness [0,1] 0.9979461098342217 Centerline is valid? [True, True] Translation: X:322.76, Y:-232.95, Z:-16.66 [[ 7.24284479e-01 6.88221592e-01 4.19884889e-02 3.22763139e+02] [-6.87026198e-01 7.25500357e-01 -4.05491690e-02 -2.32948693e+02] [-5.83694773e-02 5.21941873e-04 9.98294912e-01 -1.66551796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34864 meters Centerline goodness [0,1] 0.9979932455582203 Centerline is valid? [True, True] Translation: X:322.79, Y:-232.97, Z:-16.66 [[ 7.23177876e-01 6.89393715e-01 4.18337699e-02 3.22786045e+02] [-6.88206547e-01 7.24386703e-01 -4.04432018e-02 -2.32972959e+02] [-5.81851158e-02 4.57354455e-04 9.98305706e-01 -1.66555220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.37864 meters Centerline goodness [0,1] 0.9980387349840647 Centerline is valid? [True, True] Translation: X:322.81, Y:-233.00, Z:-16.66 [[ 7.19576257e-01 6.93176949e-01 4.14213509e-02 3.22807347e+02] [-6.92016964e-01 7.20767428e-01 -4.00853591e-02 -2.32997369e+02] [-5.76414075e-02 1.80195200e-04 9.98337336e-01 -1.66561481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40864 meters Centerline goodness [0,1] 0.9983852815971033 Centerline is valid? [True, True] Translation: X:322.83, Y:-233.02, Z:-16.66 [[ 7.17852182e-01 6.94960618e-01 4.14485664e-02 3.22830535e+02] [-6.93799757e-01 7.19047798e-01 -4.01517356e-02 -2.33020934e+02] [-5.77073753e-02 6.60057314e-05 9.98333539e-01 -1.66573126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43864 meters Centerline goodness [0,1] 0.9974066643832264 Centerline is valid? [True, True] Translation: X:322.85, Y:-233.05, Z:-16.66 [[ 7.14304126e-01 6.98576893e-01 4.19516385e-02 3.22851959e+02] [-6.97391237e-01 7.15534965e-01 -4.06838667e-02 -2.33045907e+02] [-5.84386733e-02 -1.96051175e-04 9.98290981e-01 -1.66575235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46864 meters Centerline goodness [0,1] 0.9979942272882931 Centerline is valid? [True, True] Translation: X:322.88, Y:-233.07, Z:-16.66 [[ 7.13125645e-01 6.99806105e-01 4.15118020e-02 3.22875078e+02] [-6.98644749e-01 7.14332798e-01 -4.03009760e-02 -2.33070132e+02] [-5.78561107e-02 -2.62343011e-04 9.98324898e-01 -1.66578489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49864 meters Centerline goodness [0,1] 0.9966212907648614 Centerline is valid? [True, True] Translation: X:322.90, Y:-233.09, Z:-16.66 [[ 7.10885463e-01 7.02042280e-01 4.21722130e-02 3.22896153e+02] [-7.00845028e-01 7.12135142e-01 -4.09852075e-02 -2.33094057e+02] [-5.88056634e-02 -4.20397593e-04 9.98269361e-01 -1.66587516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52864 meters Centerline goodness [0,1] 0.9965253988450622 Centerline is valid? [True, True] Translation: X:322.92, Y:-233.12, Z:-16.66 [[ 7.09590894e-01 7.03320529e-01 4.26731338e-02 3.22919088e+02] [-7.02094459e-01 7.10872690e-01 -4.15137323e-02 -2.33117744e+02] [-5.95326255e-02 -5.02804289e-04 9.98226234e-01 -1.66607093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55864 meters Centerline goodness [0,1] 0.996966583492343 Centerline is valid? [True, True] Translation: X:322.94, Y:-233.14, Z:-16.66 [[ 7.08248307e-01 7.04700058e-01 4.22156789e-02 3.22941789e+02] [-7.03499998e-01 7.09505103e-01 -4.11127830e-02 -2.33141815e+02] [-5.89244202e-02 -5.80671032e-04 9.98262278e-01 -1.66625927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58864 meters Centerline goodness [0,1] 0.9966236054022314 Centerline is valid? [True, True] Translation: X:322.97, Y:-233.17, Z:-16.66 [[ 7.06898884e-01 7.06072563e-01 4.18987368e-02 3.22965064e+02] [-7.04890300e-01 7.08139183e-01 -4.08480350e-02 -2.33165653e+02] [-5.85118140e-02 -6.58582832e-04 9.98286499e-01 -1.66638721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61864 meters Centerline goodness [0,1] 0.9959730884447282 Centerline is valid? [True, True] Translation: X:322.99, Y:-233.19, Z:-16.66 [[ 7.05468161e-01 7.07549154e-01 4.10958410e-02 3.22988348e+02] [-7.06411850e-01 7.06663749e-01 -4.01079129e-02 -2.33189518e+02] [-5.74192609e-02 -7.35733485e-04 9.98349882e-01 -1.66634590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64864 meters Centerline goodness [0,1] 0.9952033674318438 Centerline is valid? [True, True] Translation: X:323.01, Y:-233.21, Z:-16.66 [[ 7.04389387e-01 7.08571465e-01 4.19770297e-02 3.23011317e+02] [-7.07384132e-01 7.05638596e-01 -4.10105111e-02 -2.33212089e+02] [-5.86794902e-02 -8.06515944e-04 9.98276548e-01 -1.66649657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67864 meters Centerline goodness [0,1] 0.9963328769802464 Centerline is valid? [True, True] Translation: X:323.03, Y:-233.23, Z:-16.67 [[ 7.04296163e-01 7.08657227e-01 4.20933354e-02 3.23034582e+02] [-7.07461066e-01 7.05552489e-01 -4.11646166e-02 -2.33234856e+02] [-5.88706606e-02 -7.87314409e-04 9.98265308e-01 -1.66658428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70864 meters Centerline goodness [0,1] 0.9950985197529654 Centerline is valid? [True, True] Translation: X:323.06, Y:-233.26, Z:-16.67 [[ 7.04962390e-01 7.08023860e-01 4.15961905e-02 3.23057354e+02] [-7.06852320e-01 7.06188168e-01 -4.07193994e-02 -2.33256918e+02] [-5.82050439e-02 -6.96718598e-04 9.98304406e-01 -1.66666360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73864 meters Centerline goodness [0,1] 0.9960377635376413 Centerline is valid? [True, True] Translation: X:323.08, Y:-233.28, Z:-16.67 [[ 7.05928802e-01 7.07092910e-01 4.10383273e-02 3.23079859e+02] [-7.05948906e-01 7.07120410e-01 -4.02102871e-02 -2.33279374e+02] [-5.74514477e-02 -5.85362427e-04 9.98348130e-01 -1.66673935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76864 meters Centerline goodness [0,1] 0.9951496741952869 Centerline is valid? [True, True] Translation: X:323.10, Y:-233.30, Z:-16.67 [[ 7.05833171e-01 7.07215849e-01 4.05620249e-02 3.23103314e+02] [-7.06096257e-01 7.06997474e-01 -3.97824928e-02 -2.33302755e+02] [-5.68120586e-02 -5.60890869e-04 9.98384733e-01 -1.66680472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79864 meters Centerline goodness [0,1] 0.9952141426966841 Centerline is valid? [True, True] Translation: X:323.13, Y:-233.33, Z:-16.67 [[ 7.05468987e-01 7.07610344e-01 4.00138670e-02 3.23126467e+02] [-7.06519100e-01 7.06602641e-01 -3.92870117e-02 -2.33325823e+02] [-5.60738000e-02 -5.54792936e-04 9.98426473e-01 -1.66691684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82864 meters Centerline goodness [0,1] 0.9949174078780177 Centerline is valid? [True, True] Translation: X:323.15, Y:-233.35, Z:-16.67 [[ 7.05693260e-01 7.07342151e-01 4.07934433e-02 3.23149305e+02] [-7.06204994e-01 7.06871147e-01 -4.00959811e-02 -2.33349030e+02] [-5.71972856e-02 -5.13069766e-04 9.98362763e-01 -1.66700049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85864 meters Centerline goodness [0,1] 0.9947146912009396 Centerline is valid? [True, True] Translation: X:323.17, Y:-233.37, Z:-16.67 [[ 7.04701300e-01 7.08312524e-01 4.11028736e-02 3.23174798e+02] [-7.07157174e-01 7.05898753e-01 -4.04435659e-02 -2.33370408e+02] [-5.76611515e-02 -5.65558483e-04 9.98336052e-01 -1.66707343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88864 meters Centerline goodness [0,1] 0.9946649698986834 Centerline is valid? [True, True] Translation: X:323.20, Y:-233.39, Z:-16.67 [[ 7.03459550e-01 7.09529839e-01 4.13771534e-02 3.23199077e+02] [-7.08358606e-01 7.04675102e-01 -4.07564396e-02 -2.33392096e+02] [-5.80753598e-02 -6.39356026e-04 9.98311997e-01 -1.66712673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91864 meters Centerline goodness [0,1] 0.9940782068222973 Centerline is valid? [True, True] Translation: X:323.22, Y:-233.41, Z:-16.67 [[ 7.02019786e-01 7.10968720e-01 4.11302686e-02 3.23223012e+02] [-7.09811468e-01 7.03223261e-01 -4.05552046e-02 -2.33414556e+02] [-5.77572435e-02 -7.24180276e-04 9.98330394e-01 -1.66734200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94864 meters Centerline goodness [0,1] 0.9940572663425176 Centerline is valid? [True, True] Translation: X:323.25, Y:-233.44, Z:-16.67 [[ 7.00364679e-01 7.12609880e-01 4.09447945e-02 3.23248578e+02] [-7.11463343e-01 7.01560032e-01 -4.04157421e-02 -2.33435696e+02] [-5.75258885e-02 -8.24962131e-04 9.98343674e-01 -1.66745169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97864 meters Centerline goodness [0,1] 0.9932945034506387 Centerline is valid? [True, True] Translation: X:323.27, Y:-233.46, Z:-16.68 [[ 6.99221826e-01 7.13753398e-01 4.05576725e-02 3.23273766e+02] [-7.12627955e-01 7.00396538e-01 -4.00760101e-02 -2.33457747e+02] [-5.70108418e-02 -8.80510265e-04 9.98373171e-01 -1.66762610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00864 meters Centerline goodness [0,1] 0.9930477356181151 Centerline is valid? [True, True] Translation: X:323.30, Y:-233.48, Z:-16.68 [[ 6.98613620e-01 7.14344002e-01 4.06405815e-02 3.23300500e+02] [-7.13212479e-01 6.99794138e-01 -4.02010407e-02 -2.33477728e+02] [-5.71574130e-02 -9.00375292e-04 9.98364773e-01 -1.66769177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03864 meters Centerline goodness [0,1] 0.9947649102206566 Centerline is valid? [True, True] Translation: X:323.33, Y:-233.50, Z:-16.68 [[ 7.00266361e-01 7.12685075e-01 4.13159486e-02 3.23325842e+02] [-7.11510258e-01 7.01483731e-01 -4.09112205e-02 -2.33498065e+02] [-5.81392820e-02 -7.47969723e-04 9.98308201e-01 -1.66786513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06864 meters Centerline goodness [0,1] 0.994812059514487 Centerline is valid? [True, True] Translation: X:323.35, Y:-233.52, Z:-16.68 [[ 7.02058202e-01 7.10895200e-01 4.17408171e-02 3.23350266e+02] [-7.09690625e-01 7.03297718e-01 -4.13707276e-02 -2.33519736e+02] [-5.87664731e-02 -5.78407905e-04 9.98271590e-01 -1.66798689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09864 meters Centerline goodness [0,1] 0.9955494693598083 Centerline is valid? [True, True] Translation: X:323.37, Y:-233.54, Z:-16.68 [[ 7.03225521e-01 7.09750160e-01 4.15761638e-02 3.23374042e+02] [-7.08550835e-01 7.04453338e-01 -4.12457170e-02 -2.33541665e+02] [-5.85626216e-02 -4.53784785e-04 9.98283634e-01 -1.66813220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12864 meters Centerline goodness [0,1] 0.9954965979734691 Centerline is valid? [True, True] Translation: X:323.40, Y:-233.56, Z:-16.68 [[ 7.04949321e-01 7.08049000e-01 4.13892355e-02 3.23397859e+02] [-7.06855260e-01 7.06163248e-01 -4.10987641e-02 -2.33563817e+02] [-5.83274958e-02 -2.83652951e-04 9.98297462e-01 -1.66828043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15864 meters Centerline goodness [0,1] 0.9964790454300944 Centerline is valid? [True, True] Translation: X:323.42, Y:-233.59, Z:-16.68 [[ 7.08672804e-01 7.04390993e-01 4.02018058e-02 3.23420864e+02] [-7.03256796e-01 7.09812177e-01 -3.99568815e-02 -2.33585852e+02] [-5.66809987e-02 4.41620623e-05 9.98392339e-01 -1.66821533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18864 meters Centerline goodness [0,1] 0.9955501222493888 Centerline is valid? [True, True] Translation: X:323.44, Y:-233.61, Z:-16.68 [[ 7.11591251e-01 7.01428487e-01 4.04471211e-02 3.23442984e+02] [-7.00273293e-01 7.12739771e-01 -4.02409582e-02 -2.33609767e+02] [-5.70544263e-02 3.11075158e-04 9.98371021e-01 -1.66829446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21864 meters Centerline goodness [0,1] 0.996287068249548 Centerline is valid? [True, True] Translation: X:323.47, Y:-233.63, Z:-16.68 [[ 7.12189587e-01 7.00807887e-01 4.06730515e-02 3.23465552e+02] [-6.99636206e-01 7.13349949e-01 -4.05096216e-02 -2.33633933e+02] [-5.74035816e-02 3.94191280e-04 9.98350977e-01 -1.66844643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24864 meters Centerline goodness [0,1] 0.9962845270105108 Centerline is valid? [True, True] Translation: X:323.49, Y:-233.66, Z:-16.69 [[ 7.11718129e-01 7.01285989e-01 4.06849667e-02 3.23487372e+02] [-7.00111906e-01 7.12879942e-01 -4.05648439e-02 -2.33658872e+02] [-5.74510534e-02 3.86705198e-04 9.98348249e-01 -1.66850521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27864 meters Centerline goodness [0,1] 0.9964826575476307 Centerline is valid? [True, True] Translation: X:323.51, Y:-233.69, Z:-16.69 [[ 7.09113843e-01 7.03894772e-01 4.11060552e-02 3.23507030e+02] [-7.02698043e-01 7.10304235e-01 -4.10286957e-02 -2.33685370e+02] [-5.80776896e-02 2.08871551e-04 9.98312045e-01 -1.66860563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30864 meters Centerline goodness [0,1] 0.9969688080571038 Centerline is valid? [True, True] Translation: X:323.53, Y:-233.71, Z:-16.69 [[ 7.07055068e-01 7.05924640e-01 4.17556393e-02 3.23528615e+02] [-7.04690605e-01 7.08286945e-01 -4.17223465e-02 -2.33710177e+02] [-5.90278066e-02 7.51898207e-05 9.98256336e-01 -1.66864166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33864 meters Centerline goodness [0,1] 0.9957900920305464 Centerline is valid? [True, True] Translation: X:323.55, Y:-233.74, Z:-16.69 [[ 7.02946889e-01 7.09979601e-01 4.23631574e-02 3.23550365e+02] [-7.08713905e-01 7.04222203e-01 -4.23755852e-02 -2.33735560e+02] [-5.99188771e-02 -2.35572883e-04 9.98203222e-01 -1.66874208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36864 meters Centerline goodness [0,1] 0.9950163678115992 Centerline is valid? [True, True] Translation: X:323.70, Y:-233.74, Z:-15.17 [[ 7.63634791e-01 -6.45562480e-01 -1.05352165e-02 3.23698468e+02] [-6.45442158e-01 -7.63701618e-01 1.28163389e-02 -2.33743704e+02] [-1.63195094e-02 -2.98712941e-03 -9.99862366e-01 -1.51740556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39864 meters Centerline goodness [0,1] 0.9954965979734691 Centerline is valid? [True, True] Translation: X:323.61, Y:-233.81, Z:-16.69 [[ 7.49075579e-01 6.60962504e-01 4.48814567e-02 3.23610730e+02] [-6.59833231e-01 7.50418620e-01 -3.86264410e-02 -2.33807330e+02] [-5.92105100e-02 -6.80152955e-04 9.98245287e-01 -1.66910458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42864 meters Centerline goodness [0,1] 0.9955036410732613 Centerline is valid? [True, True] Translation: X:323.64, Y:-233.83, Z:-16.69 [[ 7.47263240e-01 6.63040037e-01 4.44472655e-02 3.23636294e+02] [-6.61933958e-01 7.48583500e-01 -3.82907103e-02 -2.33828414e+02] [-5.86607636e-02 -8.07914178e-04 9.98277648e-01 -1.66914571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45864 meters Centerline goodness [0,1] 0.9949625861984643 Centerline is valid? [True, True] Translation: X:323.66, Y:-233.85, Z:-16.69 [[ 7.45191680e-01 6.65390896e-01 4.40944016e-02 3.23660694e+02] [-6.64304132e-01 7.46494503e-01 -3.80260084e-02 -2.33849921e+02] [-5.82183882e-02 -9.55428155e-04 9.98303414e-01 -1.66942859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48864 meters Centerline goodness [0,1] 0.9949126840483296 Centerline is valid? [True, True] Translation: X:323.68, Y:-233.87, Z:-16.70 [[ 7.44066512e-01 6.66600989e-01 4.48123555e-02 3.23684029e+02] [-6.65478543e-01 7.45414006e-01 -3.86816319e-02 -2.33871355e+02] [-5.91889715e-02 -1.03995415e-03 9.98246254e-01 -1.66976623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51864 meters Centerline goodness [0,1] 0.9959407248007043 Centerline is valid? [True, True] Translation: X:323.71, Y:-233.89, Z:-16.70 [[ 7.44078674e-01 6.66576484e-01 4.49746469e-02 3.23709325e+02] [-6.65443583e-01 7.45435956e-01 -3.88596685e-02 -2.33892118e+02] [-5.94286601e-02 -1.01343959e-03 9.98232041e-01 -1.66979895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54864 meters Centerline goodness [0,1] 0.9957942097026604 Centerline is valid? [True, True] Translation: X:323.73, Y:-233.91, Z:-16.70 [[ 7.44404333e-01 6.66210802e-01 4.50039496e-02 3.23734852e+02] [-6.65073274e-01 7.45762869e-01 -3.89266317e-02 -2.33912541e+02] [-5.94956171e-02 -9.53770840e-04 9.98228111e-01 -1.66988391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57864 meters Centerline goodness [0,1] 0.9955485985422883 Centerline is valid? [True, True] Translation: X:323.76, Y:-233.93, Z:-16.70 [[ 7.44686124e-01 6.65914566e-01 4.47254650e-02 3.23759461e+02] [-6.64788207e-01 7.46027473e-01 -3.87253151e-02 -2.33932587e+02] [-5.91541770e-02 -8.94756857e-04 9.98248457e-01 -1.66999842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60864 meters Centerline goodness [0,1] 0.9957935925654194 Centerline is valid? [True, True] Translation: X:323.78, Y:-233.95, Z:-16.70 [[ 7.44664912e-01 6.65983458e-01 4.40477305e-02 3.23784294e+02] [-6.64889057e-01 7.45966014e-01 -3.81739023e-02 -2.33953366e+02] [-5.82812974e-02 -8.60088442e-04 9.98299830e-01 -1.67012742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.63864 meters Centerline goodness [0,1] 0.9964755984140193 Centerline is valid? [True, True] Translation: X:323.81, Y:-233.98, Z:-16.70 [[ 7.44553433e-01 6.66063832e-01 4.47119424e-02 3.23808598e+02] [-6.64933997e-01 7.45894261e-01 -3.87882852e-02 -2.33975056e+02] [-5.91858550e-02 -8.50539673e-04 9.98246618e-01 -1.67035934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66864 meters Centerline goodness [0,1] 0.9963292873923257 Centerline is valid? [True, True] Translation: X:323.83, Y:-234.00, Z:-16.70 [[ 7.43973365e-01 6.66676993e-01 4.52263102e-02 3.23833917e+02] [-6.65519571e-01 7.45346239e-01 -3.92770267e-02 -2.33996632e+02] [-5.98943503e-02 -8.77932815e-04 9.98204336e-01 -1.67042673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.69864 meters Centerline goodness [0,1] 0.9967732472865943 Centerline is valid? [True, True] Translation: X:323.86, Y:-234.02, Z:-16.71 [[ 7.43532224e-01 6.67217203e-01 4.45088428e-02 3.23859279e+02] [-6.66094782e-01 7.44862697e-01 -3.86950240e-02 -2.34017209e+02] [-5.89709624e-02 -8.76110731e-04 9.98259314e-01 -1.67060568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72864 meters Centerline goodness [0,1] 0.9969215734180308 Centerline is valid? [True, True] Translation: X:323.88, Y:-234.04, Z:-16.71 [[ 7.44083490e-01 6.66614242e-01 4.43307152e-02 3.23884062e+02] [-6.65497906e-01 7.45402448e-01 -3.85710804e-02 -2.34038476e+02] [-5.87562552e-02 -8.01894004e-04 9.98272037e-01 -1.67072035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.75864 meters Centerline goodness [0,1] 0.9972079353416605 Centerline is valid? [True, True] Translation: X:323.91, Y:-234.06, Z:-16.71 [[ 7.43668281e-01 6.66981053e-01 4.57576543e-02 3.23908251e+02] [-6.65790941e-01 7.45074203e-01 -3.98353459e-02 -2.34059044e+02] [-6.06622688e-02 -8.40748529e-04 9.98157995e-01 -1.67094090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78864 meters Centerline goodness [0,1] 0.9971614545098615 Centerline is valid? [True, True] Translation: X:323.93, Y:-234.08, Z:-16.71 [[ 7.42996342e-01 6.67661365e-01 4.67411776e-02 3.23932698e+02] [-6.66418430e-01 7.44464583e-01 -4.07303419e-02 -2.34079292e+02] [-6.19912269e-02 -8.86687195e-04 9.98076300e-01 -1.67120615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.81864 meters Centerline goodness [0,1] 0.9979943254084728 Centerline is valid? [True, True] Translation: X:323.96, Y:-234.10, Z:-16.71 [[ 7.42470874e-01 6.68137063e-01 4.82686838e-02 3.23957352e+02] [-6.66809894e-01 7.44037638e-01 -4.21017744e-02 -2.34099455e+02] [-6.40434734e-02 -9.26694716e-04 9.97946679e-01 -1.67145109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84864 meters Centerline goodness [0,1] 0.9972582619339045 Centerline is valid? [True, True] Translation: X:323.98, Y:-234.12, Z:-16.71 [[ 7.41352359e-01 6.69450858e-01 4.72464702e-02 3.23982311e+02] [-6.68180246e-01 7.42855676e-01 -4.12383707e-02 -2.34120186e+02] [-6.27043712e-02 -9.96994648e-04 9.98031647e-01 -1.67139330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.87864 meters Centerline goodness [0,1] 0.997752369784032 Centerline is valid? [True, True] Translation: X:324.01, Y:-234.14, Z:-16.72 [[ 7.40320223e-01 6.70589154e-01 4.72879834e-02 3.24008081e+02] [-6.69316983e-01 7.41828168e-01 -4.13006801e-02 -2.34141460e+02] [-6.27753462e-02 -1.07492168e-03 9.98027104e-01 -1.67158514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90864 meters Centerline goodness [0,1] 0.9975493799931383 Centerline is valid? [True, True] Translation: X:324.03, Y:-234.16, Z:-16.72 [[ 7.38370741e-01 6.72677467e-01 4.81006678e-02 3.24034682e+02] [-6.71362805e-01 7.39934783e-01 -4.20535469e-02 -2.34160499e+02] [-6.38798306e-02 -1.24189066e-03 9.97956825e-01 -1.67167265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93864 meters Centerline goodness [0,1] 0.997703732655853 Centerline is valid? [True, True] Translation: X:324.06, Y:-234.18, Z:-16.72 [[ 7.37029207e-01 6.74140507e-01 4.81925782e-02 3.24060121e+02] [-6.72821436e-01 7.38601905e-01 -4.21727466e-02 -2.34180622e+02] [-6.40254868e-02 -1.34245371e-03 9.97947361e-01 -1.67179093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96864 meters Centerline goodness [0,1] 0.9985819070904646 Centerline is valid? [True, True] Translation: X:324.09, Y:-234.20, Z:-16.72 [[ 7.34964955e-01 6.76382056e-01 4.83097208e-02 3.24086452e+02] [-6.75058873e-01 7.36549406e-01 -4.23141971e-02 -2.34199577e+02] [-6.42030597e-02 -1.51245369e-03 9.97935709e-01 -1.67203486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99864 meters Centerline goodness [0,1] 0.9977517106549365 Centerline is valid? [True, True] Translation: X:324.11, Y:-234.22, Z:-16.72 [[ 7.33673752e-01 6.77828458e-01 4.76592808e-02 3.24113582e+02] [-6.76541194e-01 7.35218378e-01 -4.17845679e-02 -2.34219297e+02] [-6.33627483e-02 -1.58722602e-03 9.97989300e-01 -1.67211237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02864 meters Centerline goodness [0,1] 0.9978461990307895 Centerline is valid? [True, True] Translation: X:324.14, Y:-234.24, Z:-16.72 [[ 7.29961735e-01 6.81751328e-01 4.86928284e-02 3.24141936e+02] [-6.80414228e-01 7.31581396e-01 -4.27216527e-02 -2.34235374e+02] [-6.47483109e-02 -1.94612145e-03 9.97899729e-01 -1.67217793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05864 meters Centerline goodness [0,1] 0.9973526816354544 Centerline is valid? [True, True] Translation: X:324.17, Y:-234.25, Z:-16.72 [[ 7.27999640e-01 6.83811029e-01 4.91833488e-02 3.24168550e+02] [-6.82450066e-01 7.29656029e-01 -4.31739071e-02 -2.34253135e+02] [-6.54097208e-02 -2.13459086e-03 9.97856208e-01 -1.67231611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08864 meters Centerline goodness [0,1] 0.9973526816354544 Centerline is valid? [True, True] Translation: X:324.19, Y:-234.27, Z:-16.72 [[ 7.27648778e-01 6.84185791e-01 4.91635945e-02 3.24193176e+02] [-6.82824165e-01 7.29304622e-01 -4.31963947e-02 -2.34274362e+02] [-6.54095961e-02 -2.13828654e-03 9.97856208e-01 -1.67243866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11864 meters Centerline goodness [0,1] 0.9977980035231944 Centerline is valid? [True, True] Translation: X:324.22, Y:-234.29, Z:-16.73 [[ 7.25395371e-01 6.86510986e-01 5.00422054e-02 3.24222672e+02] [-6.85102803e-01 7.27115607e-01 -4.40118551e-02 -2.34289786e+02] [-6.66010905e-02 -2.35805924e-03 9.97776896e-01 -1.67260410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14864 meters Centerline goodness [0,1] 0.9979941291585127 Centerline is valid? [True, True] Translation: X:324.25, Y:-234.31, Z:-16.73 [[ 7.24960902e-01 6.86914285e-01 5.07981924e-02 3.24249987e+02] [-6.85461436e-01 7.26734474e-01 -4.47171550e-02 -2.34306974e+02] [-6.76336501e-02 -2.40201292e-03 9.97707332e-01 -1.67278829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17864 meters Centerline goodness [0,1] 0.998235121090303 Centerline is valid? [True, True] Translation: X:324.28, Y:-234.32, Z:-16.73 [[ 7.25157334e-01 6.86753836e-01 5.01598366e-02 3.24277135e+02] [-6.85334302e-01 7.26886337e-01 -4.41944230e-02 -2.34324565e+02] [-6.68111894e-02 -2.32834666e-03 9.97762920e-01 -1.67291291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20864 meters Centerline goodness [0,1] 0.9979474147199687 Centerline is valid? [True, True] Translation: X:324.31, Y:-234.34, Z:-16.73 [[ 7.26245180e-01 6.85638815e-01 4.96724590e-02 3.24308381e+02] [-6.84241551e-01 7.27938653e-01 -4.38042964e-02 -2.34337920e+02] [-6.61924287e-02 -2.17530128e-03 9.97804505e-01 -1.67307095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23864 meters Centerline goodness [0,1] 0.998094307354019 Centerline is valid? [True, True] Translation: X:324.34, Y:-234.35, Z:-16.73 [[ 7.28263579e-01 6.83593258e-01 4.82951052e-02 3.24340035e+02] [-6.82266201e-01 7.29860669e-01 -4.26173101e-02 -2.34351314e+02] [-6.43816037e-02 -1.91348316e-03 9.97923518e-01 -1.67306616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26864 meters Centerline goodness [0,1] 0.9977514908593216 Centerline is valid? [True, True] Translation: X:324.37, Y:-234.37, Z:-16.73 [[ 7.28911478e-01 6.82869740e-01 4.87542456e-02 3.24367341e+02] [-6.81514093e-01 7.30537815e-01 -4.30469823e-02 -2.34368886e+02] [-6.50123017e-02 -1.84926596e-03 9.97882749e-01 -1.67324119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29864 meters Centerline goodness [0,1] 0.9980449657869013 Centerline is valid? [True, True] Translation: X:324.40, Y:-234.38, Z:-16.73 [[ 7.29962867e-01 6.81739020e-01 4.88479415e-02 3.24398064e+02] [-6.80373059e-01 7.31593425e-01 -4.31689831e-02 -2.34383089e+02] [-6.51668131e-02 -1.72306870e-03 9.97872896e-01 -1.67342261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32864 meters Centerline goodness [0,1] 0.9988751406074241 Centerline is valid? [True, True] Translation: X:324.43, Y:-234.40, Z:-16.74 [[ 7.29749913e-01 6.81957239e-01 4.89835484e-02 3.24426078e+02] [-6.80581399e-01 7.31390031e-01 -4.33310774e-02 -2.34400931e+02] [-6.53760209e-02 -1.71644191e-03 9.97859223e-01 -1.67360347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35864 meters Centerline goodness [0,1] 0.998679060665362 Centerline is valid? [True, True] Translation: X:324.45, Y:-234.42, Z:-16.74 [[ 7.29690220e-01 6.81990738e-01 4.94046185e-02 3.24453415e+02] [-6.80588134e-01 7.31358832e-01 -4.37498609e-02 -2.34419552e+02] [-6.59695040e-02 -1.70035150e-03 9.97820191e-01 -1.67387988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38864 meters Centerline goodness [0,1] 0.9981426267168483 Centerline is valid? [True, True] Translation: X:324.48, Y:-234.44, Z:-16.74 [[ 7.31097632e-01 6.80574572e-01 4.81093001e-02 3.24481964e+02] [-6.79238862e-01 7.32677283e-01 -4.26446653e-02 -2.34435396e+02] [-6.42714661e-02 -1.50029242e-03 9.97931324e-01 -1.67397675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41864 meters Centerline goodness [0,1] 0.9980439141278302 Centerline is valid? [True, True] Translation: X:324.51, Y:-234.45, Z:-16.74 [[ 7.31998965e-01 6.79614047e-01 4.79819000e-02 3.24508971e+02] [-6.78280827e-01 7.33568561e-01 -4.25709596e-02 -2.34453873e+02] [-6.41298355e-02 -1.38330447e-03 9.97940605e-01 -1.67407039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44864 meters Centerline goodness [0,1] 0.9982406411885446 Centerline is valid? [True, True] Translation: X:324.54, Y:-234.47, Z:-16.74 [[ 7.34924930e-01 6.76364729e-01 4.91538470e-02 3.24538397e+02] [-6.74955514e-01 7.36566054e-01 -4.36520539e-02 -2.34468772e+02] [-6.57297647e-02 -1.09567745e-03 9.97836859e-01 -1.67417658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47864 meters Centerline goodness [0,1] 0.9981926533802267 Centerline is valid? [True, True] Translation: X:324.56, Y:-234.49, Z:-16.74 [[ 7.36658242e-01 6.74507770e-01 4.87227165e-02 3.24564967e+02] [-6.73116495e-01 7.38267210e-01 -4.33094689e-02 -2.34487787e+02] [-6.51829573e-02 -8.91786978e-04 9.97872931e-01 -1.67429233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50864 meters Centerline goodness [0,1] 0.9987771473292898 Centerline is valid? [True, True] Translation: X:324.59, Y:-234.51, Z:-16.74 [[ 7.40658840e-01 6.70213665e-01 4.73088473e-02 3.24591575e+02] [-6.68891448e-01 7.42168051e-01 -4.20810405e-02 -2.34507131e+02] [-6.33144034e-02 -4.76788786e-04 9.97993517e-01 -1.67440212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53864 meters Centerline goodness [0,1] 0.9986806743220132 Centerline is valid? [True, True] Translation: X:324.62, Y:-234.53, Z:-16.74 [[ 7.41872198e-01 6.68875313e-01 4.72383108e-02 3.24617732e+02] [-6.67552644e-01 7.43374535e-01 -4.20448478e-02 -2.34527951e+02] [-6.32385180e-02 -3.42155649e-04 9.97998383e-01 -1.67449728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56864 meters Centerline goodness [0,1] 0.998579754150546 Centerline is valid? [True, True] Translation: X:324.64, Y:-234.55, Z:-16.75 [[ 7.42750535e-01 6.67905881e-01 4.71527023e-02 3.24643684e+02] [-6.66583214e-01 7.44245715e-01 -4.20135050e-02 -2.34548637e+02] [-6.31542637e-02 -2.25646571e-04 9.98003752e-01 -1.67464928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59864 meters Centerline goodness [0,1] 0.9984837368549768 Centerline is valid? [True, True] Translation: X:324.67, Y:-234.57, Z:-16.75 [[ 7.44728571e-01 6.65790739e-01 4.58480914e-02 3.24670316e+02] [-6.64533790e-01 7.46138521e-01 -4.08919217e-02 -2.34567721e+02] [-6.14344898e-02 -1.42235486e-05 9.98111118e-01 -1.67474132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62864 meters Centerline goodness [0,1] 0.9988270368017204 Centerline is valid? [True, True] Translation: X:324.70, Y:-234.59, Z:-16.75 [[ 7.46783073e-01 6.63522882e-01 4.53037144e-02 3.24696243e+02] [-6.62289061e-01 7.48155963e-01 -4.04456931e-02 -2.34587788e+02] [-6.07308869e-02 2.00004564e-04 9.98154156e-01 -1.67482763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65864 meters Centerline goodness [0,1] 0.9987295382360127 Centerline is valid? [True, True] Translation: X:324.72, Y:-234.61, Z:-16.75 [[ 7.47062703e-01 6.63171674e-01 4.58328237e-02 3.24721371e+02] [-6.61905506e-01 7.48467274e-01 -4.09614526e-02 -2.34608896e+02] [-6.14688437e-02 2.63775152e-04 9.98108968e-01 -1.67492425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68864 meters Centerline goodness [0,1] 0.9990709046454768 Centerline is valid? [True, True] Translation: X:324.75, Y:-234.63, Z:-16.75 [[ 7.47425869e-01 6.62751444e-01 4.59901567e-02 3.24746711e+02] [-6.61473107e-01 7.48839378e-01 -4.11450541e-02 -2.34630436e+02] [-6.17081844e-02 3.31625971e-04 9.98094179e-01 -1.67498934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71864 meters Centerline goodness [0,1] 0.9988751956181534 Centerline is valid? [True, True] Translation: X:324.77, Y:-234.65, Z:-16.75 [[ 7.46655009e-01 6.63629827e-01 4.58448520e-02 3.24771285e+02] [-6.62358573e-01 7.48061073e-01 -4.10579110e-02 -2.34652352e+02] [-6.15420035e-02 2.90364161e-04 9.98104452e-01 -1.67519002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74864 meters Centerline goodness [0,1] 0.9992669338285602 Centerline is valid? [True, True] Translation: X:324.80, Y:-234.67, Z:-16.75 [[ 7.46234921e-01 6.64166158e-01 4.49083127e-02 3.24795150e+02] [-6.62944933e-01 7.47584939e-01 -4.02588390e-02 -2.34674329e+02] [-6.03113367e-02 2.70813196e-04 9.98179578e-01 -1.67545182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77864 meters Centerline goodness [0,1] 0.9991696786167823 Centerline is valid? [True, True] Translation: X:324.82, Y:-234.70, Z:-16.76 [[ 7.45680361e-01 6.64823654e-01 4.43881700e-02 3.24819654e+02] [-6.63629461e-01 7.47000301e-01 -3.98307516e-02 -2.34696973e+02] [-5.96384022e-02 2.43711892e-04 9.98220017e-01 -1.67562671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80864 meters Centerline goodness [0,1] 0.9991690292306188 Centerline is valid? [True, True] Translation: X:324.84, Y:-234.72, Z:-16.76 [[ 7.45414592e-01 6.65140358e-01 4.41065678e-02 3.24844290e+02] [-6.63959356e-01 7.46718315e-01 -3.96198337e-02 -2.34719162e+02] [-5.92879324e-02 2.48233777e-04 9.98240893e-01 -1.67570622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83864 meters Centerline goodness [0,1] 0.9986803519061583 Centerline is valid? [True, True] Translation: X:324.87, Y:-234.74, Z:-16.76 [[ 7.45205824e-01 6.65426838e-01 4.33059326e-02 3.24867897e+02] [-6.64286573e-01 7.46463034e-01 -3.89395389e-02 -2.34740457e+02] [-5.82376920e-02 2.50421618e-04 9.98302714e-01 -1.67583284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86864 meters Centerline goodness [0,1] 0.9988266353769434 Centerline is valid? [True, True] Translation: X:324.89, Y:-234.76, Z:-16.76 [[ 7.44794082e-01 6.65884217e-01 4.33587847e-02 3.24892278e+02] [-6.64739745e-01 7.46055059e-01 -3.90246236e-02 -2.34763026e+02] [-5.83339215e-02 2.43001233e-04 9.98297097e-01 -1.67594284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89864 meters Centerline goodness [0,1] 0.9986285938188765 Centerline is valid? [True, True] Translation: X:324.92, Y:-234.79, Z:-16.76 [[ 7.44759539e-01 6.65905991e-01 4.36169853e-02 3.24915973e+02] [-6.64745430e-01 7.46035614e-01 -3.92985600e-02 -2.34786215e+02] [-5.87089709e-02 2.73785731e-04 9.98275103e-01 -1.67606987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92864 meters Centerline goodness [0,1] 0.9980448702282614 Centerline is valid? [True, True] Translation: X:324.94, Y:-234.81, Z:-16.76 [[ 7.44437020e-01 6.66234061e-01 4.41100783e-02 3.24940352e+02] [-6.65045150e-01 7.45742647e-01 -3.97850793e-02 -2.34808996e+02] [-5.94009415e-02 2.82292232e-04 9.98234165e-01 -1.67607966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95864 meters Centerline goodness [0,1] 0.9981435341247741 Centerline is valid? [True, True] Translation: X:324.96, Y:-234.83, Z:-16.76 [[ 7.42304611e-01 6.68598880e-01 4.42651403e-02 3.24963482e+02] [-6.67403260e-01 7.43623239e-01 -3.99670738e-02 -2.34832543e+02] [-5.96385278e-02 1.25044233e-04 9.98220031e-01 -1.67629544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98864 meters Centerline goodness [0,1] 0.9980898271048636 Centerline is valid? [True, True] Translation: X:324.99, Y:-234.86, Z:-16.76 [[ 7.41110733e-01 6.69918918e-01 4.43116889e-02 3.24988035e+02] [-6.68720594e-01 7.42434267e-01 -4.00515345e-02 -2.34855168e+02] [-5.97297969e-02 5.04830986e-05 9.98214581e-01 -1.67647668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01864 meters Centerline goodness [0,1] 0.9976495935755558 Centerline is valid? [True, True] Translation: X:325.01, Y:-234.88, Z:-16.77 [[ 7.38019874e-01 6.73358854e-01 4.37552213e-02 3.25011677e+02] [-6.72194020e-01 7.39315775e-01 -3.95902034e-02 -2.34877851e+02] [-5.90073394e-02 -1.93641160e-04 9.98257530e-01 -1.67655817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04864 meters Centerline goodness [0,1] 0.9981394437916177 Centerline is valid? [True, True] Translation: X:325.04, Y:-234.90, Z:-16.77 [[ 7.36167072e-01 6.75418722e-01 4.32156549e-02 3.25036544e+02] [-6.74283592e-01 7.37434367e-01 -3.91432342e-02 -2.34899903e+02] [-5.83067823e-02 -3.23646848e-04 9.98298660e-01 -1.67670583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07864 meters Centerline goodness [0,1] 0.9963382482179475 Centerline is valid? [True, True] Translation: X:325.06, Y:-234.92, Z:-16.77 [[ 7.32959766e-01 6.78886905e-01 4.33883769e-02 3.25059313e+02] [-6.77746363e-01 7.34242632e-01 -3.93398582e-02 -2.34922676e+02] [-5.85649106e-02 -5.71781335e-04 9.98283439e-01 -1.67683059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10864 meters Centerline goodness [0,1] 0.9972162531744482 Centerline is valid? [True, True] Translation: X:325.08, Y:-234.95, Z:-16.77 [[ 7.31970575e-01 6.79954369e-01 4.33720480e-02 3.25083700e+02] [-6.78814298e-01 7.33254159e-01 -3.93635238e-02 -2.34945042e+02] [-5.85681345e-02 -6.28625236e-04 9.98283216e-01 -1.67691196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.13864 meters Centerline goodness [0,1] 0.9975536963647929 Centerline is valid? [True, True] Translation: X:325.11, Y:-234.97, Z:-16.77 [[ 7.30854518e-01 6.81077351e-01 4.45568713e-02 3.25107654e+02] [-6.79873640e-01 7.32211132e-01 -4.04807697e-02 -2.34966395e+02] [-6.01955726e-02 -7.07488835e-04 9.98186352e-01 -1.67705756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16864 meters Centerline goodness [0,1] 0.9970647228609167 Centerline is valid? [True, True] Translation: X:325.13, Y:-234.99, Z:-16.77 [[ 7.30280610e-01 6.81701061e-01 4.44285219e-02 3.25132526e+02] [-6.80503040e-01 7.31630463e-01 -4.04039330e-02 -2.34988877e+02] [-6.00486640e-02 -7.27535385e-04 9.98195186e-01 -1.67715539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.19864 meters Centerline goodness [0,1] 0.9976047318766192 Centerline is valid? [True, True] Translation: X:325.16, Y:-235.01, Z:-16.77 [[ 7.29674338e-01 6.82367296e-01 4.41614643e-02 3.25156990e+02] [-6.81182308e-01 7.31009109e-01 -4.02038134e-02 -2.35011517e+02] [-5.97162001e-02 -7.46317226e-04 9.98215116e-01 -1.67734363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22864 meters Centerline goodness [0,1] 0.9971133617104555 Centerline is valid? [True, True] Translation: X:325.18, Y:-235.03, Z:-16.77 [[ 7.28105076e-01 6.84096738e-01 4.32972402e-02 3.25181197e+02] [-6.82958335e-01 7.29390805e-01 -3.94584064e-02 -2.35034506e+02] [-5.85739760e-02 -8.40345102e-04 9.98282717e-01 -1.67745585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.25864 meters Centerline goodness [0,1] 0.9975050144317793 Centerline is valid? [True, True] Translation: X:325.21, Y:-235.05, Z:-16.78 [[ 7.25972324e-01 6.86287192e-01 4.44305742e-02 3.25206879e+02] [-6.85089928e-01 7.27329956e-01 -4.05330304e-02 -2.35054366e+02] [-6.01329871e-02 -1.01308064e-03 9.98189860e-01 -1.67753386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28864 meters Centerline goodness [0,1] 0.9969147894221352 Centerline is valid? [True, True] Translation: X:325.23, Y:-235.08, Z:-16.78 [[ 7.25077302e-01 6.87239251e-01 4.43296553e-02 3.25232468e+02] [-6.86046807e-01 7.26430373e-01 -4.04807601e-02 -2.35075306e+02] [-6.00223753e-02 -1.06053815e-03 9.98196469e-01 -1.67762530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.31864 meters Centerline goodness [0,1] 0.9976561355534939 Centerline is valid? [True, True] Translation: X:325.26, Y:-235.10, Z:-16.78 [[ 7.24331571e-01 6.87985509e-01 4.49412453e-02 3.25256884e+02] [-6.86758766e-01 7.25723579e-01 -4.10814192e-02 -2.35096185e+02] [-6.08783425e-02 -1.10722532e-03 9.98144579e-01 -1.67773763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34864 meters Centerline goodness [0,1] 0.9955916927899686 Centerline is valid? [True, True] Translation: X:325.28, Y:-235.12, Z:-16.78 [[ 7.24101137e-01 6.88293800e-01 4.39225272e-02 3.25282186e+02] [-6.87120461e-01 7.25431235e-01 -4.01869958e-02 -2.35115664e+02] [-5.95232332e-02 -1.08061782e-03 9.98226336e-01 -1.67771158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.37864 meters Centerline goodness [0,1] 0.9961302963507225 Centerline is valid? [True, True] Translation: X:325.31, Y:-235.14, Z:-16.78 [[ 7.23824592e-01 6.88564830e-01 4.42316040e-02 3.25308358e+02] [-6.87373018e-01 7.25173982e-01 -4.05096266e-02 -2.35136520e+02] [-5.99691126e-02 -1.08174717e-03 9.98199647e-01 -1.67782944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40864 meters Centerline goodness [0,1] 0.9975074532036557 Centerline is valid? [True, True] Translation: X:325.33, Y:-235.16, Z:-16.78 [[ 7.24060181e-01 6.88219264e-01 4.57285278e-02 3.25334078e+02] [-6.86941942e-01 7.25501982e-01 -4.19242416e-02 -2.35156658e+02] [-6.20292082e-02 -1.05716974e-03 9.98073775e-01 -1.67806964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43864 meters Centerline goodness [0,1] 0.9973081440877055 Centerline is valid? [True, True] Translation: X:325.36, Y:-235.18, Z:-16.78 [[ 7.24151447e-01 6.88137012e-01 4.55207145e-02 3.25359267e+02] [-6.86868567e-01 7.25580059e-01 -4.17749821e-02 -2.35178321e+02] [-6.17758341e-02 -1.01533421e-03 9.98089533e-01 -1.67814820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46864 meters Centerline goodness [0,1] 0.9964348505567494 Centerline is valid? [True, True] Translation: X:325.39, Y:-235.20, Z:-16.78 [[ 7.22906843e-01 6.89406069e-01 4.60973820e-02 3.25385041e+02] [-6.88105122e-01 7.24374246e-01 -4.23472869e-02 -2.35197766e+02] [-6.25862329e-02 -1.10670120e-03 9.98038946e-01 -1.67817720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49864 meters Centerline goodness [0,1] 0.9959371481717166 Centerline is valid? [True, True] Translation: X:325.41, Y:-235.22, Z:-16.78 [[ 7.21983892e-01 6.90403010e-01 4.56392754e-02 3.25410655e+02] [-6.89127265e-01 7.23424052e-01 -4.19672955e-02 -2.35217976e+02] [-6.19908966e-02 -1.15155767e-03 9.98076051e-01 -1.67836170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52864 meters Centerline goodness [0,1] 0.9953092934623278 Centerline is valid? [True, True] Translation: X:325.44, Y:-235.24, Z:-16.78 [[ 7.20601462e-01 6.91881286e-01 4.50978794e-02 3.25436127e+02] [-6.90635850e-01 7.22010228e-01 -4.15132996e-02 -2.35238915e+02] [-6.12834053e-02 -1.23166787e-03 9.98119646e-01 -1.67849261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55864 meters Centerline goodness [0,1] 0.99677529681927 Centerline is valid? [True, True] Translation: X:325.46, Y:-235.26, Z:-16.79 [[ 7.18470185e-01 6.94151089e-01 4.42137856e-02 3.25462146e+02] [-6.92956424e-01 7.19828019e-01 -4.07310418e-02 -2.35257504e+02] [-6.00998187e-02 -1.37418762e-03 9.98191426e-01 -1.67855521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58864 meters Centerline goodness [0,1] 0.9962343505477308 Centerline is valid? [True, True] Translation: X:325.49, Y:-235.28, Z:-16.79 [[ 7.18819211e-01 6.93748992e-01 4.48472753e-02 3.25490317e+02] [-6.92517475e-01 7.20215618e-01 -4.13401759e-02 -2.35275663e+02] [-6.09794135e-02 -1.34140929e-03 9.98138123e-01 -1.67873667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61864 meters Centerline goodness [0,1] 0.9955051788157123 Centerline is valid? [True, True] Translation: X:325.52, Y:-235.30, Z:-16.79 [[ 7.19787680e-01 6.92733372e-01 4.50130121e-02 3.25515012e+02] [-6.91488131e-01 7.21192737e-01 -4.15355277e-02 -2.35295916e+02] [-6.12361035e-02 -1.22920249e-03 9.98122552e-01 -1.67894755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64864 meters Centerline goodness [0,1] 0.9974565908535095 Centerline is valid? [True, True] Translation: X:325.54, Y:-235.32, Z:-16.79 [[ 7.21761933e-01 6.90666985e-01 4.51533770e-02 3.25540103e+02] [-6.89407502e-01 7.23172219e-01 -4.17041752e-02 -2.35316421e+02] [-6.14573648e-02 -1.02859071e-03 9.98109180e-01 -1.67909419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67864 meters Centerline goodness [0,1] 0.9971143499951091 Centerline is valid? [True, True] Translation: X:325.57, Y:-235.34, Z:-16.79 [[ 7.26807964e-01 6.85340172e-01 4.53765681e-02 3.25565737e+02] [-6.84055327e-01 7.28222868e-01 -4.19495479e-02 -2.35335715e+02] [-6.17939649e-02 -5.50817622e-04 9.98088775e-01 -1.67931382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70864 meters Centerline goodness [0,1] 0.9976035604245121 Centerline is valid? [True, True] Translation: X:325.59, Y:-235.36, Z:-16.79 [[ 7.30929597e-01 6.80962561e-01 4.50767550e-02 3.25590518e+02] [-6.79683907e-01 7.32318215e-01 -4.17111320e-02 -2.35356821e+02] [-6.14142480e-02 -1.50044048e-04 9.98112352e-01 -1.67942717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73864 meters Centerline goodness [0,1] 0.9970651535902955 Centerline is valid? [True, True] Translation: X:325.61, Y:-235.38, Z:-16.79 [[ 7.32154185e-01 6.79714566e-01 4.40267833e-02 3.25614289e+02] [-6.78490340e-01 7.33476726e-01 -4.07768384e-02 -2.35378077e+02] [-6.00092320e-02 -1.68142757e-05 9.98197822e-01 -1.67948229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76864 meters Centerline goodness [0,1] 0.997555370850242 Centerline is valid? [True, True] Translation: X:325.64, Y:-235.40, Z:-16.80 [[ 7.32771369e-01 6.79091653e-01 4.33664417e-02 3.25638182e+02] [-6.77900627e-01 7.34053488e-01 -4.02022015e-02 -2.35398966e+02] [-5.91342673e-02 6.08842194e-05 9.98250036e-01 -1.67965858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79864 meters Centerline goodness [0,1] 0.9971091185261405 Centerline is valid? [True, True] Translation: X:325.66, Y:-235.42, Z:-16.80 [[ 7.32278988e-01 6.79728815e-01 4.16679939e-02 3.25662888e+02] [-6.78628377e-01 7.33463521e-01 -3.86625067e-02 -2.35419924e+02] [-5.68419734e-02 3.46582119e-05 9.98383187e-01 -1.67962247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82864 meters Centerline goodness [0,1] 0.9978973105134474 Centerline is valid? [True, True] Translation: X:325.69, Y:-235.44, Z:-16.80 [[ 7.31246254e-01 6.80805037e-01 4.22305184e-02 3.25687059e+02] [-6.79674235e-01 7.32464675e-01 -3.92228772e-02 -2.35442915e+02] [-5.76354953e-02 -2.14132388e-05 9.98337693e-01 -1.67988304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85864 meters Centerline goodness [0,1] 0.9977507212361254 Centerline is valid? [True, True] Translation: X:325.71, Y:-235.47, Z:-16.80 [[ 7.31000755e-01 6.81039242e-01 4.27018380e-02 3.25709620e+02] [-6.79880949e-01 7.32246919e-01 -3.97032016e-02 -2.35467486e+02] [-5.83077277e-02 -9.09580024e-06 9.98298657e-01 -1.67992969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88864 meters Centerline goodness [0,1] 0.9974997548779292 Centerline is valid? [True, True] Translation: X:325.73, Y:-235.49, Z:-16.80 [[ 7.31239605e-01 6.80748754e-01 4.32408897e-02 3.25733936e+02] [-6.79557960e-01 7.32516984e-01 -4.02473191e-02 -2.35490277e+02] [-5.90729984e-02 4.57428783e-05 9.98253665e-01 -1.68006159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91864 meters Centerline goodness [0,1] 0.9979471137396745 Centerline is valid? [True, True] Translation: X:325.76, Y:-235.51, Z:-16.80 [[ 7.31852187e-01 6.80133461e-01 4.25541057e-02 3.25758479e+02] [-6.78976774e-01 7.33088303e-01 -3.96494729e-02 -2.35512105e+02] [-5.81628503e-02 1.24304088e-04 9.98307101e-01 -1.68009953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94864 meters Centerline goodness [0,1] 0.9976509738670842 Centerline is valid? [True, True] Translation: X:325.78, Y:-235.53, Z:-16.80 [[ 7.32222562e-01 6.79782818e-01 4.17784553e-02 3.25781577e+02] [-6.78665163e-01 7.33413450e-01 -3.89654826e-02 -2.35533992e+02] [-5.71289466e-02 1.77823308e-04 9.98366792e-01 -1.68018478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97864 meters Centerline goodness [0,1] 0.9978973105134474 Centerline is valid? [True, True] Translation: X:325.80, Y:-235.56, Z:-16.80 [[ 7.32000198e-01 6.80011484e-01 4.19534554e-02 3.25804943e+02] [-6.78882636e-01 7.33201436e-01 -3.91665748e-02 -2.35557348e+02] [-5.73940544e-02 1.88468080e-04 9.98351585e-01 -1.68031269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00864 meters Centerline goodness [0,1] 0.9971681070260241 Centerline is valid? [True, True] Translation: X:325.83, Y:-235.58, Z:-16.80 [[ 7.31914988e-01 6.80154435e-01 4.11144179e-02 3.25826683e+02] [-6.79068401e-01 7.33068826e-01 -3.84213916e-02 -2.35581033e+02] [-5.62721780e-02 2.01690343e-04 9.98415445e-01 -1.68035406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03864 meters Centerline goodness [0,1] 0.9971681070260241 Centerline is valid? [True, True] Translation: X:325.85, Y:-235.60, Z:-16.80 [[ 7.31558585e-01 6.80538875e-01 4.10959426e-02 3.25850677e+02] [-6.79452337e-01 7.32711949e-01 -3.84411460e-02 -2.35603021e+02] [-5.62721824e-02 1.99216152e-04 9.98415445e-01 -1.68047655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06864 meters Centerline goodness [0,1] 0.998092536437445 Centerline is valid? [True, True] Translation: X:325.87, Y:-235.63, Z:-16.81 [[ 7.30414124e-01 6.81681596e-01 4.24901141e-02 3.25873591e+02] [-6.80519569e-01 7.31648947e-01 -3.97861251e-02 -2.35625388e+02] [-5.82093165e-02 1.44993625e-04 9.98304390e-01 -1.68067916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09864 meters Centerline goodness [0,1] 0.9982402971942517 Centerline is valid? [True, True] Translation: X:325.90, Y:-235.65, Z:-16.81 [[ 7.29516955e-01 6.82641269e-01 4.24959999e-02 3.25897208e+02] [-6.81478305e-01 7.30753644e-01 -3.98300351e-02 -2.35648867e+02] [-5.82437325e-02 9.65839374e-05 9.98302388e-01 -1.68076234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12864 meters Centerline goodness [0,1] 0.9984329856520249 Centerline is valid? [True, True] Translation: X:325.92, Y:-235.67, Z:-16.81 [[ 7.28612377e-01 6.83614891e-01 4.23637302e-02 3.25920784e+02] [-6.82458373e-01 7.29842914e-01 -3.97478311e-02 -2.35672247e+02] [-5.80910775e-02 4.92792796e-05 9.98311286e-01 -1.68090760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15864 meters Centerline goodness [0,1] 0.9984821035107477 Centerline is valid? [True, True] Translation: X:325.94, Y:-235.70, Z:-16.81 [[ 7.27245424e-01 6.85113358e-01 4.16386994e-02 3.25942922e+02] [-6.83996323e-01 7.28436466e-01 -3.91068318e-02 -2.35695522e+02] [-5.71237599e-02 -4.04528490e-05 9.98367104e-01 -1.68102462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18864 meters Centerline goodness [0,1] 0.9984833659491194 Centerline is valid? [True, True] Translation: X:325.97, Y:-235.72, Z:-16.81 [[ 7.26508132e-01 6.85891377e-01 4.17007606e-02 3.25966564e+02] [-6.84770096e-01 7.27703933e-01 -3.92033379e-02 -2.35719247e+02] [-5.72350389e-02 -7.38900509e-05 9.98360729e-01 -1.68116636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21864 meters Centerline goodness [0,1] 0.9979964816262705 Centerline is valid? [True, True] Translation: X:325.99, Y:-235.74, Z:-16.81 [[ 7.25756061e-01 6.86616299e-01 4.28508730e-02 3.25987599e+02] [-6.85431073e-01 7.27019977e-01 -4.03261355e-02 -2.35743599e+02] [-5.88420226e-02 -1.04382592e-04 9.98267302e-01 -1.68126987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24864 meters Centerline goodness [0,1] 0.9977500611396429 Centerline is valid? [True, True] Translation: X:326.01, Y:-235.77, Z:-16.81 [[ 7.25105898e-01 6.87259849e-01 4.35354539e-02 3.26011011e+02] [-6.86035153e-01 7.26411648e-01 -4.10108061e-02 -2.35767594e+02] [-5.98097412e-02 -1.29674366e-04 9.98209787e-01 -1.68138556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27864 meters Centerline goodness [0,1] 0.998434059212136 Centerline is valid? [True, True] Translation: X:326.03, Y:-235.79, Z:-16.81 [[ 7.23720957e-01 6.88723732e-01 4.34464842e-02 3.26032687e+02] [-6.87504081e-01 7.25023843e-01 -4.09703029e-02 -2.35792473e+02] [-5.97169568e-02 -2.18568377e-04 9.98215326e-01 -1.68143208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30864 meters Centerline goodness [0,1] 0.998192035182018 Centerline is valid? [True, True] Translation: X:326.06, Y:-235.82, Z:-16.82 [[ 7.23100929e-01 6.89433280e-01 4.25064688e-02 3.26055749e+02] [-6.88264768e-01 7.24349152e-01 -4.01237454e-02 -2.35815247e+02] [-5.84521700e-02 -2.42187326e-04 9.98290181e-01 -1.68157886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33864 meters Centerline goodness [0,1] 0.9981935357875208 Centerline is valid? [True, True] Translation: X:326.08, Y:-235.84, Z:-16.82 [[ 7.22074797e-01 6.90566483e-01 4.15441924e-02 3.26078627e+02] [-6.89450136e-01 7.23268859e-01 -3.92513390e-02 -2.35838244e+02] [-5.71532798e-02 -3.00246418e-04 9.98365370e-01 -1.68169619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36864 meters Centerline goodness [0,1] 0.9984841075794622 Centerline is valid? [True, True] Translation: X:326.10, Y:-235.86, Z:-16.82 [[ 7.19224177e-01 6.93539255e-01 4.14714926e-02 3.26100796e+02] [-6.92429551e-01 7.20418659e-01 -3.92208271e-02 -2.35862959e+02] [-5.70780203e-02 -5.07519877e-04 9.98369592e-01 -1.68182171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39864 meters Centerline goodness [0,1] 0.9987777451843161 Centerline is valid? [True, True] Translation: X:326.12, Y:-235.89, Z:-16.82 [[ 7.17525371e-01 6.95250325e-01 4.22413059e-02 3.26123943e+02] [-6.94099568e-01 7.18767413e-01 -3.99899405e-02 -2.35885904e+02] [-5.81646933e-02 -6.25875309e-04 9.98306805e-01 -1.68184185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42864 meters Centerline goodness [0,1] 0.9989736070381232 Centerline is valid? [True, True] Translation: X:326.15, Y:-235.91, Z:-16.82 [[ 7.13871660e-01 6.98900432e-01 4.38798226e-02 3.26149325e+02] [-6.97663047e-01 7.15218373e-01 -4.15806595e-02 -2.35906467e+02] [-6.04443963e-02 -9.30076305e-04 9.98171133e-01 -1.68185757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45864 meters Centerline goodness [0,1] 0.9992645256190242 Centerline is valid? [True, True] Translation: X:326.18, Y:-235.93, Z:-16.82 [[ 7.12099475e-01 7.00713461e-01 4.37605307e-02 3.26175550e+02] [-6.99483902e-01 7.13442034e-01 -4.15058458e-02 -2.35925887e+02] [-6.03043069e-02 -1.05349581e-03 9.98179483e-01 -1.68201695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48864 meters Centerline goodness [0,1] 0.9991692322728828 Centerline is valid? [True, True] Translation: X:326.20, Y:-235.95, Z:-16.82 [[ 7.11893918e-01 7.00891756e-01 4.42469952e-02 3.26200490e+02] [-6.99632486e-01 7.13266880e-01 -4.20088350e-02 -2.35947558e+02] [-6.10035623e-02 -1.05080112e-03 9.98136995e-01 -1.68215506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51864 meters Centerline goodness [0,1] 0.9993646138807429 Centerline is valid? [True, True] Translation: X:326.23, Y:-235.97, Z:-16.82 [[ 7.12194312e-01 7.00567963e-01 4.45397671e-02 3.26225888e+02] [-6.99288518e-01 7.13584988e-01 -4.23324126e-02 -2.35968868e+02] [-6.14396412e-02 -9.97244286e-04 9.98110303e-01 -1.68224212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54864 meters Centerline goodness [0,1] 0.9992174125703106 Centerline is valid? [True, True] Translation: X:326.25, Y:-235.99, Z:-16.82 [[ 7.15385304e-01 6.97324940e-01 4.42921627e-02 3.26253877e+02] [-6.96050851e-01 7.16754812e-01 -4.21396681e-02 -2.35986561e+02] [-6.11316623e-02 -6.83498331e-04 9.98129477e-01 -1.68230846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57864 meters Centerline goodness [0,1] 0.9991675643913427 Centerline is valid? [True, True] Translation: X:326.28, Y:-236.01, Z:-16.82 [[ 7.17286194e-01 6.95363068e-01 4.43927970e-02 3.26279417e+02] [-6.94076999e-01 7.18658448e-01 -4.22747504e-02 -2.36006534e+02] [-6.12995588e-02 -4.88924500e-04 9.98119294e-01 -1.68247079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60864 meters Centerline goodness [0,1] 0.9997068451653882 Centerline is valid? [True, True] Translation: X:326.31, Y:-236.02, Z:-16.83 [[ 7.20207164e-01 6.92376499e-01 4.37769938e-02 3.26305786e+02] [-6.91118030e-01 7.21536377e-01 -4.17267965e-02 -2.36024982e+02] [-6.04773468e-02 -2.03131965e-04 9.98169549e-01 -1.68268295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.63864 meters Centerline goodness [0,1] 0.9996083039561301 Centerline is valid? [True, True] Translation: X:326.33, Y:-236.04, Z:-16.83 [[ 7.21353012e-01 6.91208020e-01 4.33740241e-02 3.26330792e+02] [-6.89968770e-01 7.22655842e-01 -4.13718472e-02 -2.36044819e+02] [-5.99410445e-02 -8.30155379e-05 9.98201916e-01 -1.68271367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66864 meters Centerline goodness [0,1] 0.9997068165160029 Centerline is valid? [True, True] Translation: X:326.36, Y:-236.06, Z:-16.83 [[ 7.23112144e-01 6.89309127e-01 4.42917041e-02 3.26358380e+02] [-6.88011797e-01 7.24467335e-01 -4.22711218e-02 -2.36062771e+02] [-6.12257628e-02 9.35465554e-05 9.98123939e-01 -1.68291512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.69864 meters Centerline goodness [0,1] 0.9994136903307763 Centerline is valid? [True, True] Translation: X:326.38, Y:-236.08, Z:-16.83 [[ 7.23920298e-01 6.88473372e-01 4.40887529e-02 3.26383628e+02] [-6.87183854e-01 7.25261593e-01 -4.21185575e-02 -2.36083824e+02] [-6.09733844e-02 1.93399530e-04 9.98139374e-01 -1.68300332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72864 meters Centerline goodness [0,1] 0.9994135757220349 Centerline is valid? [True, True] Translation: X:326.41, Y:-236.10, Z:-16.83 [[ 7.26186026e-01 6.86112761e-01 4.36249358e-02 3.26410624e+02] [-6.84843358e-01 7.27495089e-01 -4.17189485e-02 -2.36103452e+02] [-6.03608295e-02 4.19469837e-04 9.98176535e-01 -1.68312826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.75864 meters Centerline goodness [0,1] 0.9995111936650699 Centerline is valid? [True, True] Translation: X:326.44, Y:-236.12, Z:-16.83 [[ 7.27017480e-01 6.85223192e-01 4.37579809e-02 3.26436324e+02] [-6.83941777e-01 7.28332959e-01 -4.18896917e-02 -2.36124574e+02] [-6.05741679e-02 5.26626844e-04 9.98163560e-01 -1.68323095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78864 meters Centerline goodness [0,1] 0.9990224351141307 Centerline is valid? [True, True] Translation: X:326.46, Y:-236.14, Z:-16.83 [[ 7.30030948e-01 6.82000346e-01 4.39356653e-02 3.26462397e+02] [-6.80700126e-01 7.31351381e-01 -4.21010192e-02 -2.36144541e+02] [-6.08453192e-02 8.28034119e-04 9.98146864e-01 -1.68328278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.81864 meters Centerline goodness [0,1] 0.9990713587487781 Centerline is valid? [True, True] Translation: X:326.49, Y:-236.17, Z:-16.84 [[ 7.31429033e-01 6.80516205e-01 4.36951300e-02 3.26486628e+02] [-6.79225278e-01 7.32732384e-01 -4.19079474e-02 -2.36166344e+02] [-6.05358741e-02 9.73852635e-04 9.98165547e-01 -1.68351096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84864 meters Centerline goodness [0,1] 0.9987300346798222 Centerline is valid? [True, True] Translation: X:326.51, Y:-236.19, Z:-16.84 [[ 7.32850808e-01 6.78983689e-01 4.37132016e-02 3.26510880e+02] [-6.77686708e-01 7.34152489e-01 -4.19624674e-02 -2.36188209e+02] [-6.05839867e-02 1.12837244e-03 9.98162465e-01 -1.68360627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.87864 meters Centerline goodness [0,1] 0.9991688260890823 Centerline is valid? [True, True] Translation: X:326.54, Y:-236.21, Z:-16.84 [[ 7.34941100e-01 6.76733947e-01 4.35056932e-02 3.26535275e+02] [-6.75443105e-01 7.36226449e-01 -4.17998672e-02 -2.36209458e+02] [-6.03174311e-02 1.33481986e-03 9.98178354e-01 -1.68382525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90864 meters Centerline goodness [0,1] 0.9987292898685304 Centerline is valid? [True, True] Translation: X:326.56, Y:-236.23, Z:-16.84 [[ 7.36283227e-01 6.75294443e-01 4.31789865e-02 3.26558343e+02] [-6.74018292e-01 7.37546784e-01 -4.15220924e-02 -2.36232430e+02] [-5.98861609e-02 1.46859347e-03 9.98204133e-01 -1.68384794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93864 meters Centerline goodness [0,1] 0.9986324786324786 Centerline is valid? [True, True] Translation: X:326.58, Y:-236.26, Z:-16.84 [[ 7.37963292e-01 6.73433962e-01 4.35531704e-02 3.26579757e+02] [-6.72130132e-01 7.39245521e-01 -4.19183146e-02 -2.36256838e+02] [-6.04257028e-02 1.66077927e-03 9.98171316e-01 -1.68380660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96864 meters Centerline goodness [0,1] 0.9984342890693806 Centerline is valid? [True, True] Translation: X:326.60, Y:-236.28, Z:-16.84 [[ 7.38554790e-01 6.72765161e-01 4.38618218e-02 3.26601949e+02] [-6.71439360e-01 7.39854011e-01 -4.22519572e-02 -2.36279788e+02] [-6.08769896e-02 1.75483180e-03 9.98143733e-01 -1.68399391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99864 meters Centerline goodness [0,1] 0.9992654620243867 Centerline is valid? [True, True] Translation: X:326.62, Y:-236.31, Z:-16.84 [[ 7.38082262e-01 6.73252211e-01 4.43399984e-02 3.26622107e+02] [-6.71895787e-01 7.39410816e-01 -4.27515637e-02 -2.36306435e+02] [-6.15680592e-02 1.76231271e-03 9.98101332e-01 -1.68419878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02864 meters Centerline goodness [0,1] 0.9990225784380803 Centerline is valid? [True, True] Translation: X:326.64, Y:-236.33, Z:-16.84 [[ 7.37112672e-01 6.74352399e-01 4.37464386e-02 3.26642684e+02] [-6.73031631e-01 7.38407767e-01 -4.22184078e-02 -2.36331524e+02] [-6.07727946e-02 1.67698650e-03 9.98150217e-01 -1.68429905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05864 meters Centerline goodness [0,1] 0.9992175656511321 Centerline is valid? [True, True] Translation: X:326.66, Y:-236.36, Z:-16.84 [[ 7.36248225e-01 6.75297419e-01 4.37258081e-02 3.26663810e+02] [-6.73977347e-01 7.37543731e-01 -4.22348342e-02 -2.36356687e+02] [-6.07707702e-02 1.62511761e-03 9.98150426e-01 -1.68440005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08864 meters Centerline goodness [0,1] 0.9996088975800538 Centerline is valid? [True, True] Translation: X:326.68, Y:-236.38, Z:-16.84 [[ 7.33477572e-01 6.78294957e-01 4.38930780e-02 3.26682687e+02] [-6.76967845e-01 7.34788381e-01 -4.24331492e-02 -2.36383300e+02] [-6.10343148e-02 1.40956086e-03 9.98134673e-01 -1.68444763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11864 meters Centerline goodness [0,1] 0.9997068165160029 Centerline is valid? [True, True] Translation: X:326.70, Y:-236.41, Z:-16.85 [[ 7.31302101e-01 6.80645450e-01 4.38064841e-02 3.26702180e+02] [-6.79325522e-01 7.32611929e-01 -4.23862895e-02 -2.36409600e+02] [-6.09431879e-02 1.23831991e-03 9.98140468e-01 -1.68477026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14864 meters Centerline goodness [0,1] 0.9998533724340176 Centerline is valid? [True, True] Translation: X:326.72, Y:-236.43, Z:-16.85 [[ 7.29877432e-01 6.82157864e-01 4.40406908e-02 3.26723131e+02] [-6.80824213e-01 7.31204032e-01 -4.26503801e-02 -2.36434607e+02] [-6.12970229e-02 1.14558132e-03 9.98118912e-01 -1.68487040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17864 meters Centerline goodness [0,1] 0.9999510835004647 Centerline is valid? [True, True] Translation: X:326.74, Y:-236.46, Z:-16.85 [[ 7.28935509e-01 6.83124826e-01 4.46485812e-02 3.26744362e+02] [-6.81753350e-01 7.30300789e-01 -4.32796418e-02 -2.36459748e+02] [-6.21722918e-02 1.10874789e-03 9.98064816e-01 -1.68502374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20864 meters Centerline goodness [0,1] 0.9999023055881203 Centerline is valid? [True, True] Translation: X:326.76, Y:-236.49, Z:-16.85 [[ 7.26685967e-01 6.85485730e-01 4.51311400e-02 3.26763839e+02] [-6.84086290e-01 7.28085446e-01 -4.37896286e-02 -2.36486223e+02] [-6.28764917e-02 9.47714451e-04 9.98020866e-01 -1.68507149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23864 meters Centerline goodness [0,1] 0.9998044201056131 Centerline is valid? [True, True] Translation: X:326.79, Y:-236.51, Z:-16.85 [[ 7.25688526e-01 6.86592300e-01 4.43528693e-02 3.26785134e+02] [-6.85240482e-01 7.27042135e-01 -4.30722099e-02 -2.36510097e+02] [-6.18194524e-02 8.64626936e-04 9.98086974e-01 -1.68506545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26864 meters Centerline goodness [0,1] 0.9999019367492032 Centerline is valid? [True, True] Translation: X:326.80, Y:-236.54, Z:-16.85 [[ 7.23745192e-01 6.88656164e-01 4.41087828e-02 3.26804735e+02] [-6.87320665e-01 7.25087705e-01 -4.28733493e-02 -2.36536448e+02] [-6.15077323e-02 7.12502471e-04 9.98106353e-01 -1.68540059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.83, Y:-236.56, Z:-16.86 [[ 7.22406100e-01 6.90098033e-01 4.35216243e-02 3.26825915e+02] [-6.88798194e-01 7.23715644e-01 -4.23404516e-02 -2.36561127e+02] [-6.07163428e-02 6.09384316e-04 9.98154875e-01 -1.68557708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.85, Y:-236.59, Z:-16.86 [[ 7.18769308e-01 6.93899318e-01 4.32945432e-02 3.26845449e+02] [-6.92617564e-01 7.20071966e-01 -4.21577157e-02 -2.36587180e+02] [-6.04283970e-02 3.15111087e-04 9.98172485e-01 -1.68577232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35864 meters Centerline goodness [0,1] 0.9999019896108987 Centerline is valid? [True, True] Translation: X:326.87, Y:-236.61, Z:-16.86 [[ 7.16378505e-01 6.96364582e-01 4.33382682e-02 3.26868257e+02] [-6.95082566e-01 7.17688199e-01 -4.22359465e-02 -2.36611301e+02] [-6.05149809e-02 1.33249526e-04 9.98167280e-01 -1.68577220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38864 meters Centerline goodness [0,1] 0.9999510882856444 Centerline is valid? [True, True] Translation: X:326.89, Y:-236.64, Z:-16.86 [[ 7.12950625e-01 6.99814978e-01 4.42764336e-02 3.26889223e+02] [-6.98481229e-01 7.14324140e-01 -4.31855937e-02 -2.36635830e+02] [-6.18496507e-02 -1.37061733e-04 9.98085468e-01 -1.68587950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.91, Y:-236.66, Z:-16.86 [[ 7.11306240e-01 7.01423682e-01 4.52576019e-02 3.26910664e+02] [-7.00030713e-01 7.12744522e-01 -4.41842400e-02 -2.36659689e+02] [-6.32489801e-02 -2.53185715e-04 9.97997747e-01 -1.68605480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44864 meters Centerline goodness [0,1] 0.9999023103599863 Centerline is valid? [True, True] Translation: X:326.93, Y:-236.69, Z:-16.86 [[ 7.07947145e-01 7.04858848e-01 4.45515976e-02 3.26931449e+02] [-7.03513167e-01 7.09347400e-01 -4.35372296e-02 -2.36685266e+02] [-6.22901614e-02 -5.20578147e-04 9.98057947e-01 -1.68623383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.95, Y:-236.71, Z:-16.86 [[ 7.06664522e-01 7.06140077e-01 4.46256057e-02 3.26954736e+02] [-7.04789574e-01 7.08071910e-01 -4.36557671e-02 -2.36709345e+02] [-6.24252246e-02 -6.01679835e-04 9.98049462e-01 -1.68633011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50864 meters Centerline goodness [0,1] 0.9999511432479968 Centerline is valid? [True, True] Translation: X:326.98, Y:-236.73, Z:-16.86 [[ 7.05876211e-01 7.07012963e-01 4.32602026e-02 3.26976064e+02] [-7.05743008e-01 7.07200308e-01 -4.23619118e-02 -2.36733316e+02] [-6.05440494e-02 -6.28319685e-04 9.98165329e-01 -1.68642723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.00, Y:-236.76, Z:-16.87 [[ 7.05846120e-01 7.07005788e-01 4.38642240e-02 3.26998737e+02] [-7.05697456e-01 7.07207500e-01 -4.29959522e-02 -2.36757358e+02] [-6.14194952e-02 -6.06345239e-04 9.98111856e-01 -1.68668752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.02, Y:-236.78, Z:-16.87 [[ 7.06531587e-01 7.06270056e-01 4.46735392e-02 3.27021628e+02] [-7.04908507e-01 7.07942327e-01 -4.38367210e-02 -2.36781422e+02] [-6.25868526e-02 -5.18729762e-04 9.98039386e-01 -1.68682772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.04, Y:-236.81, Z:-16.87 [[ 7.07255963e-01 7.05591795e-01 4.39229139e-02 3.27042098e+02] [-7.04271678e-01 7.08618404e-01 -4.31435002e-02 -2.36806898e+02] [-6.15662849e-02 -4.20166477e-04 9.98102909e-01 -1.68712029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.06, Y:-236.83, Z:-16.87 [[ 7.08095408e-01 7.04769899e-01 4.35922285e-02 3.27062007e+02] [-7.03466039e-01 7.09435892e-01 -4.28514541e-02 -2.36833180e+02] [-6.11263065e-02 -3.22734430e-04 9.98129987e-01 -1.68732956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65864 meters Centerline goodness [0,1] 0.9999509731823307 Centerline is valid? [True, True] Translation: X:327.08, Y:-236.86, Z:-16.87 [[ 7.08245133e-01 7.04649656e-01 4.31009718e-02 3.27083712e+02] [-7.03373110e-01 7.09555339e-01 -4.23968095e-02 -2.36857308e+02] [-6.04574219e-02 -2.88730634e-04 9.98170735e-01 -1.68739039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68864 meters Centerline goodness [0,1] 0.9999021191210297 Centerline is valid? [True, True] Translation: X:327.11, Y:-236.88, Z:-16.87 [[ 7.08159917e-01 7.04748041e-01 4.28920827e-02 3.27105615e+02] [-7.03481522e-01 7.09457629e-01 -4.22329282e-02 -2.36881668e+02] [-6.01936887e-02 -2.66120677e-04 9.98186680e-01 -1.68745639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71864 meters Centerline goodness [0,1] 0.9999510811075237 Centerline is valid? [True, True] Translation: X:327.12, Y:-236.91, Z:-16.88 [[ 7.07808269e-01 7.05066465e-01 4.34595724e-02 3.27124664e+02] [-7.03763930e-01 7.09141178e-01 -4.28382985e-02 -2.36909986e+02] [-6.10228201e-02 -2.63977552e-04 9.98136336e-01 -1.68759795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74864 meters Centerline goodness [0,1] 0.9998533580995209 Centerline is valid? [True, True] Translation: X:327.14, Y:-236.94, Z:-16.88 [[ 7.06434033e-01 7.06380841e-01 4.44641967e-02 3.27143345e+02] [-7.05017141e-01 7.07831888e-01 -4.38731026e-02 -2.36936153e+02] [-6.24642954e-02 -3.54567989e-04 9.98047136e-01 -1.68763131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.17, Y:-236.96, Z:-16.88 [[ 7.04968093e-01 7.07833624e-01 4.46267798e-02 3.27165332e+02] [-7.06460170e-01 7.06379044e-01 -4.40757763e-02 -2.36960618e+02] [-6.27217385e-02 -4.55026536e-04 9.98030950e-01 -1.68782549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80864 meters Centerline goodness [0,1] 0.9998535013184882 Centerline is valid? [True, True] Translation: X:327.19, Y:-236.99, Z:-16.88 [[ 7.03221728e-01 7.09587135e-01 4.43317053e-02 3.27186723e+02] [-7.08232328e-01 7.04617463e-01 -4.38314983e-02 -2.36985470e+02] [-6.23391610e-02 -5.73884889e-04 9.98054858e-01 -1.68791696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83864 meters Centerline goodness [0,1] 0.999902095163501 Centerline is valid? [True, True] Translation: X:327.21, Y:-237.01, Z:-16.88 [[ 7.00645719e-01 7.12127127e-01 4.43906788e-02 3.27205788e+02] [-7.10770967e-01 7.02050115e-01 -4.39348118e-02 -2.37012549e+02] [-6.24516524e-02 -7.68867874e-04 9.98047694e-01 -1.68802215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86864 meters Centerline goodness [0,1] 0.9998043818466353 Centerline is valid? [True, True] Translation: X:327.23, Y:-237.04, Z:-16.88 [[ 6.99428428e-01 7.13345635e-01 4.40213393e-02 3.27228084e+02] [-7.12011706e-01 7.00811886e-01 -4.36122805e-02 -2.37036970e+02] [-6.19613078e-02 -8.40040161e-04 9.98078199e-01 -1.68818090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89864 meters Centerline goodness [0,1] 0.9998043818466353 Centerline is valid? [True, True] Translation: X:327.25, Y:-237.06, Z:-16.88 [[ 6.99050394e-01 7.13717536e-01 4.39980158e-02 3.27251385e+02] [-7.12382862e-01 7.00433133e-01 -4.36358026e-02 -2.37059629e+02] [-6.19613055e-02 -8.39807386e-04 9.98078199e-01 -1.68830339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92864 meters Centerline goodness [0,1] 0.9998043627115328 Centerline is valid? [True, True] Translation: X:327.27, Y:-237.08, Z:-16.88 [[ 6.98211608e-01 7.14522840e-01 4.42454742e-02 3.27274716e+02] [-7.13171789e-01 6.99611557e-01 -4.39279998e-02 -2.37082757e+02] [-6.23422042e-02 -8.83584613e-04 9.98054442e-01 -1.68824880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95864 meters Centerline goodness [0,1] 0.9998532433225712 Centerline is valid? [True, True] Translation: X:327.30, Y:-237.11, Z:-16.88 [[ 6.97781158e-01 7.14964443e-01 4.39010351e-02 3.27297648e+02] [-7.13632375e-01 6.99160257e-01 -4.36321828e-02 -2.37106951e+02] [-6.18893182e-02 -8.83484958e-04 9.98082628e-01 -1.68836836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98864 meters Centerline goodness [0,1] 0.9998533007334963 Centerline is valid? [True, True] Translation: X:327.32, Y:-237.13, Z:-16.88 [[ 6.97669981e-01 7.15122836e-01 4.30804619e-02 3.27318055e+02] [-7.13837837e-01 6.98998287e-01 -4.28595020e-02 -2.37131812e+02] [-6.07629777e-02 -8.50675784e-04 9.98151861e-01 -1.68848787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01864 meters Centerline goodness [0,1] 0.999755441428222 Centerline is valid? [True, True] Translation: X:327.34, Y:-237.15, Z:-16.89 [[ 6.96915512e-01 7.15850047e-01 4.32143387e-02 3.27341091e+02] [-7.14555860e-01 6.98253480e-01 -4.30348766e-02 -2.37154865e+02] [-6.09810809e-02 -8.87385911e-04 9.98138528e-01 -1.68859734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04864 meters Centerline goodness [0,1] 0.999804477466028 Centerline is valid? [True, True] Translation: X:327.36, Y:-237.18, Z:-16.89 [[ 6.94545286e-01 7.18126368e-01 4.36046525e-02 3.27363453e+02] [-7.16810412e-01 6.95911908e-01 -4.34678025e-02 -2.37177447e+02] [-6.15603721e-02 -1.06591164e-03 9.98102793e-01 -1.68864131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07864 meters Centerline goodness [0,1] 0.9997066588442358 Centerline is valid? [True, True] Translation: X:327.39, Y:-237.20, Z:-16.89 [[ 6.93081949e-01 7.19561703e-01 4.32246226e-02 3.27386331e+02] [-7.18268811e-01 6.94427552e-01 -4.31310745e-02 -2.37201097e+02] [-6.10518383e-02 -1.15352908e-03 9.98133930e-01 -1.68877917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10864 meters Centerline goodness [0,1] 0.999657818839517 Centerline is valid? [True, True] Translation: X:327.41, Y:-237.22, Z:-16.89 [[ 6.91933753e-01 7.20727863e-01 4.21785363e-02 3.27408524e+02] [-7.19496378e-01 6.93217080e-01 -4.21312497e-02 -2.37224952e+02] [-5.96040473e-02 -1.19527034e-03 9.98221383e-01 -1.68892205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.13864 meters Centerline goodness [0,1] 0.9997067735314241 Centerline is valid? [True, True] Translation: X:327.43, Y:-237.25, Z:-16.89 [[ 6.91541924e-01 7.21065702e-01 4.28254675e-02 3.27432070e+02] [-7.19793993e-01 6.92865633e-01 -4.28231502e-02 -2.37248632e+02] [-6.05505995e-02 -1.21151060e-03 9.98164394e-01 -1.68904834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16864 meters Centerline goodness [0,1] 0.9999019751997256 Centerline is valid? [True, True] Translation: X:327.53, Y:-237.29, Z:-15.37 [[ 7.70856558e-01 -6.36958802e-01 -7.97821069e-03 3.27533883e+02] [-6.36878398e-01 -7.70891724e-01 1.05761868e-02 -2.37289023e+02] [-1.28869318e-02 -3.07157288e-03 -9.99912242e-01 -1.53659111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.19864 meters Centerline goodness [0,1] 0.9999021047479197 Centerline is valid? [True, True] Translation: X:327.48, Y:-237.31, Z:-16.89 [[ 7.42059127e-01 6.68642446e-01 4.75976072e-02 3.27480066e+02] [-6.67384470e-01 7.43582891e-01 -4.10177341e-02 -2.37313419e+02] [-6.28189644e-02 -1.32831992e-03 9.98024054e-01 -1.68936119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22864 meters Centerline goodness [0,1] 0.9998533580995209 Centerline is valid? [True, True] Translation: X:327.50, Y:-237.34, Z:-16.90 [[ 7.40823692e-01 6.69989311e-01 4.79017803e-02 3.27503888e+02] [-6.68715451e-01 7.42369384e-01 -4.13200131e-02 -2.37335393e+02] [-6.32447822e-02 -1.42181598e-03 9.97997032e-01 -1.68950840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.25864 meters Centerline goodness [0,1] 0.9998044487900268 Centerline is valid? [True, True] Translation: X:327.53, Y:-237.36, Z:-16.90 [[ 7.39943687e-01 6.70972361e-01 4.77433836e-02 3.27528901e+02] [-6.69706498e-01 7.41480899e-01 -4.12223574e-02 -2.37356144e+02] [-6.30598695e-02 -1.47183112e-03 9.98008661e-01 -1.68960247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28864 meters Centerline goodness [0,1] 0.9994135757220349 Centerline is valid? [True, True] Translation: X:327.55, Y:-237.38, Z:-16.90 [[ 7.36944057e-01 6.74404873e-01 4.57331917e-02 3.27553837e+02] [-6.73247781e-01 7.38359873e-01 -3.95236971e-02 -2.37376481e+02] [-6.04225276e-02 -1.66301617e-03 9.98171505e-01 -1.68963497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.31864 meters Centerline goodness [0,1] 0.9994628119353421 Centerline is valid? [True, True] Translation: X:327.58, Y:-237.40, Z:-16.90 [[ 7.34459085e-01 6.77084429e-01 4.61142942e-02 3.27578224e+02] [-6.75911027e-01 7.35902962e-01 -3.98887719e-02 -2.37396681e+02] [-6.09437120e-02 -1.87248903e-03 9.98139448e-01 -1.68980588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34864 meters Centerline goodness [0,1] 0.999071040923092 Centerline is valid? [True, True] Translation: X:327.60, Y:-237.42, Z:-16.90 [[ 7.30487442e-01 6.81346565e-01 4.64214947e-02 3.27602987e+02] [-6.80164466e-01 7.31957590e-01 -4.01794146e-02 -2.37417093e+02] [-6.13546715e-02 -2.22369334e-03 9.98113550e-01 -1.68989816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.37864 meters Centerline goodness [0,1] 0.9991191583068265 Centerline is valid? [True, True] Translation: X:327.63, Y:-237.44, Z:-16.90 [[ 7.28392486e-01 6.83568037e-01 4.66810981e-02 3.27627708e+02] [-6.82375999e-01 7.29882821e-01 -4.04235603e-02 -2.37436757e+02] [-6.17039853e-02 -2.40984331e-03 9.98091584e-01 -1.69004871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40864 meters Centerline goodness [0,1] 0.999069676345297 Centerline is valid? [True, True] Translation: X:327.65, Y:-237.46, Z:-16.90 [[ 7.27050453e-01 6.84994775e-01 4.66883018e-02 3.27652857e+02] [-6.83803166e-01 7.28543669e-01 -4.04642173e-02 -2.37456297e+02] [-6.17322441e-02 -2.50608108e-03 9.98089600e-01 -1.69017148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43864 meters Centerline goodness [0,1] 0.9989730549171109 Centerline is valid? [True, True] Translation: X:327.68, Y:-237.47, Z:-16.90 [[ 7.24948731e-01 6.87281756e-01 4.57506839e-02 3.27680167e+02] [-6.86139980e-01 7.26386205e-01 -3.96863856e-02 -2.37473895e+02] [-6.05083944e-02 -2.62077842e-03 9.98164248e-01 -1.69038193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46864 meters Centerline goodness [0,1] 0.9986780258519389 Centerline is valid? [True, True] Translation: X:327.71, Y:-237.49, Z:-16.90 [[ 7.25101721e-01 6.87195911e-01 4.46012789e-02 3.27706537e+02] [-6.86108682e-01 7.26467764e-01 -3.87229168e-02 -2.37492672e+02] [-5.90116215e-02 -2.52327112e-03 9.98254107e-01 -1.69040434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49864 meters Centerline goodness [0,1] 0.9989249938920107 Centerline is valid? [True, True] Translation: X:327.73, Y:-237.51, Z:-16.90 [[ 7.26771281e-01 6.85383115e-01 4.53154672e-02 3.27734784e+02] [-6.84255637e-01 7.28178723e-01 -3.93696731e-02 -2.37509949e+02] [-5.99810682e-02 -2.39461608e-03 9.98196643e-01 -1.69044609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52864 meters Centerline goodness [0,1] 0.9991691510678853 Centerline is valid? [True, True] Translation: X:327.76, Y:-237.53, Z:-16.91 [[ 7.28048973e-01 6.83984620e-01 4.59318379e-02 3.27760891e+02] [-6.82822146e-01 7.29492820e-01 -3.99267031e-02 -2.37529394e+02] [-6.08161968e-02 -2.29468097e-03 9.98146344e-01 -1.69058324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55864 meters Centerline goodness [0,1] 0.9994132316268153 Centerline is valid? [True, True] Translation: X:327.79, Y:-237.55, Z:-16.91 [[ 7.31251025e-01 6.80596389e-01 4.53926634e-02 3.27787259e+02] [-6.79452982e-01 7.32655906e-01 -3.94837870e-02 -2.37547377e+02] [-6.01297258e-02 -1.96962085e-03 9.98188628e-01 -1.69076086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58864 meters Centerline goodness [0,1] 0.9993626826159427 Centerline is valid? [True, True] Translation: X:327.81, Y:-237.57, Z:-16.91 [[ 7.32647468e-01 6.79202217e-01 4.37268357e-02 3.27813552e+02] [-6.78138142e-01 7.33949034e-01 -3.80457095e-02 -2.37566610e+02] [-5.79339991e-02 -1.77874235e-03 9.98318831e-01 -1.69078583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61864 meters Centerline goodness [0,1] 0.9994105800874307 Centerline is valid? [True, True] Translation: X:327.84, Y:-237.58, Z:-16.91 [[ 7.33490007e-01 6.78362415e-01 4.26244590e-02 3.27841117e+02] [-6.77348848e-01 7.34725592e-01 -3.71058166e-02 -2.37583869e+02] [-5.64884722e-02 -1.65488253e-03 9.98401880e-01 -1.69091130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64864 meters Centerline goodness [0,1] 0.9992647058823529 Centerline is valid? [True, True] Translation: X:327.87, Y:-237.60, Z:-16.91 [[ 7.33105765e-01 6.78733151e-01 4.33272028e-02 3.27867268e+02] [-6.77684379e-01 7.34383056e-01 -3.77545923e-02 -2.37604703e+02] [-5.74440570e-02 -1.68405924e-03 9.98347306e-01 -1.69108898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67864 meters Centerline goodness [0,1] 0.9991693134620083 Centerline is valid? [True, True] Translation: X:327.89, Y:-237.62, Z:-16.91 [[ 7.31378100e-01 6.80532791e-01 4.42853936e-02 3.27894012e+02] [-6.79438084e-01 7.32715324e-01 -3.86282841e-02 -2.37622335e+02] [-5.87364005e-02 -1.83730199e-03 9.98271837e-01 -1.69114817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70864 meters Centerline goodness [0,1] 0.9989730046948356 Centerline is valid? [True, True] Translation: X:327.92, Y:-237.64, Z:-16.91 [[ 7.30271492e-01 6.81699648e-01 4.45997426e-02 3.27920689e+02] [-6.80589481e-01 7.31629622e-01 -3.89365402e-02 -2.37641190e+02] [-5.91735186e-02 -1.91987040e-03 9.98245866e-01 -1.69132270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73864 meters Centerline goodness [0,1] 0.9991186839012925 Centerline is valid? [True, True] Translation: X:327.95, Y:-237.66, Z:-16.91 [[ 7.29562473e-01 6.82491650e-01 4.40879445e-02 3.27948618e+02] [-6.81406127e-01 7.30890831e-01 -3.85263958e-02 -2.37658733e+02] [-5.85174178e-02 -1.93438296e-03 9.98284514e-01 -1.69143126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76864 meters Centerline goodness [0,1] 0.9988251419620129 Centerline is valid? [True, True] Translation: X:327.97, Y:-237.68, Z:-16.92 [[ 7.30037358e-01 6.81967521e-01 4.43368494e-02 3.27974514e+02] [-6.80866924e-01 7.31380041e-01 -3.87745680e-02 -2.37678704e+02] [-5.88700827e-02 -1.88061109e-03 9.98263881e-01 -1.69154770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79864 meters Centerline goodness [0,1] 0.9995104039167687 Centerline is valid? [True, True] Translation: X:328.00, Y:-237.70, Z:-16.92 [[ 7.30834911e-01 6.81063922e-01 4.50806702e-02 3.28000833e+02] [-6.79923036e-01 7.32221697e-01 -3.94468212e-02 -2.37697868e+02] [-5.98748516e-02 -1.82227204e-03 9.98204228e-01 -1.69163779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82864 meters Centerline goodness [0,1] 0.9990227694713183 Centerline is valid? [True, True] Translation: X:328.03, Y:-237.71, Z:-16.92 [[ 7.33416439e-01 6.78289502e-01 4.49853164e-02 3.28029562e+02] [-6.77146048e-01 7.34793101e-01 -3.93995991e-02 -2.37713708e+02] [-5.97792346e-02 -1.56531548e-03 9.98210395e-01 -1.69170271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85864 meters Centerline goodness [0,1] 0.9992178333985139 Centerline is valid? [True, True] Translation: X:328.06, Y:-237.73, Z:-16.92 [[ 7.36336595e-01 6.75238601e-01 4.31422149e-02 3.28057611e+02] [-6.74179789e-01 7.37598332e-01 -3.78194850e-02 -2.37730414e+02] [-5.73588019e-02 -1.23773851e-03 9.98352861e-01 -1.69178848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88864 meters Centerline goodness [0,1] 0.9992179863147606 Centerline is valid? [True, True] Translation: X:328.08, Y:-237.75, Z:-16.92 [[ 7.37566853e-01 6.73953883e-01 4.22054693e-02 3.28083068e+02] [-6.72936571e-01 7.38772618e-01 -3.70323045e-02 -2.37750326e+02] [-5.61383105e-02 -1.08780352e-03 9.98422409e-01 -1.69192595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91864 meters Centerline goodness [0,1] 0.9986815762488402 Centerline is valid? [True, True] Translation: X:328.11, Y:-237.77, Z:-16.92 [[ 7.38393322e-01 6.73082731e-01 4.16525946e-02 3.28108332e+02] [-6.72088641e-01 7.39566543e-01 -3.65812483e-02 -2.37770406e+02] [-5.54270719e-02 -9.82886219e-04 9.98462254e-01 -1.69203599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94864 meters Centerline goodness [0,1] 0.9986283250869544 Centerline is valid? [True, True] Translation: X:328.13, Y:-237.79, Z:-16.92 [[ 7.40377221e-01 6.70942525e-01 4.09597212e-02 3.28133853e+02] [-6.69976141e-01 7.41508944e-01 -3.60063497e-02 -2.37790377e+02] [-5.45301908e-02 -7.83754840e-04 9.98511815e-01 -1.69213039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97864 meters Centerline goodness [0,1] 0.9990716309977524 Centerline is valid? [True, True] Translation: X:328.16, Y:-237.81, Z:-16.92 [[ 7.41130559e-01 6.70039835e-01 4.20964804e-02 3.28158749e+02] [-6.69015461e-01 7.42324805e-01 -3.70431754e-02 -2.37811823e+02] [-5.60696647e-02 -7.09366910e-04 9.98426607e-01 -1.69230786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00864 meters Centerline goodness [0,1] 0.9993157380254154 Centerline is valid? [True, True] Translation: X:328.18, Y:-237.83, Z:-16.92 [[ 7.43000687e-01 6.67976098e-01 4.19274557e-02 3.28183484e+02] [-6.66954494e-01 7.44182544e-01 -3.69329694e-02 -2.37832793e+02] [-5.58720215e-02 -5.22483352e-04 9.98437802e-01 -1.69239146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03864 meters Centerline goodness [0,1] 0.9999020520103825 Centerline is valid? [True, True] Translation: X:328.21, Y:-237.85, Z:-16.92 [[ 7.44009581e-01 6.66867615e-01 4.16812488e-02 3.28207678e+02] [-6.65854317e-01 7.45176097e-01 -3.67506891e-02 -2.37853380e+02] [-5.55677147e-02 -4.10774624e-04 9.98454836e-01 -1.69244343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06864 meters Centerline goodness [0,1] 0.9997557281743124 Centerline is valid? [True, True] Translation: X:328.23, Y:-237.88, Z:-16.93 [[ 7.44774707e-01 6.66003761e-01 4.18285330e-02 3.28232297e+02] [-6.64979865e-01 7.45948314e-01 -3.69173701e-02 -2.37875720e+02] [-5.57890311e-02 -3.20008711e-04 9.98442528e-01 -1.69261894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09864 meters Centerline goodness [0,1] 0.9996572491798462 Centerline is valid? [True, True] Translation: X:328.26, Y:-237.90, Z:-16.93 [[ 7.44393542e-01 6.66451288e-01 4.14841542e-02 3.28256658e+02] [-6.65442686e-01 7.45548508e-01 -3.66531597e-02 -2.37897600e+02] [-5.53559947e-02 -3.20951628e-04 9.98466630e-01 -1.69270522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12864 meters Centerline goodness [0,1] 0.9998043435726863 Centerline is valid? [True, True] Translation: X:328.28, Y:-237.92, Z:-16.93 [[ 7.43860625e-01 6.67030659e-01 4.17309310e-02 3.28280812e+02] [-6.66008694e-01 7.45030192e-01 -3.69111509e-02 -2.37920045e+02] [-5.57116728e-02 -3.36411056e-04 9.98446842e-01 -1.69291085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15864 meters Centerline goodness [0,1] 0.9998045347928068 Centerline is valid? [True, True] Translation: X:328.30, Y:-237.94, Z:-16.93 [[ 7.43762004e-01 6.67206366e-01 4.06662730e-02 3.28303232e+02] [-6.66234181e-01 7.44872853e-01 -3.60062361e-02 -2.37942862e+02] [-5.43147928e-02 -3.13190768e-04 9.98523813e-01 -1.69307083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18864 meters Centerline goodness [0,1] 0.9997548298519172 Centerline is valid? [True, True] Translation: X:328.33, Y:-237.97, Z:-16.93 [[ 7.43647826e-01 6.67293478e-01 4.13197973e-02 3.28326560e+02] [-6.66287935e-01 7.44794821e-01 -3.66205282e-02 -2.37965600e+02] [-5.52114106e-02 -2.98106181e-04 9.98474642e-01 -1.69312161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21864 meters Centerline goodness [0,1] 0.9997554294658579 Centerline is valid? [True, True] Translation: X:328.35, Y:-237.99, Z:-16.93 [[ 7.42811066e-01 6.68214185e-01 4.14912499e-02 3.28350874e+02] [-6.67199590e-01 7.43968875e-01 -3.68105891e-02 -2.37987889e+02] [-5.54655563e-02 -3.39631998e-04 9.98460543e-01 -1.69319867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24864 meters Centerline goodness [0,1] 0.9998531427452516 Centerline is valid? [True, True] Translation: X:328.37, Y:-238.01, Z:-16.93 [[ 7.41445081e-01 6.69656437e-01 4.26549908e-02 3.28374341e+02] [-6.68584180e-01 7.42670904e-01 -3.78830232e-02 -2.38009662e+02] [-5.70472308e-02 -4.30270835e-04 9.98371388e-01 -1.69326087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27864 meters Centerline goodness [0,1] 0.9998044392294906 Centerline is valid? [True, True] Translation: X:328.40, Y:-238.03, Z:-16.93 [[ 7.38244156e-01 6.73196629e-01 4.24483753e-02 3.28397071e+02] [-6.72138543e-01 7.39463214e-01 -3.77350435e-02 -2.38031936e+02] [-5.67921161e-02 -6.73513815e-04 9.98385798e-01 -1.69331095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30864 meters Centerline goodness [0,1] 0.999559902200489 Centerline is valid? [True, True] Translation: X:328.42, Y:-238.05, Z:-16.94 [[ 7.36728463e-01 6.74853172e-01 4.24778530e-02 3.28421617e+02] [-6.73794231e-01 7.37951623e-01 -3.77986428e-02 -2.38053876e+02] [-5.68551345e-02 -7.73996285e-04 9.98382139e-01 -1.69353137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33864 meters Centerline goodness [0,1] 0.9994136903307763 Centerline is valid? [True, True] Translation: X:328.45, Y:-238.07, Z:-16.94 [[ 7.34301548e-01 6.77502091e-01 4.23338174e-02 3.28445762e+02] [-6.76452555e-01 7.35520237e-01 -3.77083952e-02 -2.38074444e+02] [-5.66848960e-02 -9.47485944e-04 9.98391669e-01 -1.69365104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36864 meters Centerline goodness [0,1] 0.9995114802149487 Centerline is valid? [True, True] Translation: X:328.47, Y:-238.10, Z:-16.94 [[ 7.33407202e-01 6.78438891e-01 4.28316081e-02 3.28470134e+02] [-6.77364121e-01 7.34656149e-01 -3.81862472e-02 -2.38095671e+02] [-5.73735395e-02 -1.00652588e-03 9.98352274e-01 -1.69381779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39864 meters Centerline goodness [0,1] 0.9987292898685304 Centerline is valid? [True, True] Translation: X:328.49, Y:-238.12, Z:-16.94 [[ 7.34020548e-01 6.77750096e-01 4.32277857e-02 3.28493463e+02] [-6.76651919e-01 7.35291735e-01 -3.85777650e-02 -2.38118868e+02] [-5.79311175e-02 -9.33291913e-04 9.98320146e-01 -1.69389938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42864 meters Centerline goodness [0,1] 0.999412772204551 Centerline is valid? [True, True] Translation: X:328.52, Y:-238.14, Z:-16.94 [[ 7.34091630e-01 6.77638820e-01 4.37619529e-02 3.28517450e+02] [-6.76510624e-01 7.35394324e-01 -3.90968563e-02 -2.38142069e+02] [-5.86758393e-02 -9.04751116e-04 9.98276679e-01 -1.69402319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45864 meters Centerline goodness [0,1] 0.998924047537536 Centerline is valid? [True, True] Translation: X:328.54, Y:-238.16, Z:-16.94 [[ 7.35309686e-01 6.76311599e-01 4.38438999e-02 3.28540804e+02] [-6.75174426e-01 7.36615251e-01 -3.92105379e-02 -2.38163914e+02] [-5.88146269e-02 -7.70391721e-04 9.98268624e-01 -1.69416914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48864 meters Centerline goodness [0,1] 0.9992670054730258 Centerline is valid? [True, True] Translation: X:328.57, Y:-238.19, Z:-16.94 [[ 7.35297586e-01 6.76281630e-01 4.45041262e-02 3.28565337e+02] [-6.75107538e-01 7.36642785e-01 -3.98399177e-02 -2.38185246e+02] [-5.97266480e-02 -7.50875751e-04 9.98214488e-01 -1.69430048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51864 meters Centerline goodness [0,1] 0.9998046970362775 Centerline is valid? [True, True] Translation: X:328.59, Y:-238.21, Z:-16.94 [[ 7.34144474e-01 6.77517175e-01 4.47478454e-02 3.28589855e+02] [-6.76329962e-01 7.35506490e-01 -4.00997078e-02 -2.38206717e+02] [-6.00805715e-02 -8.25329682e-04 9.98193190e-01 -1.69438737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54864 meters Centerline goodness [0,1] 0.9994136330320058 Centerline is valid? [True, True] Translation: X:328.61, Y:-238.23, Z:-16.95 [[ 7.33610510e-01 6.78085546e-01 4.48955631e-02 3.28614583e+02] [-6.76888898e-01 7.34982504e-01 -4.02757682e-02 -2.38228175e+02] [-6.03078697e-02 -8.42581411e-04 9.98179468e-01 -1.69450550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57864 meters Centerline goodness [0,1] 0.9988766788766789 Centerline is valid? [True, True] Translation: X:328.64, Y:-238.25, Z:-16.95 [[ 7.32642491e-01 6.79134636e-01 4.48455857e-02 3.28640469e+02] [-6.77939988e-01 7.34013177e-01 -4.02744306e-02 -2.38248985e+02] [-6.02690116e-02 -8.95856687e-04 9.98181769e-01 -1.69456478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60864 meters Centerline goodness [0,1] 0.9991696380598838 Centerline is valid? [True, True] Translation: X:328.67, Y:-238.27, Z:-16.95 [[ 7.31855250e-01 6.79967276e-01 4.50821088e-02 3.28666362e+02] [-6.78758906e-01 7.33241860e-01 -4.05305180e-02 -2.38270023e+02] [-6.06155152e-02 -9.37410462e-04 9.98160749e-01 -1.69472325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.63864 meters Centerline goodness [0,1] 0.9986793837123992 Centerline is valid? [True, True] Translation: X:328.69, Y:-238.29, Z:-16.95 [[ 7.30232431e-01 6.81654585e-01 4.59088470e-02 3.28692982e+02] [-6.80402143e-01 7.31673349e-01 -4.13162671e-02 -2.38288693e+02] [-6.17537028e-02 -1.06599970e-03 9.98090849e-01 -1.69475903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66864 meters Centerline goodness [0,1] 0.9997556207233627 Centerline is valid? [True, True] Translation: X:328.72, Y:-238.31, Z:-16.95 [[ 7.28929925e-01 6.83058816e-01 4.57363948e-02 3.28719061e+02] [-6.81816027e-01 7.30362465e-01 -4.12016459e-02 -2.38309028e+02] [-6.15472935e-02 -1.15069437e-03 9.98103505e-01 -1.69487940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.69864 meters Centerline goodness [0,1] 0.9987296623833488 Centerline is valid? [True, True] Translation: X:328.74, Y:-238.33, Z:-16.95 [[ 7.27078378e-01 6.85050242e-01 4.54224350e-02 3.28744181e+02] [-6.83825793e-01 7.28494700e-01 -4.09604233e-02 -2.38328991e+02] [-6.11499511e-02 -1.27959453e-03 9.98127770e-01 -1.69512944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72864 meters Centerline goodness [0,1] 0.9988259465805694 Centerline is valid? [True, True] Translation: X:328.77, Y:-238.35, Z:-16.95 [[ 7.25233570e-01 6.87103846e-01 4.38699746e-02 3.28771522e+02] [-6.85963216e-01 7.26557923e-01 -3.95986225e-02 -2.38348062e+02] [-5.90824434e-02 -1.37493853e-03 9.98252160e-01 -1.69526647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.75864 meters Centerline goodness [0,1] 0.9984850706152568 Centerline is valid? [True, True] Translation: X:328.80, Y:-238.37, Z:-16.95 [[ 7.24576874e-01 6.87720027e-01 4.50501753e-02 3.28797241e+02] [-6.86515782e-01 7.25974594e-01 -4.07058981e-02 -2.38367509e+02] [-6.06995440e-02 -1.43310390e-03 9.98155054e-01 -1.69540959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78864 meters Centerline goodness [0,1] 0.9977017114914425 Centerline is valid? [True, True] Translation: X:328.83, Y:-238.38, Z:-16.95 [[ 7.24340143e-01 6.87970984e-01 4.50253447e-02 3.28826662e+02] [-6.86766128e-01 7.25736795e-01 -4.07233303e-02 -2.38384933e+02] [-6.06930190e-02 -1.42433873e-03 9.98155463e-01 -1.69528926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.81864 meters Centerline goodness [0,1] 0.9982836406433896 Centerline is valid? [True, True] Translation: X:328.85, Y:-238.40, Z:-16.95 [[ 7.23124361e-01 6.89233514e-01 4.52583839e-02 3.28852511e+02] [-6.88016065e-01 7.24537707e-01 -4.09756750e-02 -2.38404329e+02] [-6.10332142e-02 -1.50798641e-03 9.98134597e-01 -1.69549770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84864 meters Centerline goodness [0,1] 0.9982836406433896 Centerline is valid? [True, True] Translation: X:328.88, Y:-238.43, Z:-16.96 [[ 7.22761778e-01 6.89615037e-01 4.52384079e-02 3.28876829e+02] [-6.88396955e-01 7.24174578e-01 -4.09977214e-02 -2.38425952e+02] [-6.10331501e-02 -1.51039626e-03 9.98134597e-01 -1.69561989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.87864 meters Centerline goodness [0,1] 0.996385483319494 Centerline is valid? [True, True] Translation: X:328.90, Y:-238.44, Z:-16.96 [[ 7.21187261e-01 6.91251719e-01 4.53871810e-02 3.28904841e+02] [-6.90026286e-01 7.22612222e-01 -4.11740335e-02 -2.38442782e+02] [-6.12589532e-02 -1.62415945e-03 9.98120585e-01 -1.69579350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90864 meters Centerline goodness [0,1] 0.9960912688718425 Centerline is valid? [True, True] Translation: X:328.93, Y:-238.46, Z:-16.96 [[ 7.20301196e-01 6.92206231e-01 4.49079186e-02 3.28931728e+02] [-6.91006021e-01 7.21697847e-01 -4.07786280e-02 -2.38462246e+02] [-6.06371686e-02 -1.65874764e-03 9.98158496e-01 -1.69595432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93864 meters Centerline goodness [0,1] 0.9952973449593416 Centerline is valid? [True, True] Translation: X:328.96, Y:-238.48, Z:-16.96 [[ 7.19278560e-01 6.93278516e-01 4.47577018e-02 3.28961176e+02] [-6.92085809e-01 7.20667723e-01 -4.06849649e-02 -2.38478579e+02] [-6.04614432e-02 -1.71234728e-03 9.98169065e-01 -1.69604603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96864 meters Centerline goodness [0,1] 0.9951179026509789 Centerline is valid? [True, True] Translation: X:328.99, Y:-238.50, Z:-16.96 [[ 7.18369234e-01 6.94174917e-01 4.54623777e-02 3.28987573e+02] [-6.92943538e-01 7.19804137e-01 -4.13673500e-02 -2.38497136e+02] [-6.14401843e-02 -1.78582931e-03 9.98109170e-01 -1.69619833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99864 meters Centerline goodness [0,1] 0.9941366168279097 Centerline is valid? [True, True] Translation: X:329.02, Y:-238.51, Z:-16.96 [[ 7.19719537e-01 6.92925805e-01 4.31000721e-02 3.29016387e+02] [-6.91814894e-01 7.21007195e-01 -3.92527288e-02 -2.38513648e+02] [-5.82746908e-02 -1.56631594e-03 9.98299357e-01 -1.69643819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02864 meters Centerline goodness [0,1] 0.9932425815297229 Centerline is valid? [True, True] Translation: X:329.04, Y:-238.53, Z:-16.97 [[ 7.20062745e-01 6.92615080e-01 4.23555717e-02 3.29042338e+02] [-6.91539689e-01 7.21305854e-01 -3.86098931e-02 -2.38533424e+02] [-5.72931160e-02 -1.48901331e-03 9.98356290e-01 -1.69650801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05864 meters Centerline goodness [0,1] 0.9945296473576243 Centerline is valid? [True, True] Translation: X:329.07, Y:-238.55, Z:-16.97 [[ 7.22464420e-01 6.90005365e-01 4.40199657e-02 3.29069853e+02] [-6.88836590e-01 7.23803077e-01 -4.01653866e-02 -2.38550796e+02] [-5.95761189e-02 -1.30450032e-03 9.98222913e-01 -1.69656554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08864 meters Centerline goodness [0,1] 0.9952513829735155 Centerline is valid? [True, True] Translation: X:329.10, Y:-238.57, Z:-16.97 [[ 7.23747399e-01 6.88598620e-01 4.49626704e-02 3.29095676e+02] [-6.87374117e-01 7.25141733e-01 -4.10644510e-02 -2.38569892e+02] [-6.08812330e-02 -1.18588621e-03 9.98144313e-01 -1.69661620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11864 meters Centerline goodness [0,1] 0.9944843071215893 Centerline is valid? [True, True] Translation: X:329.12, Y:-238.59, Z:-16.97 [[ 7.25384738e-01 6.86872753e-01 4.49755815e-02 3.29121074e+02] [-6.85641892e-01 7.26776991e-01 -4.11144993e-02 -2.38589806e+02] [-6.09276471e-02 -1.01331252e-03 9.98141671e-01 -1.69677650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14864 meters Centerline goodness [0,1] 0.994333170493405 Centerline is valid? [True, True] Translation: X:329.15, Y:-238.61, Z:-16.97 [[ 7.28827088e-01 6.83218298e-01 4.49870382e-02 3.29146079e+02] [-6.81977481e-01 7.30213870e-01 -4.11633303e-02 -2.38609800e+02] [-6.09736997e-02 -6.79196802e-04 9.98139142e-01 -1.69692526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17864 meters Centerline goodness [0,1] 0.9945296473576243 Centerline is valid? [True, True] Translation: X:329.17, Y:-238.63, Z:-16.97 [[ 7.29859144e-01 6.82085537e-01 4.54417215e-02 3.29171701e+02] [-6.80814750e-01 7.31272183e-01 -4.16205474e-02 -2.38630906e+02] [-6.16190403e-02 -5.60257151e-04 9.98099584e-01 -1.69714203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20864 meters Centerline goodness [0,1] 0.9959671470024098 Centerline is valid? [True, True] Translation: X:329.20, Y:-238.65, Z:-16.97 [[ 7.32707147e-01 6.79086355e-01 4.45191989e-02 3.29198435e+02] [-6.77858655e-01 7.34058341e-01 -4.08166106e-02 -2.38649696e+02] [-6.03976927e-02 -2.71102006e-04 9.98174356e-01 -1.69727770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23864 meters Centerline goodness [0,1] 0.995453656628862 Centerline is valid? [True, True] Translation: X:329.22, Y:-238.67, Z:-16.97 [[ 7.34266283e-01 6.77456691e-01 4.36515455e-02 3.29223122e+02] [-6.76271353e-01 7.35562656e-01 -4.00579127e-02 -2.38670700e+02] [-5.92459477e-02 -1.07115029e-04 9.98243410e-01 -1.69736440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26864 meters Centerline goodness [0,1] 0.9950061199510404 Centerline is valid? [True, True] Translation: X:329.25, Y:-238.69, Z:-16.97 [[ 7.36244730e-01 6.75394215e-01 4.22652567e-02 3.29247465e+02] [-6.74277601e-01 7.37456879e-01 -3.88209804e-02 -2.38692384e+02] [-5.73882699e-02 8.32263704e-05 9.98351932e-01 -1.69723428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29864 meters Centerline goodness [0,1] 0.9948123134145744 Centerline is valid? [True, True] Translation: X:329.27, Y:-238.71, Z:-16.97 [[ 7.36106536e-01 6.75577843e-01 4.17342242e-02 3.29272761e+02] [-6.74487326e-01 7.37288660e-01 -3.83702723e-02 -2.38714080e+02] [-5.66922760e-02 9.54029101e-05 9.98391695e-01 -1.69729594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32864 meters Centerline goodness [0,1] 0.9937994336490578 Centerline is valid? [True, True] Translation: X:329.30, Y:-238.74, Z:-16.97 [[ 7.35740926e-01 6.75978873e-01 4.16875676e-02 3.29298347e+02] [-6.74889129e-01 7.36920996e-01 -3.83680670e-02 -2.38735446e+02] [-5.66564465e-02 9.44709409e-05 9.98393729e-01 -1.69735224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35864 meters Centerline goodness [0,1] 0.993751220464753 Centerline is valid? [True, True] Translation: X:329.32, Y:-238.76, Z:-16.97 [[ 7.35602006e-01 6.76128954e-01 4.17052316e-02 3.29322834e+02] [-6.75036230e-01 7.36783296e-01 -3.84247763e-02 -2.38758337e+02] [-5.67078218e-02 1.12800250e-04 9.98390810e-01 -1.69745629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38864 meters Centerline goodness [0,1] 0.9937393005624847 Centerline is valid? [True, True] Translation: X:329.35, Y:-238.78, Z:-16.98 [[ 7.36601964e-01 6.75083207e-01 4.09903628e-02 3.29346405e+02] [-6.74023843e-01 7.37741564e-01 -3.78053393e-02 -2.38781836e+02] [-5.57620440e-02 2.19005306e-04 9.98444063e-01 -1.69753485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41864 meters Centerline goodness [0,1] 0.9931493442943825 Centerline is valid? [True, True] Translation: X:329.37, Y:-238.80, Z:-16.98 [[ 7.36943297e-01 6.74756087e-01 4.02343154e-02 3.29370310e+02] [-6.73732863e-01 7.38040751e-01 -3.71467138e-02 -2.38804101e+02] [-5.47595356e-02 2.67841244e-04 9.98499535e-01 -1.69760233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44864 meters Centerline goodness [0,1] 0.9929704661947767 Centerline is valid? [True, True] Translation: X:329.39, Y:-238.83, Z:-16.98 [[ 7.37067329e-01 6.74581279e-01 4.08882783e-02 3.29394745e+02] [-6.73521974e-01 7.38200514e-01 -3.77908992e-02 -2.38826964e+02] [-5.56767812e-02 3.15283166e-04 9.98448795e-01 -1.69776979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47864 meters Centerline goodness [0,1] 0.992811384419776 Centerline is valid? [True, True] Translation: X:329.42, Y:-238.85, Z:-16.98 [[ 7.36811912e-01 6.74818617e-01 4.15697233e-02 3.29417838e+02] [-6.73721746e-01 7.37983553e-01 -3.84614646e-02 -2.38850406e+02] [-5.66322844e-02 3.32438686e-04 9.98395049e-01 -1.69790676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50864 meters Centerline goodness [0,1] 0.992125599139196 Centerline is valid? [True, True] Translation: X:329.44, Y:-238.88, Z:-16.98 [[ 7.37021005e-01 6.74638210e-01 4.07838678e-02 3.29440121e+02] [-6.73580011e-01 7.38148461e-01 -3.77732579e-02 -2.38875095e+02] [-5.55878323e-02 3.68486407e-04 9.98453733e-01 -1.69792900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53864 meters Centerline goodness [0,1] 0.9936464493426519 Centerline is valid? [True, True] Translation: X:329.46, Y:-238.90, Z:-16.98 [[ 7.36682016e-01 6.75018606e-01 4.06139051e-02 3.29463432e+02] [-6.73967616e-01 7.37800614e-01 -3.76550893e-02 -2.38898898e+02] [-5.53828500e-02 3.67370293e-04 9.98465125e-01 -1.69806019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56864 meters Centerline goodness [0,1] 0.9930155318941096 Centerline is valid? [True, True] Translation: X:329.49, Y:-238.92, Z:-16.98 [[ 7.36082495e-01 6.75680094e-01 4.04842029e-02 3.29487041e+02] [-6.74634648e-01 7.37194880e-01 -3.75739370e-02 -2.38922683e+02] [-5.52327084e-02 3.45471345e-04 9.98473449e-01 -1.69817335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59864 meters Centerline goodness [0,1] 0.9936582272305966 Centerline is valid? [True, True] Translation: X:329.51, Y:-238.95, Z:-16.98 [[ 7.34101300e-01 6.77812831e-01 4.08050004e-02 3.29510285e+02] [-6.76751809e-01 7.35234466e-01 -3.79113410e-02 -2.38946320e+02] [-5.56980360e-02 2.15906894e-04 9.98447636e-01 -1.69821850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62864 meters Centerline goodness [0,1] 0.9934634146341463 Centerline is valid? [True, True] Translation: X:329.53, Y:-238.97, Z:-16.98 [[ 7.30758908e-01 6.81446832e-01 4.02695040e-02 3.29532143e+02] [-6.80416941e-01 7.31867620e-01 -3.74509363e-02 -2.38970298e+02] [-5.49927679e-02 -3.24473986e-05 9.98486752e-01 -1.69824735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65864 meters Centerline goodness [0,1] 0.9930165551594472 Centerline is valid? [True, True] Translation: X:329.56, Y:-238.99, Z:-16.98 [[ 7.29031291e-01 6.83311032e-01 3.99926239e-02 3.29555722e+02] [-6.82296115e-01 7.30127394e-01 -3.72290094e-02 -2.38993407e+02] [-5.46387031e-02 -1.45699086e-04 9.98506180e-01 -1.69832740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68864 meters Centerline goodness [0,1] 0.9935568897349538 Centerline is valid? [True, True] Translation: X:329.58, Y:-239.02, Z:-16.98 [[ 7.27419650e-01 6.85007832e-01 4.03103315e-02 3.29579865e+02] [-6.83977102e-01 7.28535662e-01 -3.75648002e-02 -2.39015676e+02] [-5.50996963e-02 -2.45969918e-04 9.98480828e-01 -1.69837779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71864 meters Centerline goodness [0,1] 0.9933522338449506 Centerline is valid? [True, True] Translation: X:329.61, Y:-239.04, Z:-16.98 [[ 7.25728188e-01 6.86829668e-01 3.97945188e-02 3.29605549e+02] [-6.85825760e-01 7.26818330e-01 -3.71233379e-02 -2.39036936e+02] [-5.44207955e-02 -3.50653337e-04 9.98518029e-01 -1.69838059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74864 meters Centerline goodness [0,1] 0.9949662789561138 Centerline is valid? [True, True] Translation: X:329.63, Y:-239.06, Z:-16.99 [[ 7.23331796e-01 6.89245468e-01 4.16148820e-02 3.29631105e+02] [-6.88149187e-01 7.24527714e-01 -3.88624328e-02 -2.39056405e+02] [-5.69368910e-02 -5.26813942e-04 9.98377640e-01 -1.69857824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77864 meters Centerline goodness [0,1] 0.9944894177313957 Centerline is valid? [True, True] Translation: X:329.65, Y:-239.08, Z:-16.99 [[ 7.22711959e-01 6.89821317e-01 4.28249344e-02 3.29653699e+02] [-6.88659090e-01 7.23979444e-01 -4.00302581e-02 -2.39079141e+02] [-5.86180976e-02 -5.61434050e-04 9.98280323e-01 -1.69877559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80864 meters Centerline goodness [0,1] 0.9946152339925592 Centerline is valid? [True, True] Translation: X:329.68, Y:-239.10, Z:-16.99 [[ 7.22904178e-01 6.89682556e-01 4.18033660e-02 3.29678279e+02] [-6.88572883e-01 7.24111670e-01 -3.91110500e-02 -2.39100671e+02] [-5.72445141e-02 -5.11122841e-04 9.98360057e-01 -1.69877905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83864 meters Centerline goodness [0,1] 0.9941945555663967 Centerline is valid? [True, True] Translation: X:329.70, Y:-239.12, Z:-16.99 [[ 7.22990338e-01 6.89625730e-01 4.12470922e-02 3.29703330e+02] [-6.88543326e-01 7.24165815e-01 -3.86259182e-02 -2.39120901e+02] [-5.65071612e-02 -4.74244361e-04 9.98402081e-01 -1.69885023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86864 meters Centerline goodness [0,1] 0.9943367670751355 Centerline is valid? [True, True] Translation: X:329.73, Y:-239.14, Z:-16.99 [[ 7.24168149e-01 6.88456459e-01 4.01023258e-02 3.29727404e+02] [-6.87429947e-01 7.25277589e-01 -3.75830578e-02 -2.39142999e+02] [-5.49596171e-02 -3.51086312e-04 9.98488516e-01 -1.69903425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89864 meters Centerline goodness [0,1] 0.9945333853963295 Centerline is valid? [True, True] Translation: X:329.75, Y:-239.17, Z:-16.99 [[ 7.25156584e-01 6.87437304e-01 3.97225616e-02 3.29750063e+02] [-6.86427332e-01 7.26243684e-01 -3.72509012e-02 -2.39165599e+02] [-5.44559186e-02 -2.53915735e-04 9.98516143e-01 -1.69921177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92864 meters Centerline goodness [0,1] 0.9951066744959874 Centerline is valid? [True, True] Translation: X:329.77, Y:-239.19, Z:-16.99 [[ 7.26310497e-01 6.86237898e-01 3.93777840e-02 3.29773452e+02] [-6.85241703e-01 7.27377157e-01 -3.69632244e-02 -2.39189258e+02] [-5.40080660e-02 -1.36521915e-04 9.98540490e-01 -1.69928519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95864 meters Centerline goodness [0,1] 0.9956949268626779 Centerline is valid? [True, True] Translation: X:329.80, Y:-239.21, Z:-16.99 [[ 7.26193297e-01 6.86335736e-01 3.98315463e-02 3.29797793e+02] [-6.85314382e-01 7.27284843e-01 -3.74293229e-02 -2.39211586e+02] [-5.46579618e-02 -1.16208195e-04 9.98505130e-01 -1.69945519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98864 meters Centerline goodness [0,1] 0.9958976362570815 Centerline is valid? [True, True] Translation: X:329.82, Y:-239.23, Z:-17.00 [[ 7.25948574e-01 6.86609709e-01 3.95698895e-02 3.29822622e+02] [-6.85599994e-01 7.27026201e-01 -3.72229947e-02 -2.39234060e+02] [-5.43260160e-02 -1.07136064e-04 9.98523246e-01 -1.69954213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01864 meters Centerline goodness [0,1] 0.9957475927464685 Centerline is valid? [True, True] Translation: X:329.85, Y:-239.26, Z:-17.00 [[ 7.25877063e-01 6.86713868e-01 3.90711302e-02 3.29846401e+02] [-6.85727522e-01 7.26927820e-01 -3.67927954e-02 -2.39256925e+02] [-5.36680144e-02 -8.51030374e-05 9.98558830e-01 -1.69963110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04864 meters Centerline goodness [0,1] 0.9962404179483424 Centerline is valid? [True, True] Translation: X:329.87, Y:-239.28, Z:-17.00 [[ 7.25132554e-01 6.87481651e-01 3.93923738e-02 3.29870059e+02] [-6.86477985e-01 7.26201740e-01 -3.71350161e-02 -2.39279981e+02] [-5.41364525e-02 -1.14188287e-04 9.98533540e-01 -1.69979139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07864 meters Centerline goodness [0,1] 0.9962879749926736 Centerline is valid? [True, True] Translation: X:329.89, Y:-239.30, Z:-17.00 [[ 7.25016672e-01 6.87607138e-01 3.93350851e-02 3.29893736e+02] [-6.86604437e-01 7.26082926e-01 -3.71205047e-02 -2.39302536e+02] [-5.40848577e-02 -9.46591453e-05 9.98536338e-01 -1.69987474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10864 meters Centerline goodness [0,1] 0.9961367304024646 Centerline is valid? [True, True] Translation: X:329.92, Y:-239.33, Z:-17.00 [[ 7.24411988e-01 6.88267539e-01 3.89238578e-02 3.29918093e+02] [-6.87284565e-01 7.25456947e-01 -3.67715279e-02 -2.39325032e+02] [-5.35462321e-02 -1.14031085e-04 9.98565365e-01 -1.69999606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.13864 meters Centerline goodness [0,1] 0.995946671875763 Centerline is valid? [True, True] Translation: X:329.94, Y:-239.35, Z:-17.00 [[ 7.23789541e-01 6.88954904e-01 3.83384956e-02 3.29942362e+02] [-6.88000229e-01 7.24804196e-01 -3.62568906e-02 -2.39346897e+02] [-5.27672650e-02 -1.34535589e-04 9.98606828e-01 -1.70007321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16864 meters Centerline goodness [0,1] 0.996727237202032 Centerline is valid? [True, True] Translation: X:329.97, Y:-239.37, Z:-17.00 [[ 7.23298593e-01 6.89466847e-01 3.84006843e-02 3.29965927e+02] [-6.88507728e-01 7.24317228e-01 -3.63546665e-02 -2.39369784e+02] [-5.28796145e-02 -1.43888759e-04 9.98600884e-01 -1.70019293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.19864 meters Centerline goodness [0,1] 0.9963352064500366 Centerline is valid? [True, True] Translation: X:329.99, Y:-239.39, Z:-17.00 [[ 7.22574480e-01 6.90175583e-01 3.92910424e-02 3.29990522e+02] [-6.89170288e-01 7.23641925e-01 -3.72381429e-02 -2.39391998e+02] [-5.41335025e-02 -1.70887215e-04 9.98533692e-01 -1.70024749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22864 meters Centerline goodness [0,1] 0.9958934245905646 Centerline is valid? [True, True] Translation: X:330.02, Y:-239.41, Z:-17.00 [[ 7.21616015e-01 6.91183508e-01 3.91878116e-02 3.30016137e+02] [-6.90182837e-01 7.22679259e-01 -3.71798348e-02 -2.39413698e+02] [-5.40183073e-02 -2.17190788e-04 9.98539922e-01 -1.70030528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.25864 meters Centerline goodness [0,1] 0.9956005279366476 Centerline is valid? [True, True] Translation: X:330.04, Y:-239.43, Z:-17.00 [[ 7.20549759e-01 6.92304841e-01 3.90134960e-02 3.30042430e+02] [-6.91312583e-01 7.21605109e-01 -3.70537361e-02 -2.39434501e+02] [-5.38048189e-02 -2.71460029e-04 9.98551435e-01 -1.70040536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28864 meters Centerline goodness [0,1] 0.996531170607778 Centerline is valid? [True, True] Translation: X:330.07, Y:-239.46, Z:-17.01 [[ 7.22231032e-01 6.90512780e-01 3.96791765e-02 3.30066845e+02] [-6.89481402e-01 7.23320184e-01 -3.77267475e-02 -2.39457032e+02] [-5.47515506e-02 -1.10626430e-04 9.98500003e-01 -1.70059154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.31864 meters Centerline goodness [0,1] 0.9964819700967458 Centerline is valid? [True, True] Translation: X:330.09, Y:-239.48, Z:-17.01 [[ 7.22998996e-01 6.89676574e-01 4.02327546e-02 3.30091537e+02] [-6.88612601e-01 7.24117548e-01 -3.82944258e-02 -2.39479577e+02] [-5.55440120e-02 -1.79503582e-05 9.98456240e-01 -1.70068274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34864 meters Centerline goodness [0,1] 0.996576682316119 Centerline is valid? [True, True] Translation: X:330.12, Y:-239.50, Z:-17.01 [[ 7.23623190e-01 6.89000673e-01 4.05900473e-02 3.30116368e+02] [-6.87914328e-01 7.24760698e-01 -3.86756872e-02 -2.39501134e+02] [-5.60656455e-02 6.41490860e-05 9.98427083e-01 -1.70079692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.37864 meters Centerline goodness [0,1] 0.9970184270980986 Centerline is valid? [True, True] Translation: X:330.14, Y:-239.52, Z:-17.01 [[ 7.24949404e-01 6.87595631e-01 4.07505861e-02 3.30141463e+02] [-6.86496115e-01 7.26093800e-01 -3.88700008e-02 -2.39522954e+02] [-5.63155907e-02 2.03664861e-04 9.98412997e-01 -1.70091995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40864 meters Centerline goodness [0,1] 0.9968731678717999 Centerline is valid? [True, True] Translation: X:330.17, Y:-239.55, Z:-17.01 [[ 7.25769877e-01 6.86744102e-01 4.05046206e-02 3.30165774e+02] [-6.85654223e-01 7.26899202e-01 -3.86760479e-02 -2.39545726e+02] [-5.60033242e-02 2.97746269e-04 9.98430538e-01 -1.70111055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43864 meters Centerline goodness [0,1] 0.9968227588229543 Centerline is valid? [True, True] Translation: X:330.19, Y:-239.57, Z:-17.01 [[ 7.26373858e-01 6.86141107e-01 3.98923451e-02 3.30189776e+02] [-6.85080870e-01 7.27468382e-01 -3.81307738e-02 -2.39568535e+02] [-5.51835111e-02 3.67714815e-04 9.98476161e-01 -1.70120585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46864 meters Centerline goodness [0,1] 0.9955546871183626 Centerline is valid? [True, True] Translation: X:330.21, Y:-239.59, Z:-17.01 [[ 7.26497060e-01 6.86024747e-01 3.96493187e-02 3.30213480e+02] [-6.84975066e-01 7.27578095e-01 -3.79377721e-02 -2.39591066e+02] [-5.48742263e-02 4.02885100e-04 9.98493193e-01 -1.70124329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49864 meters Centerline goodness [0,1] 0.9964332828455562 Centerline is valid? [True, True] Translation: X:330.24, Y:-239.61, Z:-17.01 [[ 7.26008613e-01 6.86581590e-01 3.89514494e-02 3.30236168e+02] [-6.85567367e-01 7.27052663e-01 -3.73069710e-02 -2.39613733e+02] [-5.39340345e-02 3.81339677e-04 9.98544428e-01 -1.70132496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52864 meters Centerline goodness [0,1] 0.9974085663993741 Centerline is valid? [True, True] Translation: X:330.26, Y:-239.64, Z:-17.01 [[ 7.26707799e-01 6.85850808e-01 3.87871631e-02 3.30256992e+02] [-6.84842194e-01 7.27742027e-01 -3.71848395e-02 -2.39639142e+02] [-5.37303009e-02 4.59427043e-04 9.98555378e-01 -1.70149614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55864 meters Centerline goodness [0,1] 0.9960876369327074 Centerline is valid? [True, True] Translation: X:330.28, Y:-239.66, Z:-17.02 [[ 7.27255641e-01 6.85311601e-01 3.80426493e-02 3.30280096e+02] [-6.84338650e-01 7.28249780e-01 -3.65084914e-02 -2.39663384e+02] [-5.27242437e-02 5.16951027e-04 9.98608976e-01 -1.70166279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58864 meters Centerline goodness [0,1] 0.9964860907759883 Centerline is valid? [True, True] Translation: X:330.30, Y:-239.69, Z:-17.02 [[ 7.28121536e-01 6.84389306e-01 3.80828870e-02 3.30302576e+02] [-6.83411018e-01 7.29116522e-01 -3.65852081e-02 -2.39688002e+02] [-5.28053873e-02 6.12213346e-04 9.98604635e-01 -1.70186829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61864 meters Centerline goodness [0,1] 0.9963805331376865 Centerline is valid? [True, True] Translation: X:330.33, Y:-239.71, Z:-17.02 [[ 7.27953899e-01 6.84597610e-01 3.75397531e-02 3.30325122e+02] [-6.83645397e-01 7.28920938e-01 -3.61003768e-02 -2.39711653e+02] [-5.20777437e-02 6.15530602e-04 9.98642844e-01 -1.70193403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64864 meters Centerline goodness [0,1] 0.9965284568746333 Centerline is valid? [True, True] Translation: X:330.35, Y:-239.74, Z:-17.02 [[ 7.27542356e-01 6.85052224e-01 3.72232687e-02 3.30347472e+02] [-6.84114712e-01 7.28493710e-01 -3.58326111e-02 -2.39736082e+02] [-5.16641270e-02 6.04756501e-04 9.98664334e-01 -1.70211561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67864 meters Centerline goodness [0,1] 0.9965741692360397 Centerline is valid? [True, True] Translation: X:330.37, Y:-239.76, Z:-17.02 [[ 7.26352197e-01 6.86409676e-01 3.54152923e-02 3.30366408e+02] [-6.85561304e-01 7.27214894e-01 -3.41203158e-02 -2.39762154e+02] [-4.91750429e-02 5.04012359e-04 9.98790049e-01 -1.70224177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70864 meters Centerline goodness [0,1] 0.9965741692360397 Centerline is valid? [True, True] Translation: X:330.39, Y:-239.78, Z:-17.02 [[ 7.25991899e-01 6.86791175e-01 3.54068377e-02 3.30390051e+02] [-6.85942829e-01 7.26854622e-01 -3.41290867e-02 -2.39784508e+02] [-4.91751792e-02 4.90374029e-04 9.98790049e-01 -1.70236398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73864 meters Centerline goodness [0,1] 0.9958855799373041 Centerline is valid? [True, True] Translation: X:330.41, Y:-239.81, Z:-17.02 [[ 7.25002022e-01 6.87863313e-01 3.48730670e-02 3.30410487e+02] [-6.87039959e-01 7.25840115e-01 -3.36485194e-02 -2.39809074e+02] [-4.84578530e-02 4.36054082e-04 9.98825133e-01 -1.70241390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76864 meters Centerline goodness [0,1] 0.9973134036733099 Centerline is valid? [True, True] Translation: X:330.43, Y:-239.83, Z:-17.03 [[ 7.24360478e-01 6.88485722e-01 3.59069355e-02 3.30432527e+02] [-6.87611874e-01 7.25249767e-01 -3.46797674e-02 -2.39833230e+02] [-4.99180214e-02 4.30617696e-04 9.98753226e-01 -1.70254157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79864 meters Centerline goodness [0,1] 0.997703732655853 Centerline is valid? [True, True] Translation: X:330.45, Y:-239.86, Z:-17.03 [[ 7.23576316e-01 6.89289122e-01 3.63018242e-02 3.30454725e+02] [-6.88395061e-01 7.24486261e-01 -3.50984149e-02 -2.39858447e+02] [-5.04931284e-02 4.06385292e-04 9.98724326e-01 -1.70262322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82864 meters Centerline goodness [0,1] 0.9970688812896922 Centerline is valid? [True, True] Translation: X:330.48, Y:-239.88, Z:-17.03 [[ 7.23844269e-01 6.88945714e-01 3.74603440e-02 3.30475507e+02] [-6.87991207e-01 7.24812790e-01 -3.62562729e-02 -2.39883294e+02] [-5.21303403e-02 4.71508089e-04 9.98640178e-01 -1.70273236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85864 meters Centerline goodness [0,1] 0.9971672771672772 Centerline is valid? [True, True] Translation: X:330.50, Y:-239.91, Z:-17.03 [[ 7.24230180e-01 6.88533537e-01 3.75794413e-02 3.30497944e+02] [-6.87570575e-01 7.25204309e-01 -3.64062544e-02 -2.39907258e+02] [-5.23196998e-02 5.27990183e-04 9.98630247e-01 -1.70286449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88864 meters Centerline goodness [0,1] 0.996922174996336 Centerline is valid? [True, True] Translation: X:330.52, Y:-239.93, Z:-17.03 [[ 7.25134056e-01 6.87637446e-01 3.65423515e-02 3.30517962e+02] [-6.86723958e-01 7.26053978e-01 -3.54376424e-02 -2.39934384e+02] [-5.08999696e-02 6.02533096e-04 9.98703575e-01 -1.70296950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91864 meters Centerline goodness [0,1] 0.9959864911164407 Centerline is valid? [True, True] Translation: X:330.54, Y:-239.96, Z:-17.03 [[ 7.26249970e-01 6.86506118e-01 3.56417148e-02 3.30539977e+02] [-6.85634010e-01 7.27123699e-01 -3.45995890e-02 -2.39959696e+02] [-4.96687650e-02 6.90778662e-04 9.98765506e-01 -1.70291825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94864 meters Centerline goodness [0,1] 0.9950649858301573 Centerline is valid? [True, True] Translation: X:330.56, Y:-239.98, Z:-17.03 [[ 7.26993080e-01 6.85668365e-01 3.66053917e-02 3.30561633e+02] [-6.84745505e-01 7.27913636e-01 -3.55714978e-02 -2.39983311e+02] [-5.10358145e-02 7.94855321e-04 9.98696507e-01 -1.70294775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97864 meters Centerline goodness [0,1] 0.9951157565693074 Centerline is valid? [True, True] Translation: X:330.58, Y:-240.01, Z:-17.03 [[ 7.27297667e-01 6.85310049e-01 3.72590960e-02 3.30581164e+02] [-6.84351710e-01 7.28250918e-01 -3.62400095e-02 -2.40009649e+02] [-5.19696135e-02 8.58948259e-04 9.98648297e-01 -1.70313175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00864 meters Centerline goodness [0,1] 0.9952620524593366 Centerline is valid? [True, True] Translation: X:330.60, Y:-240.03, Z:-17.03 [[ 7.26576099e-01 6.86072958e-01 3.72970371e-02 3.30602086e+02] [-6.85111900e-01 7.27532272e-01 -3.63108471e-02 -2.40034889e+02] [-5.20466884e-02 8.29949661e-04 9.98644308e-01 -1.70333494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03864 meters Centerline goodness [0,1] 0.9956982939824999 Centerline is valid? [True, True] Translation: X:330.62, Y:-240.06, Z:-17.03 [[ 7.25260204e-01 6.87488559e-01 3.68390897e-02 3.30620451e+02] [-6.86550965e-01 7.26194827e-01 -3.59005118e-02 -2.40062206e+02] [-5.14335475e-02 7.45299943e-04 9.98676141e-01 -1.70333148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06864 meters Centerline goodness [0,1] 0.9956477089344222 Centerline is valid? [True, True] Translation: X:330.64, Y:-240.09, Z:-17.03 [[ 7.23601164e-01 6.89303572e-01 3.55238221e-02 3.30641637e+02] [-6.88432437e-01 7.24472364e-01 -3.46493038e-02 -2.40087162e+02] [-4.96199162e-02 6.16525177e-04 9.98767983e-01 -1.70336068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09864 meters Centerline goodness [0,1] 0.9963787619280646 Centerline is valid? [True, True] Translation: X:330.66, Y:-240.11, Z:-17.03 [[ 7.22365727e-01 6.90626064e-01 3.49770923e-02 3.30662717e+02] [-6.89781818e-01 7.23211831e-01 -3.41422161e-02 -2.40112277e+02] [-4.88753512e-02 5.36604434e-04 9.98804742e-01 -1.70346789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12864 meters Centerline goodness [0,1] 0.9969176574196389 Centerline is valid? [True, True] Translation: X:330.68, Y:-240.14, Z:-17.03 [[ 7.19346365e-01 6.93766708e-01 3.50508493e-02 3.30681217e+02] [-6.92921819e-01 7.20199724e-01 -3.42302589e-02 -2.40139217e+02] [-4.89914260e-02 3.35914052e-04 9.98799143e-01 -1.70342954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15864 meters Centerline goodness [0,1] 0.9964297941018242 Centerline is valid? [True, True] Translation: X:330.70, Y:-240.16, Z:-17.03 [[ 7.17240213e-01 6.95962133e-01 3.46869607e-02 3.30702738e+02] [-6.95135756e-01 7.18078454e-01 -3.39059665e-02 -2.40162954e+02] [-4.85052279e-02 2.06575987e-04 9.98822907e-01 -1.70348752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18864 meters Centerline goodness [0,1] 0.9972094389503574 Centerline is valid? [True, True] Translation: X:330.72, Y:-240.19, Z:-17.04 [[ 7.13992651e-01 6.99298832e-01 3.45780040e-02 3.30724113e+02] [-6.98479950e-01 7.14829451e-01 -3.38321609e-02 -2.40188199e+02] [-4.83761662e-02 3.87167726e-06 9.98829188e-01 -1.70369257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21864 meters Centerline goodness [0,1] 0.9976967558561207 Centerline is valid? [True, True] Translation: X:330.75, Y:-240.21, Z:-17.04 [[ 7.12575691e-01 7.00776371e-01 3.38874994e-02 3.30747149e+02] [-6.99989869e-01 7.13381015e-01 -3.31920226e-02 -2.40212233e+02] [-4.74348839e-02 -6.90778491e-05 9.98874330e-01 -1.70377157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24864 meters Centerline goodness [0,1] 0.9974100860046912 Centerline is valid? [True, True] Translation: X:330.77, Y:-240.24, Z:-17.04 [[ 7.10913710e-01 7.02505994e-01 3.29700506e-02 3.30770073e+02] [-7.01761783e-01 7.11677809e-01 -3.23279550e-02 -2.40236337e+02] [-4.61746356e-02 -1.54735028e-04 9.98933371e-01 -1.70381612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27864 meters Centerline goodness [0,1] 0.9972634870992964 Centerline is valid? [True, True] Translation: X:330.79, Y:-240.26, Z:-17.04 [[ 7.09884110e-01 7.03542705e-01 3.30486375e-02 3.30793433e+02] [-7.02794411e-01 7.10652956e-01 -3.24405970e-02 -2.40259092e+02] [-4.63094573e-02 -1.97333330e-04 9.98927122e-01 -1.70390347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30864 meters Centerline goodness [0,1] 0.997206840789925 Centerline is valid? [True, True] Translation: X:330.82, Y:-240.28, Z:-17.04 [[ 7.09055221e-01 7.04415472e-01 3.22418440e-02 3.30817569e+02] [-7.03702805e-01 7.09787849e-01 -3.16791958e-02 -2.40281913e+02] [-4.52001848e-02 -2.26376844e-04 9.98977924e-01 -1.70398008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33864 meters Centerline goodness [0,1] 0.9981935357875208 Centerline is valid? [True, True] Translation: X:330.84, Y:-240.30, Z:-17.04 [[ 7.07066899e-01 7.06446018e-01 3.14710007e-02 3.30842528e+02] [-7.05768273e-01 7.07766848e-01 -3.09391947e-02 -2.40304373e+02] [-4.41310019e-02 -3.35153339e-04 9.99025697e-01 -1.70394792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36864 meters Centerline goodness [0,1] 0.9978966934063784 Centerline is valid? [True, True] Translation: X:330.87, Y:-240.33, Z:-17.04 [[ 7.06281274e-01 7.07248133e-01 3.10940535e-02 3.30866348e+02] [-7.06585859e-01 7.06965311e-01 -3.06018566e-02 -2.40326590e+02] [-4.36255231e-02 -3.57100246e-04 9.99047890e-01 -1.70402909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39864 meters Centerline goodness [0,1] 0.9978494623655914 Centerline is valid? [True, True] Translation: X:330.89, Y:-240.35, Z:-17.04 [[ 7.04953976e-01 7.08575387e-01 3.09969676e-02 3.30890102e+02] [-7.07917092e-01 7.05634997e-01 -3.05391878e-02 -2.40348936e+02] [-4.35118620e-02 -4.14561312e-04 9.99052824e-01 -1.70410575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42864 meters Centerline goodness [0,1] 0.9980459208597948 Centerline is valid? [True, True] Translation: X:330.92, Y:-240.37, Z:-17.04 [[ 7.02819140e-01 7.10624264e-01 3.25332408e-02 3.30915006e+02] [-7.09899626e-01 7.03571503e-01 -3.20883264e-02 -2.40369643e+02] [-4.56922044e-02 -5.43045495e-04 9.98955418e-01 -1.70419652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45864 meters Centerline goodness [0,1] 0.9986276527961574 Centerline is valid? [True, True] Translation: X:330.94, Y:-240.39, Z:-17.04 [[ 7.02094272e-01 7.11358528e-01 3.21353138e-02 3.30940222e+02] [-7.10650906e-01 7.02829090e-01 -3.17263394e-02 -2.40390537e+02] [-4.51544354e-02 -5.62108681e-04 9.98979860e-01 -1.70409929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48864 meters Centerline goodness [0,1] 0.9980948659078697 Centerline is valid? [True, True] Translation: X:330.96, Y:-240.41, Z:-17.04 [[ 7.02108999e-01 7.11313997e-01 3.27925528e-02 3.30964765e+02] [-7.10575404e-01 7.02874171e-01 -3.24113427e-02 -2.40413075e+02] [-4.61036801e-02 -5.45286056e-04 9.98936511e-01 -1.70426398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51864 meters Centerline goodness [0,1] 0.9980436271153282 Centerline is valid? [True, True] Translation: X:330.99, Y:-240.44, Z:-17.04 [[ 7.02253197e-01 7.11173564e-01 3.27507076e-02 3.30989745e+02] [-7.10435058e-01 7.03016288e-01 -3.24056633e-02 -2.40435378e+02] [-4.60703319e-02 -5.10270160e-04 9.98938068e-01 -1.70445278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54864 meters Centerline goodness [0,1] 0.9978010164190774 Centerline is valid? [True, True] Translation: X:331.01, Y:-240.46, Z:-17.05 [[ 7.02770434e-01 7.10701694e-01 3.18876080e-02 3.31014618e+02] [-7.09999647e-01 7.03493358e-01 -3.15847476e-02 -2.40456655e+02] [-4.48800541e-02 -4.43363657e-04 9.98992284e-01 -1.70450486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57864 meters Centerline goodness [0,1] 0.9982901807523205 Centerline is valid? [True, True] Translation: X:331.04, Y:-240.48, Z:-17.05 [[ 7.02961234e-01 7.10516687e-01 3.18047381e-02 3.31041142e+02] [-7.09816731e-01 7.03680233e-01 -3.15331374e-02 -2.40476780e+02] [-4.47851858e-02 -4.08962014e-04 9.98996556e-01 -1.70476480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60864 meters Centerline goodness [0,1] 0.9979460093896714 Centerline is valid? [True, True] Translation: X:331.07, Y:-240.50, Z:-17.05 [[ 7.02770258e-01 7.10756805e-01 3.06386831e-02 3.31065911e+02] [-7.10106105e-01 7.03437712e-01 -3.04089548e-02 -2.40498770e+02] [-4.31657767e-02 -3.86206926e-04 9.99067849e-01 -1.70477398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.63864 meters Centerline goodness [0,1] 0.9972629521016618 Centerline is valid? [True, True] Translation: X:331.09, Y:-240.52, Z:-17.05 [[ 7.02305174e-01 7.11244423e-01 2.99802123e-02 3.31089724e+02] [-7.10620506e-01 7.02944680e-01 -2.97871249e-02 -2.40521280e+02] [-4.22603572e-02 -3.84901699e-04 9.99106558e-01 -1.70483651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66864 meters Centerline goodness [0,1] 0.9982861619821761 Centerline is valid? [True, True] Translation: X:331.11, Y:-240.54, Z:-17.05 [[ 7.02085573e-01 7.11426087e-01 3.08021333e-02 3.31114031e+02] [-7.10766163e-01 7.02760825e-01 -3.06379539e-02 -2.40544227e+02] [-4.34431723e-02 -3.82648683e-04 9.99055826e-01 -1.70493554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.69864 meters Centerline goodness [0,1] 0.9987794160726492 Centerline is valid? [True, True] Translation: X:331.14, Y:-240.57, Z:-17.05 [[ 7.01212435e-01 7.12274618e-01 3.10803843e-02 3.31138348e+02] [-7.11602041e-01 7.01900774e-01 -3.09489708e-02 -2.40567041e+02] [-4.38595122e-02 -4.15061730e-04 9.99037622e-01 -1.70509387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72864 meters Centerline goodness [0,1] 0.999168744804655 Centerline is valid? [True, True] Translation: X:331.16, Y:-240.59, Z:-17.05 [[ 7.00167123e-01 7.13230673e-01 3.26803643e-02 3.31160731e+02] [-7.12486397e-01 7.00929228e-01 -3.25783950e-02 -2.40590063e+02] [-4.61425331e-02 -4.73993854e-04 9.98934754e-01 -1.70531859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.75864 meters Centerline goodness [0,1] 0.998923889649775 Centerline is valid? [True, True] Translation: X:331.18, Y:-240.61, Z:-17.05 [[ 6.99092753e-01 7.14320619e-01 3.18649785e-02 3.31184193e+02] [-7.13612798e-01 6.99818400e-01 -3.17959425e-02 -2.40613861e+02] [-4.50121956e-02 -5.10943505e-04 9.98986307e-01 -1.70548867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78864 meters Centerline goodness [0,1] 0.9990715402658327 Centerline is valid? [True, True] Translation: X:331.21, Y:-240.64, Z:-17.06 [[ 6.98107584e-01 7.15264676e-01 3.22838260e-02 3.31208889e+02] [-7.14537505e-01 6.98853444e-01 -3.22492936e-02 -2.40636346e+02] [-4.56284435e-02 -5.54528072e-04 9.98958326e-01 -1.70561258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.81864 meters Centerline goodness [0,1] 0.9988268647961678 Centerline is valid? [True, True] Translation: X:331.23, Y:-240.66, Z:-17.06 [[ 6.97422508e-01 7.15955942e-01 3.17637257e-02 3.31233674e+02] [-7.15251212e-01 6.98145234e-01 -3.17637491e-02 -2.40657984e+02] [-4.49171386e-02 -5.66289799e-04 9.98990556e-01 -1.70578978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84864 meters Centerline goodness [0,1] 0.9990677591874786 Centerline is valid? [True, True] Translation: X:331.24, Y:-240.75, Z:-15.58 [[ 7.63301436e-01 -6.45670349e-01 -2.19252786e-02 3.31241501e+02] [-6.45283376e-01 -7.63610082e-01 2.25611989e-02 -2.40752525e+02] [-3.13094610e-02 -3.07297772e-03 -9.99505015e-01 -1.55815576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.87864 meters Centerline goodness [0,1] 0.9987779841626747 Centerline is valid? [True, True] Translation: X:331.26, Y:-240.70, Z:-17.06 [[ 7.44511235e-01 6.66814581e-01 3.25781366e-02 3.31258770e+02] [-6.66215751e-01 7.45223372e-01 -2.82612705e-02 -2.40697341e+02] [-4.31230161e-02 -6.63234298e-04 9.99069550e-01 -1.70589360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90864 meters Centerline goodness [0,1] 0.9982901807523205 Centerline is valid? [True, True] Translation: X:331.28, Y:-240.72, Z:-17.06 [[ 7.43029342e-01 6.68467441e-01 3.25373263e-02 3.31282889e+02] [-6.67870598e-01 7.43741040e-01 -2.82511962e-02 -2.40717915e+02] [-4.30843497e-02 -7.39255846e-04 9.99071165e-01 -1.70595621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93864 meters Centerline goodness [0,1] 0.9988272660640117 Centerline is valid? [True, True] Translation: X:331.31, Y:-240.74, Z:-17.06 [[ 7.41725940e-01 6.69871231e-01 3.33940585e-02 3.31307723e+02] [-6.69243170e-01 7.42476832e-01 -2.90126486e-02 -2.40738130e+02] [-4.42290534e-02 -8.29311469e-04 9.99021072e-01 -1.70618207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96864 meters Centerline goodness [0,1] 0.9981923001758843 Centerline is valid? [True, True] Translation: X:331.33, Y:-240.76, Z:-17.06 [[ 7.40640820e-01 6.71096594e-01 3.28715302e-02 3.31333090e+02] [-6.70488048e-01 7.41369414e-01 -2.85861731e-02 -2.40758779e+02] [-4.35540305e-02 -8.67881407e-04 9.99050696e-01 -1.70633161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99864 meters Centerline goodness [0,1] 0.9976535001955417 Centerline is valid? [True, True] Translation: X:331.36, Y:-240.78, Z:-17.06 [[ 7.37516490e-01 6.74487963e-01 3.36959300e-02 3.31357977e+02] [-6.73850591e-01 7.38285068e-01 -2.93349680e-02 -2.40778716e+02] [-4.46632848e-02 -1.07099976e-03 9.99001524e-01 -1.70635597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02864 meters Centerline goodness [0,1] 0.9966735153116133 Centerline is valid? [True, True] Translation: X:331.38, Y:-240.80, Z:-17.06 [[ 7.35964018e-01 6.76128791e-01 3.47393526e-02 3.31383320e+02] [-6.75451779e-01 7.36782501e-01 -3.02727625e-02 -2.40798312e+02] [-4.60636334e-02 -1.18509361e-03 9.98937804e-01 -1.70643912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05864 meters Centerline goodness [0,1] 0.9957008158678978 Centerline is valid? [True, True] Translation: X:331.41, Y:-240.82, Z:-17.07 [[ 7.33810860e-01 6.78441087e-01 3.52038685e-02 3.31410640e+02] [-6.77747128e-01 7.34653613e-01 -3.07066590e-02 -2.40816139e+02] [-4.66953084e-02 -1.32644093e-03 9.98908298e-01 -1.70655147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08864 meters Centerline goodness [0,1] 0.9941806445302949 Centerline is valid? [True, True] Translation: X:331.44, Y:-240.84, Z:-17.07 [[ 7.32150643e-01 6.80199638e-01 3.58313955e-02 3.31435733e+02] [-6.79481412e-01 7.33025492e-01 -3.12832202e-02 -2.40835494e+02] [-4.75441613e-02 -1.44273738e-03 9.98868095e-01 -1.70666079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11864 meters Centerline goodness [0,1] 0.9948145973975149 Centerline is valid? [True, True] Translation: X:331.46, Y:-240.85, Z:-17.07 [[ 7.31026911e-01 6.81376093e-01 3.64180729e-02 3.31461860e+02] [-6.80634228e-01 7.31931896e-01 -3.18237063e-02 -2.40854915e+02] [-4.83394618e-02 -1.52340124e-03 9.98829803e-01 -1.70678261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14864 meters Centerline goodness [0,1] 0.9934538348803127 Centerline is valid? [True, True] Translation: X:331.49, Y:-240.87, Z:-17.07 [[ 7.29469844e-01 6.82983276e-01 3.75178776e-02 3.31489902e+02] [-6.82196476e-01 7.30432133e-01 -3.28156581e-02 -2.40871938e+02] [-4.98168090e-02 -1.65653084e-03 9.98756998e-01 -1.70686482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17864 meters Centerline goodness [0,1] 0.9921240583113198 Centerline is valid? [True, True] Translation: X:331.52, Y:-240.89, Z:-17.07 [[ 7.29216149e-01 6.83214169e-01 3.82388238e-02 3.31516778e+02] [-6.82395519e-01 7.30216114e-01 -3.34781070e-02 -2.40890669e+02] [-5.07953224e-02 -1.68122571e-03 9.98707669e-01 -1.70688671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20864 meters Centerline goodness [0,1] 0.9915245933764453 Centerline is valid? [True, True] Translation: X:331.55, Y:-240.91, Z:-17.07 [[ 7.28908247e-01 6.83515308e-01 3.87245544e-02 3.31545783e+02] [-6.82674364e-01 7.29934201e-01 -3.39378080e-02 -2.40907440e+02] [-5.14633879e-02 -1.69871240e-03 9.98673437e-01 -1.70700327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23864 meters Centerline goodness [0,1] 0.9917944710364365 Centerline is valid? [True, True] Translation: X:331.57, Y:-240.93, Z:-17.07 [[ 7.29250194e-01 6.83131133e-01 3.90641681e-02 3.31571796e+02] [-6.82272998e-01 7.30293843e-01 -3.42703858e-02 -2.40927019e+02] [-5.19394889e-02 -1.66074162e-03 9.98648853e-01 -1.70714999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26864 meters Centerline goodness [0,1] 0.9910143087366313 Centerline is valid? [True, True] Translation: X:331.60, Y:-240.95, Z:-17.07 [[ 7.29881665e-01 6.82518040e-01 3.79720964e-02 3.31598253e+02] [-6.81704893e-01 7.30867104e-01 -3.33423989e-02 -2.40946268e+02] [-5.05093448e-02 -1.54975831e-03 9.98722386e-01 -1.70724787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29864 meters Centerline goodness [0,1] 0.9904147104851331 Centerline is valid? [True, True] Translation: X:331.63, Y:-240.96, Z:-17.07 [[ 7.31915119e-01 6.80305128e-01 3.85381816e-02 3.31625899e+02] [-6.79462845e-01 7.32927683e-01 -3.38711244e-02 -2.40963294e+02] [-5.12883998e-02 -1.39447446e-03 9.98682910e-01 -1.70741422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32864 meters Centerline goodness [0,1] 0.991307320408263 Centerline is valid? [True, True] Translation: X:331.65, Y:-240.98, Z:-17.08 [[ 7.33151083e-01 6.78905692e-01 3.97057962e-02 3.31651292e+02] [-6.78007745e-01 7.34224313e-01 -3.49307329e-02 -2.40983299e+02] [-5.28676343e-02 -1.31133262e-03 9.98600668e-01 -1.70759392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35864 meters Centerline goodness [0,1] 0.9912014859712582 Centerline is valid? [True, True] Translation: X:331.68, Y:-241.00, Z:-17.08 [[ 7.36271671e-01 6.75516393e-01 3.97697042e-02 3.31677454e+02] [-6.74608834e-01 7.37344228e-01 -3.50201272e-02 -2.41001948e+02] [-5.29806318e-02 -1.04466623e-03 9.98594994e-01 -1.70776922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38864 meters Centerline goodness [0,1] 0.9916434540389972 Centerline is valid? [True, True] Translation: X:331.70, Y:-241.02, Z:-17.08 [[ 7.37446430e-01 6.74251818e-01 3.94619945e-02 3.31702357e+02] [-6.73354731e-01 7.38500938e-01 -3.47817483e-02 -2.41021914e+02] [-5.25943770e-02 -9.22244618e-04 9.98615532e-01 -1.70794081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41864 meters Centerline goodness [0,1] 0.9906624297237839 Centerline is valid? [True, True] Translation: X:331.73, Y:-241.04, Z:-17.08 [[ 7.39392607e-01 6.72223597e-01 3.76032994e-02 3.31727560e+02] [-6.71404936e-01 7.40347836e-01 -3.31736884e-02 -2.41041633e+02] [-5.01396575e-02 -7.18660916e-04 9.98741958e-01 -1.70796961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44864 meters Centerline goodness [0,1] 0.9916866350432784 Centerline is valid? [True, True] Translation: X:331.75, Y:-241.06, Z:-17.08 [[ 7.39922220e-01 6.71658572e-01 3.72809749e-02 3.31752677e+02] [-6.70851637e-01 7.40860539e-01 -3.29202513e-02 -2.41062389e+02] [-4.97311721e-02 -6.51577647e-04 9.98762427e-01 -1.70812228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47864 meters Centerline goodness [0,1] 0.9918329420970267 Centerline is valid? [True, True] Translation: X:331.78, Y:-241.08, Z:-17.08 [[ 7.40106647e-01 6.71421640e-01 3.78831508e-02 3.31778566e+02] [-6.70586412e-01 7.41075297e-01 -3.34853386e-02 -2.41083660e+02] [-5.05570481e-02 -6.21204503e-04 9.98720982e-01 -1.70827529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50864 meters Centerline goodness [0,1] 0.9915469559269031 Centerline is valid? [True, True] Translation: X:331.80, Y:-241.10, Z:-17.08 [[ 7.40564581e-01 6.70836848e-01 3.92686317e-02 3.31804349e+02] [-6.69936516e-01 7.41604742e-01 -3.47486811e-02 -2.41104425e+02] [-5.24324992e-02 -5.73847835e-04 9.98624306e-01 -1.70847933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53864 meters Centerline goodness [0,1] 0.99150390625 Centerline is valid? [True, True] Translation: X:331.83, Y:-241.13, Z:-17.09 [[ 7.40791657e-01 6.70572126e-01 3.95062646e-02 3.31829691e+02] [-6.69658474e-01 7.41844149e-01 -3.49969515e-02 -2.41125823e+02] [-5.27754715e-02 -5.30255194e-04 9.98606263e-01 -1.70854030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56864 meters Centerline goodness [0,1] 0.9914458891387232 Centerline is valid? [True, True] Translation: X:331.86, Y:-241.15, Z:-17.09 [[ 7.41389969e-01 6.69971139e-01 3.84654010e-02 3.31855482e+02] [-6.69102428e-01 7.42387009e-01 -3.41096624e-02 -2.41145123e+02] [-5.14087034e-02 -4.48731643e-04 9.98677598e-01 -1.70870918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59864 meters Centerline goodness [0,1] 0.991436261316369 Centerline is valid? [True, True] Translation: X:331.88, Y:-241.17, Z:-17.09 [[ 7.41038510e-01 6.70399736e-01 3.77640139e-02 3.31881000e+02] [-6.69561361e-01 7.41999997e-01 -3.35199611e-02 -2.41165619e+02] [-5.04926712e-02 -4.45742554e-04 9.98724332e-01 -1.70879601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62864 meters Centerline goodness [0,1] 0.9914446345636764 Centerline is valid? [True, True] Translation: X:331.91, Y:-241.19, Z:-17.09 [[ 7.40159522e-01 6.71359253e-01 3.79556914e-02 3.31906111e+02] [-6.70511783e-01 7.41131915e-01 -3.37258557e-02 -2.41186318e+02] [-5.07723395e-02 -4.87225107e-04 9.98710134e-01 -1.70898248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65864 meters Centerline goodness [0,1] 0.9914446345636764 Centerline is valid? [True, True] Translation: X:331.93, Y:-241.21, Z:-17.09 [[ 7.39796557e-01 6.71760173e-01 3.79384308e-02 3.31930636e+02] [-6.70912235e-01 7.40768541e-01 -3.37452637e-02 -2.41207710e+02] [-5.07723202e-02 -4.88727496e-04 9.98710134e-01 -1.70910430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68864 meters Centerline goodness [0,1] 0.9915630334064862 Centerline is valid? [True, True] Translation: X:331.96, Y:-241.23, Z:-17.09 [[ 7.39251749e-01 6.72267557e-01 3.95371175e-02 3.31956533e+02] [-6.71345308e-01 7.40308087e-01 -3.52053166e-02 -2.41227639e+02] [-5.29370400e-02 -5.17466421e-04 9.98597718e-01 -1.70922850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71864 meters Centerline goodness [0,1] 0.991547781903459 Centerline is valid? [True, True] Translation: X:331.98, Y:-241.25, Z:-17.09 [[ 7.38677133e-01 6.72861082e-01 4.01753409e-02 3.31982328e+02] [-6.71907750e-01 7.39768660e-01 -3.58092976e-02 -2.41247717e+02] [-5.38151408e-02 -5.42613624e-04 9.98550768e-01 -1.70933079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74864 meters Centerline goodness [0,1] 0.991024828057168 Centerline is valid? [True, True] Translation: X:332.01, Y:-241.27, Z:-17.09 [[ 7.37269774e-01 6.74378280e-01 4.05859141e-02 3.32008039e+02] [-6.73405597e-01 7.38385764e-01 -3.62127804e-02 -2.41267222e+02] [-5.43891738e-02 -6.32193313e-04 9.98519613e-01 -1.70948856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77864 meters Centerline goodness [0,1] 0.9912083618247534 Centerline is valid? [True, True] Translation: X:332.03, Y:-241.29, Z:-17.10 [[ 7.36805299e-01 6.74868248e-01 4.08754056e-02 3.32032352e+02] [-6.73880871e-01 7.37937953e-01 -3.64986245e-02 -2.41288102e+02] [-5.47952759e-02 -6.52774009e-04 9.98497397e-01 -1.70964224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80864 meters Centerline goodness [0,1] 0.9912113666324887 Centerline is valid? [True, True] Translation: X:332.06, Y:-241.31, Z:-17.10 [[ 7.36330992e-01 6.75269521e-01 4.27521336e-02 3.32056856e+02] [-6.74188773e-01 7.37570733e-01 -3.81957069e-02 -2.41308718e+02] [-5.73251192e-02 -6.98325768e-04 9.98355319e-01 -1.70996357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83864 meters Centerline goodness [0,1] 0.9909654734580261 Centerline is valid? [True, True] Translation: X:332.08, Y:-241.33, Z:-17.10 [[ 7.36035672e-01 6.75609974e-01 4.24576556e-02 3.32082121e+02] [-6.74542505e-01 7.37258899e-01 -3.79700442e-02 -2.41330201e+02] [-5.69552250e-02 -6.92186370e-04 9.98376494e-01 -1.71008150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86864 meters Centerline goodness [0,1] 0.9910331384015595 Centerline is valid? [True, True] Translation: X:332.11, Y:-241.35, Z:-17.10 [[ 7.35511187e-01 6.76240021e-01 4.15057639e-02 3.32106643e+02] [-6.75218828e-01 7.36681036e-01 -3.71562249e-02 -2.41351437e+02] [-5.57030355e-02 -6.96654166e-04 9.98447138e-01 -1.71026396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89864 meters Centerline goodness [0,1] 0.990836420354845 Centerline is valid? [True, True] Translation: X:332.13, Y:-241.37, Z:-17.10 [[ 7.34385948e-01 6.77467505e-01 4.14132713e-02 3.32131814e+02] [-6.76450798e-01 7.35552310e-01 -3.71095331e-02 -2.41372838e+02] [-5.56021302e-02 -7.61320754e-04 9.98452715e-01 -1.71034014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92864 meters Centerline goodness [0,1] 0.9906364301389905 Centerline is valid? [True, True] Translation: X:332.16, Y:-241.39, Z:-17.10 [[ 7.33893009e-01 6.78013599e-01 4.12142091e-02 3.32156398e+02] [-6.77005336e-01 7.35048956e-01 -3.69703692e-02 -2.41394296e+02] [-5.53608744e-02 -7.69944020e-04 9.98466114e-01 -1.71039526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95864 meters Centerline goodness [0,1] 0.9914033116787965 Centerline is valid? [True, True] Translation: X:332.18, Y:-241.42, Z:-17.11 [[ 7.32971641e-01 6.78997122e-01 4.14183695e-02 3.32180617e+02] [-6.77978182e-01 7.34140475e-01 -3.71933857e-02 -2.41416565e+02] [-5.56611033e-02 -8.19053886e-04 9.98449383e-01 -1.71060243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98864 meters Centerline goodness [0,1] 0.991212224771762 Centerline is valid? [True, True] Translation: X:332.20, Y:-241.44, Z:-17.11 [[ 7.32666283e-01 6.79389398e-01 4.03752785e-02 3.32204813e+02] [-6.78419775e-01 7.33777490e-01 -3.62933090e-02 -2.41438349e+02] [-5.42837599e-02 -8.00503527e-04 9.98525229e-01 -1.71065608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01864 meters Centerline goodness [0,1] 0.9916996240417948 Centerline is valid? [True, True] Translation: X:332.23, Y:-241.46, Z:-17.11 [[ 7.32377782e-01 6.79659803e-01 4.10528537e-02 3.32229539e+02] [-6.78655740e-01 7.33527028e-01 -3.69389510e-02 -2.41460256e+02] [-5.52192979e-02 -8.07487830e-04 9.98473924e-01 -1.71095624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04864 meters Centerline goodness [0,1] 0.9911200510229112 Centerline is valid? [True, True] Translation: X:332.25, Y:-241.48, Z:-17.11 [[ 7.32031590e-01 6.80060338e-01 4.05917296e-02 3.32253638e+02] [-6.79077196e-01 7.33155712e-01 -3.65631515e-02 -2.41483531e+02] [-5.46252075e-02 -7.99535996e-04 9.98506609e-01 -1.71096231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07864 meters Centerline goodness [0,1] 0.9917069125323187 Centerline is valid? [True, True] Translation: X:332.28, Y:-241.51, Z:-17.11 [[ 7.31787798e-01 6.80328561e-01 4.04928092e-02 3.32277902e+02] [-6.79348482e-01 7.32906833e-01 -3.65131966e-02 -2.41505832e+02] [-5.45184271e-02 -7.88816679e-04 9.98512453e-01 -1.71104974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10864 meters Centerline goodness [0,1] 0.9917137843634237 Centerline is valid? [True, True] Translation: X:332.30, Y:-241.53, Z:-17.11 [[ 7.30957984e-01 6.81185003e-01 4.10782000e-02 3.32300610e+02] [-6.80175606e-01 7.32110846e-01 -3.70790178e-02 -2.41528007e+02] [-5.53314666e-02 -8.37185449e-04 9.98467690e-01 -1.71117621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.13864 meters Centerline goodness [0,1] 0.9916101653577875 Centerline is valid? [True, True] Translation: X:332.32, Y:-241.55, Z:-17.11 [[ 7.30586753e-01 6.81581391e-01 4.11072091e-02 3.32324964e+02] [-6.80569261e-01 7.31741824e-01 -3.71400576e-02 -2.41550722e+02] [-5.53938363e-02 -8.42268820e-04 9.98464227e-01 -1.71137461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16864 meters Centerline goodness [0,1] 0.9919921875 Centerline is valid? [True, True] Translation: X:332.35, Y:-241.57, Z:-17.11 [[ 7.29866624e-01 6.82432307e-01 3.97600030e-02 3.32348042e+02] [-6.81484787e-01 7.30948304e-01 -3.59591715e-02 -2.41573437e+02] [-5.36022071e-02 -8.50438059e-04 9.98562006e-01 -1.71135169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.19864 meters Centerline goodness [0,1] 0.9923366036999073 Centerline is valid? [True, True] Translation: X:332.37, Y:-241.60, Z:-17.12 [[ 7.27828416e-01 6.84632577e-01 3.92941750e-02 3.32369832e+02] [-6.83708582e-01 7.28887702e-01 -3.55709486e-02 -2.41596782e+02] [-5.29940711e-02 -9.76217544e-04 9.98594350e-01 -1.71151327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22864 meters Centerline goodness [0,1] 0.9938133281371785 Centerline is valid? [True, True] Translation: X:332.39, Y:-241.62, Z:-17.12 [[ 7.25512858e-01 6.87093075e-01 3.91688427e-02 3.32392714e+02] [-6.86176785e-01 7.26568534e-01 -3.54906375e-02 -2.41620060e+02] [-5.28442199e-02 -1.12783673e-03 9.98602131e-01 -1.71165665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.25864 meters Centerline goodness [0,1] 0.994591697524849 Centerline is valid? [True, True] Translation: X:332.42, Y:-241.64, Z:-17.12 [[ 7.23662256e-01 6.88976842e-01 4.02970346e-02 3.32415416e+02] [-6.88008029e-01 7.24782230e-01 -3.65468355e-02 -2.41642105e+02] [-5.43864979e-02 -1.27711791e-03 9.98519142e-01 -1.71184859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28864 meters Centerline goodness [0,1] 0.9955128517777886 Centerline is valid? [True, True] Translation: X:332.44, Y:-241.66, Z:-17.12 [[ 7.22283095e-01 6.90419649e-01 4.03464908e-02 3.32438640e+02] [-6.89448932e-01 7.23407803e-01 -3.66240648e-02 -2.41663823e+02] [-5.44729401e-02 -1.36390208e-03 9.98514316e-01 -1.71199030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.31864 meters Centerline goodness [0,1] 0.9969296749354257 Centerline is valid? [True, True] Translation: X:332.46, Y:-241.69, Z:-17.12 [[ 7.19820429e-01 6.92985801e-01 4.03637123e-02 3.32462095e+02] [-6.92016410e-01 7.20949601e-01 -3.66737226e-02 -2.41685476e+02] [-5.45145713e-02 -1.53385652e-03 9.98511797e-01 -1.71205277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34864 meters Centerline goodness [0,1] 0.9971227933287818 Centerline is valid? [True, True] Translation: X:332.49, Y:-241.71, Z:-17.12 [[ 7.18359428e-01 6.94523759e-01 3.99559802e-02 3.32486318e+02] [-6.93574426e-01 7.19467968e-01 -3.63367290e-02 -2.41706818e+02] [-5.39837695e-02 -1.60961422e-03 9.98540516e-01 -1.71225063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.37864 meters Centerline goodness [0,1] 0.9985368708544674 Centerline is valid? [True, True] Translation: X:332.51, Y:-241.73, Z:-17.12 [[ 7.17725486e-01 6.95137637e-01 4.06668597e-02 3.32511067e+02] [-6.94153276e-01 7.18874752e-01 -3.70178326e-02 -2.41728117e+02] [-5.49668674e-02 -1.66039195e-03 9.98486798e-01 -1.71245399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40864 meters Centerline goodness [0,1] 0.9986829910736061 Centerline is valid? [True, True] Translation: X:332.54, Y:-241.75, Z:-17.13 [[ 7.17446909e-01 6.95424507e-01 4.06778533e-02 3.32535287e+02] [-6.94438104e-01 7.18597251e-01 -3.70636033e-02 -2.41750251e+02] [-5.50059316e-02 -1.65708368e-03 9.98484653e-01 -1.71253888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43864 meters Centerline goodness [0,1] 0.9990231035998632 Centerline is valid? [True, True] Translation: X:332.56, Y:-241.77, Z:-17.13 [[ 7.17374846e-01 6.95465359e-01 4.12463921e-02 3.32559511e+02] [-6.94448990e-01 7.18557720e-01 -3.76218411e-02 -2.41773389e+02] [-5.58026006e-02 -1.65455284e-03 9.98440450e-01 -1.71264561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46864 meters Centerline goodness [0,1] 0.9991693134620083 Centerline is valid? [True, True] Translation: X:332.58, Y:-241.80, Z:-17.13 [[ 7.16681773e-01 6.96215351e-01 4.06376816e-02 3.32582830e+02] [-6.95227824e-01 7.17831060e-01 -3.71058143e-02 -2.41796696e+02] [-5.50046276e-02 -1.65938622e-03 9.98484721e-01 -1.71274714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49864 meters Centerline goodness [0,1] 0.9995113847356591 Centerline is valid? [True, True] Translation: X:332.61, Y:-241.82, Z:-17.13 [[ 7.16181285e-01 6.96740244e-01 4.04647912e-02 3.32607173e+02] [-6.95759793e-01 7.17321589e-01 -3.69871362e-02 -2.41818694e+02] [-5.47966946e-02 -1.66428004e-03 9.98496145e-01 -1.71287334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52864 meters Centerline goodness [0,1] 0.9994150336355659 Centerline is valid? [True, True] Translation: X:332.63, Y:-241.84, Z:-17.13 [[ 7.15752921e-01 6.97161771e-01 4.07826028e-02 3.32632156e+02] [-6.96164325e-01 7.16911876e-01 -3.73174725e-02 -2.41840339e+02] [-5.52538476e-02 -1.68130322e-03 9.98470924e-01 -1.71309710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55864 meters Centerline goodness [0,1] 0.9994638853689444 Centerline is valid? [True, True] Translation: X:332.66, Y:-241.86, Z:-17.13 [[ 7.16116793e-01 6.96739203e-01 4.16079496e-02 3.32657061e+02] [-6.95697925e-01 7.17322627e-01 -3.81135991e-02 -2.41862083e+02] [-5.64015624e-02 -1.65277587e-03 9.98406797e-01 -1.71326707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58864 meters Centerline goodness [0,1] 0.9995124804992199 Centerline is valid? [True, True] Translation: X:332.68, Y:-241.88, Z:-17.13 [[ 7.16353775e-01 6.96474121e-01 4.19650781e-02 3.32681665e+02] [-6.95412087e-01 7.17580090e-01 -3.84817305e-02 -2.41884216e+02] [-5.69148339e-02 -1.61648966e-03 9.98377728e-01 -1.71345279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61864 meters Centerline goodness [0,1] 0.9999511575656931 Centerline is valid? [True, True] Translation: X:332.71, Y:-241.91, Z:-17.14 [[ 7.17355913e-01 6.95352055e-01 4.34282525e-02 3.32706351e+02] [-6.94209994e-01 7.18667599e-01 -3.98668514e-02 -2.41906363e+02] [-5.89319750e-02 -1.54960533e-03 9.98260798e-01 -1.71369242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64864 meters Centerline goodness [0,1] 0.999902491346107 Centerline is valid? [True, True] Translation: X:332.73, Y:-241.93, Z:-17.14 [[ 7.17470529e-01 6.95298968e-01 4.23719773e-02 3.32729801e+02] [-6.94209490e-01 7.18719108e-01 -3.89362109e-02 -2.41927772e+02] [-5.75258570e-02 -1.47944489e-03 9.98342921e-01 -1.71384778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67864 meters Centerline goodness [0,1] 0.9998533939305088 Centerline is valid? [True, True] Translation: X:332.75, Y:-241.95, Z:-17.14 [[ 7.18743584e-01 6.94082080e-01 4.07151996e-02 3.32754618e+02] [-6.93072352e-01 7.19894693e-01 -3.74479147e-02 -2.41948691e+02] [-5.53025826e-02 -1.30313074e-03 9.98468791e-01 -1.71393244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70864 meters Centerline goodness [0,1] 0.9996089549320559 Centerline is valid? [True, True] Translation: X:332.78, Y:-241.97, Z:-17.14 [[ 7.19269741e-01 6.93563755e-01 4.02536755e-02 3.32779653e+02] [-6.92574110e-01 7.20394211e-01 -3.70578281e-02 -2.41969703e+02] [-5.47004812e-02 -1.22407901e-03 9.98502058e-01 -1.71403418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73864 meters Centerline goodness [0,1] 0.9995113131016957 Centerline is valid? [True, True] Translation: X:332.80, Y:-241.99, Z:-17.14 [[ 7.19708083e-01 6.93105303e-01 4.03151904e-02 3.32804327e+02] [-6.92110001e-01 7.20835404e-01 -3.71492536e-02 -2.41990835e+02] [-5.48089612e-02 -1.16592833e-03 9.98496178e-01 -1.71416032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76864 meters Centerline goodness [0,1] 0.9995121237254232 Centerline is valid? [True, True] Translation: X:332.83, Y:-242.01, Z:-17.14 [[ 7.20004054e-01 6.92690838e-01 4.21137227e-02 3.32829229e+02] [-6.91601725e-01 7.21233710e-01 -3.88457049e-02 -2.42011975e+02] [-5.72819004e-02 -1.15685830e-03 9.98357374e-01 -1.71436753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79864 meters Centerline goodness [0,1] 0.9991222081342046 Centerline is valid? [True, True] Translation: X:332.85, Y:-242.03, Z:-17.15 [[ 7.20337685e-01 6.92338602e-01 4.22004730e-02 3.32853994e+02] [-6.91241982e-01 7.21571929e-01 -3.89676093e-02 -2.42033230e+02] [-5.74294568e-02 -1.10090112e-03 9.98348960e-01 -1.71457440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82864 meters Centerline goodness [0,1] 0.9991708530458957 Centerline is valid? [True, True] Translation: X:332.88, Y:-242.05, Z:-17.15 [[ 7.21646758e-01 6.91009498e-01 4.16152564e-02 3.32879267e+02] [-6.89939117e-01 7.22845042e-01 -3.84585462e-02 -2.42053982e+02] [-5.66566024e-02 -9.58508054e-04 9.98393265e-01 -1.71464014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85864 meters Centerline goodness [0,1] 0.9991698002637105 Centerline is valid? [True, True] Translation: X:332.90, Y:-242.07, Z:-17.15 [[ 7.22055807e-01 6.90633748e-01 4.07484660e-02 3.32904466e+02] [-6.89606119e-01 7.23204133e-01 -3.76720543e-02 -2.42074818e+02] [-5.54870511e-02 -8.99065938e-04 9.98459002e-01 -1.71473318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88864 meters Centerline goodness [0,1] 0.9984869191721983 Centerline is valid? [True, True] Translation: X:332.93, Y:-242.09, Z:-17.15 [[ 7.22019039e-01 6.90608327e-01 4.18168085e-02 3.32930991e+02] [-6.89524453e-01 7.23228406e-01 -3.86872351e-02 -2.42094974e+02] [-5.69608304e-02 -9.00791697e-04 9.98376008e-01 -1.71487678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91864 meters Centerline goodness [0,1] 0.9990238188207732 Centerline is valid? [True, True] Translation: X:332.96, Y:-242.12, Z:-17.15 [[ 7.22054011e-01 6.90546939e-01 4.22247564e-02 3.32956507e+02] [-6.89439256e-01 7.23287053e-01 -3.91069147e-02 -2.42116232e+02] [-5.75457798e-02 -8.74100038e-04 9.98342486e-01 -1.71500006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94864 meters Centerline goodness [0,1] 0.9986824126488386 Centerline is valid? [True, True] Translation: X:332.98, Y:-242.14, Z:-17.15 [[ 7.21795110e-01 6.90749237e-01 4.33279494e-02 3.32981404e+02] [-6.89580764e-01 7.23093847e-01 -4.01703737e-02 -2.42137152e+02] [-5.90778285e-02 -8.83341131e-04 9.98252989e-01 -1.71508092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97864 meters Centerline goodness [0,1] 0.9986350784829873 Centerline is valid? [True, True] Translation: X:333.01, Y:-242.16, Z:-17.15 [[ 7.22242491e-01 6.90300199e-01 4.30281184e-02 3.33007018e+02] [-6.89144892e-01 7.23522613e-01 -3.99292618e-02 -2.42157195e+02] [-5.86949940e-02 -8.13998459e-04 9.98275631e-01 -1.71514359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00864 meters Centerline goodness [0,1] 0.998485588666341 Centerline is valid? [True, True] Translation: X:333.03, Y:-242.18, Z:-17.15 [[ 7.22647552e-01 6.89887885e-01 4.28394850e-02 3.33031320e+02] [-6.88739814e-01 7.23915840e-01 -3.97910179e-02 -2.42178220e+02] [-5.84635229e-02 -7.50377287e-04 9.98289263e-01 -1.71522441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03864 meters Centerline goodness [0,1] 0.9981970568170744 Centerline is valid? [True, True] Translation: X:333.06, Y:-242.20, Z:-17.15 [[ 7.24726042e-01 6.87665842e-01 4.34494401e-02 3.33056177e+02] [-6.86479090e-01 7.26027119e-01 -4.03866398e-02 -2.42199374e+02] [-5.93179845e-02 -5.57882516e-04 9.98238982e-01 -1.71548546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06864 meters Centerline goodness [0,1] 0.9978010164190774 Centerline is valid? [True, True] Translation: X:333.08, Y:-242.22, Z:-17.16 [[ 7.25762932e-01 6.86584119e-01 4.32482859e-02 3.33080176e+02] [-6.85405108e-01 7.27050235e-01 -4.02218005e-02 -2.42221306e+02] [-5.90593259e-02 -4.51104215e-04 9.98254373e-01 -1.71565613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09864 meters Centerline goodness [0,1] 0.998731274093593 Centerline is valid? [True, True] Translation: X:333.10, Y:-242.24, Z:-17.16 [[ 7.26895538e-01 6.85447896e-01 4.22381212e-02 3.33103963e+02] [-6.84319368e-01 7.28121609e-01 -3.93182560e-02 -2.42242919e+02] [-5.77051046e-02 -3.24099505e-04 9.98333620e-01 -1.71582482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12864 meters Centerline goodness [0,1] 0.998781141826337 Centerline is valid? [True, True] Translation: X:333.13, Y:-242.26, Z:-17.16 [[ 7.28914609e-01 6.83364463e-01 4.11886348e-02 3.33127729e+02] [-6.82286052e-01 7.30077389e-01 -3.83764259e-02 -2.42264426e+02] [-5.62959766e-02 -1.29293490e-04 9.98414116e-01 -1.71595755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15864 meters Centerline goodness [0,1] 0.9984378051161883 Centerline is valid? [True, True] Translation: X:333.15, Y:-242.29, Z:-17.16 [[ 7.30552254e-01 6.81574083e-01 4.18350667e-02 3.33151734e+02] [-6.80456380e-01 7.31749115e-01 -3.90172770e-02 -2.42286733e+02] [-5.72059379e-02 3.72216596e-05 9.98362399e-01 -1.71599925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18864 meters Centerline goodness [0,1] 0.9989248362818883 Centerline is valid? [True, True] Translation: X:333.18, Y:-242.31, Z:-17.16 [[ 7.30638882e-01 6.81455782e-01 4.22473778e-02 3.33175723e+02] [-6.80313273e-01 7.31859284e-01 -3.94441332e-02 -2.42308840e+02] [-5.77985683e-02 7.79655255e-05 9.98328262e-01 -1.71617666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21864 meters Centerline goodness [0,1] 0.9988293824992683 Centerline is valid? [True, True] Translation: X:333.20, Y:-242.33, Z:-17.16 [[ 7.30671029e-01 6.81388121e-01 4.27793972e-02 3.33200005e+02] [-6.80214003e-01 7.31922274e-01 -3.99836804e-02 -2.42330781e+02] [-5.85555985e-02 1.15771923e-04 9.98284142e-01 -1.71628748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24864 meters Centerline goodness [0,1] 0.9986333463490824 Centerline is valid? [True, True] Translation: X:333.22, Y:-242.35, Z:-17.16 [[ 7.30366182e-01 6.81782730e-01 4.16839174e-02 3.33224032e+02] [-6.80666452e-01 7.31554712e-01 -3.89985111e-02 -2.42352752e+02] [-5.70825776e-02 1.10349520e-04 9.98369454e-01 -1.71645634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27864 meters Centerline goodness [0,1] 0.9980966325036603 Centerline is valid? [True, True] Translation: X:333.25, Y:-242.38, Z:-17.17 [[ 7.30154351e-01 6.81990900e-01 4.19885183e-02 3.33248014e+02] [-6.80856365e-01 7.31360648e-01 -3.93219050e-02 -2.42375305e+02] [-5.75259313e-02 1.22910036e-04 9.98344005e-01 -1.71663828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30864 meters Centerline goodness [0,1] 0.9980475423439255 Centerline is valid? [True, True] Translation: X:333.27, Y:-242.40, Z:-17.17 [[ 7.31298723e-01 6.80762205e-01 4.20118710e-02 3.33271963e+02] [-6.79621977e-01 7.32504442e-01 -3.93854103e-02 -2.42397545e+02] [-5.75859809e-02 2.50309429e-04 9.98340519e-01 -1.71678788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33864 meters Centerline goodness [0,1] 0.9984384149912161 Centerline is valid? [True, True] Translation: X:333.30, Y:-242.42, Z:-17.17 [[ 7.32132185e-01 6.79900557e-01 4.14451133e-02 3.33295997e+02] [-6.78787216e-01 7.33304244e-01 -3.88947320e-02 -2.42419598e+02] [-5.68364275e-02 3.43672013e-04 9.98383445e-01 -1.71690986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36864 meters Centerline goodness [0,1] 0.9977066458475652 Centerline is valid? [True, True] Translation: X:333.32, Y:-242.44, Z:-17.17 [[ 7.32827480e-01 6.79166709e-01 4.11881799e-02 3.33319627e+02] [-6.78063692e-01 7.33983923e-01 -3.86940713e-02 -2.42442236e+02] [-5.65111869e-02 4.27869487e-04 9.98401874e-01 -1.71693694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39864 meters Centerline goodness [0,1] 0.9982920163966426 Centerline is valid? [True, True] Translation: X:333.34, Y:-242.46, Z:-17.17 [[ 7.34384892e-01 6.77447203e-01 4.17626206e-02 3.33343498e+02] [-6.76308136e-01 7.35571159e-01 -3.92730868e-02 -2.42463986e+02] [-5.73248220e-02 5.97161530e-04 9.98355402e-01 -1.71714179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42864 meters Centerline goodness [0,1] 0.9976567076742824 Centerline is valid? [True, True] Translation: X:333.37, Y:-242.49, Z:-17.17 [[ 7.36028852e-01 6.75690197e-01 4.12830012e-02 3.33367796e+02] [-6.74572327e-01 7.37185316e-01 -3.88585255e-02 -2.42486461e+02] [-5.66895471e-02 7.52625694e-04 9.98391571e-01 -1.71724421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45864 meters Centerline goodness [0,1] 0.9979991215655654 Centerline is valid? [True, True] Translation: X:333.39, Y:-242.51, Z:-17.17 [[ 7.35656531e-01 6.76087169e-01 4.14199054e-02 3.33390733e+02] [-6.74960212e-01 7.36821261e-01 -3.90274406e-02 -2.42510239e+02] [-5.69050188e-02 7.54003480e-04 9.98379312e-01 -1.71745601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48864 meters Centerline goodness [0,1] 0.9970741697956795 Centerline is valid? [True, True] Translation: X:333.41, Y:-242.53, Z:-17.17 [[ 7.35095000e-01 6.76745688e-01 4.06277529e-02 3.33412840e+02] [-6.75660385e-01 7.36216517e-01 -3.83181993e-02 -2.42534320e+02] [-5.58424989e-02 7.16953528e-04 9.98439333e-01 -1.71744651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51864 meters Centerline goodness [0,1] 0.9970741697956795 Centerline is valid? [True, True] Translation: X:333.44, Y:-242.56, Z:-17.18 [[ 7.34746494e-01 6.77125129e-01 4.06097146e-02 3.33436731e+02] [-6.76039349e-01 7.35867549e-01 -3.83373098e-02 -2.42556426e+02] [-5.58425270e-02 7.14438991e-04 9.98439333e-01 -1.71756835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54864 meters Centerline goodness [0,1] 0.9971202655212807 Centerline is valid? [True, True] Translation: X:333.46, Y:-242.58, Z:-17.18 [[ 7.31424177e-01 6.80714254e-01 4.05805168e-02 3.33457756e+02] [-6.79633406e-01 7.32548896e-01 -3.83477418e-02 -2.42581627e+02] [-5.58310672e-02 4.68590621e-04 9.98440120e-01 -1.71777402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57864 meters Centerline goodness [0,1] 0.9969744290454812 Centerline is valid? [True, True] Translation: X:333.48, Y:-242.60, Z:-17.18 [[ 7.29227728e-01 6.83106623e-01 3.99031684e-02 3.33480106e+02] [-6.82063286e-01 7.30318594e-01 -3.77415699e-02 -2.42604319e+02] [-5.49235422e-02 3.05713100e-04 9.98490516e-01 -1.71779470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60864 meters Centerline goodness [0,1] 0.9958020111295519 Centerline is valid? [True, True] Translation: X:333.50, Y:-242.63, Z:-17.18 [[ 7.24975011e-01 6.87569329e-01 4.07388118e-02 3.33501140e+02] [-6.86486691e-01 7.26118735e-01 -3.85694888e-02 -2.42630831e+02] [-5.61004121e-02 -4.73655000e-06 9.98425132e-01 -1.71798403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.63864 meters Centerline goodness [0,1] 0.995123378523359 Centerline is valid? [True, True] Translation: X:333.52, Y:-242.65, Z:-17.18 [[ 7.23210893e-01 6.89433525e-01 4.05883987e-02 3.33523533e+02] [-6.88359520e-01 7.24348949e-01 -3.84677922e-02 -2.42654692e+02] [-5.59211495e-02 -1.19084289e-04 9.98435181e-01 -1.71813800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66864 meters Centerline goodness [0,1] 0.9959996097180213 Centerline is valid? [True, True] Translation: X:333.55, Y:-242.68, Z:-17.18 [[ 7.21094721e-01 6.91638949e-01 4.07181489e-02 3.33547080e+02] [-6.90559243e-01 7.22243377e-01 -3.86320591e-02 -2.42677998e+02] [-5.61278501e-02 -2.60920237e-04 9.98423556e-01 -1.71821582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.69864 meters Centerline goodness [0,1] 0.9952162452406521 Centerline is valid? [True, True] Translation: X:333.57, Y:-242.70, Z:-17.18 [[ 7.17890729e-01 6.94981467e-01 4.04185862e-02 3.33571920e+02] [-6.93920604e-01 7.19027484e-01 -3.83884489e-02 -2.42699706e+02] [-5.57413349e-02 -4.88578187e-04 9.98445124e-01 -1.71838574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72864 meters Centerline goodness [0,1] 0.9955167876809122 Centerline is valid? [True, True] Translation: X:333.60, Y:-242.72, Z:-17.19 [[ 7.16202651e-01 6.96694166e-01 4.08779000e-02 3.33596182e+02] [-6.95609561e-01 7.17368022e-01 -3.88646298e-02 -2.42721352e+02] [-5.64012591e-02 -6.00107230e-04 9.98408002e-01 -1.71853441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.75864 meters Centerline goodness [0,1] 0.9943913382754584 Centerline is valid? [True, True] Translation: X:333.62, Y:-242.74, Z:-17.19 [[ 7.14472164e-01 6.98484852e-01 4.06009672e-02 3.33621063e+02] [-6.97415677e-01 7.15624489e-01 -3.86389067e-02 -2.42743626e+02] [-5.60437374e-02 -7.09327744e-04 9.98428063e-01 -1.71856976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78864 meters Centerline goodness [0,1] 0.9949763449251329 Centerline is valid? [True, True] Translation: X:333.65, Y:-242.77, Z:-17.19 [[ 7.13305246e-01 6.99716814e-01 3.98999478e-02 3.33646031e+02] [-6.98683993e-01 7.14419903e-01 -3.80115773e-02 -2.42765036e+02] [-5.51026565e-02 -7.63597383e-04 9.98480402e-01 -1.71857407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.81864 meters Centerline goodness [0,1] 0.9940574768631272 Centerline is valid? [True, True] Translation: X:333.67, Y:-242.79, Z:-17.19 [[ 7.11927275e-01 7.01122822e-01 3.98289366e-02 3.33671616e+02] [-7.00093652e-01 7.13040027e-01 -3.79841858e-02 -2.42785957e+02] [-5.50312056e-02 -8.42007843e-04 9.98484280e-01 -1.71869531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84864 meters Centerline goodness [0,1] 0.9947306791569087 Centerline is valid? [True, True] Translation: X:333.70, Y:-242.81, Z:-17.19 [[ 7.09348340e-01 7.03666043e-01 4.09759978e-02 3.33698339e+02] [-7.02578614e-01 7.10530097e-01 -3.91186936e-02 -2.42805001e+02] [-5.66411760e-02 -1.04007935e-03 9.98394058e-01 -1.71893444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.87864 meters Centerline goodness [0,1] 0.9938088041729635 Centerline is valid? [True, True] Translation: X:333.72, Y:-242.82, Z:-17.19 [[ 7.06918040e-01 7.06132952e-01 4.05356454e-02 3.33724469e+02] [-7.05070826e-01 7.08078256e-01 -3.87338783e-02 -2.42824853e+02] [-5.60536770e-02 -1.19882364e-03 9.98427037e-01 -1.71907836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90864 meters Centerline goodness [0,1] 0.9935647425897036 Centerline is valid? [True, True] Translation: X:333.75, Y:-242.85, Z:-17.19 [[ 7.06368052e-01 7.06675756e-01 4.06638723e-02 3.33750515e+02] [-7.05605654e-01 7.07536493e-01 -3.88943594e-02 -2.42845455e+02] [-5.62568744e-02 -1.21892537e-03 9.98415584e-01 -1.71920234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93864 meters Centerline goodness [0,1] 0.9930569137492665 Centerline is valid? [True, True] Translation: X:333.78, Y:-242.87, Z:-17.19 [[ 7.06368905e-01 7.06727885e-01 3.97324325e-02 3.33776649e+02] [-7.05704260e-01 7.07484510e-01 -3.80416352e-02 -2.42865307e+02] [-5.49951649e-02 -1.16791872e-03 9.98485938e-01 -1.71923737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96864 meters Centerline goodness [0,1] 0.9938009469419632 Centerline is valid? [True, True] Translation: X:333.80, Y:-242.88, Z:-17.19 [[ 7.06848247e-01 7.06273286e-01 3.92887019e-02 3.33802298e+02] [-7.05269821e-01 7.07938448e-01 -3.76514743e-02 -2.42884957e+02] [-5.44062131e-02 -1.09525719e-03 9.98518284e-01 -1.71938165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99864 meters Centerline goodness [0,1] 0.9942444639547361 Centerline is valid? [True, True] Translation: X:333.83, Y:-242.90, Z:-17.20 [[ 7.10126708e-01 7.02953861e-01 3.96979562e-02 3.33829836e+02] [-7.01922189e-01 7.11234976e-01 -3.80795229e-02 -2.42902288e+02] [-5.50027226e-02 -8.23590085e-04 9.98485865e-01 -1.71955680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02864 meters Centerline goodness [0,1] 0.9950166112956811 Centerline is valid? [True, True] Translation: X:333.86, Y:-242.92, Z:-17.20 [[ 7.14709367e-01 6.98334933e-01 3.89723261e-02 3.33857700e+02] [-6.97331889e-01 7.15771007e-01 -3.74179423e-02 -2.42919623e+02] [-5.40255173e-02 -4.33691922e-04 9.98539461e-01 -1.71959871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05864 meters Centerline goodness [0,1] 0.9955119761939607 Centerline is valid? [True, True] Translation: X:333.88, Y:-242.94, Z:-17.20 [[ 7.17525636e-01 6.95413007e-01 3.94678436e-02 3.33884276e+02] [-6.94378291e-01 7.18610264e-01 -3.79220001e-02 -2.42939106e+02] [-5.47334497e-02 -1.95606511e-04 9.98500982e-01 -1.71975079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08864 meters Centerline goodness [0,1] 0.9960864886018981 Centerline is valid? [True, True] Translation: X:333.91, Y:-242.96, Z:-17.20 [[ 7.19598582e-01 6.93277224e-01 3.93010257e-02 3.33910854e+02] [-6.92246896e-01 7.20671000e-01 -3.77828622e-02 -2.42959529e+02] [-5.45171073e-02 -1.75189496e-05 9.98512837e-01 -1.71997029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11864 meters Centerline goodness [0,1] 0.9969268292682927 Centerline is valid? [True, True] Translation: X:333.94, Y:-242.98, Z:-17.20 [[ 7.24835201e-01 6.87764948e-01 3.99162590e-02 3.33936142e+02] [-6.86691489e-01 7.25933322e-01 -3.84136788e-02 -2.42979489e+02] [-5.53961243e-02 4.33431303e-04 9.98464362e-01 -1.72011269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14864 meters Centerline goodness [0,1] 0.9978520868928484 Centerline is valid? [True, True] Translation: X:333.96, Y:-243.00, Z:-17.20 [[ 7.27282399e-01 6.85178910e-01 3.98769829e-02 3.33959583e+02] [-6.84101728e-01 7.28374513e-01 -3.84108590e-02 -2.43001058e+02] [-5.53636885e-02 6.55628710e-04 9.98466040e-01 -1.72024382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17864 meters Centerline goodness [0,1] 0.9986342795824797 Centerline is valid? [True, True] Translation: X:333.98, Y:-243.02, Z:-17.20 [[ 7.31987555e-01 6.80176801e-01 3.94174789e-02 3.33984945e+02] [-6.79115176e-01 7.33047352e-01 -3.80020656e-02 -2.43021593e+02] [-5.47430019e-02 1.04803097e-03 9.98499928e-01 -1.72030406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20864 meters Centerline goodness [0,1] 0.9981945935395725 Centerline is valid? [True, True] Translation: X:334.01, Y:-243.04, Z:-17.20 [[ 7.33943903e-01 6.78067833e-01 3.93746167e-02 3.34008982e+02] [-6.77004055e-01 7.34998311e-01 -3.79867430e-02 -2.43043023e+02] [-5.46978653e-02 1.22336323e-03 9.98502202e-01 -1.72049564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23864 meters Centerline goodness [0,1] 0.9991211366632489 Centerline is valid? [True, True] Translation: X:334.03, Y:-243.07, Z:-17.21 [[ 7.35388021e-01 6.76516950e-01 3.91059331e-02 3.34032596e+02] [-6.75464943e-01 7.36425848e-01 -3.77370100e-02 -2.43065478e+02] [-5.43283469e-02 1.33665823e-03 9.98522230e-01 -1.72066509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26864 meters Centerline goodness [0,1] 0.999269041469714 Centerline is valid? [True, True] Translation: X:334.05, Y:-243.09, Z:-17.21 [[ 7.36671327e-01 6.75087424e-01 3.96525561e-02 3.34054719e+02] [-6.74002750e-01 7.37736263e-01 -3.82818490e-02 -2.43088942e+02] [-5.50967234e-02 1.47520863e-03 9.98479932e-01 -1.72088336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29864 meters Centerline goodness [0,1] 0.9989751598262652 Centerline is valid? [True, True] Translation: X:334.08, Y:-243.11, Z:-17.21 [[ 7.36730029e-01 6.74990860e-01 4.02020396e-02 3.34077079e+02] [-6.73873882e-01 7.37824509e-01 -3.88456531e-02 -2.43111456e+02] [-5.58825109e-02 1.52765460e-03 9.98436183e-01 -1.72099310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32864 meters Centerline goodness [0,1] 0.9994637024035883 Centerline is valid? [True, True] Translation: X:334.10, Y:-243.14, Z:-17.21 [[ 7.36440181e-01 6.75329372e-01 3.98258740e-02 3.34099990e+02] [-6.74231884e-01 7.37514714e-01 -3.85151150e-02 -2.43135935e+02] [-5.53825564e-02 1.51220420e-03 9.98464063e-01 -1.72110714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35864 meters Centerline goodness [0,1] 0.9995113847356591 Centerline is valid? [True, True] Translation: X:334.12, Y:-243.16, Z:-17.21 [[ 7.36377027e-01 6.75415182e-01 3.95374082e-02 3.34123047e+02] [-6.74331601e-01 7.37436109e-01 -3.82737128e-02 -2.43160063e+02] [-5.50069591e-02 1.52255900e-03 9.98484810e-01 -1.72121137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38864 meters Centerline goodness [0,1] 0.9994634408077655 Centerline is valid? [True, True] Translation: X:334.14, Y:-243.18, Z:-17.22 [[ 7.37034961e-01 6.74616998e-01 4.08824307e-02 3.34144031e+02] [-6.73454959e-01 7.38166063e-01 -3.96141622e-02 -2.43184802e+02] [-5.69024101e-02 1.66454682e-03 9.98378358e-01 -1.72151448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41864 meters Centerline goodness [0,1] 0.9992686850958022 Centerline is valid? [True, True] Translation: X:334.17, Y:-243.21, Z:-17.22 [[ 7.37851318e-01 6.73653535e-01 4.20279289e-02 3.34166101e+02] [-6.72421742e-01 7.39045075e-01 -4.07600054e-02 -2.43207830e+02] [-5.85186556e-02 1.81433051e-03 9.98284666e-01 -1.72176895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44864 meters Centerline goodness [0,1] 0.9990732611452541 Centerline is valid? [True, True] Translation: X:334.19, Y:-243.23, Z:-17.22 [[ 7.38278545e-01 6.73186652e-01 4.20062071e-02 3.34187785e+02] [-6.71953334e-01 7.39470223e-01 -4.07738440e-02 -2.43231345e+02] [-5.85107469e-02 1.87624335e-03 9.98285016e-01 -1.72171710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47864 meters Centerline goodness [0,1] 0.9991702864951926 Centerline is valid? [True, True] Translation: X:334.21, Y:-243.26, Z:-17.22 [[ 7.39052472e-01 6.72304716e-01 4.25183708e-02 3.34207739e+02] [-6.71037554e-01 7.40271831e-01 -4.13063815e-02 -2.43256747e+02] [-5.92456273e-02 1.99615980e-03 9.98241439e-01 -1.72198784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50864 meters Centerline goodness [0,1] 0.9989265150775837 Centerline is valid? [True, True] Translation: X:334.23, Y:-243.28, Z:-17.22 [[ 7.38642600e-01 6.72785303e-01 4.20362401e-02 3.34228263e+02] [-6.71545490e-01 7.39835178e-01 -4.08725299e-02 -2.43281455e+02] [-5.85983266e-02 1.96094425e-03 9.98279716e-01 -1.72209336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53864 meters Centerline goodness [0,1] 0.9995609113528809 Centerline is valid? [True, True] Translation: X:334.25, Y:-243.31, Z:-17.22 [[ 7.36654511e-01 6.74930930e-01 4.25249425e-02 3.34246298e+02] [-6.73663537e-01 7.37878623e-01 -4.13832969e-02 -2.43309688e+02] [-5.93091130e-02 1.83768917e-03 9.98237974e-01 -1.72222668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56864 meters Centerline goodness [0,1] 0.9993170065372231 Centerline is valid? [True, True] Translation: X:334.27, Y:-243.33, Z:-17.22 [[ 7.35250637e-01 6.76454085e-01 4.26189137e-02 3.34266953e+02] [-6.75181503e-01 7.36482740e-01 -4.15103949e-02 -2.43334838e+02] [-5.94679705e-02 1.74504210e-03 9.98228689e-01 -1.72231223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59864 meters Centerline goodness [0,1] 0.9995606970273833 Centerline is valid? [True, True] Translation: X:334.29, Y:-243.36, Z:-17.22 [[ 7.34128193e-01 6.77663205e-01 4.27595169e-02 3.34287400e+02] [-6.76382102e-01 7.35370493e-01 -4.16832209e-02 -2.43359350e+02] [-5.96912721e-02 1.67905575e-03 9.98215474e-01 -1.72245376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62864 meters Centerline goodness [0,1] 0.999755990434825 Centerline is valid? [True, True] Translation: X:334.31, Y:-243.39, Z:-17.23 [[ 7.32784939e-01 6.79162965e-01 4.19988056e-02 3.34305526e+02] [-6.77927956e-01 7.33985877e-01 -4.09685052e-02 -2.43387535e+02] [-5.86508217e-02 1.54893914e-03 9.98277357e-01 -1.72271411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65864 meters Centerline goodness [0,1] 0.9999511647213948 Centerline is valid? [True, True] Translation: X:334.32, Y:-243.42, Z:-17.23 [[ 7.30023363e-01 6.82068893e-01 4.29873796e-02 3.34321960e+02] [-6.80778678e-01 7.31286652e-01 -4.19550387e-02 -2.43416532e+02] [-6.00523236e-02 1.36326703e-03 9.98194300e-01 -1.72293283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.34, Y:-243.44, Z:-17.23 [[ 7.27941695e-01 6.84262695e-01 4.34217946e-02 3.34341790e+02] [-6.82947853e-01 7.29234579e-01 -4.24165014e-02 -2.43441720e+02] [-6.06887036e-02 1.22191855e-03 9.98155994e-01 -1.72302822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71864 meters Centerline goodness [0,1] 0.9999510906778832 Centerline is valid? [True, True] Translation: X:334.36, Y:-243.47, Z:-17.23 [[ 7.25807857e-01 6.86525553e-01 4.34237288e-02 3.34362789e+02] [-6.85212342e-01 7.27104904e-01 -4.24559169e-02 -2.43466883e+02] [-6.07206780e-02 1.06036319e-03 9.98154234e-01 -1.72303136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74864 meters Centerline goodness [0,1] 0.9999024723265226 Centerline is valid? [True, True] Translation: X:334.38, Y:-243.49, Z:-17.23 [[ 7.20607733e-01 6.91932901e-01 4.41967870e-02 3.34381665e+02] [-6.90580751e-01 7.21961532e-01 -4.32408727e-02 -2.43494313e+02] [-6.18281625e-02 6.38256868e-04 9.98086605e-01 -1.72318225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77864 meters Centerline goodness [0,1] 0.9999512195121951 Centerline is valid? [True, True] Translation: X:334.40, Y:-243.52, Z:-17.23 [[ 7.17603177e-01 6.95064454e-01 4.39441117e-02 3.34402107e+02] [-6.93732119e-01 7.18947326e-01 -4.30173089e-02 -2.43519168e+02] [-6.14933039e-02 3.83915792e-04 9.98107422e-01 -1.72322472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80864 meters Centerline goodness [0,1] 0.9998049636744843 Centerline is valid? [True, True] Translation: X:334.42, Y:-243.55, Z:-17.24 [[ 7.13030287e-01 6.99657045e-01 4.54733953e-02 3.34421034e+02] [-6.98236891e-01 7.14478844e-01 -4.45558673e-02 -2.43545109e+02] [-6.36636053e-02 1.84806821e-05 9.97971415e-01 -1.72362239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.44, Y:-243.57, Z:-17.24 [[ 7.11026244e-01 7.01674044e-01 4.57735372e-02 3.34443766e+02] [-7.00236392e-01 7.12498083e-01 -4.48940689e-02 -2.43569144e+02] [-6.41145604e-02 -1.31435323e-04 9.97942536e-01 -1.72379455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86864 meters Centerline goodness [0,1] 0.9999023771171963 Centerline is valid? [True, True] Translation: X:334.47, Y:-243.59, Z:-17.24 [[ 7.09123333e-01 7.03613010e-01 4.55283512e-02 3.34466541e+02] [-7.02191700e-01 7.10583323e-01 -4.47007573e-02 -2.43593321e+02] [-6.38037215e-02 -2.71280389e-04 9.97962430e-01 -1.72390867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89864 meters Centerline goodness [0,1] 0.9999024580569645 Centerline is valid? [True, True] Translation: X:334.49, Y:-243.62, Z:-17.24 [[ 7.07518289e-01 7.05308861e-01 4.42411726e-02 3.34488200e+02] [-7.03967499e-01 7.08900039e-01 -4.34798296e-02 -2.43617550e+02] [-6.20292781e-02 -3.81572909e-04 9.98074257e-01 -1.72405728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92864 meters Centerline goodness [0,1] 0.9998048780487805 Centerline is valid? [True, True] Translation: X:334.51, Y:-243.64, Z:-17.24 [[ 7.07205582e-01 7.05630492e-01 4.41120642e-02 3.34511420e+02] [-7.04294951e-01 7.08579894e-01 -4.33953418e-02 -2.43640460e+02] [-6.18779981e-02 -3.78476165e-04 9.98083649e-01 -1.72422010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95864 meters Centerline goodness [0,1] 0.9999511694906977 Centerline is valid? [True, True] Translation: X:334.53, Y:-243.66, Z:-17.24 [[ 7.06482212e-01 7.06398873e-01 4.33994878e-02 3.34534608e+02] [-7.05105005e-01 7.07813863e-01 -4.27371732e-02 -2.43662462e+02] [-6.09082502e-02 -4.08143415e-04 9.98143286e-01 -1.72427328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98864 meters Centerline goodness [0,1] 0.9998047351720771 Centerline is valid? [True, True] Translation: X:334.56, Y:-243.69, Z:-17.24 [[ 7.06497279e-01 7.06369034e-01 4.36392434e-02 3.34558590e+02] [-7.05058147e-01 7.07843659e-01 -4.30158529e-02 -2.43685540e+02] [-6.12748282e-02 -3.77621079e-04 9.98120861e-01 -1.72446120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01864 meters Centerline goodness [0,1] 0.9999023723518501 Centerline is valid? [True, True] Translation: X:334.58, Y:-243.71, Z:-17.25 [[ 7.05644957e-01 7.07234523e-01 4.34111065e-02 3.34581122e+02] [-7.05936161e-01 7.06978893e-01 -4.28366914e-02 -2.43709117e+02] [-6.09863230e-02 -4.17974593e-04 9.98138514e-01 -1.72457772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04864 meters Centerline goodness [0,1] 0.9999024152232252 Centerline is valid? [True, True] Translation: X:334.60, Y:-243.73, Z:-17.25 [[ 7.05378272e-01 7.07477222e-01 4.37889676e-02 3.34603277e+02] [-7.06153733e-01 7.06736028e-01 -4.32561369e-02 -2.43733472e+02] [-6.15499726e-02 -4.09803798e-04 9.98103919e-01 -1.72477992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07864 meters Centerline goodness [0,1] 0.9999023723518501 Centerline is valid? [True, True] Translation: X:334.63, Y:-243.76, Z:-17.25 [[ 7.04639967e-01 7.08236018e-01 4.34080737e-02 3.34626641e+02] [-7.06934115e-01 7.05975602e-01 -4.29255985e-02 -2.43757136e+02] [-6.10464959e-02 -4.39555852e-04 9.98134827e-01 -1.72486551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10864 meters Centerline goodness [0,1] 0.9998536585365854 Centerline is valid? [True, True] Translation: X:334.65, Y:-243.78, Z:-17.25 [[ 7.05322372e-01 7.07583440e-01 4.29654244e-02 3.34649287e+02] [-7.06304150e-01 7.06629715e-01 -4.25310849e-02 -2.43780387e+02] [-6.04549370e-02 -3.48531892e-04 9.98170867e-01 -1.72501529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.13864 meters Centerline goodness [0,1] 0.9999512385410572 Centerline is valid? [True, True] Translation: X:334.67, Y:-243.80, Z:-17.25 [[ 7.04987712e-01 7.07916116e-01 4.29778879e-02 3.34672285e+02] [-7.06634142e-01 7.06296434e-01 -4.25856492e-02 -2.43804559e+02] [-6.05021963e-02 -3.47283543e-04 9.98168004e-01 -1.72520826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16864 meters Centerline goodness [0,1] 0.9999511575656931 Centerline is valid? [True, True] Translation: X:334.69, Y:-243.83, Z:-17.25 [[ 7.06547751e-01 7.06380121e-01 4.26309787e-02 3.34693837e+02] [-7.05113385e-01 7.07832672e-01 -4.22850170e-02 -2.43828963e+02] [-6.00448950e-02 -1.83290039e-04 9.98195661e-01 -1.72532942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.72, Y:-243.85, Z:-17.25 [[ 7.06748549e-01 7.06184532e-01 4.25428621e-02 3.34716342e+02] [-7.04920156e-01 7.08027816e-01 -4.22396319e-02 -2.43852469e+02] [-5.99505044e-02 -1.36522422e-04 9.98201342e-01 -1.72542584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.74, Y:-243.88, Z:-17.26 [[ 7.06792528e-01 7.06151941e-01 4.23527890e-02 3.34739209e+02] [-7.04896094e-01 7.08060327e-01 -4.20959709e-02 -2.43875935e+02] [-5.97144811e-02 -1.01197804e-04 9.98215493e-01 -1.72558920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.25864 meters Centerline goodness [0,1] 0.9999024199843872 Centerline is valid? [True, True] Translation: X:334.76, Y:-243.90, Z:-17.26 [[ 7.06811603e-01 7.06076257e-01 4.32860015e-02 3.34759826e+02] [-7.04761549e-01 7.08135803e-01 -4.30678925e-02 -2.43901478e+02] [-6.10615838e-02 -6.54233439e-05 9.98133998e-01 -1.72573871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28864 meters Centerline goodness [0,1] 0.9998535442296427 Centerline is valid? [True, True] Translation: X:334.78, Y:-243.93, Z:-17.26 [[ 7.06369011e-01 7.06547980e-01 4.28108889e-02 3.34781780e+02] [-7.05260329e-01 7.07665137e-01 -4.26371049e-02 -2.43925904e+02] [-6.04209339e-02 -7.52919642e-05 9.98172984e-01 -1.72586292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.31864 meters Centerline goodness [0,1] 0.9999024437832301 Centerline is valid? [True, True] Translation: X:334.80, Y:-243.95, Z:-17.26 [[ 7.06652027e-01 7.06356916e-01 4.12652339e-02 3.34803714e+02] [-7.05157918e-01 7.07855851e-01 -4.11388490e-02 -2.43950185e+02] [-5.82685478e-02 -2.76553695e-05 9.98300944e-01 -1.72581165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34864 meters Centerline goodness [0,1] 0.999951198086965 Centerline is valid? [True, True] Translation: X:334.83, Y:-243.97, Z:-17.26 [[ 7.06017143e-01 7.07007080e-01 4.09973599e-02 3.34827096e+02] [-7.05822383e-01 7.07206467e-01 -4.09118201e-02 -2.43973586e+02] [-5.79185445e-02 -5.24079092e-05 9.98321311e-01 -1.72602555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.85, Y:-244.00, Z:-17.26 [[ 7.05109394e-01 7.07843403e-01 4.21717908e-02 3.34849214e+02] [-7.06588676e-01 7.06369385e-01 -4.21275981e-02 -2.43997560e+02] [-5.96086043e-02 -9.35446200e-05 9.98221822e-01 -1.72609272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40864 meters Centerline goodness [0,1] 0.9999023723518501 Centerline is valid? [True, True] Translation: X:334.87, Y:-244.02, Z:-17.26 [[ 7.04206728e-01 7.08701577e-01 4.28364191e-02 3.34872650e+02] [-7.07405946e-01 7.05508367e-01 -4.28342355e-02 -2.44021347e+02] [-6.05781423e-02 -1.38580731e-04 9.98163448e-01 -1.72623400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.91, Y:-244.11, Z:-15.75 [[ 7.58365857e-01 -6.51762043e-01 -9.35234086e-03 3.34906009e+02] [-6.51663051e-01 -7.58418454e-01 1.16926254e-02 -2.44108751e+02] [-1.47137973e-02 -2.77271290e-03 -9.99887902e-01 -1.57484185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.91, Y:-244.07, Z:-17.26 [[ 7.53009150e-01 6.56444652e-01 4.53612136e-02 3.34907813e+02] [-6.55272153e-01 7.54374166e-01 -3.92176527e-02 -2.44069790e+02] [-5.99635460e-02 -1.92688795e-04 9.98200549e-01 -1.72644604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49864 meters Centerline goodness [0,1] 0.9999024390243902 Centerline is valid? [True, True] Translation: X:334.93, Y:-244.09, Z:-17.26 [[ 7.50889186e-01 6.58854776e-01 4.55611047e-02 3.34932420e+02] [-6.57673752e-01 7.52270070e-01 -3.94332148e-02 -2.44092161e+02] [-6.02550174e-02 -3.54368104e-04 9.98182953e-01 -1.72644699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52864 meters Centerline goodness [0,1] 0.9998048875664601 Centerline is valid? [True, True] Translation: X:334.96, Y:-244.11, Z:-17.26 [[ 7.50061791e-01 6.59775515e-01 4.58647975e-02 3.34957386e+02] [-6.58577782e-01 7.51462647e-01 -3.97390850e-02 -2.44113732e+02] [-6.06845575e-02 -3.98767338e-04 9.98156914e-01 -1.72647532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55864 meters Centerline goodness [0,1] 0.9998047542343925 Centerline is valid? [True, True] Translation: X:334.98, Y:-244.13, Z:-17.27 [[ 7.48751337e-01 6.61269656e-01 4.57589124e-02 3.34983617e+02] [-6.60077636e-01 7.50148123e-01 -3.96901586e-02 -2.44133667e+02] [-6.05718597e-02 -4.86375435e-04 9.98163721e-01 -1.72652682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58864 meters Centerline goodness [0,1] 0.9999511575656931 Centerline is valid? [True, True] Translation: X:335.01, Y:-244.15, Z:-17.27 [[ 7.47886810e-01 6.62250494e-01 4.57121621e-02 3.35009520e+02] [-6.61060129e-01 7.49282323e-01 -3.96926655e-02 -2.44153989e+02] [-6.05378023e-02 -5.32866794e-04 9.98165763e-01 -1.72668863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61864 meters Centerline goodness [0,1] 0.9999511121975068 Centerline is valid? [True, True] Translation: X:335.04, Y:-244.17, Z:-17.27 [[ 7.47531967e-01 6.62673938e-01 4.53785275e-02 3.35035086e+02] [-6.61499117e-01 7.48907852e-01 -3.94455094e-02 -2.44174400e+02] [-6.01238465e-02 -5.31076618e-04 9.98190784e-01 -1.72688189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.06, Y:-244.20, Z:-17.27 [[ 7.46986179e-01 6.63244670e-01 4.60234358e-02 3.35060839e+02] [-6.62034597e-01 7.48402433e-01 -4.00498456e-02 -2.44195456e+02] [-6.10068980e-02 -5.52425634e-04 9.98137192e-01 -1.72700984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67864 meters Centerline goodness [0,1] 0.999951248049922 Centerline is valid? [True, True] Translation: X:335.09, Y:-244.22, Z:-17.27 [[ 7.46357304e-01 6.63906826e-01 4.66744128e-02 3.35085890e+02] [-6.62660908e-01 7.47815075e-01 -4.06587740e-02 -2.44216254e+02] [-6.18974671e-02 -5.83335795e-04 9.98082343e-01 -1.72717862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.11, Y:-244.24, Z:-17.27 [[ 7.44856451e-01 6.65612191e-01 4.63603012e-02 3.35112299e+02] [-6.64383812e-01 7.46297484e-01 -4.04254372e-02 -2.44236208e+02] [-6.15062400e-02 -6.89885967e-04 9.98106461e-01 -1.72722585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.14, Y:-244.26, Z:-17.27 [[ 7.43984161e-01 6.66600749e-01 4.61628537e-02 3.35137969e+02] [-6.65382060e-01 7.45414582e-01 -4.02965850e-02 -2.44257095e+02] [-6.12721980e-02 -7.35913677e-04 9.98120822e-01 -1.72735256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76864 meters Centerline goodness [0,1] 0.9999512551791372 Centerline is valid? [True, True] Translation: X:335.16, Y:-244.28, Z:-17.28 [[ 7.43369948e-01 6.67284250e-01 4.61827998e-02 3.35163418e+02] [-6.66063133e-01 7.44802761e-01 -4.03577819e-02 -2.44278288e+02] [-6.13271890e-02 -7.59898099e-04 9.98117427e-01 -1.72753133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.19, Y:-244.30, Z:-17.28 [[ 7.42703681e-01 6.67992190e-01 4.66655793e-02 3.35189480e+02] [-6.66744022e-01 7.44167860e-01 -4.08240767e-02 -2.44299131e+02] [-6.19971887e-02 -7.93804062e-04 9.98076008e-01 -1.72764377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.21, Y:-244.32, Z:-17.28 [[ 7.42956718e-01 6.67717713e-01 4.65657685e-02 3.35214866e+02] [-6.66471619e-01 7.44414208e-01 -4.07807240e-02 -2.44319722e+02] [-6.18942315e-02 -7.36450212e-04 9.98082442e-01 -1.72772750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.24, Y:-244.34, Z:-17.28 [[ 7.44060447e-01 6.66493659e-01 4.64785303e-02 3.35239886e+02] [-6.65247258e-01 7.45510456e-01 -4.07461231e-02 -2.44339451e+02] [-6.18072630e-02 -6.02136304e-04 9.98087922e-01 -1.72785638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.27, Y:-244.36, Z:-17.28 [[ 7.44186603e-01 6.66368835e-01 4.62479840e-02 3.35265029e+02] [-6.65132038e-01 7.45622065e-01 -4.05845744e-02 -2.44360435e+02] [-6.15278129e-02 -5.58519279e-04 9.98105213e-01 -1.72800738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91864 meters Centerline goodness [0,1] 0.9999024865919064 Centerline is valid? [True, True] Translation: X:335.29, Y:-244.38, Z:-17.28 [[ 7.44205110e-01 6.66360705e-01 4.60669702e-02 3.35290281e+02] [-6.65130872e-01 7.45629357e-01 -4.04695663e-02 -2.44381178e+02] [-6.13162141e-02 -5.22905978e-04 9.98118254e-01 -1.72820600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94864 meters Centerline goodness [0,1] 0.9999510427886028 Centerline is valid? [True, True] Translation: X:335.32, Y:-244.40, Z:-17.28 [[ 7.44028458e-01 6.66717981e-01 4.36896703e-02 3.35315398e+02] [-6.65610291e-01 7.45309928e-01 -3.84194336e-02 -2.44400722e+02] [-5.81772722e-02 -4.95142209e-04 9.98306145e-01 -1.72832245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97864 meters Centerline goodness [0,1] 0.9999512171325431 Centerline is valid? [True, True] Translation: X:335.34, Y:-244.42, Z:-17.28 [[ 7.43040346e-01 6.67835267e-01 4.34407819e-02 3.35340886e+02] [-6.66739884e-01 7.44308910e-01 -3.82383821e-02 -2.44422129e+02] [-5.78703011e-02 -5.51041259e-04 9.98323958e-01 -1.72840012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00864 meters Centerline goodness [0,1] 0.9997072313847956 Centerline is valid? [True, True] Translation: X:335.37, Y:-244.44, Z:-17.28 [[ 7.42444148e-01 6.68444506e-01 4.42564029e-02 3.35366070e+02] [-6.67306244e-01 7.43761794e-01 -3.89970452e-02 -2.44442314e+02] [-5.89835823e-02 -5.79445986e-04 9.98258785e-01 -1.72848518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03864 meters Centerline goodness [0,1] 0.9999023961739301 Centerline is valid? [True, True] Translation: X:335.39, Y:-244.46, Z:-17.29 [[ 7.41045596e-01 6.69903218e-01 4.56191072e-02 3.35392408e+02] [-6.68694114e-01 7.42448116e-01 -4.02365051e-02 -2.44461137e+02] [-6.08243844e-02 -6.88143510e-04 9.98148246e-01 -1.72854364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06864 meters Centerline goodness [0,1] 0.9999511098073727 Centerline is valid? [True, True] Translation: X:335.42, Y:-244.48, Z:-17.29 [[ 7.39834280e-01 6.71210407e-01 4.60633045e-02 3.35417607e+02] [-6.69977773e-01 7.41266477e-01 -4.06668580e-02 -2.44480838e+02] [-6.14412018e-02 -7.74654590e-04 9.98110404e-01 -1.72864478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09864 meters Centerline goodness [0,1] 0.9997559189650964 Centerline is valid? [True, True] Translation: X:335.44, Y:-244.50, Z:-17.29 [[ 7.38986329e-01 6.72114389e-01 4.64914403e-02 3.35444660e+02] [-6.70857942e-01 7.40446868e-01 -4.10859825e-02 -2.44499882e+02] [-6.20389214e-02 -8.27172571e-04 9.98073388e-01 -1.72885318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12864 meters Centerline goodness [0,1] 0.99980479234786 Centerline is valid? [True, True] Translation: X:335.47, Y:-244.52, Z:-17.29 [[ 7.38859074e-01 6.72287061e-01 4.60149614e-02 3.35470269e+02] [-6.71054047e-01 7.40290121e-01 -4.07063006e-02 -2.44518850e+02] [-6.14307405e-02 -8.02306543e-04 9.98111026e-01 -1.72899515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15864 meters Centerline goodness [0,1] 0.999853386765712 Centerline is valid? [True, True] Translation: X:335.50, Y:-244.54, Z:-17.29 [[ 7.38565336e-01 6.72627784e-01 4.57505107e-02 3.35496581e+02] [-6.71407123e-01 7.39980561e-01 -4.05122699e-02 -2.44539188e+02] [-6.11041669e-02 -7.96260541e-04 9.98131077e-01 -1.72911889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18864 meters Centerline goodness [0,1] 0.9996094322120783 Centerline is valid? [True, True] Translation: X:335.52, Y:-244.56, Z:-17.29 [[ 7.39292909e-01 6.71853086e-01 4.53808946e-02 3.35522952e+02] [-6.70648704e-01 7.40684101e-01 -4.02166482e-02 -2.44558671e+02] [-6.06325864e-02 -7.02755314e-04 9.98159905e-01 -1.72921685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21864 meters Centerline goodness [0,1] 0.9998534440644846 Centerline is valid? [True, True] Translation: X:335.55, Y:-244.58, Z:-17.29 [[ 7.39829859e-01 6.71236973e-01 4.57460900e-02 3.35549123e+02] [-6.70010376e-01 7.41242550e-01 -4.05657319e-02 -2.44579010e+02] [-6.11381675e-02 -6.38615277e-04 9.98129108e-01 -1.72942540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24864 meters Centerline goodness [0,1] 0.9999511814098809 Centerline is valid? [True, True] Translation: X:335.58, Y:-244.60, Z:-17.30 [[ 7.40765775e-01 6.70202225e-01 4.57716552e-02 3.35575017e+02] [-6.68969596e-01 7.42178352e-01 -4.06321847e-02 -2.44599151e+02] [-6.12025123e-02 -5.20913889e-04 9.98125233e-01 -1.72958062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27864 meters Centerline goodness [0,1] 0.999609546585973 Centerline is valid? [True, True] Translation: X:335.60, Y:-244.62, Z:-17.30 [[ 7.42881949e-01 6.67897900e-01 4.51531177e-02 3.35599879e+02] [-6.66691665e-01 7.44252852e-01 -4.01237757e-02 -2.44619041e+02] [-6.04039221e-02 -2.95978507e-04 9.98173972e-01 -1.72973380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30864 meters Centerline goodness [0,1] 0.9991213940547664 Centerline is valid? [True, True] Translation: X:335.62, Y:-244.64, Z:-17.30 [[ 7.43519985e-01 6.67160428e-01 4.55521224e-02 3.35624785e+02] [-6.65928914e-01 7.44914035e-01 -4.05186463e-02 -2.44640969e+02] [-6.09648528e-02 -2.08052154e-04 9.98139892e-01 -1.72980749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33864 meters Centerline goodness [0,1] 0.9994149195514384 Centerline is valid? [True, True] Translation: X:335.65, Y:-244.66, Z:-17.30 [[ 7.43731425e-01 6.66803765e-01 4.72896006e-02 3.35648922e+02] [-6.65472918e-01 7.45233330e-01 -4.21079428e-02 -2.44662306e+02] [-6.33195213e-02 -1.52948233e-04 9.97993294e-01 -1.72995107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36864 meters Centerline goodness [0,1] 0.9994135757220349 Centerline is valid? [True, True] Translation: X:335.67, Y:-244.68, Z:-17.30 [[ 7.43221972e-01 6.67356677e-01 4.74991193e-02 3.35673790e+02] [-6.66012443e-01 7.44738234e-01 -4.23366115e-02 -2.44683543e+02] [-6.36280306e-02 -1.69504591e-04 9.97973669e-01 -1.73001152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39864 meters Centerline goodness [0,1] 0.99956052541628 Centerline is valid? [True, True] Translation: X:335.70, Y:-244.71, Z:-17.30 [[ 7.42307840e-01 6.68415649e-01 4.68997878e-02 3.35698728e+02] [-6.67104464e-01 7.43787920e-01 -4.18469216e-02 -2.44705478e+02] [-6.28546329e-02 -2.23759779e-04 9.98022668e-01 -1.73014235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42864 meters Centerline goodness [0,1] 0.9994631527574427 Centerline is valid? [True, True] Translation: X:335.72, Y:-244.73, Z:-17.30 [[ 7.41833758e-01 6.68956436e-01 4.66900565e-02 3.35723829e+02] [-6.67655238e-01 7.43301575e-01 -4.17043443e-02 -2.44727621e+02] [-6.26031821e-02 -2.35170300e-04 9.98038469e-01 -1.73032888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45864 meters Centerline goodness [0,1] 0.9995121713254305 Centerline is valid? [True, True] Translation: X:335.75, Y:-244.75, Z:-17.30 [[ 7.40454270e-01 6.70532437e-01 4.59752646e-02 3.35749215e+02] [-6.69271158e-01 7.41880140e-01 -4.11093095e-02 -2.44748923e+02] [-6.16732613e-02 -3.30354821e-04 9.98096338e-01 -1.73037940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48864 meters Centerline goodness [0,1] 0.9992182155770546 Centerline is valid? [True, True] Translation: X:335.77, Y:-244.77, Z:-17.30 [[ 7.40135017e-01 6.70937290e-01 4.52029906e-02 3.35774140e+02] [-6.69716351e-01 7.41514023e-01 -4.04594045e-02 -2.44769861e+02] [-6.06643746e-02 -3.27759925e-04 9.98158167e-01 -1.73043124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51864 meters Centerline goodness [0,1] 0.9990714948932219 Centerline is valid? [True, True] Translation: X:335.80, Y:-244.79, Z:-17.31 [[ 7.39451039e-01 6.71763210e-01 4.41174633e-02 3.35797137e+02] [-6.70599572e-01 7.40765861e-01 -3.95240790e-02 -2.44792896e+02] [-5.92315329e-02 -3.59030714e-04 9.98244207e-01 -1.73057627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54864 meters Centerline goodness [0,1] 0.9998049256278956 Centerline is valid? [True, True] Translation: X:335.82, Y:-244.82, Z:-17.31 [[ 7.39604451e-01 6.71560517e-01 4.46287906e-02 3.35821491e+02] [-6.70366976e-01 7.40949642e-01 -4.00218092e-02 -2.44815863e+02] [-5.99447533e-02 -3.17359205e-04 9.98201646e-01 -1.73066893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57864 meters Centerline goodness [0,1] 0.9999511957052221 Centerline is valid? [True, True] Translation: X:335.85, Y:-244.84, Z:-17.31 [[ 7.39801987e-01 6.71321357e-01 4.49517038e-02 3.35846047e+02] [-6.70107388e-01 7.41166354e-01 -4.03549764e-02 -2.44837317e+02] [-6.04078479e-02 -2.67777053e-04 9.98173742e-01 -1.73079687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60864 meters Centerline goodness [0,1] 0.9999024818372422 Centerline is valid? [True, True] Translation: X:335.87, Y:-244.86, Z:-17.31 [[ 7.39905808e-01 6.71140299e-01 4.59357662e-02 3.35871455e+02] [-6.69869554e-01 7.41330323e-01 -4.12811439e-02 -2.44857602e+02] [-6.17590157e-02 -2.26813097e-04 9.98091064e-01 -1.73085971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.63864 meters Centerline goodness [0,1] 0.9996587529859113 Centerline is valid? [True, True] Translation: X:335.90, Y:-244.88, Z:-17.31 [[ 7.39219636e-01 6.71910818e-01 4.57185130e-02 3.35895624e+02] [-6.70651059e-01 7.40632018e-01 -4.11262927e-02 -2.44879699e+02] [-6.14937955e-02 -2.59805998e-04 9.98107432e-01 -1.73095386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66864 meters Centerline goodness [0,1] 0.9997070026369763 Centerline is valid? [True, True] Translation: X:335.92, Y:-244.90, Z:-17.31 [[ 7.39033466e-01 6.72132568e-01 4.54680781e-02 3.35919705e+02] [-6.70884330e-01 7.40430787e-01 -4.09446561e-02 -2.44901986e+02] [-6.11862017e-02 -2.44349991e-04 9.98126339e-01 -1.73106929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.69864 meters Centerline goodness [0,1] 0.9997559189650964 Centerline is valid? [True, True] Translation: X:335.94, Y:-244.92, Z:-17.31 [[ 7.38249835e-01 6.73072497e-01 4.42785991e-02 3.35943190e+02] [-6.71888597e-01 7.39576453e-01 -3.99046949e-02 -2.44924125e+02] [-5.96061619e-02 -2.90651409e-04 9.98221930e-01 -1.73127570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72864 meters Centerline goodness [0,1] 0.9998044679082955 Centerline is valid? [True, True] Translation: X:335.97, Y:-244.95, Z:-17.31 [[ 7.37389284e-01 6.74038700e-01 4.39189528e-02 3.35968509e+02] [-6.72874244e-01 7.38695953e-01 -3.96048197e-02 -2.44945738e+02] [-5.91379339e-02 -3.47762497e-04 9.98249760e-01 -1.73137306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.75864 meters Centerline goodness [0,1] 0.9992677926388753 Centerline is valid? [True, True] Translation: X:335.99, Y:-244.97, Z:-17.31 [[ 7.35006527e-01 6.76613709e-01 4.42639233e-02 3.35992841e+02] [-6.75433039e-01 7.36337973e-01 -3.99574763e-02 -2.44966223e+02] [-5.96289838e-02 -5.28310347e-04 9.98220469e-01 -1.73136216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78864 meters Centerline goodness [0,1] 0.9994631789566151 Centerline is valid? [True, True] Translation: X:336.02, Y:-244.99, Z:-17.31 [[ 7.33440631e-01 6.78285613e-01 4.46482732e-02 3.36016993e+02] [-6.77085117e-01 7.34798078e-01 -4.03426378e-02 -2.44987784e+02] [-6.01712961e-02 -6.41751547e-04 9.98187860e-01 -1.73148338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.81864 meters Centerline goodness [0,1] 0.9995607827826851 Centerline is valid? [True, True] Translation: X:336.04, Y:-245.01, Z:-17.32 [[ 7.31223614e-01 6.80598978e-01 4.57936445e-02 3.36042225e+02] [-6.79338126e-01 7.32655684e-01 -4.14168929e-02 -2.45007522e+02] [-6.17392689e-02 -8.24358497e-04 9.98091971e-01 -1.73158737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84864 meters Centerline goodness [0,1] 0.9994635977958746 Centerline is valid? [True, True] Translation: X:336.07, Y:-245.03, Z:-17.32 [[ 7.29656912e-01 6.82256383e-01 4.61196090e-02 3.36067240e+02] [-6.80978369e-01 7.31112398e-01 -4.17507072e-02 -2.45028162e+02] [-6.22033044e-02 -9.42764026e-04 9.98063054e-01 -1.73174362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.87864 meters Centerline goodness [0,1] 0.9995606755833252 Centerline is valid? [True, True] Translation: X:336.09, Y:-245.05, Z:-17.32 [[ 7.28446392e-01 6.83634533e-01 4.48294410e-02 3.36092201e+02] [-6.82427433e-01 7.29823827e-01 -4.06199457e-02 -2.45048346e+02] [-6.04867917e-02 -1.00338744e-03 9.98168493e-01 -1.73186524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90864 meters Centerline goodness [0,1] 0.9996097751329204 Centerline is valid? [True, True] Translation: X:336.12, Y:-245.07, Z:-17.32 [[ 7.26921955e-01 6.85317405e-01 4.38694302e-02 3.36118015e+02] [-6.84162253e-01 7.28243686e-01 -3.97887564e-02 -2.45069646e+02] [-5.92155628e-02 -1.09048759e-03 9.98244623e-01 -1.73202823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93864 meters Centerline goodness [0,1] 0.9992685424489198 Centerline is valid? [True, True] Translation: X:336.14, Y:-245.09, Z:-17.32 [[ 7.24754877e-01 6.87613450e-01 4.37962519e-02 3.36144483e+02] [-6.86463911e-01 7.26075885e-01 -3.97631546e-02 -2.45088586e+02] [-5.91410823e-02 -1.24600614e-03 9.98248857e-01 -1.73200738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96864 meters Centerline goodness [0,1] 0.9994141769185706 Centerline is valid? [True, True] Translation: X:336.17, Y:-245.11, Z:-17.32 [[ 7.23428417e-01 6.88961450e-01 4.45358990e-02 3.36170057e+02] [-6.87772949e-01 7.24796727e-01 -4.04731462e-02 -2.45108319e+02] [-6.01639113e-02 -1.35116247e-03 9.98187597e-01 -1.73222741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99864 meters Centerline goodness [0,1] 0.9993655751305451 Centerline is valid? [True, True] Translation: X:336.20, Y:-245.13, Z:-17.32 [[ 7.22325433e-01 6.90132384e-01 4.43087128e-02 3.36196646e+02] [-6.88955806e-01 7.23681765e-01 -4.03063325e-02 -2.45128546e+02] [-5.98821128e-02 -1.41245587e-03 9.98204457e-01 -1.73226537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02864 meters Centerline goodness [0,1] 0.99936504835401 Centerline is valid? [True, True] Translation: X:336.22, Y:-245.15, Z:-17.32 [[ 7.21325274e-01 6.91221475e-01 4.36201967e-02 3.36224017e+02] [-6.90080712e-01 7.22641525e-01 -3.97220058e-02 -2.45147021e+02] [-5.89784689e-02 -1.44896966e-03 9.98258203e-01 -1.73245711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05864 meters Centerline goodness [0,1] 0.9997069597069597 Centerline is valid? [True, True] Translation: X:336.25, Y:-245.17, Z:-17.33 [[ 7.20795930e-01 6.91774536e-01 4.36029701e-02 3.36249921e+02] [-6.90633179e-01 7.22112077e-01 -3.97487325e-02 -2.45167261e+02] [-5.89833923e-02 -1.46293318e-03 9.98257892e-01 -1.73254487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08864 meters Centerline goodness [0,1] 0.9995606326889279 Centerline is valid? [True, True] Translation: X:336.28, Y:-245.19, Z:-17.33 [[ 7.20390475e-01 6.92190748e-01 4.36981964e-02 3.36278135e+02] [-6.91042627e-01 7.21713107e-01 -3.98782996e-02 -2.45185496e+02] [-5.91409511e-02 -1.46936926e-03 9.98248561e-01 -1.73255818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11864 meters Centerline goodness [0,1] 0.9998047447037001 Centerline is valid? [True, True] Translation: X:336.30, Y:-245.20, Z:-17.33 [[ 7.20555091e-01 6.92036921e-01 4.34195841e-02 3.36304297e+02] [-6.90900754e-01 7.21860713e-01 -3.96643336e-02 -2.45204445e+02] [-5.87920752e-02 -1.41828585e-03 9.98269242e-01 -1.73270772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14864 meters Centerline goodness [0,1] 0.9996580695584213 Centerline is valid? [True, True] Translation: X:336.33, Y:-245.22, Z:-17.33 [[ 7.20839811e-01 6.91702852e-01 4.40128511e-02 3.36330565e+02] [-6.90532397e-01 7.22180903e-01 -4.02461504e-02 -2.45223926e+02] [-5.96236176e-02 -1.38127208e-03 9.98219974e-01 -1.73291409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17864 meters Centerline goodness [0,1] 0.9998049446530453 Centerline is valid? [True, True] Translation: X:336.36, Y:-245.24, Z:-17.33 [[ 7.21069177e-01 6.91473949e-01 4.38522393e-02 3.36356115e+02] [-6.90309171e-01 7.22400176e-01 -4.01401814e-02 -2.45244312e+02] [-5.94347552e-02 -1.32775538e-03 9.98231309e-01 -1.73309006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20864 meters Centerline goodness [0,1] 0.9998536728124086 Centerline is valid? [True, True] Translation: X:336.38, Y:-245.26, Z:-17.33 [[ 7.22698891e-01 6.89849238e-01 4.25950786e-02 3.36382540e+02] [-6.88745450e-01 7.23952169e-01 -3.90251500e-02 -2.45263143e+02] [-5.77582695e-02 -1.13373394e-03 9.98329954e-01 -1.73317540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23864 meters Centerline goodness [0,1] 0.9999511790265098 Centerline is valid? [True, True] Translation: X:336.41, Y:-245.28, Z:-17.33 [[ 7.22511211e-01 6.90043702e-01 4.26290790e-02 3.36408999e+02] [-6.88936279e-01 7.23766833e-01 -3.90944288e-02 -2.45283228e+02] [-5.78303779e-02 -1.12255604e-03 9.98325792e-01 -1.73327681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26864 meters Centerline goodness [0,1] 0.9998536799492758 Centerline is valid? [True, True] Translation: X:336.43, Y:-245.30, Z:-17.33 [[ 7.22602413e-01 6.89976449e-01 4.21693436e-02 3.36434970e+02] [-6.88890452e-01 7.23831017e-01 -3.87118121e-02 -2.45302692e+02] [-5.72337175e-02 -1.07680936e-03 9.98360227e-01 -1.73338159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.46, Y:-245.32, Z:-17.34 [[ 7.22511990e-01 6.90124354e-01 4.12892395e-02 3.36461682e+02] [-6.89081541e-01 7.23690054e-01 -3.79385765e-02 -2.45321054e+02] [-5.60629475e-02 -1.04057640e-03 9.98426694e-01 -1.73352004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.49, Y:-245.34, Z:-17.34 [[ 7.22147602e-01 6.90506736e-01 4.12709142e-02 3.36485858e+02] [-6.89463409e-01 7.23325210e-01 -3.79585040e-02 -2.45342864e+02] [-5.60628954e-02 -1.04314258e-03 9.98426694e-01 -1.73364157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35864 meters Centerline goodness [0,1] 0.999756275895686 Centerline is valid? [True, True] Translation: X:336.51, Y:-245.36, Z:-17.34 [[ 7.21539179e-01 6.91108943e-01 4.18287294e-02 3.36511165e+02] [-6.90035864e-01 7.22749801e-01 -3.85127541e-02 -2.45363739e+02] [-5.68482146e-02 -1.07486248e-03 9.98382254e-01 -1.73386520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38864 meters Centerline goodness [0,1] 0.9999024865919064 Centerline is valid? [True, True] Translation: X:336.54, Y:-245.38, Z:-17.34 [[ 7.21900906e-01 6.90760320e-01 4.13432123e-02 3.36537560e+02] [-6.89709294e-01 7.23083097e-01 -3.81041344e-02 -2.45382285e+02] [-5.62154020e-02 -1.00738863e-03 9.98418156e-01 -1.73383899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41864 meters Centerline goodness [0,1] 0.9998535728231159 Centerline is valid? [True, True] Translation: X:336.56, Y:-245.40, Z:-17.34 [[ 7.21953779e-01 6.90689684e-01 4.15992939e-02 3.36563818e+02] [-6.89623345e-01 7.23150605e-01 -3.83776589e-02 -2.45402768e+02] [-5.65896077e-02 -9.80948374e-04 9.98397042e-01 -1.73402414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44864 meters Centerline goodness [0,1] 0.9997560261539963 Centerline is valid? [True, True] Translation: X:336.59, Y:-245.42, Z:-17.34 [[ 7.22523812e-01 6.90097557e-01 4.15295387e-02 3.36589180e+02] [-6.89032054e-01 7.23715782e-01 -3.83444322e-02 -2.45423489e+02] [-5.65169816e-02 -9.10418020e-04 9.98401223e-01 -1.73411330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47864 meters Centerline goodness [0,1] 0.999853744149766 Centerline is valid? [True, True] Translation: X:336.62, Y:-245.44, Z:-17.34 [[ 7.24167697e-01 6.88332066e-01 4.21913943e-02 3.36615337e+02] [-6.87228077e-01 7.25395323e-01 -3.89768512e-02 -2.45442884e+02] [-5.74344566e-02 -7.69334266e-04 9.98348983e-01 -1.73426776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50864 meters Centerline goodness [0,1] 0.9997563471565714 Centerline is valid? [True, True] Translation: X:336.64, Y:-245.46, Z:-17.34 [[ 7.24547859e-01 6.87907509e-01 4.25870835e-02 3.36641666e+02] [-6.86779712e-01 7.25798009e-01 -3.93811803e-02 -2.45463417e+02] [-5.80002300e-02 -7.14395103e-04 9.98316314e-01 -1.73440547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53864 meters Centerline goodness [0,1] 0.9999025578562728 Centerline is valid? [True, True] Translation: X:336.67, Y:-245.48, Z:-17.34 [[ 7.25415761e-01 6.87020526e-01 4.21280264e-02 3.36667170e+02] [-6.85913188e-01 7.26637755e-01 -3.89957738e-02 -2.45482659e+02] [-5.74027116e-02 -6.08019982e-04 9.98350920e-01 -1.73445573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56864 meters Centerline goodness [0,1] 0.9998537797923673 Centerline is valid? [True, True] Translation: X:336.69, Y:-245.50, Z:-17.35 [[ 7.27816487e-01 6.84517674e-01 4.14573890e-02 3.36693728e+02] [-6.83439289e-01 7.28996166e-01 -3.84100009e-02 -2.45501123e+02] [-5.65146021e-02 -3.78176521e-04 9.98401701e-01 -1.73465524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59864 meters Centerline goodness [0,1] 0.9999024152232252 Centerline is valid? [True, True] Translation: X:336.72, Y:-245.52, Z:-17.35 [[ 7.28907409e-01 6.83366718e-01 4.12785293e-02 3.36718483e+02] [-6.82294269e-01 7.30075240e-01 -3.82710551e-02 -2.45521325e+02] [-5.62895975e-02 -2.68048367e-04 9.98414448e-01 -1.73480371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62864 meters Centerline goodness [0,1] 0.9998050302203159 Centerline is valid? [True, True] Translation: X:336.74, Y:-245.54, Z:-17.35 [[ 7.29391574e-01 6.82889682e-01 4.06154544e-02 3.36743692e+02] [-6.81850145e-01 7.30521481e-01 -3.76662399e-02 -2.45541169e+02] [-5.53923485e-02 -2.20215485e-04 9.98464641e-01 -1.73489952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65864 meters Centerline goodness [0,1] 0.9999025626035273 Centerline is valid? [True, True] Translation: X:336.77, Y:-245.56, Z:-17.35 [[ 7.29700357e-01 6.82492512e-01 4.17295998e-02 3.36770608e+02] [-6.81393422e-01 7.30892562e-01 -3.87177939e-02 -2.45558748e+02] [-5.69244585e-02 -1.81886738e-04 9.98378472e-01 -1.73503627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.79, Y:-245.58, Z:-17.35 [[ 7.30332910e-01 6.81840568e-01 4.13192349e-02 3.36794752e+02] [-6.80760553e-01 7.31500804e-01 -3.83619946e-02 -2.45579927e+02] [-5.63818178e-02 -1.11478067e-04 9.98409274e-01 -1.73504366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71864 meters Centerline goodness [0,1] 0.9998536728124086 Centerline is valid? [True, True] Translation: X:336.82, Y:-245.60, Z:-17.35 [[ 7.32567332e-01 6.79409512e-01 4.18069215e-02 3.36819056e+02] [-6.78299269e-01 7.33759298e-01 -3.88251648e-02 -2.45601035e+02] [-5.70544037e-02 8.44430871e-05 9.98371067e-01 -1.73525829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74864 meters Centerline goodness [0,1] 0.9998536942209217 Centerline is valid? [True, True] Translation: X:336.84, Y:-245.62, Z:-17.35 [[ 7.33994834e-01 6.77848840e-01 4.21014748e-02 3.36843264e+02] [-6.76719715e-01 7.35201268e-01 -3.91091260e-02 -2.45622659e+02] [-5.74631333e-02 2.14998396e-04 9.98347606e-01 -1.73539202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77864 meters Centerline goodness [0,1] 0.9997073598985514 Centerline is valid? [True, True] Translation: X:336.87, Y:-245.64, Z:-17.36 [[ 7.35566937e-01 6.76180046e-01 4.14949070e-02 3.36867752e+02] [-6.75079918e-01 7.36736333e-01 -3.85574872e-02 -2.45644517e+02] [-5.66426091e-02 3.49234297e-04 9.98394458e-01 -1.73554724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80864 meters Centerline goodness [0,1] 0.999804982692214 Centerline is valid? [True, True] Translation: X:336.89, Y:-245.67, Z:-17.36 [[ 7.36754967e-01 6.74875694e-01 4.16523225e-02 3.36891498e+02] [-6.73764336e-01 7.37931287e-01 -3.87173643e-02 -2.45666258e+02] [-5.68659601e-02 4.61361033e-04 9.98381715e-01 -1.73574421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83864 meters Centerline goodness [0,1] 0.999951274180188 Centerline is valid? [True, True] Translation: X:336.91, Y:-245.69, Z:-17.36 [[ 7.38223737e-01 6.73246641e-01 4.20080318e-02 3.36913916e+02] [-6.72112976e-01 7.39417744e-01 -3.90582500e-02 -2.45688769e+02] [-5.73573198e-02 5.99583957e-04 9.98353534e-01 -1.73585557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86864 meters Centerline goodness [0,1] 0.9996103832854429 Centerline is valid? [True, True] Translation: X:336.94, Y:-245.71, Z:-17.36 [[ 7.38552286e-01 6.72918729e-01 4.14837885e-02 3.36936896e+02] [-6.71812131e-01 7.39716158e-01 -3.85806583e-02 -2.45711725e+02] [-5.66478762e-02 6.24521046e-04 9.98394024e-01 -1.73590222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89864 meters Centerline goodness [0,1] 0.9996089358165909 Centerline is valid? [True, True] Translation: X:336.96, Y:-245.74, Z:-17.36 [[ 7.38489459e-01 6.73039033e-01 4.06420827e-02 3.36959560e+02] [-6.71976569e-01 7.39606712e-01 -3.78074451e-02 -2.45735160e+02] [-5.55050434e-02 6.09872342e-04 9.98458221e-01 -1.73597777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92864 meters Centerline goodness [0,1] 0.9995125042655877 Centerline is valid? [True, True] Translation: X:336.98, Y:-245.76, Z:-17.36 [[ 7.36989233e-01 6.74702963e-01 4.02837806e-02 3.36980753e+02] [-6.73661110e-01 7.38089205e-01 -3.74837880e-02 -2.45760215e+02] [-5.50234464e-02 4.87531782e-04 9.98484944e-01 -1.73621929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95864 meters Centerline goodness [0,1] 0.9994631789566151 Centerline is valid? [True, True] Translation: X:337.00, Y:-245.78, Z:-17.36 [[ 7.36529153e-01 6.75220572e-01 4.00248044e-02 3.37003096e+02] [-6.74192318e-01 7.37615736e-01 -3.72524415e-02 -2.45783585e+02] [-5.46765405e-02 4.53093528e-04 9.98504016e-01 -1.73627437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98864 meters Centerline goodness [0,1] 0.9996092986911506 Centerline is valid? [True, True] Translation: X:337.02, Y:-245.81, Z:-17.36 [[ 7.34061701e-01 6.77927351e-01 3.95970484e-02 3.37023673e+02] [-6.76923986e-01 7.35128858e-01 -3.68711192e-02 -2.45808803e+02] [-5.41048731e-02 2.61484678e-04 9.98535224e-01 -1.73635323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01864 meters Centerline goodness [0,1] 0.99980479234786 Centerline is valid? [True, True] Translation: X:337.05, Y:-245.83, Z:-17.37 [[ 7.32450178e-01 6.79650552e-01 3.98981722e-02 3.37046939e+02] [-6.78632465e-01 7.33536026e-01 -3.71870446e-02 -2.45832204e+02] [-5.45409420e-02 1.61462469e-04 9.98511522e-01 -1.73652089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04864 meters Centerline goodness [0,1] 0.9999512242708029 Centerline is valid? [True, True] Translation: X:337.07, Y:-245.86, Z:-17.37 [[ 7.30956916e-01 6.81236401e-01 4.02362232e-02 3.37069891e+02] [-6.80201575e-01 7.32063496e-01 -3.75347255e-02 -2.45855539e+02] [-5.50254915e-02 6.75247870e-05 9.98484948e-01 -1.73664208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07864 meters Centerline goodness [0,1] 0.9999512528029638 Centerline is valid? [True, True] Translation: X:337.09, Y:-245.88, Z:-17.37 [[ 7.28602285e-01 6.83693741e-01 4.12502035e-02 3.37092317e+02] [-6.82608665e-01 7.29769044e-01 -3.85039231e-02 -2.45878001e+02] [-5.64280128e-02 -1.03699960e-04 9.98406665e-01 -1.73678695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10864 meters Centerline goodness [0,1] 0.9999024960998439 Centerline is valid? [True, True] Translation: X:337.12, Y:-245.90, Z:-17.37 [[ 7.27707287e-01 6.84605932e-01 4.19144718e-02 3.37116792e+02] [-6.83484996e-01 7.28913366e-01 -3.91607543e-02 -2.45900915e+02] [-5.73617034e-02 -1.50346370e-04 9.98353451e-01 -1.73693362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.14, Y:-245.92, Z:-17.37 [[ 7.26508441e-01 6.85841563e-01 4.25068992e-02 3.37141164e+02] [-6.84688332e-01 7.27750852e-01 -3.97565896e-02 -2.45923568e+02] [-5.82011536e-02 -2.20479952e-04 9.98304852e-01 -1.73715156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16864 meters Centerline goodness [0,1] 0.9999512242708029 Centerline is valid? [True, True] Translation: X:337.17, Y:-245.95, Z:-17.37 [[ 7.25875462e-01 6.86543806e-01 4.19811532e-02 3.37165844e+02] [-6.85417756e-01 7.27088401e-01 -3.93059390e-02 -2.45945343e+02] [-5.75092586e-02 -2.43411178e-04 9.98344943e-01 -1.73725348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.19864 meters Centerline goodness [0,1] 0.9997075025593526 Centerline is valid? [True, True] Translation: X:337.19, Y:-245.97, Z:-17.37 [[ 7.26730149e-01 6.85670784e-01 4.14592185e-02 3.37189845e+02] [-6.84568943e-01 7.27911777e-01 -3.88562336e-02 -2.45966150e+02] [-5.68212375e-02 -1.43696990e-04 9.98384358e-01 -1.73744365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22864 meters Centerline goodness [0,1] 0.9997074027114016 Centerline is valid? [True, True] Translation: X:337.21, Y:-245.99, Z:-17.37 [[ 7.28177132e-01 6.84211445e-01 4.01592307e-02 3.37214667e+02] [-6.83173566e-01 7.29283689e-01 -3.76720024e-02 -2.45987480e+02] [-5.50630871e-02 -3.83423699e-06 9.98482877e-01 -1.73742839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.25864 meters Centerline goodness [0,1] 0.999512147526588 Centerline is valid? [True, True] Translation: X:337.24, Y:-246.01, Z:-17.38 [[ 7.28628570e-01 6.83721106e-01 4.03219047e-02 3.37239317e+02] [-6.82672015e-01 7.29743411e-01 -3.78612490e-02 -2.46009747e+02] [-5.53111793e-02 6.01517487e-05 9.98469163e-01 -1.73761940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.26, Y:-246.03, Z:-17.38 [[ 7.29484300e-01 6.82814100e-01 4.02189127e-02 3.37263501e+02] [-6.81766777e-01 7.30592143e-01 -3.78045347e-02 -2.46031673e+02] [-5.51970910e-02 1.57896040e-04 9.98475466e-01 -1.73766475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.31864 meters Centerline goodness [0,1] 0.9998536156923977 Centerline is valid? [True, True] Translation: X:337.29, Y:-246.05, Z:-17.38 [[ 7.29783765e-01 6.82448585e-01 4.09827459e-02 3.37287659e+02] [-6.81358176e-01 7.30933568e-01 -3.85636449e-02 -2.46054824e+02] [-5.62733696e-02 2.19192914e-04 9.98415374e-01 -1.73778560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34864 meters Centerline goodness [0,1] 0.999707573837606 Centerline is valid? [True, True] Translation: X:337.31, Y:-246.08, Z:-17.38 [[ 7.30391691e-01 6.81771743e-01 4.14158042e-02 3.37311408e+02] [-6.80654716e-01 7.31564897e-01 -3.90122987e-02 -2.46078349e+02] [-5.68958314e-02 3.04396350e-04 9.98380074e-01 -1.73790398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.37864 meters Centerline goodness [0,1] 0.9994141769185706 Centerline is valid? [True, True] Translation: X:337.33, Y:-246.10, Z:-17.38 [[ 7.31348267e-01 6.80851906e-01 3.96282015e-02 3.37334883e+02] [-6.79826340e-01 7.32421010e-01 -3.73578759e-02 -2.46101169e+02] [-5.44597084e-02 3.81322644e-04 9.98515896e-01 -1.73792066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40864 meters Centerline goodness [0,1] 0.9996583199101869 Centerline is valid? [True, True] Translation: X:337.36, Y:-246.13, Z:-17.38 [[ 7.31841790e-01 6.80366708e-01 3.88424678e-02 3.37357897e+02] [-6.79379705e-01 7.32871724e-01 -3.66367681e-02 -2.46125009e+02] [-5.33929836e-02 4.23533643e-04 9.98573487e-01 -1.73810528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43864 meters Centerline goodness [0,1] 0.9997558951325489 Centerline is valid? [True, True] Translation: X:337.38, Y:-246.15, Z:-17.38 [[ 7.32156325e-01 6.80006858e-01 3.92146536e-02 3.37381125e+02] [-6.78998228e-01 7.33205592e-01 -3.70265582e-02 -2.46148495e+02] [-5.39307169e-02 4.82548490e-04 9.98544563e-01 -1.73834537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46864 meters Centerline goodness [0,1] 0.9996584866077962 Centerline is valid? [True, True] Translation: X:337.40, Y:-246.17, Z:-17.38 [[ 7.32169071e-01 6.79985819e-01 3.93413007e-02 3.37403862e+02] [-6.78968535e-01 7.33225083e-01 -3.71847622e-02 -2.46172011e+02] [-5.41311394e-02 5.14027537e-04 9.98533703e-01 -1.73835580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49864 meters Centerline goodness [0,1] 0.9988782676550917 Centerline is valid? [True, True] Translation: X:337.42, Y:-246.20, Z:-17.38 [[ 7.33642096e-01 6.78402399e-01 3.92359488e-02 3.37424743e+02] [-6.77386306e-01 7.34690244e-01 -3.71219301e-02 -2.46196569e+02] [-5.40098752e-02 6.56316119e-04 9.98540186e-01 -1.73827213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52864 meters Centerline goodness [0,1] 0.9996094894074001 Centerline is valid? [True, True] Translation: X:337.45, Y:-246.22, Z:-17.38 [[ 7.34160361e-01 6.77787064e-01 4.01654126e-02 3.37447047e+02] [-6.76719374e-01 7.35257875e-01 -3.80361218e-02 -2.46220137e+02] [-5.53123272e-02 7.43900073e-04 9.98468824e-01 -1.73847165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55864 meters Centerline goodness [0,1] 0.9987789391423268 Centerline is valid? [True, True] Translation: X:337.47, Y:-246.24, Z:-17.39 [[ 7.35273087e-01 6.76593510e-01 3.99338097e-02 3.37468965e+02] [-6.75534495e-01 7.36356227e-01 -3.78503988e-02 -2.46243251e+02] [-5.50148436e-02 8.53713589e-04 9.98485172e-01 -1.73863614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58864 meters Centerline goodness [0,1] 0.9990250560592766 Centerline is valid? [True, True] Translation: X:337.49, Y:-246.27, Z:-17.39 [[ 7.37040778e-01 6.74564212e-01 4.16415269e-02 3.37489108e+02] [-6.73407292e-01 7.38215394e-01 -3.95050755e-02 -2.46268328e+02] [-5.73891263e-02 1.07514368e-03 9.98351307e-01 -1.73901272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61864 meters Centerline goodness [0,1] 0.9984361255009285 Centerline is valid? [True, True] Translation: X:337.51, Y:-246.29, Z:-17.39 [[ 7.37259697e-01 6.74283167e-01 4.23125283e-02 3.37509632e+02] [-6.73086074e-01 7.38472009e-01 -4.01774684e-02 -2.46293089e+02] [-5.83376084e-02 1.14125461e-03 9.98296259e-01 -1.73910689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64864 meters Centerline goodness [0,1] 0.9986818337157642 Centerline is valid? [True, True] Translation: X:337.53, Y:-246.32, Z:-17.39 [[ 7.38206035e-01 6.73180017e-01 4.33648976e-02 3.37528474e+02] [-6.71918473e-01 7.39477525e-01 -4.12135339e-02 -2.46320540e+02] [-5.98114946e-02 1.28640359e-03 9.98208861e-01 -1.73929662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67864 meters Centerline goodness [0,1] 0.9979475150271221 Centerline is valid? [True, True] Translation: X:337.55, Y:-246.34, Z:-17.39 [[ 7.38292736e-01 6.73159341e-01 4.21940338e-02 3.37549775e+02] [-6.71963007e-01 7.39496359e-01 -4.01354201e-02 -2.46344719e+02] [-5.82198673e-02 1.27885935e-03 9.98302966e-01 -1.73934164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70864 meters Centerline goodness [0,1] 0.9983400058588029 Centerline is valid? [True, True] Translation: X:337.57, Y:-246.37, Z:-17.39 [[ 7.38050897e-01 6.73501161e-01 4.09519114e-02 3.37570440e+02] [-6.72372922e-01 7.39185125e-01 -3.89872470e-02 -2.46369417e+02] [-5.65289999e-02 1.23961630e-03 9.98400188e-01 -1.73941683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73864 meters Centerline goodness [0,1] 0.9986317435496481 Centerline is valid? [True, True] Translation: X:337.59, Y:-246.40, Z:-17.40 [[ 7.37375911e-01 6.74252406e-01 4.07487271e-02 3.37588151e+02] [-6.73134576e-01 7.38500000e-01 -3.88277362e-02 -2.46397732e+02] [-5.62726295e-02 1.20126024e-03 9.98414718e-01 -1.73962901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76864 meters Centerline goodness [0,1] 0.9984387197501952 Centerline is valid? [True, True] Translation: X:337.61, Y:-246.42, Z:-17.40 [[ 7.36313777e-01 6.75397570e-01 4.09895585e-02 3.37609916e+02] [-6.74266174e-01 7.37452918e-01 -3.90937331e-02 -2.46423223e+02] [-5.66316819e-02 1.14738147e-03 9.98394479e-01 -1.73969597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79864 meters Centerline goodness [0,1] 0.9982935985568719 Centerline is valid? [True, True] Translation: X:337.63, Y:-246.45, Z:-17.40 [[ 7.35248975e-01 6.76571496e-01 4.07425596e-02 3.37630457e+02] [-6.75453377e-01 7.36376159e-01 -3.88958577e-02 -2.46448345e+02] [-5.63176782e-02 1.07844005e-03 9.98412318e-01 -1.73966240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82864 meters Centerline goodness [0,1] 0.9990733063454129 Centerline is valid? [True, True] Translation: X:337.65, Y:-246.48, Z:-17.40 [[ 7.32876560e-01 6.79108462e-01 4.12752293e-02 3.37648753e+02] [-6.77963331e-01 7.34037369e-01 -3.94317632e-02 -2.46476490e+02] [-5.70760048e-02 9.15523012e-04 9.98369416e-01 -1.73982451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85864 meters Centerline goodness [0,1] 0.9996586364966351 Centerline is valid? [True, True] Translation: X:337.67, Y:-246.50, Z:-17.40 [[ 7.31457250e-01 6.80595310e-01 4.19561101e-02 3.37669949e+02] [-6.79413161e-01 7.32659086e-01 -4.01051218e-02 -2.46501480e+02] [-5.80348831e-02 8.29648715e-04 9.98314211e-01 -1.74004971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88864 meters Centerline goodness [0,1] 0.9999512504265587 Centerline is valid? [True, True] Translation: X:337.69, Y:-246.53, Z:-17.40 [[ 7.28267888e-01 6.84014145e-01 4.18393660e-02 3.37688614e+02] [-6.82841922e-01 7.29468510e-01 -4.00325077e-02 -2.46528557e+02] [-5.79033015e-02 5.84716771e-04 9.98322025e-01 -1.74020311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91864 meters Centerline goodness [0,1] 0.9999511790265098 Centerline is valid? [True, True] Translation: X:337.71, Y:-246.55, Z:-17.40 [[ 7.27055674e-01 6.85301821e-01 4.18504586e-02 3.37710396e+02] [-6.84128900e-01 7.28258988e-01 -4.00811047e-02 -2.46553034e+02] [-5.79456266e-02 5.10086409e-04 9.98319610e-01 -1.74034894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94864 meters Centerline goodness [0,1] 0.9999023294427895 Centerline is valid? [True, True] Translation: X:337.73, Y:-246.58, Z:-17.40 [[ 7.25263945e-01 6.87219031e-01 4.14995647e-02 3.37731658e+02] [-6.86066573e-01 7.26450175e-01 -3.97844355e-02 -2.46577235e+02] [-5.74879872e-02 3.82752503e-04 9.98346125e-01 -1.74040969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97864 meters Centerline goodness [0,1] 0.9999024960998439 Centerline is valid? [True, True] Translation: X:337.75, Y:-246.60, Z:-17.41 [[ 7.23980465e-01 6.88589445e-01 4.11929919e-02 3.37753606e+02] [-6.87454013e-01 7.25151355e-01 -3.95283845e-02 -2.46601585e+02] [-5.70899822e-02 2.99490588e-04 9.98368992e-01 -1.74050208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00864 meters Centerline goodness [0,1] 0.9999511647213948 Centerline is valid? [True, True] Translation: X:337.77, Y:-246.63, Z:-17.40 [[ 7.22721759e-01 6.89899987e-01 4.13674706e-02 3.37774166e+02] [-6.88755105e-01 7.23904662e-01 -3.97296511e-02 -2.46627733e+02] [-5.73555906e-02 2.21426696e-04 9.98353789e-01 -1.74046372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.80, Y:-246.65, Z:-17.41 [[ 7.21837393e-01 6.90809579e-01 4.16281713e-02 3.37796881e+02] [-6.89650138e-01 7.23036719e-01 -4.00073757e-02 -2.46651603e+02] [-5.77361748e-02 1.69945702e-04 9.98331861e-01 -1.74065173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06864 meters Centerline goodness [0,1] 0.999853744149766 Centerline is valid? [True, True] Translation: X:337.82, Y:-246.68, Z:-17.41 [[ 7.19236536e-01 6.93464994e-01 4.24865546e-02 3.37818067e+02] [-6.92259188e-01 7.20490321e-01 -4.08768197e-02 -2.46676806e+02] [-5.89577949e-02 -1.16055535e-05 9.98260476e-01 -1.74091117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09864 meters Centerline goodness [0,1] 0.9999024485416057 Centerline is valid? [True, True] Translation: X:337.84, Y:-246.70, Z:-17.41 [[ 7.17503272e-01 6.95227908e-01 4.29791918e-02 3.37840852e+02] [-6.93994429e-01 7.18789357e-01 -4.13955619e-02 -2.46700202e+02] [-5.96723356e-02 -1.25868535e-04 9.98218011e-01 -1.74105843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12864 meters Centerline goodness [0,1] 0.999755990434825 Centerline is valid? [True, True] Translation: X:337.86, Y:-246.72, Z:-17.41 [[ 7.16305819e-01 6.96444008e-01 4.32633610e-02 3.37864234e+02] [-6.95193650e-01 7.17611110e-01 -4.17143104e-02 -2.46723877e+02] [-6.00979501e-02 -1.96210548e-04 9.98192465e-01 -1.74111738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15864 meters Centerline goodness [0,1] 0.9997560975609756 Centerline is valid? [True, True] Translation: X:337.89, Y:-246.75, Z:-17.41 [[ 7.14399213e-01 6.98408509e-01 4.31198257e-02 3.37886853e+02] [-6.97167343e-01 7.15699272e-01 -4.16202892e-02 -2.46748508e+02] [-5.99287920e-02 -3.28232473e-04 9.98202601e-01 -1.74118421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18864 meters Centerline goodness [0,1] 0.9999023246727876 Centerline is valid? [True, True] Translation: X:337.91, Y:-246.77, Z:-17.41 [[ 7.14036578e-01 6.98828296e-01 4.23175843e-02 3.37909248e+02] [-6.97631232e-01 7.15289386e-01 -4.08871437e-02 -2.46771441e+02] [-5.88424118e-02 -3.27152327e-04 9.98267231e-01 -1.74123275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21864 meters Centerline goodness [0,1] 0.9999023199023199 Centerline is valid? [True, True] Translation: X:337.93, Y:-246.80, Z:-17.41 [[ 7.14762567e-01 6.98084375e-01 4.23400209e-02 3.37931664e+02] [-6.96882350e-01 7.16015467e-01 -4.09492498e-02 -2.46795596e+02] [-5.89021413e-02 -2.37022380e-04 9.98263733e-01 -1.74123484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24864 meters Centerline goodness [0,1] 0.9999021622150475 Centerline is valid? [True, True] Translation: X:337.95, Y:-246.82, Z:-17.41 [[ 7.15447185e-01 6.97317186e-01 4.34058477e-02 3.37953974e+02] [-6.96049777e-01 7.16762667e-01 -4.20236444e-02 -2.46818147e+02] [-6.04155006e-02 -1.46932517e-04 9.98173304e-01 -1.74141193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27864 meters Centerline goodness [0,1] 0.9999021622150475 Centerline is valid? [True, True] Translation: X:337.98, Y:-246.84, Z:-17.42 [[ 7.15070374e-01 6.97704882e-01 4.33849862e-02 3.37977549e+02] [-6.96436880e-01 7.16385284e-01 -4.20451748e-02 -2.46840538e+02] [-6.04154894e-02 -1.49645547e-04 9.98173305e-01 -1.74153343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30864 meters Centerline goodness [0,1] 0.9998533652671197 Centerline is valid? [True, True] Translation: X:338.00, Y:-246.86, Z:-17.42 [[ 7.15749532e-01 6.96917747e-01 4.48136325e-02 3.37999460e+02] [-6.95560456e-01 7.17151065e-01 -4.34741494e-02 -2.46863443e+02] [-6.24360506e-02 -5.39885680e-05 9.98048965e-01 -1.74174693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33864 meters Centerline goodness [0,1] 0.9998536728124086 Centerline is valid? [True, True] Translation: X:338.02, Y:-246.89, Z:-17.42 [[ 7.17242865e-01 6.95362992e-01 4.50886031e-02 3.38021189e+02] [-6.93983249e-01 7.18658679e-01 -4.37830254e-02 -2.46888593e+02] [-6.28484115e-02 1.12327346e-04 9.98023078e-01 -1.74191503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36864 meters Centerline goodness [0,1] 0.9999023818820774 Centerline is valid? [True, True] Translation: X:338.04, Y:-246.91, Z:-17.42 [[ 7.17542750e-01 6.95062752e-01 4.49463373e-02 3.38043707e+02] [-6.93688196e-01 7.18949053e-01 -4.36914764e-02 -2.46912503e+02] [-6.26824445e-02 1.71758433e-04 9.98033507e-01 -1.74207399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39864 meters Centerline goodness [0,1] 0.9999024199843872 Centerline is valid? [True, True] Translation: X:338.06, Y:-246.94, Z:-17.42 [[ 7.17020778e-01 6.95634513e-01 4.44277774e-02 3.38064914e+02] [-6.94289787e-01 7.18395852e-01 -4.32329937e-02 -2.46938234e+02] [-6.19910936e-02 1.53202703e-04 9.98076691e-01 -1.74231581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42864 meters Centerline goodness [0,1] 0.9996098322278579 Centerline is valid? [True, True] Translation: X:338.09, Y:-246.96, Z:-17.42 [[ 7.16318469e-01 6.96387559e-01 4.39570096e-02 3.38087969e+02] [-6.95069836e-01 7.17665906e-01 -4.28201999e-02 -2.46962515e+02] [-6.13659016e-02 1.19708541e-04 9.98115330e-01 -1.74232650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45864 meters Centerline goodness [0,1] 0.9998044965786901 Centerline is valid? [True, True] Translation: X:338.11, Y:-246.99, Z:-17.42 [[ 7.15193375e-01 6.97526111e-01 4.42239873e-02 3.38110502e+02] [-6.96191628e-01 7.16559363e-01 -4.31265133e-02 -2.46985997e+02] [-6.17709813e-02 5.54268627e-05 9.98090348e-01 -1.74239724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48864 meters Centerline goodness [0,1] 0.999755632667025 Centerline is valid? [True, True] Translation: X:338.13, Y:-247.01, Z:-17.43 [[ 7.14152162e-01 6.98545085e-01 4.49605811e-02 3.38133037e+02] [-6.97164890e-01 7.15566045e-01 -4.38902340e-02 -2.47009331e+02] [-6.28315724e-02 -6.33075204e-07 9.98024145e-01 -1.74252799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51864 meters Centerline goodness [0,1] 0.9997071027581157 Centerline is valid? [True, True] Translation: X:338.15, Y:-247.03, Z:-17.43 [[ 7.12853636e-01 6.99894936e-01 4.45732321e-02 3.38154814e+02] [-6.98538364e-01 7.14245806e-01 -4.35555144e-02 -2.47034535e+02] [-6.23205281e-02 -8.74058382e-05 9.98056183e-01 -1.74260940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54864 meters Centerline goodness [0,1] 0.999755990434825 Centerline is valid? [True, True] Translation: X:338.17, Y:-247.06, Z:-17.43 [[ 7.12879861e-01 6.99821223e-01 4.53051916e-02 3.38174993e+02] [-6.98416628e-01 7.14318034e-01 -4.43165925e-02 -2.47059255e+02] [-6.33760074e-02 -4.94928145e-05 9.97989719e-01 -1.74297966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57864 meters Centerline goodness [0,1] 0.9998049351409344 Centerline is valid? [True, True] Translation: X:338.20, Y:-247.08, Z:-17.43 [[ 7.12963951e-01 6.99774377e-01 4.47015270e-02 3.38196911e+02] [-6.98404360e-01 7.14363928e-01 -4.37667532e-02 -2.47083463e+02] [-6.25600108e-02 -1.56240598e-05 9.98041204e-01 -1.74303796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60864 meters Centerline goodness [0,1] 0.9998045252406783 Centerline is valid? [True, True] Translation: X:338.22, Y:-247.11, Z:-17.43 [[ 7.12621099e-01 7.00142834e-01 4.43979864e-02 3.38217945e+02] [-6.98789412e-01 7.14002810e-01 -4.35125885e-02 -2.47108498e+02] [-6.21653141e-02 -1.68541407e-05 9.98065866e-01 -1.74317165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.63864 meters Centerline goodness [0,1] 0.9999512290284822 Centerline is valid? [True, True] Translation: X:338.24, Y:-247.13, Z:-17.43 [[ 7.11885798e-01 7.00870098e-01 4.47181773e-02 3.38238865e+02] [-6.99495503e-01 7.13288934e-01 -4.38741168e-02 -2.47133905e+02] [-6.26470376e-02 -4.68032878e-05 9.98035744e-01 -1.74332494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.26, Y:-247.16, Z:-17.43 [[ 7.11430980e-01 7.01379904e-01 4.39566994e-02 3.38257788e+02] [-7.00050021e-01 7.12787645e-01 -4.31710730e-02 -2.47160318e+02] [-6.16111153e-02 -5.86496250e-05 9.98100229e-01 -1.74343456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.69864 meters Centerline goodness [0,1] 0.9997558236069737 Centerline is valid? [True, True] Translation: X:338.28, Y:-247.18, Z:-17.44 [[ 7.10105732e-01 7.02779292e-01 4.30246000e-02 3.38279044e+02] [-7.01505436e-01 7.11407931e-01 -4.22951411e-02 -2.47184740e+02] [-6.03321910e-02 -1.47968598e-04 9.98178343e-01 -1.74356986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72864 meters Centerline goodness [0,1] 0.9996090886880039 Centerline is valid? [True, True] Translation: X:338.30, Y:-247.21, Z:-17.44 [[ 7.08825525e-01 7.04087230e-01 4.27498307e-02 3.38297245e+02] [-7.02829463e-01 7.10113456e-01 -4.20669082e-02 -2.47212727e+02] [-5.99760029e-02 -2.27742314e-04 9.98199793e-01 -1.74373064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.75864 meters Centerline goodness [0,1] 0.9998534297439906 Centerline is valid? [True, True] Translation: X:338.32, Y:-247.24, Z:-17.44 [[ 7.08347141e-01 7.04592314e-01 4.23556198e-02 3.38317810e+02] [-7.03355885e-01 7.09612299e-01 -4.17238997e-02 -2.47238461e+02] [-5.94544078e-02 -2.36069397e-04 9.98230994e-01 -1.74380733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78864 meters Centerline goodness [0,1] 0.9996579526020034 Centerline is valid? [True, True] Translation: X:338.34, Y:-247.26, Z:-17.44 [[ 7.07052449e-01 7.05872947e-01 4.26640011e-02 3.38338673e+02] [-7.04617998e-01 7.08338396e-01 -4.20736607e-02 -2.47263851e+02] [-5.99192090e-02 -3.13538218e-04 9.98203181e-01 -1.74390288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.81864 meters Centerline goodness [0,1] 0.9999512242708029 Centerline is valid? [True, True] Translation: X:338.36, Y:-247.29, Z:-17.44 [[ 7.04480626e-01 7.08417947e-01 4.30239355e-02 3.38357709e+02] [-7.07143765e-01 7.05793000e-01 -4.24727757e-02 -2.47290993e+02] [-6.04544691e-02 -5.02860142e-04 9.98170829e-01 -1.74399664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84864 meters Centerline goodness [0,1] 0.9997553696364793 Centerline is valid? [True, True] Translation: X:338.38, Y:-247.32, Z:-17.44 [[ 7.03339271e-01 7.09566681e-01 4.27667604e-02 3.38378813e+02] [-7.08307279e-01 7.04638065e-01 -4.22610386e-02 -2.47316498e+02] [-6.01221122e-02 -5.68159616e-04 9.98190868e-01 -1.74395536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.87864 meters Centerline goodness [0,1] 0.9999511742590694 Centerline is valid? [True, True] Translation: X:338.40, Y:-247.34, Z:-17.44 [[ 7.01326418e-01 7.11576063e-01 4.24353848e-02 3.38398350e+02] [-7.10337066e-01 7.02608720e-01 -4.19790500e-02 -2.47343907e+02] [-5.96867585e-02 -7.02409945e-04 9.98216909e-01 -1.74408996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90864 meters Centerline goodness [0,1] 0.999657282741738 Centerline is valid? [True, True] Translation: X:338.42, Y:-247.37, Z:-17.44 [[ 7.00160829e-01 7.12733126e-01 4.22647064e-02 3.38421230e+02] [-7.11503494e-01 7.01434890e-01 -4.18553870e-02 -2.47367780e+02] [-5.94776605e-02 -7.65983833e-04 9.98229343e-01 -1.74427765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93864 meters Centerline goodness [0,1] 0.9998047447037001 Centerline is valid? [True, True] Translation: X:338.44, Y:-247.39, Z:-17.45 [[ 6.97727543e-01 7.15058337e-01 4.32186311e-02 3.38442280e+02] [-7.13774281e-01 6.99064133e-01 -4.28440521e-02 -2.47391733e+02] [-6.08485915e-02 -9.54872145e-04 9.98146551e-01 -1.74458311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96864 meters Centerline goodness [0,1] 0.9996092986911506 Centerline is valid? [True, True] Translation: X:338.46, Y:-247.42, Z:-17.45 [[ 6.96410109e-01 7.16311290e-01 4.37160751e-02 3.38464364e+02] [-7.14997451e-01 6.97780077e-01 -4.33775042e-02 -2.47415412e+02] [-6.15760022e-02 -1.04834982e-03 9.98101847e-01 -1.74467831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99864 meters Centerline goodness [0,1] 0.9990234851813876 Centerline is valid? [True, True] Translation: X:338.49, Y:-247.44, Z:-17.45 [[ 6.95561107e-01 7.17136668e-01 4.37006378e-02 3.38487475e+02] [-7.15822801e-01 6.96931709e-01 -4.34040310e-02 -2.47438268e+02] [-6.15829824e-02 -1.09175709e-03 9.98101370e-01 -1.74474839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02864 meters Centerline goodness [0,1] 0.9994140625 Centerline is valid? [True, True] Translation: X:338.51, Y:-247.46, Z:-17.45 [[ 6.94043096e-01 7.18630408e-01 4.32957029e-02 3.38511459e+02] [-7.17340963e-01 6.95391214e-01 -4.30465074e-02 -2.47460591e+02] [-6.10419805e-02 -1.18164990e-03 9.98134500e-01 -1.74482590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05864 meters Centerline goodness [0,1] 0.9983881209397744 Centerline is valid? [True, True] Translation: X:338.54, Y:-247.48, Z:-17.45 [[ 6.91193146e-01 7.21387899e-01 4.30294525e-02 3.38537097e+02] [-7.20117013e-01 6.92529838e-01 -4.28241856e-02 -2.47481018e+02] [-6.06920291e-02 -1.38645719e-03 9.98155577e-01 -1.74482904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08864 meters Centerline goodness [0,1] 0.9986334130509054 Centerline is valid? [True, True] Translation: X:338.56, Y:-247.50, Z:-17.45 [[ 6.88784449e-01 7.23648100e-01 4.36967993e-02 3.38563312e+02] [-7.22339510e-01 6.90167316e-01 -4.35282508e-02 -2.47500251e+02] [-6.16572386e-02 -1.58234235e-03 9.98096128e-01 -1.74502704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11863999999997 meters Centerline goodness [0,1] 0.9990216700092941 Centerline is valid? [True, True] Translation: X:338.59, Y:-247.52, Z:-17.45 [[ 6.88147135e-01 7.24240565e-01 4.39218090e-02 3.38588333e+02] [-7.22917038e-01 6.89545500e-01 -4.37945173e-02 -2.47521282e+02] [-6.20038517e-02 -1.61475244e-03 9.98074604e-01 -1.74507212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14864 meters Centerline goodness [0,1] 0.9987806067700712 Centerline is valid? [True, True] Translation: X:338.61, Y:-247.54, Z:-17.45 [[ 6.88108395e-01 7.24276892e-01 4.39297266e-02 3.38613670e+02] [-7.22950130e-01 6.89507408e-01 -4.38479581e-02 -2.47542689e+02] [-6.20479347e-02 -1.58685351e-03 9.98071909e-01 -1.74524401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17864 meters Centerline goodness [0,1] 0.9986820910821497 Centerline is valid? [True, True] Translation: X:338.64, Y:-247.56, Z:-17.45 [[ 6.89719324e-01 7.22831530e-01 4.24480136e-02 3.38640865e+02] [-7.21587635e-01 6.91022921e-01 -4.24099845e-02 -2.47561417e+02] [-5.99878244e-02 -1.37897587e-03 9.98198156e-01 -1.74528138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20864 meters Centerline goodness [0,1] 0.9991690292306188 Centerline is valid? [True, True] Translation: X:338.67, Y:-247.58, Z:-17.45 [[ 6.91064144e-01 7.21526939e-01 4.27694485e-02 3.38665715e+02] [-7.20259269e-01 6.92385238e-01 -4.27699325e-02 -2.47582117e+02] [-6.04725933e-02 -1.24832489e-03 9.98169077e-01 -1.74548842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23864 meters Centerline goodness [0,1] 0.9997071742313324 Centerline is valid? [True, True] Translation: X:338.78, Y:-247.60, Z:-15.94 [[ 7.69310295e-01 -6.38814429e-01 -8.82020333e-03 3.38782118e+02] [-6.38722026e-01 -7.69354820e-01 1.12842840e-02 -2.47596518e+02] [-1.39944294e-02 -3.04745769e-03 -9.99897429e-01 -1.59448436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26864 meters Centerline goodness [0,1] 0.9992663601682481 Centerline is valid? [True, True] Translation: X:338.72, Y:-247.64, Z:-17.46 [[ 7.47527270e-01 6.62619378e-01 4.62443563e-02 3.38716519e+02] [-6.61422580e-01 7.48955860e-01 -3.98157027e-02 -2.47636277e+02] [-6.10176378e-02 -8.23737937e-04 9.98136348e-01 -1.74572595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29864 meters Centerline goodness [0,1] 0.9992682569881458 Centerline is valid? [True, True] Translation: X:338.74, Y:-247.66, Z:-17.46 [[ 7.48492068e-01 6.61479942e-01 4.69458249e-02 3.38743174e+02] [-6.60241763e-01 7.49962520e-01 -4.04602745e-02 -2.47656488e+02] [-6.19712692e-02 -7.11399636e-04 9.98077680e-01 -1.74582831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32864 meters Centerline goodness [0,1] 0.9992197025115825 Centerline is valid? [True, True] Translation: X:338.77, Y:-247.68, Z:-17.46 [[ 7.49241710e-01 6.60644404e-01 4.67528780e-02 3.38768590e+02] [-6.59412199e-01 7.50698742e-01 -4.03354822e-02 -2.47676868e+02] [-6.17447373e-02 -6.08392407e-04 9.98091788e-01 -1.74597329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35864 meters Centerline goodness [0,1] 0.9997068881289692 Centerline is valid? [True, True] Translation: X:338.79, Y:-247.70, Z:-17.46 [[ 7.50501885e-01 6.59335545e-01 4.49839971e-02 3.38793932e+02] [-6.58190398e-01 7.51848677e-01 -3.88454181e-02 -2.47697287e+02] [-5.94333236e-02 -4.54475440e-04 9.98232174e-01 -1.74604036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38864 meters Centerline goodness [0,1] 0.999706342991386 Centerline is valid? [True, True] Translation: X:338.82, Y:-247.72, Z:-17.46 [[ 7.50826597e-01 6.59010546e-01 4.43229271e-02 3.38818635e+02] [-6.57896152e-01 7.52133595e-01 -3.83106859e-02 -2.47717592e+02] [-5.85839085e-02 -3.95201273e-04 9.98282410e-01 -1.74621440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41864 meters Centerline goodness [0,1] 0.9995607827826851 Centerline is valid? [True, True] Translation: X:338.84, Y:-247.74, Z:-17.46 [[ 7.51189589e-01 6.58674788e-01 4.31477190e-02 3.38843490e+02] [-6.57616179e-01 7.52427680e-01 -3.73302540e-02 -2.47737882e+02] [-5.70540352e-02 -3.32539934e-04 9.98371036e-01 -1.74635356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44864 meters Centerline goodness [0,1] 0.9993652653679019 Centerline is valid? [True, True] Translation: X:338.87, Y:-247.76, Z:-17.46 [[ 7.51668278e-01 6.58063436e-01 4.41283870e-02 3.38868964e+02] [-6.56952760e-01 7.52962446e-01 -3.82181368e-02 -2.47758587e+02] [-5.83769767e-02 -2.62904585e-04 9.98294576e-01 -1.74641334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47864 meters Centerline goodness [0,1] 0.9993159386299229 Centerline is valid? [True, True] Translation: X:338.89, Y:-247.78, Z:-17.46 [[ 7.51526046e-01 6.58170451e-01 4.49472978e-02 3.38894477e+02] [-6.57015729e-01 7.52868912e-01 -3.89709350e-02 -2.47779764e+02] [-5.94889411e-02 -2.43408960e-04 9.98228935e-01 -1.74641823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50864 meters Centerline goodness [0,1] 0.999316339486278 Centerline is valid? [True, True] Translation: X:338.92, Y:-247.80, Z:-17.47 [[ 7.51296316e-01 6.58400691e-01 4.54133808e-02 3.38920186e+02] [-6.57219651e-01 7.52667574e-01 -3.94189518e-02 -2.47801107e+02] [-6.01346443e-02 -2.31253022e-04 9.98190248e-01 -1.74658548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53864 meters Centerline goodness [0,1] 0.9990241046159851 Centerline is valid? [True, True] Translation: X:338.95, Y:-247.82, Z:-17.47 [[ 7.50901021e-01 6.58808916e-01 4.60268278e-02 3.38945271e+02] [-6.57593765e-01 7.52310280e-01 -3.99960319e-02 -2.47823127e+02] [-6.09761981e-02 -2.33893813e-04 9.98139193e-01 -1.74684266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56864 meters Centerline goodness [0,1] 0.9993656680003904 Centerline is valid? [True, True] Translation: X:338.97, Y:-247.84, Z:-17.47 [[ 7.51135938e-01 6.58593286e-01 4.52734624e-02 3.38969791e+02] [-6.57414775e-01 7.52499071e-01 -3.93822545e-02 -2.47843824e+02] [-6.00051268e-02 -1.82016434e-04 9.98198052e-01 -1.74698017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59864 meters Centerline goodness [0,1] 0.9996098131980686 Centerline is valid? [True, True] Translation: X:339.00, Y:-247.86, Z:-17.47 [[ 7.51620787e-01 6.58086759e-01 4.45871078e-02 3.38996168e+02] [-6.56940664e-01 7.52942099e-01 -3.88221538e-02 -2.47862900e+02] [-5.91198559e-02 -1.11546358e-04 9.98250885e-01 -1.74727288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62864 meters Centerline goodness [0,1] 0.9999511432479968 Centerline is valid? [True, True] Translation: X:339.02, Y:-247.88, Z:-17.47 [[ 7.51055568e-01 6.58783246e-01 4.38197334e-02 3.39020911e+02] [-6.57675356e-01 7.52332783e-01 -3.81904438e-02 -2.47882906e+02] [-5.81262465e-02 -1.36013267e-04 9.98309231e-01 -1.74725208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65864 meters Centerline goodness [0,1] 0.9997072170985214 Centerline is valid? [True, True] Translation: X:339.05, Y:-247.90, Z:-17.47 [[ 7.51128753e-01 6.58763911e-01 4.28451293e-02 3.39045569e+02] [-6.57702741e-01 7.52349718e-01 -3.73765462e-02 -2.47903589e+02] [-5.68568407e-02 -1.04760434e-04 9.98382336e-01 -1.74739168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68864 meters Centerline goodness [0,1] 0.999902238733014 Centerline is valid? [True, True] Translation: X:339.07, Y:-247.92, Z:-17.47 [[ 7.50983495e-01 6.58922402e-01 4.29541537e-02 3.39071363e+02] [-6.57853906e-01 7.52210915e-01 -3.75096906e-02 -2.47923998e+02] [-5.70265587e-02 -8.83992889e-05 9.98372658e-01 -1.74742073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71864 meters Centerline goodness [0,1] 0.9998043531425777 Centerline is valid? [True, True] Translation: X:339.10, Y:-247.94, Z:-17.48 [[ 7.50929244e-01 6.58973331e-01 4.31209946e-02 3.39096767e+02] [-6.57894219e-01 7.52166302e-01 -3.76968312e-02 -2.47944326e+02] [-5.72753655e-02 -6.14001415e-05 9.98358417e-01 -1.74753916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74864 meters Centerline goodness [0,1] 0.9999023675860386 Centerline is valid? [True, True] Translation: X:339.12, Y:-247.97, Z:-17.48 [[ 7.50299409e-01 6.59656906e-01 4.36298421e-02 3.39122005e+02] [-6.58550855e-01 7.51566869e-01 -3.81839358e-02 -2.47965771e+02] [-5.79790408e-02 -8.30853334e-05 9.98317797e-01 -1.74779242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77864 meters Centerline goodness [0,1] 0.9997068594879812 Centerline is valid? [True, True] Translation: X:339.15, Y:-247.99, Z:-17.48 [[ 7.49911507e-01 6.60084998e-01 4.38238287e-02 3.39146526e+02] [-6.58967330e-01 7.51190914e-01 -3.83962128e-02 -2.47987767e+02] [-5.82648260e-02 -8.47095555e-05 9.98301158e-01 -1.74794143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80864 meters Centerline goodness [0,1] 0.9999023151313862 Centerline is valid? [True, True] Translation: X:339.17, Y:-248.01, Z:-17.48 [[ 7.48466913e-01 6.61723372e-01 4.38116326e-02 3.39170674e+02] [-6.60606657e-01 7.49748055e-01 -3.84278301e-02 -2.48010343e+02] [-5.82762797e-02 -1.80296835e-04 9.98300477e-01 -1.74801213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83864 meters Centerline goodness [0,1] 0.9999512004684755 Centerline is valid? [True, True] Translation: X:339.19, Y:-248.03, Z:-17.48 [[ 7.46368876e-01 6.64151158e-01 4.28572118e-02 3.39194616e+02] [-6.63084278e-01 7.47598241e-01 -3.76312419e-02 -2.48033785e+02] [-5.70328090e-02 -3.31155686e-04 9.98372250e-01 -1.74811981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86863999999997 meters Centerline goodness [0,1] 0.9999511885585981 Centerline is valid? [True, True] Translation: X:339.22, Y:-248.06, Z:-17.48 [[ 7.45380273e-01 6.65329059e-01 4.17790885e-02 3.39218702e+02] [-6.64314950e-01 7.46550130e-01 -3.67226157e-02 -2.48055215e+02] [-5.56228073e-02 -3.82159780e-04 9.98451780e-01 -1.74818311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89864 meters Centerline goodness [0,1] 0.9998534440644846 Centerline is valid? [True, True] Translation: X:339.24, Y:-248.08, Z:-17.48 [[ 7.44432134e-01 6.66468210e-01 4.05083120e-02 3.39242226e+02] [-6.65514774e-01 7.45533327e-01 -3.56390726e-02 -2.48077491e+02] [-5.39526055e-02 -4.28009246e-04 9.98543406e-01 -1.74838300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.27, Y:-248.10, Z:-17.49 [[ 7.43384180e-01 6.67617763e-01 4.08225814e-02 3.39266189e+02] [-6.66649219e-01 7.44504052e-01 -3.59518422e-02 -2.48100191e+02] [-5.43946658e-02 -4.88311262e-04 9.98519395e-01 -1.74857880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.29, Y:-248.12, Z:-17.49 [[ 7.42373343e-01 6.68742403e-01 4.08095280e-02 3.39289940e+02] [-6.67774007e-01 7.43493985e-01 -3.59801438e-02 -2.48122728e+02] [-5.44030864e-02 -5.40842416e-04 9.98518909e-01 -1.74863673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98864 meters Centerline goodness [0,1] 0.9999511647213948 Centerline is valid? [True, True] Translation: X:339.31, Y:-248.14, Z:-17.49 [[ 7.41378046e-01 6.69738166e-01 4.25368288e-02 3.39313198e+02] [-6.68685307e-01 7.42597076e-01 -3.75438756e-02 -2.48144742e+02] [-5.67322911e-02 -6.09547301e-04 9.98389241e-01 -1.74877392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01864 meters Centerline goodness [0,1] 0.9998048113990143 Centerline is valid? [True, True] Translation: X:339.34, Y:-248.17, Z:-17.49 [[ 7.40817017e-01 6.70319634e-01 4.31478269e-02 3.39337755e+02] [-6.69235104e-01 7.42072223e-01 -3.81207458e-02 -2.48166013e+02] [-5.75718882e-02 -6.35543247e-04 9.98341161e-01 -1.74884000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.36, Y:-248.19, Z:-17.49 [[ 7.39887353e-01 6.71313654e-01 4.36426718e-02 3.39362604e+02] [-6.70203435e-01 7.41173058e-01 -3.85986349e-02 -2.48187361e+02] [-5.82585632e-02 -6.90826718e-04 9.98301288e-01 -1.74908122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07864 meters Centerline goodness [0,1] 0.99975564460952 Centerline is valid? [True, True] Translation: X:339.39, Y:-248.21, Z:-17.49 [[ 7.38099448e-01 6.73361381e-01 4.23515634e-02 3.39388213e+02] [-6.72317023e-01 7.39313069e-01 -3.74967537e-02 -2.48208485e+02] [-5.65599302e-02 -7.97343804e-04 9.98398887e-01 -1.74912869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10864 meters Centerline goodness [0,1] 0.9997065440672992 Centerline is valid? [True, True] Translation: X:339.41, Y:-248.23, Z:-17.49 [[ 7.37368594e-01 6.74143483e-01 4.26394445e-02 3.39414310e+02] [-6.73083821e-01 7.38599940e-01 -3.77928357e-02 -2.48228985e+02] [-5.69712850e-02 -8.32670128e-04 9.98375470e-01 -1.74928355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.13864 meters Centerline goodness [0,1] 0.9997065440672992 Centerline is valid? [True, True] Translation: X:339.44, Y:-248.25, Z:-17.49 [[ 7.37006295e-01 6.74540834e-01 4.26190571e-02 3.39438821e+02] [-6.73480507e-01 7.38237069e-01 -3.78158170e-02 -2.48250313e+02] [-5.69712805e-02 -8.32609055e-04 9.98375470e-01 -1.74940471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16864 meters Centerline goodness [0,1] 0.9998046207199727 Centerline is valid? [True, True] Translation: X:339.47, Y:-248.27, Z:-17.50 [[ 7.34542727e-01 6.77193013e-01 4.30883503e-02 3.39465320e+02] [-6.76111429e-01 7.35804718e-01 -3.82720778e-02 -2.48268466e+02] [-5.76221951e-02 -1.02004971e-03 9.98337940e-01 -1.74954750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.19864 meters Centerline goodness [0,1] 0.9999512099921936 Centerline is valid? [True, True] Translation: X:339.49, Y:-248.29, Z:-17.50 [[ 7.32699919e-01 6.79199190e-01 4.28869335e-02 3.39490034e+02] [-6.78129071e-01 7.33953096e-01 -3.81289419e-02 -2.48288660e+02] [-5.73741441e-02 -1.14580372e-03 9.98352090e-01 -1.74968257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22864 meters Centerline goodness [0,1] 0.9999511193665069 Centerline is valid? [True, True] Translation: X:339.51, Y:-248.31, Z:-17.50 [[ 7.31217139e-01 6.80770186e-01 4.32833646e-02 3.39514930e+02] [-6.79680812e-01 7.32495994e-01 -3.85176861e-02 -2.48308985e+02] [-5.79265835e-02 -1.25408014e-03 9.98320058e-01 -1.74991763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.25864 meters Centerline goodness [0,1] 0.9998046016315764 Centerline is valid? [True, True] Translation: X:339.54, Y:-248.33, Z:-17.50 [[ 7.29989698e-01 6.82080644e-01 4.33709104e-02 3.39540182e+02] [-6.80987068e-01 7.31275744e-01 -3.86315823e-02 -2.48329162e+02] [-5.80659493e-02 -1.33437196e-03 9.98311858e-01 -1.74993612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28864 meters Centerline goodness [0,1] 0.9997068165160029 Centerline is valid? [True, True] Translation: X:339.57, Y:-248.35, Z:-17.50 [[ 7.29222847e-01 6.82955137e-01 4.25008231e-02 3.39568337e+02] [-6.81904450e-01 7.30459075e-01 -3.78927522e-02 -2.48346797e+02] [-5.69241617e-02 -1.34923977e-03 9.98377594e-01 -1.74986422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.31864 meters Centerline goodness [0,1] 0.9998048304464503 Centerline is valid? [True, True] Translation: X:339.59, Y:-248.37, Z:-17.50 [[ 7.28625656e-01 6.83549698e-01 4.31794374e-02 3.39593890e+02] [-6.82463936e-01 7.29902651e-01 -3.85369441e-02 -2.48366822e+02] [-5.78587024e-02 -1.38940260e-03 9.98323815e-01 -1.75006264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34864 meters Centerline goodness [0,1] 0.9998530995984722 Centerline is valid? [True, True] Translation: X:339.62, Y:-248.39, Z:-17.50 [[ 7.29390166e-01 6.82773198e-01 4.25528537e-02 3.39619291e+02] [-6.81715880e-01 7.30629249e-01 -3.80047460e-02 -2.48386059e+02] [-5.70389815e-02 -1.28866813e-03 9.98371120e-01 -1.75009473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.37864 meters Centerline goodness [0,1] 0.9999511837930193 Centerline is valid? [True, True] Translation: X:339.65, Y:-248.40, Z:-17.50 [[ 7.30929916e-01 6.81099907e-01 4.29461879e-02 3.39646572e+02] [-6.80019302e-01 7.32189574e-01 -3.83689460e-02 -2.48404549e+02] [-5.75778366e-02 -1.15922627e-03 9.98340347e-01 -1.75019058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.67, Y:-248.42, Z:-17.50 [[ 7.31696842e-01 6.80324798e-01 4.21651669e-02 3.39672282e+02] [-6.79280729e-01 7.32909980e-01 -3.76915303e-02 -2.48424012e+02] [-5.65457543e-02 -1.06321161e-03 9.98399443e-01 -1.75032567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43864 meters Centerline goodness [0,1] 0.9999511241446726 Centerline is valid? [True, True] Translation: X:339.70, Y:-248.44, Z:-17.51 [[ 7.32741898e-01 6.79237780e-01 4.15373131e-02 3.39698925e+02] [-6.78220921e-01 7.33917676e-01 -3.71648600e-02 -2.48442316e+02] [-5.57287453e-02 -9.39224681e-04 9.98445504e-01 -1.75050338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46864 meters Centerline goodness [0,1] 0.999951171875 Centerline is valid? [True, True] Translation: X:339.72, Y:-248.46, Z:-17.51 [[ 7.33351309e-01 6.78590125e-01 4.13678720e-02 3.39723998e+02] [-6.77578593e-01 7.34516645e-01 -3.70479290e-02 -2.48462355e+02] [-5.55257493e-02 -8.60837299e-04 9.98456884e-01 -1.75063708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49864 meters Centerline goodness [0,1] 0.9999510715334181 Centerline is valid? [True, True] Translation: X:339.75, Y:-248.48, Z:-17.51 [[ 7.34491693e-01 6.77338310e-01 4.16505390e-02 3.39749013e+02] [-6.76308901e-01 7.35671298e-01 -3.73364637e-02 -2.48482446e+02] [-5.59305232e-02 -7.45307853e-04 9.98434385e-01 -1.75083954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.77, Y:-248.50, Z:-17.51 [[ 7.35771511e-01 6.75928376e-01 4.19656254e-02 3.39773480e+02] [-6.74879001e-01 7.36967062e-01 -3.76547995e-02 -2.48502794e+02] [-5.63792312e-02 -6.16390603e-04 9.98409236e-01 -1.75094593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.80, Y:-248.52, Z:-17.51 [[ 7.36392314e-01 6.75280385e-01 4.15061554e-02 3.39797514e+02] [-6.74250875e-01 7.37560923e-01 -3.72779067e-02 -2.48523623e+02] [-5.57863575e-02 -5.34397543e-04 9.98442586e-01 -1.75099990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58864 meters Centerline goodness [0,1] 0.9998047161060392 Centerline is valid? [True, True] Translation: X:339.82, Y:-248.55, Z:-17.51 [[ 7.37386288e-01 6.74202536e-01 4.13811937e-02 3.39821933e+02] [-6.73175958e-01 7.38546380e-01 -3.71937460e-02 -2.48545285e+02] [-5.56380487e-02 -4.30666436e-04 9.98450911e-01 -1.75110876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61863999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.85, Y:-248.57, Z:-17.51 [[ 7.38607580e-01 6.72926687e-01 4.03548765e-02 3.39845737e+02] [-6.71947482e-01 7.39709116e-01 -3.62905607e-02 -2.48566825e+02] [-5.42717568e-02 -3.11874435e-04 9.98526153e-01 -1.75126372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.87, Y:-248.59, Z:-17.51 [[ 7.38777427e-01 6.72708669e-01 4.08773735e-02 3.39870306e+02] [-6.71701530e-01 7.39907408e-01 -3.67978542e-02 -2.48589112e+02] [-5.49997070e-02 -2.71970279e-04 9.98486334e-01 -1.75146657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67864 meters Centerline goodness [0,1] 0.9999023771171963 Centerline is valid? [True, True] Translation: X:339.89, Y:-248.61, Z:-17.52 [[ 7.38274282e-01 6.73266184e-01 4.07888523e-02 3.39894363e+02] [-6.72262031e-01 7.39400139e-01 -3.67586132e-02 -2.48611404e+02] [-5.49076143e-02 -2.82857965e-04 9.98491399e-01 -1.75151339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70864 meters Centerline goodness [0,1] 0.9999511957052221 Centerline is valid? [True, True] Translation: X:339.92, Y:-248.63, Z:-17.52 [[ 7.37694033e-01 6.73858333e-01 4.15025451e-02 3.39918432e+02] [-6.72817368e-01 7.38860511e-01 -3.74424141e-02 -2.48633179e+02] [-5.58954745e-02 -3.02587729e-04 9.98436580e-01 -1.75170771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73864 meters Centerline goodness [0,1] 0.9999023532858119 Centerline is valid? [True, True] Translation: X:339.94, Y:-248.66, Z:-17.52 [[ 7.37593300e-01 6.74016156e-01 4.07227809e-02 3.39942655e+02] [-6.73012591e-01 7.38716549e-01 -3.67683629e-02 -2.48655060e+02] [-5.48650628e-02 -2.86846168e-04 9.98493737e-01 -1.75180858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76864 meters Centerline goodness [0,1] 0.9999023199023199 Centerline is valid? [True, True] Translation: X:339.97, Y:-248.68, Z:-17.52 [[ 7.35660598e-01 6.76163788e-01 4.00751326e-02 3.39967232e+02] [-6.75193969e-01 7.36751214e-01 -3.62043165e-02 -2.48676423e+02] [-5.40054504e-02 -4.24398688e-04 9.98540551e-01 -1.75188332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.99, Y:-248.70, Z:-17.52 [[ 7.33929062e-01 6.78064913e-01 3.97001991e-02 3.39992530e+02] [-6.77113850e-01 7.35001832e-01 -3.59046201e-02 -2.48698187e+02] [-5.35253822e-02 -5.30110491e-04 9.98566349e-01 -1.75192863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.02, Y:-248.72, Z:-17.52 [[ 7.31634173e-01 6.80508933e-01 4.02371539e-02 3.40016811e+02] [-6.79533533e-01 7.32739460e-01 -3.64288596e-02 -2.48719279e+02] [-5.42735148e-02 -6.89896742e-04 9.98525868e-01 -1.75209352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.04, Y:-248.74, Z:-17.52 [[ 7.29557512e-01 6.82721089e-01 4.04691517e-02 3.40041605e+02] [-6.81735870e-01 7.30678603e-01 -3.66740183e-02 -2.48739884e+02] [-5.46080689e-02 -8.33466820e-04 9.98507518e-01 -1.75215357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.07, Y:-248.76, Z:-17.52 [[ 7.26512692e-01 6.85951710e-01 4.06147753e-02 3.40068253e+02] [-6.84962486e-01 7.27646302e-01 -3.68409131e-02 -2.48758888e+02] [-5.48242784e-02 -1.05420654e-03 9.98495462e-01 -1.75231204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.09, Y:-248.78, Z:-17.52 [[ 7.25151936e-01 6.87388572e-01 4.06401375e-02 3.40093748e+02] [-6.86398451e-01 7.26288961e-01 -3.68986533e-02 -2.48779264e+02] [-5.48801958e-02 -1.13819761e-03 9.98492298e-01 -1.75245123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94864 meters Centerline goodness [0,1] 0.9999512004684755 Centerline is valid? [True, True] Translation: X:340.12, Y:-248.80, Z:-17.53 [[ 7.23825776e-01 6.88794079e-01 4.04841123e-02 3.40120722e+02] [-6.87811865e-01 7.24956027e-01 -3.67912787e-02 -2.48798060e+02] [-5.46908161e-02 -1.21497694e-03 9.98502598e-01 -1.75254428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.15, Y:-248.82, Z:-17.53 [[ 7.23999143e-01 6.88572933e-01 4.11407006e-02 3.40147063e+02] [-6.87556176e-01 7.25166117e-01 -3.74246994e-02 -2.48818354e+02] [-5.56034771e-02 -1.19109245e-03 9.98452220e-01 -1.75276092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00864 meters Centerline goodness [0,1] 0.9999511671061627 Centerline is valid? [True, True] Translation: X:340.17, Y:-248.84, Z:-17.53 [[ 7.24414562e-01 6.88130452e-01 4.12313536e-02 3.40172726e+02] [-6.87106351e-01 7.25586108e-01 -3.75454574e-02 -2.48837907e+02] [-5.57530699e-02 -1.13184888e-03 9.98443946e-01 -1.75284730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.20, Y:-248.86, Z:-17.53 [[ 7.24449977e-01 6.88113988e-01 4.08823832e-02 3.40200262e+02] [-6.87105626e-01 7.25601769e-01 -3.72549626e-02 -2.48855572e+02] [-5.52999904e-02 -1.10115866e-03 9.98469178e-01 -1.75289313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06864 meters Centerline goodness [0,1] 0.9999511217557066 Centerline is valid? [True, True] Translation: X:340.23, Y:-248.88, Z:-17.53 [[ 7.24195665e-01 6.88356518e-01 4.13030742e-02 3.40226334e+02] [-6.87326429e-01 7.25371671e-01 -3.76605771e-02 -2.48876356e+02] [-5.58839836e-02 -1.11506785e-03 9.98436646e-01 -1.75301674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09864 meters Centerline goodness [0,1] 0.999902186139776 Centerline is valid? [True, True] Translation: X:340.25, Y:-248.90, Z:-17.53 [[ 7.25092692e-01 6.87395245e-01 4.15736182e-02 3.40252562e+02] [-6.86347789e-01 7.26282823e-01 -3.79469823e-02 -2.48895297e+02] [-5.62787799e-02 -1.01888138e-03 9.98414574e-01 -1.75309916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.28, Y:-248.92, Z:-17.53 [[ 7.25802780e-01 6.86617126e-01 4.20386252e-02 3.40279119e+02] [-6.85542595e-01 7.27018594e-01 -3.84098146e-02 -2.48915538e+02] [-5.69356987e-02 -9.41317981e-04 9.98377404e-01 -1.75329038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.31, Y:-248.94, Z:-17.53 [[ 7.26786554e-01 6.85536777e-01 4.26688697e-02 3.40305414e+02] [-6.84425427e-01 7.28037516e-01 -3.90283287e-02 -2.48935810e+02] [-5.78198926e-02 -8.38394846e-04 9.98326679e-01 -1.75347858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.33, Y:-248.95, Z:-17.54 [[ 7.29213801e-01 6.82990876e-01 4.20796407e-02 3.40331439e+02] [-6.81903521e-01 7.30426660e-01 -3.85289883e-02 -2.48954574e+02] [-5.70510388e-02 -5.98385113e-04 9.98371084e-01 -1.75371004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21864 meters Centerline goodness [0,1] 0.9999511814098809 Centerline is valid? [True, True] Translation: X:340.36, Y:-248.98, Z:-17.54 [[ 7.30320954e-01 6.81798598e-01 4.22134595e-02 3.40356451e+02] [-6.80700098e-01 7.31539775e-01 -3.86902290e-02 -2.48976548e+02] [-5.72597685e-02 -4.78421065e-04 9.98359199e-01 -1.75385011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.38, Y:-249.00, Z:-17.54 [[ 7.33123581e-01 6.78823345e-01 4.15774065e-02 3.40380982e+02] [-6.77750716e-01 7.34301587e-01 -3.81463908e-02 -2.48996805e+02] [-5.64250162e-02 -2.13098353e-04 9.98406817e-01 -1.75395223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.41, Y:-249.02, Z:-17.54 [[ 7.34391309e-01 6.77469614e-01 4.12834915e-02 3.40406744e+02] [-6.76407861e-01 7.35550756e-01 -3.79142480e-02 -2.49018178e+02] [-5.60518543e-02 -8.05839780e-05 9.98427856e-01 -1.75403302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30864 meters Centerline goodness [0,1] 0.9999511957052221 Centerline is valid? [True, True] Translation: X:340.43, Y:-249.04, Z:-17.54 [[ 7.35003642e-01 6.76824338e-01 4.09690361e-02 3.40431758e+02] [-6.75775449e-01 7.36144562e-01 -3.76659944e-02 -2.49039350e+02] [-5.56523948e-02 -1.22566023e-06 9.98450205e-01 -1.75411142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.46, Y:-249.06, Z:-17.54 [[ 7.36067006e-01 6.75580853e-01 4.23777639e-02 3.40456040e+02] [-6.74454149e-01 7.37285898e-01 -3.90013529e-02 -2.49059809e+02] [-5.75930949e-02 1.25750361e-04 9.98340132e-01 -1.75422783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36863999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.48, Y:-249.08, Z:-17.54 [[ 7.36131360e-01 6.75511356e-01 4.23677879e-02 3.40480598e+02] [-6.74382937e-01 7.37349567e-01 -3.90290956e-02 -2.49081740e+02] [-5.76044674e-02 1.58427963e-04 9.98339471e-01 -1.75431122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.51, Y:-249.10, Z:-17.55 [[ 7.36445885e-01 6.75124396e-01 4.30640159e-02 3.40505111e+02] [-6.73955349e-01 7.37703870e-01 -3.97138142e-02 -2.49104326e+02] [-5.85802560e-02 2.23851196e-04 9.98282677e-01 -1.75455644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42864 meters Centerline goodness [0,1] 0.9999512432959532 Centerline is valid? [True, True] Translation: X:340.53, Y:-249.13, Z:-17.55 [[ 7.36487849e-01 6.75165851e-01 4.16740004e-02 3.40528155e+02] [-6.74068994e-01 7.37665924e-01 -3.84704630e-02 -2.49126237e+02] [-5.67154329e-02 2.41877007e-04 9.98390355e-01 -1.75465352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.55, Y:-249.15, Z:-17.55 [[ 7.36217379e-01 6.75546921e-01 4.02533051e-02 3.40551023e+02] [-6.74522351e-01 7.37316963e-01 -3.71926463e-02 -2.49148584e+02] [-5.48048224e-02 2.30118617e-04 9.98497060e-01 -1.75468755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.57, Y:-249.17, Z:-17.55 [[ 7.35413596e-01 6.76463849e-01 3.95411505e-02 3.40574755e+02] [-6.75474757e-01 7.36475815e-01 -3.65681061e-02 -2.49170892e+02] [-5.38581029e-02 1.83633381e-04 9.98548582e-01 -1.75476579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.60, Y:-249.19, Z:-17.55 [[ 7.34876648e-01 6.76995884e-01 4.04089736e-02 3.40598959e+02] [-6.75961626e-01 7.35986782e-01 -3.74077121e-02 -2.49192775e+02] [-5.50653375e-02 1.75138558e-04 9.98482738e-01 -1.75487780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.62, Y:-249.22, Z:-17.55 [[ 7.34270696e-01 6.77520562e-01 4.25726711e-02 3.40621610e+02] [-6.76370932e-01 7.35503812e-01 -3.94525710e-02 -2.49215258e+02] [-5.80422899e-02 1.73949581e-04 9.98314110e-01 -1.75514198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57864 meters Centerline goodness [0,1] 0.9999512504265587 Centerline is valid? [True, True] Translation: X:340.64, Y:-249.24, Z:-17.55 [[ 7.34346647e-01 6.77517994e-01 4.12840111e-02 3.40644358e+02] [-6.76434975e-01 7.35506172e-01 -3.82935441e-02 -2.49237382e+02] [-5.63092101e-02 1.94786689e-04 9.98413359e-01 -1.75525501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60864 meters Centerline goodness [0,1] 0.9999512599307891 Centerline is valid? [True, True] Translation: X:340.67, Y:-249.26, Z:-17.55 [[ 7.34164292e-01 6.77719069e-01 4.12268842e-02 3.40668215e+02] [-6.76637264e-01 7.35320896e-01 -3.82778350e-02 -2.49260191e+02] [-5.62566081e-02 2.06573496e-04 9.98416322e-01 -1.75543836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.63864 meters Centerline goodness [0,1] 0.9999023532858119 Centerline is valid? [True, True] Translation: X:340.69, Y:-249.28, Z:-17.55 [[ 7.34088891e-01 6.77881541e-01 3.98762678e-02 3.40691680e+02] [-6.76867733e-01 7.35171116e-01 -3.70607877e-02 -2.49282444e+02] [-5.44387042e-02 2.14953560e-04 9.98517091e-01 -1.75546237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66864 meters Centerline goodness [0,1] 0.9999022864959938 Centerline is valid? [True, True] Translation: X:340.71, Y:-249.31, Z:-17.56 [[ 7.32835167e-01 6.79271318e-01 3.92822570e-02 3.40713571e+02] [-6.78287699e-01 7.33887225e-01 -3.65422792e-02 -2.49305993e+02] [-5.36508687e-02 1.34795568e-04 9.98559746e-01 -1.75566043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.69864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.74, Y:-249.33, Z:-17.56 [[ 7.31756925e-01 6.80492835e-01 3.82269968e-02 3.40735759e+02] [-6.79561344e-01 7.32754731e-01 -3.55933029e-02 -2.49329370e+02] [-5.22320003e-02 6.80565666e-05 9.98634975e-01 -1.75569251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72864 meters Centerline goodness [0,1] 0.9998533437622213 Centerline is valid? [True, True] Translation: X:340.76, Y:-249.35, Z:-17.56 [[ 7.29754899e-01 6.82627188e-01 3.84435884e-02 3.40758044e+02] [-6.81686209e-01 7.30766802e-01 -3.58300826e-02 -2.49354204e+02] [-5.25518867e-02 -5.92856913e-05 9.98618193e-01 -1.75580574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.75864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.78, Y:-249.38, Z:-17.56 [[ 7.28682364e-01 6.83758895e-01 3.86753855e-02 3.40781787e+02] [-6.82806052e-01 7.29707997e-01 -3.60851044e-02 -2.49376593e+02] [-5.28952492e-02 -1.13208067e-04 9.98600060e-01 -1.75581643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78864 meters Centerline goodness [0,1] 0.9999023342123254 Centerline is valid? [True, True] Translation: X:340.80, Y:-249.40, Z:-17.56 [[ 7.26902331e-01 6.85560561e-01 4.02457197e-02 3.40804538e+02] [-6.84529264e-01 7.28015567e-01 -3.75901577e-02 -2.49398902e+02] [-5.50698400e-02 -2.24999639e-04 9.98482480e-01 -1.75592770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.81864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.83, Y:-249.42, Z:-17.56 [[ 7.25030380e-01 6.87498617e-01 4.09462972e-02 3.40826595e+02] [-6.86432114e-01 7.26185601e-01 -3.82808722e-02 -2.49422717e+02] [-5.60526581e-02 -3.52058054e-04 9.98427752e-01 -1.75606864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.85, Y:-249.45, Z:-17.56 [[ 7.24398898e-01 6.88174006e-01 4.07771355e-02 3.40850145e+02] [-6.87115284e-01 7.25545586e-01 -3.81600544e-02 -2.49445561e+02] [-5.58464282e-02 -3.75491645e-04 9.98439300e-01 -1.75612852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.87864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.87, Y:-249.47, Z:-17.56 [[ 7.24028873e-01 6.88565162e-01 4.07456762e-02 3.40873908e+02] [-6.87506398e-01 7.25174377e-01 -3.81716639e-02 -2.49468617e+02] [-5.58313983e-02 -3.75526237e-04 9.98440140e-01 -1.75616615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90864 meters Centerline goodness [0,1] 0.9999024865919064 Centerline is valid? [True, True] Translation: X:340.90, Y:-249.49, Z:-17.56 [[ 7.24761225e-01 6.87807847e-01 4.05158274e-02 3.40896953e+02] [-6.86757530e-01 7.25892750e-01 -3.79975033e-02 -2.49491669e+02] [-5.55451263e-02 -2.85432493e-04 9.98456137e-01 -1.75635012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.92, Y:-249.52, Z:-17.56 [[ 7.25002381e-01 6.87586264e-01 3.99584334e-02 3.40920877e+02] [-6.86562121e-01 7.26102661e-01 -3.75150669e-02 -2.49515095e+02] [-5.48087695e-02 -2.35433999e-04 9.98496842e-01 -1.75649982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96864 meters Centerline goodness [0,1] 0.9999023580530195 Centerline is valid? [True, True] Translation: X:340.94, Y:-249.54, Z:-17.57 [[ 7.25683393e-01 6.86939839e-01 3.86945898e-02 3.40942813e+02] [-6.85976976e-01 7.26714272e-01 -3.63587142e-02 -2.49539226e+02] [-5.30961599e-02 -1.58682633e-04 9.98589391e-01 -1.75660859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99864 meters Centerline goodness [0,1] 0.9999512004684755 Centerline is valid? [True, True] Translation: X:340.97, Y:-249.56, Z:-17.57 [[ 7.25390619e-01 6.87236296e-01 3.89194525e-02 3.40966002e+02] [-6.86261514e-01 7.26433924e-01 -3.65908186e-02 -2.49562787e+02] [-5.34189492e-02 -1.66285839e-04 9.98572175e-01 -1.75680786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.99, Y:-249.59, Z:-17.57 [[ 7.25163624e-01 6.87526251e-01 3.80180512e-02 3.40988636e+02] [-6.86594592e-01 7.26159507e-01 -3.57804077e-02 -2.49585368e+02] [-5.22071389e-02 -1.56338179e-04 9.98636265e-01 -1.75684372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.01, Y:-249.61, Z:-17.57 [[ 7.23209201e-01 6.89491435e-01 3.96233878e-02 3.41010120e+02] [-6.88480330e-01 7.24293780e-01 -3.73276764e-02 -2.49609715e+02] [-5.44360865e-02 -2.84204106e-04 9.98517217e-01 -1.75702476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.03, Y:-249.63, Z:-17.57 [[ 7.22837986e-01 6.89881657e-01 3.96048647e-02 3.41033989e+02] [-6.88870060e-01 7.23922108e-01 -3.73473222e-02 -2.49631783e+02] [-5.44360696e-02 -2.86542318e-04 9.98517217e-01 -1.75714591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11863999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.06, Y:-249.66, Z:-17.57 [[ 7.22142039e-01 6.90619282e-01 3.94446741e-02 3.41056977e+02] [-6.89615162e-01 7.23218436e-01 -3.72293047e-02 -2.49655747e+02] [-5.42383912e-02 -3.16799305e-04 9.98527965e-01 -1.75720031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14864 meters Centerline goodness [0,1] 0.9999511957052221 Centerline is valid? [True, True] Translation: X:341.08, Y:-249.68, Z:-17.57 [[ 7.20160234e-01 6.92678213e-01 3.95743655e-02 3.41078876e+02] [-6.91669202e-01 7.21246619e-01 -3.73768631e-02 -2.49680387e+02] [-5.44330161e-02 -4.55039306e-04 9.98517321e-01 -1.75736589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17864 meters Centerline goodness [0,1] 0.9997557162399844 Centerline is valid? [True, True] Translation: X:341.10, Y:-249.71, Z:-17.57 [[ 7.17767633e-01 6.95259293e-01 3.77377974e-02 3.41099776e+02] [-6.94343417e-01 7.18758766e-01 -3.56799058e-02 -2.49706460e+02] [-5.19311588e-02 -5.93109662e-04 9.98650491e-01 -1.75747565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.12, Y:-249.73, Z:-17.58 [[ 7.16623946e-01 6.96480827e-01 3.69401859e-02 3.41123075e+02] [-6.95603003e-01 7.17575116e-01 -3.49630429e-02 -2.49730067e+02] [-5.08584473e-02 -6.40350456e-04 9.98705667e-01 -1.75758066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.15, Y:-249.75, Z:-17.58 [[ 7.14362595e-01 6.98722287e-01 3.83829190e-02 3.41145273e+02] [-6.97775659e-01 7.15392565e-01 -3.63676779e-02 -2.49753281e+02] [-5.28697619e-02 -8.02957834e-04 9.98601093e-01 -1.75783055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.17, Y:-249.78, Z:-17.58 [[ 7.13216286e-01 6.99914094e-01 3.79840779e-02 3.41168480e+02] [-6.98986906e-01 7.14226523e-01 -3.60246894e-02 -2.49776786e+02] [-5.23434238e-02 -8.56977937e-04 9.98628776e-01 -1.75781368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.19, Y:-249.80, Z:-17.58 [[ 7.11894080e-01 7.01252340e-01 3.81047699e-02 3.41191164e+02] [-7.00319192e-01 7.12912538e-01 -3.61765507e-02 -2.49800227e+02] [-5.25342591e-02 -9.31629361e-04 9.98618688e-01 -1.75797357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.21, Y:-249.82, Z:-17.58 [[ 7.10519522e-01 7.02605235e-01 3.88315952e-02 3.41213659e+02] [-7.01636266e-01 7.11579110e-01 -3.69014868e-02 -2.49823716e+02] [-5.35589298e-02 -1.02642870e-03 9.98564163e-01 -1.75798481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.24, Y:-249.85, Z:-17.58 [[ 7.09855663e-01 7.03265431e-01 3.90214226e-02 3.41237366e+02] [-7.02285998e-01 7.10926592e-01 -3.71181637e-02 -2.49847007e+02] [-5.38452883e-02 -1.05566004e-03 9.98548732e-01 -1.75808544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.26, Y:-249.87, Z:-17.58 [[ 7.09625107e-01 7.03412050e-01 4.05425227e-02 3.41259195e+02] [-7.02352678e-01 7.10781487e-01 -3.86056050e-02 -2.49870084e+02] [-5.59725223e-02 -1.07964280e-03 9.98431726e-01 -1.75834258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.28, Y:-249.89, Z:-17.58 [[ 7.08829167e-01 7.04232696e-01 4.02184200e-02 3.41282355e+02] [-7.03189455e-01 7.09968366e-01 -3.83341986e-02 -2.49893101e+02] [-5.55500019e-02 -1.10877076e-03 9.98455291e-01 -1.75842532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.31, Y:-249.92, Z:-17.59 [[ 7.08815406e-01 7.04245181e-01 4.02423220e-02 3.41305846e+02] [-7.03198443e-01 7.09956023e-01 -3.83978393e-02 -2.49916264e+02] [-5.56117722e-02 -1.08135812e-03 9.98451882e-01 -1.75853197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.33, Y:-249.94, Z:-17.59 [[ 7.08848115e-01 7.04216902e-01 4.01609971e-02 3.41328568e+02] [-7.03172084e-01 7.09984124e-01 -3.83609556e-02 -2.49940416e+02] [-5.55281037e-02 -1.04800104e-03 9.98456575e-01 -1.75856333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50864 meters Centerline goodness [0,1] 0.9999511647213948 Centerline is valid? [True, True] Translation: X:341.35, Y:-249.96, Z:-17.59 [[ 7.08102594e-01 7.04991462e-01 3.97209546e-02 3.41351759e+02] [-7.03968433e-01 7.09214987e-01 -3.79808771e-02 -2.49963543e+02] [-5.49468904e-02 -1.06794053e-03 9.98488707e-01 -1.75865005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.37, Y:-249.99, Z:-17.59 [[ 7.07439165e-01 7.05616186e-01 4.04428703e-02 3.41374534e+02] [-7.04554370e-01 7.08593374e-01 -3.87113569e-02 -2.49986163e+02] [-5.59729099e-02 -1.10827097e-03 9.98431673e-01 -1.75882757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.40, Y:-250.01, Z:-17.59 [[ 7.07259982e-01 7.05791049e-01 4.05254689e-02 3.41397379e+02] [-7.04723477e-01 7.08419211e-01 -3.88206500e-02 -2.50009309e+02] [-5.61082880e-02 -1.10295711e-03 9.98424080e-01 -1.75891666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.42, Y:-250.03, Z:-17.59 [[ 7.07349864e-01 7.05730780e-01 4.00029506e-02 3.41419509e+02] [-7.04689165e-01 7.08479307e-01 -3.83438727e-02 -2.50032333e+02] [-5.54017139e-02 -1.06711268e-03 9.98463575e-01 -1.75906246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.44, Y:-250.06, Z:-17.59 [[ 7.09075021e-01 7.04032088e-01 3.93882494e-02 3.41441472e+02] [-7.03018112e-01 7.10167592e-01 -3.77826102e-02 -2.50056631e+02] [-5.45724282e-02 -8.99947635e-04 9.98509409e-01 -1.75914401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65864 meters Centerline goodness [0,1] 0.9999023771171963 Centerline is valid? [True, True] Translation: X:341.46, Y:-250.08, Z:-17.59 [[ 7.10051437e-01 7.03060475e-01 3.91525925e-02 3.41464310e+02] [-7.02056061e-01 7.11129607e-01 -3.75761791e-02 -2.50078672e+02] [-5.42608941e-02 -8.06294908e-04 9.98526467e-01 -1.75918385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68864 meters Centerline goodness [0,1] 0.9999512361632613 Centerline is valid? [True, True] Translation: X:341.49, Y:-250.10, Z:-17.59 [[ 7.12420915e-01 7.00654730e-01 3.92350454e-02 3.41486156e+02] [-6.99640496e-01 7.13500239e-01 -3.76906595e-02 -2.50101775e+02] [-5.44023531e-02 -5.98812411e-04 9.98518916e-01 -1.75926630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.51, Y:-250.12, Z:-17.59 [[ 7.13250053e-01 6.99849074e-01 3.85439555e-02 3.41508392e+02] [-6.98867253e-01 7.14290572e-01 -3.70613304e-02 -2.50124986e+02] [-5.34689218e-02 -5.03112449e-04 9.98569387e-01 -1.75934522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74864 meters Centerline goodness [0,1] 0.9999023485181388 Centerline is valid? [True, True] Translation: X:341.53, Y:-250.15, Z:-17.59 [[ 7.13642711e-01 6.99509659e-01 3.74208358e-02 3.41531044e+02] [-6.98582052e-01 7.14623008e-01 -3.60148854e-02 -2.50148310e+02] [-5.19345504e-02 -4.39763879e-04 9.98650394e-01 -1.75937468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77864 meters Centerline goodness [0,1] 0.9999023008157882 Centerline is valid? [True, True] Translation: X:341.55, Y:-250.17, Z:-17.60 [[ 7.14204907e-01 6.98905138e-01 3.79862910e-02 3.41553829e+02] [-6.97946476e-01 7.15214280e-01 -3.65957630e-02 -2.50172021e+02] [-5.27453046e-02 -3.75524420e-04 9.98607927e-01 -1.75953717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80864 meters Centerline goodness [0,1] 0.9999511671061627 Centerline is valid? [True, True] Translation: X:341.58, Y:-250.20, Z:-17.60 [[ 7.13660969e-01 6.99433252e-01 3.84856888e-02 3.41576935e+02] [-6.98447774e-01 7.14697820e-01 -3.71178297e-02 -2.50195255e+02] [-5.34670823e-02 -3.90697373e-04 9.98569536e-01 -1.75969249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.60, Y:-250.22, Z:-17.60 [[ 7.12837902e-01 7.00299467e-01 3.79839644e-02 3.41599993e+02] [-6.99338658e-01 7.13849059e-01 -3.66737378e-02 -2.50218621e+02] [-5.27974163e-02 -4.21224391e-04 9.98605155e-01 -1.75971807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86863999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.62, Y:-250.24, Z:-17.60 [[ 7.10624177e-01 7.02549554e-01 3.79131023e-02 3.41622504e+02] [-7.01593413e-01 7.11634606e-01 -3.66451975e-02 -2.50242864e+02] [-5.27253427e-02 -5.58619546e-04 9.98608896e-01 -1.75981004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.65, Y:-250.26, Z:-17.60 [[ 7.09359958e-01 7.03845069e-01 3.75575368e-02 3.41646825e+02] [-7.02906551e-01 7.10353246e-01 -3.63407093e-02 -2.50264726e+02] [-5.22573472e-02 -6.20794639e-04 9.98633458e-01 -1.75992707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.67, Y:-250.29, Z:-17.60 [[ 7.06824389e-01 7.06412372e-01 3.71597006e-02 3.41671335e+02] [-7.05495258e-01 7.07800084e-01 -3.59927990e-02 -2.50285792e+02] [-5.17273977e-02 -7.75404390e-04 9.98660941e-01 -1.76010991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.69, Y:-250.31, Z:-17.60 [[ 7.06412475e-01 7.06832267e-01 3.70075801e-02 3.41694692e+02] [-7.05921422e-01 7.07380761e-01 -3.58804251e-02 -2.50308481e+02] [-5.15398924e-02 -7.78063670e-04 9.98670633e-01 -1.76022698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.72, Y:-250.33, Z:-17.60 [[ 7.05650220e-01 7.07550953e-01 3.78076158e-02 3.41717921e+02] [-7.06599183e-01 7.06661854e-01 -3.66963086e-02 -2.50331663e+02] [-5.26817081e-02 -8.20072176e-04 9.98611018e-01 -1.76034081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.74, Y:-250.35, Z:-17.60 [[ 7.05427789e-01 7.07800859e-01 3.72770503e-02 3.41743371e+02] [-7.06873968e-01 7.06411569e-01 -3.62199950e-02 -2.50352382e+02] [-5.19694832e-02 -7.99585468e-04 9.98648353e-01 -1.76041323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.77, Y:-250.37, Z:-17.61 [[ 7.04558829e-01 7.08697126e-01 3.66775088e-02 3.41768750e+02] [-7.07799104e-01 7.05512369e-01 -3.56752855e-02 -2.50373710e+02] [-5.11594084e-02 -8.24970512e-04 9.98690159e-01 -1.76054897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.79, Y:-250.39, Z:-17.61 [[ 7.03447278e-01 7.09808946e-01 3.65128468e-02 3.41794303e+02] [-7.08918522e-01 7.04393708e-01 -3.55532600e-02 -2.50394024e+02] [-5.09554415e-02 -8.74789428e-04 9.98700545e-01 -1.76075114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10864 meters Centerline goodness [0,1] 0.9999024199843872 Centerline is valid? [True, True] Translation: X:341.82, Y:-250.42, Z:-17.61 [[ 7.02395719e-01 7.10809227e-01 3.72893725e-02 3.41817962e+02] [-7.09879954e-01 7.03384218e-01 -3.63468396e-02 -2.50415102e+02] [-5.20644250e-02 -9.41113484e-04 9.98643285e-01 -1.76080436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.84, Y:-250.44, Z:-17.61 [[ 7.01509903e-01 7.11638492e-01 3.81380678e-02 3.41841624e+02] [-7.10665853e-01 7.02545125e-01 -3.72074361e-02 -2.50436234e+02] [-5.32719574e-02 -1.00203757e-03 9.98579538e-01 -1.76091580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16864 meters Centerline goodness [0,1] 0.9999512147526588 Centerline is valid? [True, True] Translation: X:341.87, Y:-250.46, Z:-17.61 [[ 6.99472258e-01 7.13541254e-01 3.99679654e-02 3.41866830e+02] [-7.12473973e-01 7.00612229e-01 -3.90300108e-02 -2.50456504e+02] [-5.58515683e-02 -1.17572531e-03 9.98438391e-01 -1.76113453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.89, Y:-250.48, Z:-17.61 [[ 6.98588579e-01 7.14414000e-01 3.98325687e-02 3.41891662e+02] [-7.13353260e-01 6.99722202e-01 -3.89354160e-02 -2.50477845e+02] [-5.56877390e-02 -1.21485578e-03 9.98447495e-01 -1.76131476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.92, Y:-250.50, Z:-17.61 [[ 6.97519149e-01 7.15443615e-01 4.00932704e-02 3.41916143e+02] [-7.14368405e-01 6.98669308e-01 -3.92298473e-02 -2.50498663e+02] [-5.60786813e-02 -1.27779591e-03 9.98425535e-01 -1.76147348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.25864 meters Centerline goodness [0,1] 0.9999512123725424 Centerline is valid? [True, True] Translation: X:341.94, Y:-250.52, Z:-17.61 [[ 6.95921449e-01 7.16996474e-01 4.01172509e-02 3.41941908e+02] [-7.15920524e-01 6.97075431e-01 -3.92892811e-02 -2.50518122e+02] [-5.61350260e-02 -1.37850979e-03 9.98422235e-01 -1.76148482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28864 meters Centerline goodness [0,1] 0.9999512195121951 Centerline is valid? [True, True] Translation: X:341.97, Y:-250.54, Z:-17.62 [[ 6.95271366e-01 7.17613297e-01 4.03594226e-02 3.41967112e+02] [-7.16523189e-01 6.96440354e-01 -3.95645456e-02 -2.50539541e+02] [-5.64999746e-02 -1.41036653e-03 9.98401604e-01 -1.76150398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.31864 meters Centerline goodness [0,1] 0.9999511694906977 Centerline is valid? [True, True] Translation: X:342.00, Y:-250.56, Z:-17.62 [[ 6.95020387e-01 7.17777238e-01 4.17432379e-02 3.41995253e+02] [-7.16608873e-01 6.96271321e-01 -4.09630446e-02 -2.50556878e+02] [-5.84669604e-02 -1.44342357e-03 9.98288301e-01 -1.76167616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34864 meters Centerline goodness [0,1] 0.9999511742590694 Centerline is valid? [True, True] Translation: X:342.02, Y:-250.58, Z:-17.62 [[ 6.94416263e-01 7.18356461e-01 4.18335796e-02 3.42020118e+02] [-7.17181810e-01 6.95673658e-01 -4.10903109e-02 -2.50577943e+02] [-5.86200097e-02 -1.46850217e-03 9.98279289e-01 -1.76176724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.37864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.04, Y:-250.60, Z:-17.62 [[ 6.94522645e-01 7.18209763e-01 4.25797085e-02 3.42044609e+02] [-7.16989966e-01 6.95825141e-01 -4.18659855e-02 -2.50599732e+02] [-5.96965912e-02 -1.45234874e-03 9.98215512e-01 -1.76204414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40864 meters Centerline goodness [0,1] 0.9999512171325431 Centerline is valid? [True, True] Translation: X:342.07, Y:-250.62, Z:-17.62 [[ 6.95306769e-01 7.17368436e-01 4.39434340e-02 3.42070345e+02] [-7.16064631e-01 6.96692608e-01 -4.32533657e-02 -2.50620834e+02] [-6.16436650e-02 -1.39198091e-03 9.98097250e-01 -1.76222709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.09, Y:-250.64, Z:-17.62 [[ 6.96077968e-01 7.16662272e-01 4.32510258e-02 3.42094621e+02] [-7.15395336e-01 6.97419209e-01 -4.26140784e-02 -2.50641430e+02] [-6.07039984e-02 -1.27886104e-03 9.98154993e-01 -1.76230008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.12, Y:-250.66, Z:-17.62 [[ 6.97194193e-01 7.15616386e-01 4.25845648e-02 3.42119737e+02] [-7.14383983e-01 6.98492578e-01 -4.19957524e-02 -2.50661406e+02] [-5.97978510e-02 -1.14253631e-03 9.98209854e-01 -1.76245041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.14, Y:-250.68, Z:-17.62 [[ 6.98331799e-01 7.14570198e-01 4.14985590e-02 3.42143736e+02] [-7.13395870e-01 6.99563030e-01 -4.09621653e-02 -2.50683328e+02] [-5.83012002e-02 -9.99717992e-04 9.98298538e-01 -1.76247502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52864 meters Centerline goodness [0,1] 0.9999511909410387 Centerline is valid? [True, True] Translation: X:342.17, Y:-250.71, Z:-17.63 [[ 6.98596508e-01 7.14291456e-01 4.18406019e-02 3.42168740e+02] [-7.13094761e-01 6.99847700e-01 -4.13407704e-02 -2.50705393e+02] [-5.88114081e-02 -9.55796206e-04 9.98268654e-01 -1.76264420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55864 meters Centerline goodness [0,1] 0.9999512171325431 Centerline is valid? [True, True] Translation: X:342.19, Y:-250.73, Z:-17.63 [[ 6.98788210e-01 7.14055061e-01 4.26662247e-02 3.42193699e+02] [-7.12807436e-01 7.00088936e-01 -4.22023765e-02 -2.50727600e+02] [-6.00049724e-02 -9.22279133e-04 9.98197652e-01 -1.76276538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.22, Y:-250.75, Z:-17.63 [[ 6.98632789e-01 7.14234423e-01 4.22068255e-02 3.42217390e+02] [-7.13011217e-01 6.99905984e-01 -4.17925663e-02 -2.50750780e+02] [-5.93904992e-02 -8.96282859e-04 9.98234424e-01 -1.76296091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61863999999997 meters Centerline goodness [0,1] 0.9999512266497586 Centerline is valid? [True, True] Translation: X:342.24, Y:-250.77, Z:-17.63 [[ 6.98183051e-01 7.14685365e-01 4.20149451e-02 3.42241196e+02] [-7.13471434e-01 6.99445509e-01 -4.16472393e-02 -2.50773681e+02] [-5.91518370e-02 -8.99066529e-04 9.98248592e-01 -1.76305477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.27, Y:-250.80, Z:-17.63 [[ 6.97970561e-01 7.14877254e-01 4.22801084e-02 3.42265421e+02] [-7.13645586e-01 6.99249398e-01 -4.19554112e-02 -2.50796621e+02] [-5.95573095e-02 -8.89370823e-04 9.98224492e-01 -1.76310623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67864 meters Centerline goodness [0,1] 0.9999512361632613 Centerline is valid? [True, True] Translation: X:342.29, Y:-250.82, Z:-17.63 [[ 6.97766092e-01 7.15065984e-01 4.24631590e-02 3.42289304e+02] [-7.13821238e-01 6.99056413e-01 -4.21825908e-02 -2.50819747e+02] [-5.98474794e-02 -8.77523249e-04 9.98207147e-01 -1.76322959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.31, Y:-250.84, Z:-17.63 [[ 6.98513365e-01 7.14284808e-01 4.33161809e-02 3.42311881e+02] [-7.12985123e-01 6.99854687e-01 -4.30770501e-02 -2.50844074e+02] [-6.10843146e-02 -7.93897289e-04 9.98132294e-01 -1.76337330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73864 meters Centerline goodness [0,1] 0.9998535871156662 Centerline is valid? [True, True] Translation: X:342.33, Y:-250.87, Z:-17.64 [[ 6.98991758e-01 7.13765177e-01 4.41564667e-02 3.42334602e+02] [-7.12410490e-01 7.00384709e-01 -4.39608263e-02 -2.50867741e+02] [-6.23042210e-02 -7.29274786e-04 9.98056938e-01 -1.76357664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.36, Y:-250.89, Z:-17.64 [[ 7.00501834e-01 7.12328740e-01 4.34159665e-02 3.42356441e+02] [-7.11013680e-01 7.01845747e-01 -4.32677051e-02 -2.50891460e+02] [-6.12921413e-02 -5.60239349e-04 9.98119712e-01 -1.76364670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.38, Y:-250.91, Z:-17.64 [[ 7.01067750e-01 7.11808070e-01 4.28168441e-02 3.42378686e+02] [-7.10525691e-01 7.02373862e-01 -4.27106629e-02 -2.50914329e+02] [-6.04752267e-02 -4.79399375e-04 9.98169583e-01 -1.76377360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82864 meters Centerline goodness [0,1] 0.9998535442296427 Centerline is valid? [True, True] Translation: X:342.40, Y:-250.94, Z:-17.64 [[ 7.01769912e-01 7.11123972e-01 4.26812221e-02 3.42401451e+02] [-7.09845884e-01 7.03066529e-01 -4.26177973e-02 -2.50938946e+02] [-6.03142760e-02 -3.89201916e-04 9.98179361e-01 -1.76380910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85864 meters Centerline goodness [0,1] 0.9998044201056131 Centerline is valid? [True, True] Translation: X:342.42, Y:-250.96, Z:-17.64 [[ 7.03508195e-01 7.09392052e-01 4.28851542e-02 3.42422811e+02] [-7.08095649e-01 7.04814070e-01 -4.28681645e-02 -2.50964284e+02] [-6.06363952e-02 -2.08686098e-04 9.98159899e-01 -1.76388232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88864 meters Centerline goodness [0,1] 0.999706931079959 Centerline is valid? [True, True] Translation: X:342.48, Y:-251.04, Z:-16.14 [[ 7.59211568e-01 -6.50796730e-01 -7.83648717e-03 3.42481127e+02] [-6.50719667e-01 -7.59246868e-01 1.03975196e-02 -2.51037462e+02] [-1.27165001e-02 -2.79456087e-03 -9.99915237e-01 -1.61376566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.47, Y:-251.02, Z:-17.64 [[ 7.53825445e-01 6.55447137e-01 4.62195811e-02 3.42465290e+02] [-6.54234503e-01 7.55241029e-01 -3.98522714e-02 -2.51020242e+02] [-6.10279812e-02 -1.96788468e-04 9.98136036e-01 -1.76418490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94864 meters Centerline goodness [0,1] 0.9998047447037001 Centerline is valid? [True, True] Translation: X:342.49, Y:-251.04, Z:-17.64 [[ 7.53038565e-01 6.56417650e-01 4.52635569e-02 3.42489038e+02] [-6.55254443e-01 7.54397647e-01 -3.90615514e-02 -2.51042593e+02] [-5.97874125e-02 -2.44292188e-04 9.98211103e-01 -1.76437128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97864 meters Centerline goodness [0,1] 0.9998047447037001 Centerline is valid? [True, True] Translation: X:342.51, Y:-251.06, Z:-17.64 [[ 7.52681871e-01 6.56827605e-01 4.52492913e-02 3.42513845e+02] [-6.55664145e-01 7.54040737e-01 -3.90780716e-02 -2.51063599e+02] [-5.97873651e-02 -2.54981840e-04 9.98211103e-01 -1.76449210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00864 meters Centerline goodness [0,1] 0.9997561332487929 Centerline is valid? [True, True] Translation: X:342.54, Y:-251.09, Z:-17.65 [[ 7.52036152e-01 6.57648798e-01 4.40418561e-02 3.42537357e+02] [-6.56545774e-01 7.53324617e-01 -3.80744994e-02 -2.51086014e+02] [-5.82174631e-02 -2.82094509e-04 9.98303885e-01 -1.76451729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03864 meters Centerline goodness [0,1] 0.9995606541371735 Centerline is valid? [True, True] Translation: X:342.56, Y:-251.11, Z:-17.65 [[ 7.50910226e-01 6.58947077e-01 4.38472578e-02 3.42560287e+02] [-6.57853772e-01 7.52189222e-01 -3.79445482e-02 -2.51110392e+02] [-5.79848838e-02 -3.52134681e-04 9.98317399e-01 -1.76454215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06864 meters Centerline goodness [0,1] 0.9995606326889279 Centerline is valid? [True, True] Translation: X:342.58, Y:-251.13, Z:-17.65 [[ 7.50193190e-01 6.59699804e-01 4.47922588e-02 3.42584217e+02] [-6.58557704e-01 7.51529120e-01 -3.88037712e-02 -2.51131962e+02] [-5.92615271e-02 -3.87962207e-04 9.98242416e-01 -1.76471867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09864 meters Centerline goodness [0,1] 0.999853515625 Centerline is valid? [True, True] Translation: X:342.61, Y:-251.15, Z:-17.65 [[ 7.48979658e-01 6.61072888e-01 4.48565280e-02 3.42608616e+02] [-6.59927621e-01 7.50321543e-01 -3.88988066e-02 -2.51154733e+02] [-5.93717658e-02 -4.67646935e-04 9.98235831e-01 -1.76477560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12864 meters Centerline goodness [0,1] 0.9999024532995171 Centerline is valid? [True, True] Translation: X:342.63, Y:-251.18, Z:-17.65 [[ 7.48559539e-01 6.61590374e-01 4.42356569e-02 3.42633613e+02] [-6.60475072e-01 7.49865291e-01 -3.84021286e-02 -2.51176978e+02] [-5.85772624e-02 -4.70269024e-04 9.98282767e-01 -1.76491867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15864 meters Centerline goodness [0,1] 0.9995608256477821 Centerline is valid? [True, True] Translation: X:342.66, Y:-251.20, Z:-17.65 [[ 7.47953532e-01 6.62294240e-01 4.39528610e-02 3.42658502e+02] [-6.61191945e-01 7.49243685e-01 -3.81983448e-02 -2.51198991e+02] [-5.82299473e-02 -4.90690750e-04 9.98303076e-01 -1.76500594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18864 meters Centerline goodness [0,1] 0.9992683640620428 Centerline is valid? [True, True] Translation: X:342.68, Y:-251.22, Z:-17.65 [[ 7.47641106e-01 6.62665620e-01 4.36698065e-02 3.42683250e+02] [-6.61575723e-01 7.48915243e-01 -3.79937151e-02 -2.51220857e+02] [-5.78821125e-02 -4.85220590e-04 9.98323307e-01 -1.76504166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21864 meters Centerline goodness [0,1] 0.9992193217858014 Centerline is valid? [True, True] Translation: X:342.71, Y:-251.24, Z:-17.65 [[ 7.46748346e-01 6.63611047e-01 4.45789918e-02 3.42707378e+02] [-6.62474501e-01 7.48077594e-01 -3.88258656e-02 -2.51241980e+02] [-5.91138183e-02 -5.39294525e-04 9.98251104e-01 -1.76525587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24864 meters Centerline goodness [0,1] 0.9994142627031776 Centerline is valid? [True, True] Translation: X:342.73, Y:-251.26, Z:-17.65 [[ 7.46407312e-01 6.64006155e-01 4.44066437e-02 3.42732830e+02] [-6.62876786e-01 7.47726912e-01 -3.87147462e-02 -2.51263620e+02] [-5.89108723e-02 -5.39163564e-04 9.98263101e-01 -1.76543494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27864 meters Centerline goodness [0,1] 0.9998046111762408 Centerline is valid? [True, True] Translation: X:342.76, Y:-251.29, Z:-17.66 [[ 7.45699216e-01 6.64821462e-01 4.41033225e-02 3.42757839e+02] [-6.63706437e-01 7.47002076e-01 -3.84924027e-02 -2.51285016e+02] [-5.85358489e-02 -5.67904532e-04 9.98285146e-01 -1.76553740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30864 meters Centerline goodness [0,1] 0.9994629168497632 Centerline is valid? [True, True] Translation: X:342.78, Y:-251.31, Z:-17.66 [[ 7.44668480e-01 6.65968172e-01 4.42181928e-02 3.42783403e+02] [-6.64846843e-01 7.45979892e-01 -3.86351656e-02 -2.51305826e+02] [-5.87156733e-02 -6.27935852e-04 9.98274549e-01 -1.76560474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33864 meters Centerline goodness [0,1] 0.9992184065263056 Centerline is valid? [True, True] Translation: X:342.81, Y:-251.32, Z:-17.66 [[ 7.42874701e-01 6.67934872e-01 4.47234348e-02 3.42810010e+02] [-6.66788854e-01 7.44219341e-01 -3.91177309e-02 -2.51324244e+02] [-5.94121417e-02 -7.61515240e-04 9.98233248e-01 -1.76564106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36863999999997 meters Centerline goodness [0,1] 0.9990730803005171 Centerline is valid? [True, True] Translation: X:342.84, Y:-251.34, Z:-17.66 [[ 7.41212200e-01 6.69783316e-01 4.46630022e-02 3.42835419e+02] [-6.68641526e-01 7.42556081e-01 -3.91021188e-02 -2.51343626e+02] [-5.93547307e-02 -8.80570452e-04 9.98236565e-01 -1.76574346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39864 meters Centerline goodness [0,1] 0.99873046875 Centerline is valid? [True, True] Translation: X:342.86, Y:-251.36, Z:-17.66 [[ 7.38618736e-01 6.72639628e-01 4.47022734e-02 3.42861667e+02] [-6.71498818e-01 7.39969430e-01 -3.91737143e-02 -2.51362535e+02] [-5.94281084e-02 -1.08308435e-03 9.98232001e-01 -1.76587325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42864 meters Centerline goodness [0,1] 0.9990735322800858 Centerline is valid? [True, True] Translation: X:342.89, Y:-251.38, Z:-17.66 [[ 7.37460327e-01 6.73896706e-01 4.48942795e-02 3.42887054e+02] [-6.72746160e-01 7.38824661e-01 -3.93792325e-02 -2.51382455e+02] [-5.97065358e-02 -1.16183250e-03 9.98215297e-01 -1.76607870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45864 meters Centerline goodness [0,1] 0.9984880261425157 Centerline is valid? [True, True] Translation: X:342.92, Y:-251.40, Z:-17.66 [[ 7.36735059e-01 6.74721874e-01 4.44054648e-02 3.42915252e+02] [-6.73595500e-01 7.38071124e-01 -3.89887022e-02 -2.51399795e+02] [-5.90809215e-02 -1.18697743e-03 9.98252491e-01 -1.76616977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48864 meters Centerline goodness [0,1] 0.9984869191721983 Centerline is valid? [True, True] Translation: X:342.94, Y:-251.42, Z:-17.66 [[ 7.36501909e-01 6.74999948e-01 4.40455252e-02 3.42942233e+02] [-6.73889850e-01 7.37816849e-01 -3.87139020e-02 -2.51418878e+02] [-5.86294125e-02 -1.16896970e-03 9.98279132e-01 -1.76632479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51864 meters Centerline goodness [0,1] 0.9985367994927572 Centerline is valid? [True, True] Translation: X:342.97, Y:-251.44, Z:-17.66 [[ 7.36313387e-01 6.75239340e-01 4.35250578e-02 3.42968691e+02] [-6.74153388e-01 7.37597808e-01 -3.82973036e-02 -2.51438249e+02] [-5.79638332e-02 -1.14374789e-03 9.98318028e-01 -1.76642826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54864 meters Centerline goodness [0,1] 0.9988776107749365 Centerline is valid? [True, True] Translation: X:342.99, Y:-251.46, Z:-17.67 [[ 7.36744057e-01 6.74770865e-01 4.35025894e-02 3.42994804e+02] [-6.73682937e-01 7.38026504e-01 -3.83168356e-02 -2.51457705e+02] [-5.79611483e-02 -1.07725133e-03 9.98318258e-01 -1.76654096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57864 meters Centerline goodness [0,1] 0.9990241046159851 Centerline is valid? [True, True] Translation: X:343.02, Y:-251.47, Z:-17.67 [[ 7.37506904e-01 6.73928208e-01 4.36387043e-02 3.43022824e+02] [-6.72829869e-01 7.38796180e-01 -3.84730059e-02 -2.51473972e+02] [-5.81681520e-02 -9.87316183e-04 9.98306311e-01 -1.76668076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60864 meters Centerline goodness [0,1] 0.999024342650861 Centerline is valid? [True, True] Translation: X:343.05, Y:-251.49, Z:-17.67 [[ 7.39157075e-01 6.72170308e-01 4.28240067e-02 3.43052878e+02] [-6.71108115e-01 7.40396121e-01 -3.77820237e-02 -2.51489233e+02] [-5.71026830e-02 -8.12688250e-04 9.98367980e-01 -1.76683215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.63864 meters Centerline goodness [0,1] 0.9987805472903761 Centerline is valid? [True, True] Translation: X:343.08, Y:-251.51, Z:-17.67 [[ 7.39710922e-01 6.71594160e-01 4.22969994e-02 3.43079198e+02] [-6.70555874e-01 7.40918843e-01 -3.73374816e-02 -2.51507729e+02] [-5.64142784e-02 -7.43558506e-04 9.98407170e-01 -1.76689230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66864 meters Centerline goodness [0,1] 0.9984870668618838 Centerline is valid? [True, True] Translation: X:343.11, Y:-251.53, Z:-17.67 [[ 7.40417669e-01 6.70844253e-01 4.18289757e-02 3.43105192e+02] [-6.69825688e-01 7.41597979e-01 -3.69592449e-02 -2.51527096e+02] [-5.58141808e-02 -6.52844421e-04 9.98440960e-01 -1.76699370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.69864 meters Centerline goodness [0,1] 0.9984843299271501 Centerline is valid? [True, True] Translation: X:343.13, Y:-251.55, Z:-17.67 [[ 7.40990780e-01 6.70306854e-01 4.02664311e-02 3.43131455e+02] [-6.69360450e-01 7.42083824e-01 -3.56115958e-02 -2.51546427e+02] [-5.37517639e-02 -5.64892248e-04 9.98554169e-01 -1.76691881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72864 meters Centerline goodness [0,1] 0.998439709395875 Centerline is valid? [True, True] Translation: X:343.16, Y:-251.56, Z:-17.67 [[ 7.43108545e-01 6.68016192e-01 3.92945100e-02 3.43159586e+02] [-6.67110048e-01 7.44146648e-01 -3.47843286e-02 -2.51562827e+02] [-5.24773727e-02 -3.65230624e-04 9.98622047e-01 -1.76705989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.75864 meters Centerline goodness [0,1] 0.9983413825064638 Centerline is valid? [True, True] Translation: X:343.19, Y:-251.58, Z:-17.67 [[ 7.43319084e-01 6.67761928e-01 3.96326458e-02 3.43185180e+02] [-6.66837903e-01 7.44374840e-01 -3.51184838e-02 -2.51583233e+02] [-5.29523308e-02 -3.24311222e-04 9.98596989e-01 -1.76726693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78864 meters Centerline goodness [0,1] 0.9984871406959153 Centerline is valid? [True, True] Translation: X:343.21, Y:-251.60, Z:-17.67 [[ 7.45213369e-01 6.65617968e-01 4.01217578e-02 3.43212278e+02] [-6.64665778e-01 7.46292637e-01 -3.55907773e-02 -2.51603008e+02] [-5.36324333e-02 -1.44836364e-04 9.98560735e-01 -1.76737281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.81864 meters Centerline goodness [0,1] 0.9985350131848814 Centerline is valid? [True, True] Translation: X:343.24, Y:-251.62, Z:-17.67 [[ 7.45855511e-01 6.64859400e-01 4.07619262e-02 3.43238518e+02] [-6.63873264e-01 7.46968523e-01 -3.61982657e-02 -2.51623834e+02] [-5.45146331e-02 -6.20770280e-05 9.98512970e-01 -1.76746348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84864 meters Centerline goodness [0,1] 0.9987806662439643 Centerline is valid? [True, True] Translation: X:343.26, Y:-251.64, Z:-17.68 [[ 7.46508949e-01 6.64177186e-01 3.99130916e-02 3.43263346e+02] [-6.63228812e-01 7.47575191e-01 -3.54806572e-02 -2.51643860e+02] [-5.34034802e-02 1.51157988e-05 9.98573016e-01 -1.76753372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.87864 meters Centerline goodness [0,1] 0.9990236758603857 Centerline is valid? [True, True] Translation: X:343.29, Y:-251.67, Z:-17.68 [[ 7.48031528e-01 6.62538605e-01 3.86190340e-02 3.43286992e+02] [-6.61646950e-01 7.49027752e-01 -3.43618973e-02 -2.51665122e+02] [-5.16928117e-02 1.51616471e-04 9.98663021e-01 -1.76767214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90864 meters Centerline goodness [0,1] 0.9991222937390287 Centerline is valid? [True, True] Translation: X:343.31, Y:-251.69, Z:-17.68 [[ 7.48559595e-01 6.61844328e-01 4.02569078e-02 3.43309988e+02] [-6.60872502e-01 7.49641268e-01 -3.58539482e-02 -2.51687245e+02] [-5.39079717e-02 2.34133564e-04 9.98545881e-01 -1.76787442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93864 meters Centerline goodness [0,1] 0.9991711360312043 Centerline is valid? [True, True] Translation: X:343.33, Y:-251.71, Z:-17.68 [[ 7.50707424e-01 6.59362696e-01 4.09780262e-02 3.43333642e+02] [-6.58350121e-01 7.51824871e-01 -3.65305581e-02 -2.51709699e+02] [-5.48951865e-02 4.45872664e-04 9.98492023e-01 -1.76791513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96864 meters Centerline goodness [0,1] 0.9993658536585366 Centerline is valid? [True, True] Translation: X:343.36, Y:-251.73, Z:-17.68 [[ 7.51607632e-01 6.58389754e-01 4.01110805e-02 3.43357239e+02] [-6.57416392e-01 7.52676989e-01 -3.57916047e-02 -2.51732247e+02] [-5.37555131e-02 5.31561447e-04 9.98553986e-01 -1.76803516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99864 meters Centerline goodness [0,1] 0.9996098131980686 Centerline is valid? [True, True] Translation: X:343.38, Y:-251.76, Z:-17.68 [[ 7.53072428e-01 6.56739596e-01 3.96865419e-02 3.43380813e+02] [-6.55782481e-01 7.54117135e-01 -3.54497368e-02 -2.51755605e+02] [-5.32095471e-02 6.70480387e-04 9.98583144e-01 -1.76824135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02864 meters Centerline goodness [0,1] 0.9994147197971028 Centerline is valid? [True, True] Translation: X:343.40, Y:-251.78, Z:-17.68 [[ 7.55364305e-01 6.54177427e-01 3.84273535e-02 3.43401897e+02] [-6.53275050e-01 7.56340645e-01 -3.43589553e-02 -2.51779872e+02] [-5.15410223e-02 8.49897155e-04 9.98670517e-01 -1.76830839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05864 meters Centerline goodness [0,1] 0.9996570140624235 Centerline is valid? [True, True] Translation: X:343.43, Y:-251.80, Z:-17.68 [[ 7.56076392e-01 6.53404492e-01 3.75640601e-02 3.43425391e+02] [-6.52539694e-01 7.57008420e-01 -3.36184438e-02 -2.51802624e+02] [-5.04027520e-02 9.06071384e-04 9.98728563e-01 -1.76832891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08864 meters Centerline goodness [0,1] 0.9994140911088326 Centerline is valid? [True, True] Translation: X:343.45, Y:-251.83, Z:-17.69 [[ 7.55695210e-01 6.53835040e-01 3.77424205e-02 3.43446426e+02] [-6.52960749e-01 7.56636581e-01 -3.38133821e-02 -2.51828016e+02] [-5.06656700e-02 9.08291793e-04 9.98715257e-01 -1.76850188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11863999999997 meters Centerline goodness [0,1] 0.9997560142487679 Centerline is valid? [True, True] Translation: X:343.47, Y:-251.85, Z:-17.69 [[ 7.54280017e-01 6.55446039e-01 3.81070258e-02 3.43467463e+02] [-6.54555031e-01 7.55241547e-01 -3.41748196e-02 -2.51852052e+02] [-5.11797592e-02 8.34238067e-04 9.98689109e-01 -1.76866300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14864 meters Centerline goodness [0,1] 0.9997556804300024 Centerline is valid? [True, True] Translation: X:343.49, Y:-251.88, Z:-17.69 [[ 7.52767785e-01 6.57165589e-01 3.83933784e-02 3.43489566e+02] [-6.56261732e-01 7.53745867e-01 -3.44631316e-02 -2.51875941e+02] [-5.15868345e-02 7.46630201e-04 9.98668234e-01 -1.76883752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17864 meters Centerline goodness [0,1] 0.9999511933232467 Centerline is valid? [True, True] Translation: X:343.51, Y:-251.90, Z:-17.69 [[ 7.50146703e-01 6.60170965e-01 3.81342483e-02 3.43511207e+02] [-6.59281804e-01 7.51115162e-01 -3.42566273e-02 -2.51900793e+02] [-5.12584428e-02 5.56280027e-04 9.98685267e-01 -1.76889088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20864 meters Centerline goodness [0,1] 0.9999024437832301 Centerline is valid? [True, True] Translation: X:343.53, Y:-251.92, Z:-17.69 [[ 7.48189311e-01 6.62375226e-01 3.83642396e-02 3.43533869e+02] [-6.61477425e-01 7.49172133e-01 -3.44779918e-02 -2.51924407e+02] [-5.15787867e-02 4.18986520e-04 9.98668841e-01 -1.76907600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23864 meters Centerline goodness [0,1] 0.9999024295053176 Centerline is valid? [True, True] Translation: X:343.55, Y:-251.95, Z:-17.69 [[ 7.46058891e-01 6.64753410e-01 3.87173775e-02 3.43554942e+02] [-6.63840960e-01 7.47062801e-01 -3.48188350e-02 -2.51950158e+02] [-5.20702518e-02 2.74720373e-04 9.98643387e-01 -1.76916526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26864 meters Centerline goodness [0,1] 0.9999024532995171 Centerline is valid? [True, True] Translation: X:343.58, Y:-251.97, Z:-17.69 [[ 7.45220447e-01 6.65737203e-01 3.79534238e-02 3.43577942e+02] [-6.64859926e-01 7.46186254e-01 -3.41665664e-02 -2.51972116e+02] [-5.10662774e-02 2.27913342e-04 9.98695240e-01 -1.76928376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.60, Y:-251.99, Z:-17.69 [[ 7.44529374e-01 6.66548658e-01 3.72679020e-02 3.43602926e+02] [-6.65702194e-01 7.45461500e-01 -3.35818537e-02 -2.51994137e+02] [-5.01657257e-02 1.93352451e-04 9.98740889e-01 -1.76938805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.63, Y:-252.02, Z:-17.70 [[ 7.43860344e-01 6.67294884e-01 3.72736822e-02 3.43626887e+02] [-6.66447270e-01 7.44793602e-01 -3.36233130e-02 -2.52016942e+02] [-5.01978648e-02 1.70105448e-04 9.98739278e-01 -1.76955455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35864 meters Centerline goodness [0,1] 0.999951126533405 Centerline is valid? [True, True] Translation: X:343.65, Y:-252.04, Z:-17.70 [[ 7.43665748e-01 6.67462013e-01 3.81538486e-02 3.43650757e+02] [-6.66572128e-01 7.44643824e-01 -3.44553920e-02 -2.52040182e+02] [-5.14086930e-02 1.91002844e-04 9.98677681e-01 -1.76972122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38864 meters Centerline goodness [0,1] 0.999951198086965 Centerline is valid? [True, True] Translation: X:343.68, Y:-252.06, Z:-17.70 [[ 7.43154468e-01 6.67988750e-01 3.88904397e-02 3.43675579e+02] [-6.67062834e-01 7.44171348e-01 -3.51593664e-02 -2.52062245e+02] [-5.24272121e-02 1.86473268e-04 9.98624731e-01 -1.76982058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41864 meters Centerline goodness [0,1] 0.9999511504078941 Centerline is valid? [True, True] Translation: X:343.70, Y:-252.08, Z:-17.70 [[ 7.42303483e-01 6.68953829e-01 3.85527456e-02 3.43700552e+02] [-6.68043283e-01 7.43303944e-01 -3.48915278e-02 -2.52084407e+02] [-5.19972290e-02 1.45199897e-04 9.98647219e-01 -1.76990806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44864 meters Centerline goodness [0,1] 0.9999511575656931 Centerline is valid? [True, True] Translation: X:343.72, Y:-252.11, Z:-17.70 [[ 7.41482160e-01 6.69783535e-01 3.99277247e-02 3.43724077e+02] [-6.68805943e-01 7.42556397e-01 -3.61746771e-02 -2.52106766e+02] [-5.38777905e-02 1.18978117e-04 9.98547530e-01 -1.76992910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47864 meters Centerline goodness [0,1] 0.999951171875 Centerline is valid? [True, True] Translation: X:343.75, Y:-252.13, Z:-17.70 [[ 7.41483966e-01 6.69760307e-01 4.02822465e-02 3.43748696e+02] [-6.68763242e-01 7.42577342e-01 -3.65324119e-02 -2.52128672e+02] [-5.43806429e-02 1.48911860e-04 9.98520267e-01 -1.76997793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50864 meters Centerline goodness [0,1] 0.999951186175925 Centerline is valid? [True, True] Translation: X:343.77, Y:-252.15, Z:-17.70 [[ 7.41339454e-01 6.69893540e-01 4.07241736e-02 3.43774200e+02] [-6.68872439e-01 7.42457147e-01 -3.69735604e-02 -2.52149369e+02] [-5.50043030e-02 1.70681714e-04 9.98486103e-01 -1.77014757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.80, Y:-252.17, Z:-17.70 [[ 7.40502783e-01 6.70812463e-01 4.08199549e-02 3.43798522e+02] [-6.69785715e-01 7.41627010e-01 -3.71008643e-02 -2.52171035e+02] [-5.51609033e-02 1.32670557e-04 9.98477470e-01 -1.77036998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56864 meters Centerline goodness [0,1] 0.9998533294221179 Centerline is valid? [True, True] Translation: X:343.82, Y:-252.19, Z:-17.71 [[ 7.39778314e-01 6.71583978e-01 4.12675001e-02 3.43822548e+02] [-6.70533484e-01 7.40928437e-01 -3.75486166e-02 -2.52193144e+02] [-5.57933137e-02 1.06411639e-04 9.98442334e-01 -1.77052112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.85, Y:-252.22, Z:-17.71 [[ 7.39624484e-01 6.71752547e-01 4.12812141e-02 3.43847258e+02] [-6.70699343e-01 7.40775608e-01 -3.76017347e-02 -2.52215312e+02] [-5.58391775e-02 1.23880417e-04 9.98439768e-01 -1.77057581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.87, Y:-252.24, Z:-17.71 [[ 7.39830442e-01 6.71523300e-01 4.13203852e-02 3.43871926e+02] [-6.70465455e-01 7.40983419e-01 -3.76781849e-02 -2.52236720e+02] [-5.59194994e-02 1.71577265e-04 9.98435266e-01 -1.77060687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.90, Y:-252.26, Z:-17.71 [[ 7.41565320e-01 6.69615386e-01 4.11838582e-02 3.43896769e+02] [-6.68559316e-01 7.42707961e-01 -3.75942177e-02 -2.52259101e+02] [-5.57612460e-02 3.44716018e-04 9.98444072e-01 -1.77076937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.92, Y:-252.28, Z:-17.71 [[ 7.42825001e-01 6.68197362e-01 4.15126934e-02 3.43920733e+02] [-6.67119933e-01 7.43983906e-01 -3.79334004e-02 -2.52280974e+02] [-5.62317738e-02 4.83932956e-04 9.98417625e-01 -1.77085819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71864 meters Centerline goodness [0,1] 0.999951171875 Centerline is valid? [True, True] Translation: X:343.95, Y:-252.30, Z:-17.71 [[ 7.42719648e-01 6.68297807e-01 4.17799604e-02 3.43945110e+02] [-6.67204492e-01 7.43893664e-01 -3.82149447e-02 -2.52303639e+02] [-5.66188116e-02 5.07212995e-04 9.98395740e-01 -1.77093210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.97, Y:-252.33, Z:-17.71 [[ 7.41689638e-01 6.69351633e-01 4.31841615e-02 3.43969422e+02] [-6.68182899e-01 7.42945603e-01 -3.95404287e-02 -2.52325228e+02] [-5.85499335e-02 4.71808055e-04 9.98284370e-01 -1.77106860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.99, Y:-252.35, Z:-17.71 [[ 7.40234175e-01 6.70952293e-01 4.33172743e-02 3.43993925e+02] [-6.69776779e-01 7.41500424e-01 -3.97012224e-02 -2.52347809e+02] [-5.87574035e-02 3.75297132e-04 9.98272221e-01 -1.77115315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.02, Y:-252.37, Z:-17.71 [[ 7.38582896e-01 6.72837590e-01 4.22478722e-02 3.44017982e+02] [-6.71720303e-01 7.39790184e-01 -3.87597660e-02 -2.52369660e+02] [-5.73335887e-02 2.48546753e-04 9.98355046e-01 -1.77137597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.04, Y:-252.39, Z:-17.71 [[ 7.37416143e-01 6.74143248e-01 4.18128357e-02 3.44043044e+02] [-6.73048833e-01 7.38600604e-01 -3.83981252e-02 -2.52391782e+02] [-5.67688225e-02 1.73317155e-04 9.98387335e-01 -1.77142636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86863999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.07, Y:-252.41, Z:-17.72 [[ 7.37056219e-01 6.74538013e-01 4.17923195e-02 3.44067198e+02] [-6.73442968e-01 7.38240095e-01 -3.84204461e-02 -2.52413539e+02] [-5.67688173e-02 1.73285057e-04 9.98387335e-01 -1.77154718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.09, Y:-252.43, Z:-17.72 [[ 7.38252399e-01 6.73208430e-01 4.21165744e-02 3.44092670e+02] [-6.72091754e-01 7.39452713e-01 -3.87602811e-02 -2.52434086e+02] [-5.72369632e-02 3.08668099e-04 9.98360574e-01 -1.77171713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.12, Y:-252.46, Z:-17.72 [[ 7.38703998e-01 6.72659237e-01 4.29645812e-02 3.44115670e+02] [-6.71493788e-01 7.39952296e-01 -3.95814588e-02 -2.52456291e+02] [-5.84165744e-02 3.88532459e-04 9.98292218e-01 -1.77180975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.14, Y:-252.48, Z:-17.72 [[ 7.39802709e-01 6.71402949e-01 4.37039034e-02 3.44138859e+02] [-6.70192575e-01 7.41092305e-01 -4.03002151e-02 -2.52478582e+02] [-5.94463098e-02 5.24176757e-04 9.98231367e-01 -1.77191975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.16, Y:-252.50, Z:-17.72 [[ 7.41102729e-01 6.69878104e-01 4.50562973e-02 3.44161555e+02] [-6.68586366e-01 7.42470768e-01 -4.15864243e-02 -2.52501025e+02] [-6.13108187e-02 6.95786442e-04 9.98118480e-01 -1.77210733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01864 meters Centerline goodness [0,1] 0.9999511336982018 Centerline is valid? [True, True] Translation: X:344.18, Y:-252.52, Z:-17.72 [[ 7.40893144e-01 6.70210089e-01 4.35406239e-02 3.44184819e+02] [-6.69002296e-01 7.42171129e-01 -4.02236736e-02 -2.52523148e+02] [-5.92729058e-02 6.72666683e-04 9.98241589e-01 -1.77217238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04864 meters Centerline goodness [0,1] 0.9999512789281364 Centerline is valid? [True, True] Translation: X:344.21, Y:-252.55, Z:-17.72 [[ 7.39550454e-01 6.71757182e-01 4.25136867e-02 3.44206333e+02] [-6.70606218e-01 7.40771201e-01 -3.93106641e-02 -2.52547920e+02] [-5.79001356e-02 5.62276850e-04 9.98322222e-01 -1.77222780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07864 meters Centerline goodness [0,1] 0.9999511790265098 Centerline is valid? [True, True] Translation: X:344.23, Y:-252.57, Z:-17.72 [[ 7.38717408e-01 6.72658571e-01 4.27438707e-02 3.44228902e+02] [-6.71494347e-01 7.39952818e-01 -3.95622182e-02 -2.52571446e+02] [-5.82403127e-02 5.23031776e-04 9.98302455e-01 -1.77235006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10864 meters Centerline goodness [0,1] 0.9999512504265587 Centerline is valid? [True, True] Translation: X:344.25, Y:-252.60, Z:-17.72 [[ 7.35881203e-01 6.75665130e-01 4.42208873e-02 3.44249825e+02] [-6.74421697e-01 7.37208603e-01 -4.09737766e-02 -2.52597212e+02] [-6.02845707e-02 3.28306157e-04 9.98181177e-01 -1.77239913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.13864 meters Centerline goodness [0,1] 0.9999512528029638 Centerline is valid? [True, True] Translation: X:344.27, Y:-252.62, Z:-17.73 [[ 7.33979082e-01 6.77663856e-01 4.52372164e-02 3.44272716e+02] [-6.76363537e-01 7.35371782e-01 -4.19607904e-02 -2.52620775e+02] [-6.17014835e-02 2.01538725e-04 9.98094628e-01 -1.77258390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.30, Y:-252.64, Z:-17.73 [[ 7.32044006e-01 6.79712012e-01 4.58601648e-02 3.44296078e+02] [-6.78376711e-01 7.33479091e-01 -4.25847537e-02 -2.52644404e+02] [-6.25828406e-02 6.34459413e-05 9.98039771e-01 -1.77270248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.19864 meters Centerline goodness [0,1] 0.9999024485416057 Centerline is valid? [True, True] Translation: X:344.32, Y:-252.67, Z:-17.73 [[ 7.28411066e-01 6.83650858e-01 4.51533373e-02 3.44318504e+02] [-6.82361201e-01 7.29809186e-01 -4.19731306e-02 -2.52668752e+02] [-6.16482871e-02 -2.37192661e-04 9.98097907e-01 -1.77277709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22864 meters Centerline goodness [0,1] 0.9999022339541477 Centerline is valid? [True, True] Translation: X:344.34, Y:-252.69, Z:-17.73 [[ 7.26768841e-01 6.85399345e-01 4.51086531e-02 3.44342464e+02] [-6.84112809e-01 7.28167298e-01 -4.19767890e-02 -2.52691590e+02] [-6.16175098e-02 -3.51985077e-04 9.98099774e-01 -1.77293633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.25864 meters Centerline goodness [0,1] 0.9998534798534798 Centerline is valid? [True, True] Translation: X:344.37, Y:-252.71, Z:-17.73 [[ 7.24264212e-01 6.87981937e-01 4.60674155e-02 3.44365631e+02] [-6.86642452e-01 7.25727601e-01 -4.29137767e-02 -2.52713803e+02] [-6.29562981e-02 -5.50930469e-04 9.98016133e-01 -1.77310512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28864 meters Centerline goodness [0,1] 0.9995112414467253 Centerline is valid? [True, True] Translation: X:344.39, Y:-252.74, Z:-17.73 [[ 7.23139008e-01 6.89191149e-01 4.56676586e-02 3.44390473e+02] [-6.87874581e-01 7.24579310e-01 -4.25838517e-02 -2.52736233e+02] [-6.24382542e-02 -6.19577273e-04 9.98048636e-01 -1.77316271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.31864 meters Centerline goodness [0,1] 0.9998046970362775 Centerline is valid? [True, True] Translation: X:344.41, Y:-252.76, Z:-17.73 [[ 7.22445130e-01 6.89901841e-01 4.59182262e-02 3.44414968e+02] [-6.88569274e-01 7.23902635e-01 -4.28640857e-02 -2.52758789e+02] [-6.28123366e-02 -6.50929706e-04 9.98025143e-01 -1.77331349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34864 meters Centerline goodness [0,1] 0.9996587030716724 Centerline is valid? [True, True] Translation: X:344.44, Y:-252.78, Z:-17.73 [[ 7.21826751e-01 6.90649258e-01 4.43818013e-02 3.44438842e+02] [-6.89403312e-01 7.23189578e-01 -4.14717838e-02 -2.52779989e+02] [-6.07389129e-02 -6.61517826e-04 9.98153469e-01 -1.77346921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.37864 meters Centerline goodness [0,1] 0.9995125042655877 Centerline is valid? [True, True] Translation: X:344.46, Y:-252.80, Z:-17.74 [[ 7.21332293e-01 6.91123657e-01 4.50312534e-02 3.44463317e+02] [-6.89839257e-01 7.22736208e-01 -4.21209214e-02 -2.52801575e+02] [-6.16564825e-02 -6.81145587e-04 9.98097197e-01 -1.77367089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40864 meters Centerline goodness [0,1] 0.999365234375 Centerline is valid? [True, True] Translation: X:344.49, Y:-252.82, Z:-17.74 [[ 7.21122580e-01 6.91348042e-01 4.49456282e-02 3.44488085e+02] [-6.90066175e-01 7.22521585e-01 -4.20860224e-02 -2.52823696e+02] [-6.15702757e-02 -6.66276717e-04 9.98102528e-01 -1.77377250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43864 meters Centerline goodness [0,1] 0.9991702864951926 Centerline is valid? [True, True] Translation: X:344.51, Y:-252.85, Z:-17.74 [[ 7.20066081e-01 6.92468009e-01 4.46418704e-02 3.44512308e+02] [-6.91202812e-01 7.21448219e-01 -4.18466282e-02 -2.52846574e+02] [-6.11842492e-02 -7.24248822e-04 9.98126226e-01 -1.77385873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46864 meters Centerline goodness [0,1] 0.9991218227057618 Centerline is valid? [True, True] Translation: X:344.54, Y:-252.87, Z:-17.74 [[ 7.20141012e-01 6.92425912e-01 4.40826368e-02 3.44536554e+02] [-6.91189602e-01 7.21488664e-01 -4.13647335e-02 -2.52868235e+02] [-6.04471361e-02 -6.81019110e-04 9.98171168e-01 -1.77396924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49864 meters Centerline goodness [0,1] 0.9990246757046718 Centerline is valid? [True, True] Translation: X:344.56, Y:-252.89, Z:-17.74 [[ 7.20495034e-01 6.92075175e-01 4.38047701e-02 3.44561271e+02] [-6.90851443e-01 7.21825164e-01 -4.11426212e-02 -2.52889072e+02] [-6.00931721e-02 -6.19534333e-04 9.98192580e-01 -1.77404198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52864 meters Centerline goodness [0,1] 0.9991215226939971 Centerline is valid? [True, True] Translation: X:344.59, Y:-252.91, Z:-17.74 [[ 7.20514067e-01 6.92054342e-01 4.38208489e-02 3.44585766e+02] [-6.90827194e-01 7.21845165e-01 -4.11988715e-02 -2.52910929e+02] [-6.01437258e-02 -5.88267584e-04 9.98189554e-01 -1.77419709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55864 meters Centerline goodness [0,1] 0.9985359426089503 Centerline is valid? [True, True] Translation: X:344.61, Y:-252.93, Z:-17.74 [[ 7.20987519e-01 6.91463149e-01 4.53399492e-02 3.44609262e+02] [-6.90145390e-01 7.22411543e-01 -4.26720413e-02 -2.52933381e+02] [-6.22602467e-02 -5.25147711e-04 9.98059811e-01 -1.77424806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58864 meters Centerline goodness [0,1] 0.9992190931719459 Centerline is valid? [True, True] Translation: X:344.63, Y:-252.96, Z:-17.74 [[ 7.21183807e-01 6.91274400e-01 4.50956759e-02 3.44633201e+02] [-6.89967809e-01 7.22592193e-01 -4.24846409e-02 -2.52955775e+02] [-6.19543280e-02 -4.75329638e-04 9.98078872e-01 -1.77437426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61863999999997 meters Centerline goodness [0,1] 0.9989766580575995 Centerline is valid? [True, True] Translation: X:344.66, Y:-252.98, Z:-17.75 [[ 7.21958790e-01 6.90485562e-01 4.47793951e-02 3.44656756e+02] [-6.89193054e-01 7.23346079e-01 -4.22301304e-02 -2.52977567e+02] [-6.15502952e-02 -3.73234220e-04 9.98103913e-01 -1.77450251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64864 meters Centerline goodness [0,1] 0.9989766081871345 Centerline is valid? [True, True] Translation: X:344.68, Y:-253.00, Z:-17.75 [[ 7.23288140e-01 6.89129558e-01 4.42122114e-02 3.44680256e+02] [-6.87864679e-01 7.24638118e-01 -4.17346507e-02 -2.52999646e+02] [-6.07984350e-02 -2.25840734e-04 9.98150038e-01 -1.77456010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67864 meters Centerline goodness [0,1] 0.9994146626993805 Centerline is valid? [True, True] Translation: X:344.70, Y:-253.02, Z:-17.75 [[ 7.23732198e-01 6.88661235e-01 4.42426212e-02 3.44704468e+02] [-6.87391175e-01 7.25083222e-01 -4.18054188e-02 -2.53022719e+02] [-6.08693536e-02 -1.56059715e-04 9.98145730e-01 -1.77461352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70864 meters Centerline goodness [0,1] 0.9996094512790471 Centerline is valid? [True, True] Translation: X:344.73, Y:-253.05, Z:-17.75 [[ 7.24507843e-01 6.87801983e-01 4.49089919e-02 3.44727568e+02] [-6.86488785e-01 7.25898361e-01 -4.24819810e-02 -2.53046210e+02] [-6.18185544e-02 -5.09908315e-05 9.98087403e-01 -1.77479602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73864 meters Centerline goodness [0,1] 0.999609756097561 Centerline is valid? [True, True] Translation: X:344.75, Y:-253.07, Z:-17.75 [[ 7.24245656e-01 6.88083364e-01 4.48276018e-02 3.44750567e+02] [-6.86772595e-01 7.25631644e-01 -4.24513932e-02 -2.53069609e+02] [-6.17384238e-02 -4.11312763e-05 9.98092363e-01 -1.77498211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76864 meters Centerline goodness [0,1] 0.9995606970273833 Centerline is valid? [True, True] Translation: X:344.77, Y:-253.09, Z:-17.75 [[ 7.23962184e-01 6.88403629e-01 4.44881860e-02 3.44774003e+02] [-6.87110448e-01 7.25327817e-01 -4.21757134e-02 -2.53093087e+02] [-6.13024330e-02 -3.46757810e-05 9.98119237e-01 -1.77512398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79864 meters Centerline goodness [0,1] 0.9993659773702692 Centerline is valid? [True, True] Translation: X:344.80, Y:-253.12, Z:-17.75 [[ 7.23103818e-01 6.89315920e-01 4.43218960e-02 3.44797379e+02] [-6.88031319e-01 7.24460872e-01 -4.20636288e-02 -2.53116839e+02] [-6.11046085e-02 -7.84819709e-05 9.98131364e-01 -1.77525564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82864 meters Centerline goodness [0,1] 0.9998050207165489 Centerline is valid? [True, True] Translation: X:344.82, Y:-253.14, Z:-17.75 [[ 7.22253813e-01 6.90271171e-01 4.33028881e-02 3.44820737e+02] [-6.89044214e-01 7.23550755e-01 -4.11384969e-02 -2.53139544e+02] [-5.97285558e-02 -1.25168265e-04 9.98214648e-01 -1.77534878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85864 meters Centerline goodness [0,1] 0.9994149195514384 Centerline is valid? [True, True] Translation: X:344.84, Y:-253.16, Z:-17.75 [[ 7.20581484e-01 6.92110131e-01 4.17838773e-02 3.44842589e+02] [-6.90968759e-01 7.21791874e-01 -3.97324159e-02 -2.53163850e+02] [-5.76584707e-02 -2.40910671e-04 9.98336337e-01 -1.77539430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88864 meters Centerline goodness [0,1] 0.9992187881451101 Centerline is valid? [True, True] Translation: X:344.87, Y:-253.19, Z:-17.75 [[ 7.19172527e-01 6.93635738e-01 4.07472690e-02 3.44865393e+02] [-6.92550737e-01 7.20325868e-01 -3.87829893e-02 -2.53186540e+02] [-5.62525793e-02 -3.27890780e-04 9.98416516e-01 -1.77540185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91864 meters Centerline goodness [0,1] 0.9986802228956887 Centerline is valid? [True, True] Translation: X:344.89, Y:-253.21, Z:-17.76 [[ 7.17707945e-01 6.95105457e-01 4.15175781e-02 3.44888330e+02] [-6.93979278e-01 7.18907660e-01 -3.95542367e-02 -2.53208578e+02] [-5.73416707e-02 -4.23948934e-04 9.98354523e-01 -1.77556434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94864 meters Centerline goodness [0,1] 0.9986329460013671 Centerline is valid? [True, True] Translation: X:344.91, Y:-253.23, Z:-17.76 [[ 7.14504830e-01 6.98333599e-01 4.25797247e-02 3.44911515e+02] [-6.97152394e-01 7.15772124e-01 -4.06054938e-02 -2.53230248e+02] [-5.88335606e-02 -6.71735597e-04 9.98267580e-01 -1.77571704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97864 meters Centerline goodness [0,1] 0.9987315216861004 Centerline is valid? [True, True] Translation: X:344.93, Y:-253.25, Z:-17.76 [[ 7.13300673e-01 6.99517544e-01 4.33284662e-02 3.44934986e+02] [-6.98294192e-01 7.14615027e-01 -4.13592170e-02 -2.53251907e+02] [-5.98946710e-02 -7.54458939e-04 9.98204418e-01 -1.77588514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00864 meters Centerline goodness [0,1] 0.9977554406167659 Centerline is valid? [True, True] Translation: X:344.96, Y:-253.27, Z:-17.76 [[ 7.11292912e-01 7.01615231e-01 4.24082650e-02 3.44959627e+02] [-7.00444722e-01 7.12555463e-01 -4.05204017e-02 -2.53273573e+02] [-5.86479719e-02 -8.82770905e-04 9.98278336e-01 -1.77593148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03864 meters Centerline goodness [0,1] 0.9978530301551674 Centerline is valid? [True, True] Translation: X:344.98, Y:-253.30, Z:-17.76 [[ 7.10718178e-01 7.02181720e-01 4.26673566e-02 3.44984588e+02] [-7.00995282e-01 7.11997202e-01 -4.08117614e-02 -2.53295651e+02] [-5.90363113e-02 -9.03954932e-04 9.98255427e-01 -1.77609157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06864 meters Centerline goodness [0,1] 0.9988774464346722 Centerline is valid? [True, True] Translation: X:345.01, Y:-253.32, Z:-17.76 [[ 7.09426519e-01 7.03564582e-01 4.13629357e-02 3.45009128e+02] [-7.02449602e-01 7.10630678e-01 -3.96055014e-02 -2.53317142e+02] [-5.72587991e-02 -9.58184771e-04 9.98358909e-01 -1.77617017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09864 meters Centerline goodness [0,1] 0.9976083561108942 Centerline is valid? [True, True] Translation: X:345.03, Y:-253.34, Z:-17.76 [[ 7.08329594e-01 7.04691088e-01 4.09836110e-02 3.45034050e+02] [-7.03595995e-01 7.09513531e-01 -3.92839126e-02 -2.53339247e+02] [-5.67614497e-02 -1.00994669e-03 9.98387258e-01 -1.77621927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12864 meters Centerline goodness [0,1] 0.9986804808914085 Centerline is valid? [True, True] Translation: X:345.06, Y:-253.36, Z:-17.76 [[ 7.07009467e-01 7.05992530e-01 4.13782713e-02 3.45058042e+02] [-7.04876112e-01 7.08218431e-01 -3.97029103e-02 -2.53360198e+02] [-5.73348125e-02 -1.09622163e-03 9.98354405e-01 -1.77641456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15864 meters Centerline goodness [0,1] 0.9982421016651204 Centerline is valid? [True, True] Translation: X:345.08, Y:-253.38, Z:-17.77 [[ 7.04952599e-01 7.07961399e-01 4.28075912e-02 3.45083620e+02] [-7.06767751e-01 7.06249983e-01 -4.11133543e-02 -2.53380252e+02] [-5.93395284e-02 -1.27205902e-03 9.98237047e-01 -1.77654374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18864 meters Centerline goodness [0,1] 0.9978040210813977 Centerline is valid? [True, True] Translation: X:345.11, Y:-253.40, Z:-17.77 [[ 7.04634865e-01 7.08273053e-01 4.28834421e-02 3.45108509e+02] [-7.07073336e-01 7.05937437e-01 -4.12266013e-02 -2.53401273e+02] [-5.94727179e-02 -1.27203782e-03 9.98229121e-01 -1.77666227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21864 meters Centerline goodness [0,1] 0.9978021978021978 Centerline is valid? [True, True] Translation: X:345.14, Y:-253.42, Z:-17.77 [[ 7.05193085e-01 7.07722395e-01 4.27986614e-02 3.45135006e+02] [-7.06523945e-01 7.06489623e-01 -4.11865056e-02 -2.53419956e+02] [-5.93854225e-02 -1.19384021e-03 9.98234415e-01 -1.77674982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24864 meters Centerline goodness [0,1] 0.998439328911432 Centerline is valid? [True, True] Translation: X:345.16, Y:-253.44, Z:-17.77 [[ 7.06222106e-01 7.06712617e-01 4.25160507e-02 3.45159450e+02] [-7.05525909e-01 7.07499910e-01 -4.09520390e-02 -2.53441175e+02] [-5.90214247e-02 -1.07494010e-03 9.98256137e-01 -1.77686484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27864 meters Centerline goodness [0,1] 0.9986281906814952 Centerline is valid? [True, True] Translation: X:345.18, Y:-253.46, Z:-17.77 [[ 7.07208742e-01 7.05733311e-01 4.23826563e-02 3.45183310e+02] [-7.04550065e-01 7.08476934e-01 -4.08612241e-02 -2.53462185e+02] [-5.88642614e-02 -9.63288384e-04 9.98265531e-01 -1.77691963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30864 meters Centerline goodness [0,1] 0.9990723562152134 Centerline is valid? [True, True] Translation: X:345.21, Y:-253.48, Z:-17.77 [[ 7.10112442e-01 7.02756506e-01 4.32852618e-02 3.45209198e+02] [-7.01514354e-01 7.11430109e-01 -4.17709455e-02 -2.53481414e+02] [-6.01492422e-02 -7.03164395e-04 9.98189148e-01 -1.77712639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33864 meters Centerline goodness [0,1] 0.9983868602434375 Centerline is valid? [True, True] Translation: X:345.23, Y:-253.50, Z:-17.77 [[ 7.10988851e-01 7.01884369e-01 4.30486514e-02 3.45234418e+02] [-7.00651831e-01 7.12290653e-01 -4.15816867e-02 -2.53501622e+02] [-5.98486880e-02 -5.98000776e-04 9.98207282e-01 -1.77714914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36863999999997 meters Centerline goodness [0,1] 0.9986813186813187 Centerline is valid? [True, True] Translation: X:345.26, Y:-253.52, Z:-17.77 [[ 7.11663745e-01 7.01180615e-01 4.33642715e-02 3.45260790e+02] [-6.99926072e-01 7.12983508e-01 -4.19286512e-02 -2.53522204e+02] [-6.03175678e-02 -5.12683317e-04 9.98179106e-01 -1.77730767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39864 meters Centerline goodness [0,1] 0.9988287540871602 Centerline is valid? [True, True] Translation: X:345.29, Y:-253.54, Z:-17.77 [[ 7.11458725e-01 7.01390947e-01 4.33269147e-02 3.45285938e+02] [-7.00136205e-01 7.12776607e-01 -4.19380875e-02 -2.53543986e+02] [-6.02974062e-02 -4.97523358e-04 9.98180332e-01 -1.77742705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42864 meters Centerline goodness [0,1] 0.999414748341787 Centerline is valid? [True, True] Translation: X:345.31, Y:-253.56, Z:-17.78 [[ 7.10862428e-01 7.02017795e-01 4.29607291e-02 3.45313503e+02] [-7.00782645e-01 7.12159218e-01 -4.16285095e-02 -2.53563246e+02] [-5.98188337e-02 -5.13990053e-04 9.98209118e-01 -1.77766815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45864 meters Centerline goodness [0,1] 0.998828125 Centerline is valid? [True, True] Translation: X:345.34, Y:-253.58, Z:-17.78 [[ 7.10784373e-01 7.02086589e-01 4.31276798e-02 3.45338988e+02] [-7.00839200e-01 7.12091414e-01 -4.18357962e-02 -2.53584250e+02] [-6.00832020e-02 -4.89338469e-04 9.98193253e-01 -1.77785405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48864 meters Centerline goodness [0,1] 0.9984376525729909 Centerline is valid? [True, True] Translation: X:345.36, Y:-253.61, Z:-17.78 [[ 7.11899916e-01 7.00990889e-01 4.25474145e-02 3.45362626e+02] [-6.99772391e-01 7.13170136e-01 -4.13153524e-02 -2.53606090e+02] [-5.93052310e-02 -3.61110078e-04 9.98239830e-01 -1.77790776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51864 meters Centerline goodness [0,1] 0.9985847445219853 Centerline is valid? [True, True] Translation: X:345.39, Y:-253.63, Z:-17.78 [[ 7.13202717e-01 6.99665227e-01 4.25494309e-02 3.45386194e+02] [-6.98441793e-01 7.14470798e-01 -4.13586846e-02 -2.53628792e+02] [-5.93375593e-02 -2.21174650e-04 9.98237950e-01 -1.77795927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54864 meters Centerline goodness [0,1] 0.9986769245847014 Centerline is valid? [True, True] Translation: X:345.41, Y:-253.65, Z:-17.78 [[ 7.14982385e-01 6.97831653e-01 4.27922176e-02 3.45410858e+02] [-6.96588210e-01 7.16261812e-01 -4.16399198e-02 -2.53651468e+02] [-5.97080853e-02 -3.67451018e-05 9.98215880e-01 -1.77809656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57864 meters Centerline goodness [0,1] 0.9986344793952694 Centerline is valid? [True, True] Translation: X:345.44, Y:-253.67, Z:-17.78 [[ 7.17916004e-01 6.94830326e-01 4.25138759e-02 3.45435052e+02] [-6.93595087e-01 7.19173664e-01 -4.14137223e-02 -2.53673894e+02] [-5.93503701e-02 2.44158566e-04 9.98237183e-01 -1.77837478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60864 meters Centerline goodness [0,1] 0.998342110395943 Centerline is valid? [True, True] Translation: X:345.46, Y:-253.70, Z:-17.78 [[ 7.18945563e-01 6.93783688e-01 4.22074811e-02 3.45458146e+02] [-6.92561800e-01 7.20183355e-01 -4.11593139e-02 -2.53697806e+02] [-5.89527860e-02 3.60016998e-04 9.98260707e-01 -1.77845582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.63864 meters Centerline goodness [0,1] 0.9979011080197199 Centerline is valid? [True, True] Translation: X:345.48, Y:-253.72, Z:-17.79 [[ 7.19472399e-01 6.93265726e-01 4.17384798e-02 3.45480560e+02] [-6.92067488e-01 7.20681933e-01 -4.07448524e-02 -2.53722441e+02] [-5.83271780e-02 4.28951845e-04 9.98297429e-01 -1.77855528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66864 meters Centerline goodness [0,1] 0.9979503196525303 Centerline is valid? [True, True] Translation: X:345.50, Y:-253.75, Z:-17.79 [[ 7.18164823e-01 6.94649662e-01 4.12448071e-02 3.45503416e+02] [-6.93479547e-01 7.19348128e-01 -4.03037023e-02 -2.53745044e+02] [-5.76663280e-02 3.42271048e-04 9.98335854e-01 -1.77857112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.69864 meters Centerline goodness [0,1] 0.9975572817431237 Centerline is valid? [True, True] Translation: X:345.53, Y:-253.77, Z:-17.79 [[ 7.14491984e-01 6.98383660e-01 4.19698609e-02 3.45526294e+02] [-6.97175974e-01 7.15723591e-01 -4.10536540e-02 -2.53769537e+02] [-5.87100207e-02 7.21280153e-05 9.98275076e-01 -1.77867007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72864 meters Centerline goodness [0,1] 0.998096167927752 Centerline is valid? [True, True] Translation: X:345.55, Y:-253.79, Z:-17.79 [[ 7.12659798e-01 7.00246372e-01 4.20836222e-02 3.45548519e+02] [-6.99032675e-01 7.13901265e-01 -4.12104607e-02 -2.53793750e+02] [-5.89010267e-02 -4.87883729e-05 9.98263826e-01 -1.77868843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.75864 meters Centerline goodness [0,1] 0.997949819388851 Centerline is valid? [True, True] Translation: X:345.57, Y:-253.82, Z:-17.79 [[ 7.11040022e-01 7.01873129e-01 4.23815733e-02 3.45570985e+02] [-7.00642303e-01 7.12301963e-01 -4.15484863e-02 -2.53817458e+02] [-5.93502440e-02 -1.51686503e-04 9.98237209e-01 -1.77889993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78864 meters Centerline goodness [0,1] 0.997949819388851 Centerline is valid? [True, True] Translation: X:345.59, Y:-253.84, Z:-17.79 [[ 7.10654532e-01 7.02264824e-01 4.23586339e-02 3.45594412e+02] [-7.01033298e-01 7.11915792e-01 -4.15718647e-02 -2.53839997e+02] [-5.93502387e-02 -1.51578755e-04 9.98237209e-01 -1.77902074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.81864 meters Centerline goodness [0,1] 0.9974624243607262 Centerline is valid? [True, True] Translation: X:345.62, Y:-253.86, Z:-17.79 [[ 7.07288315e-01 7.05714187e-01 4.13609118e-02 3.45617397e+02] [-7.04543355e-01 7.08496526e-01 -4.06366175e-02 -2.53864024e+02] [-5.79818998e-02 -3.98750851e-04 9.98317555e-01 -1.77897637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84864 meters Centerline goodness [0,1] 0.9973650824631599 Centerline is valid? [True, True] Translation: X:345.64, Y:-253.89, Z:-17.79 [[ 7.05432595e-01 7.07559633e-01 4.15237346e-02 3.45641017e+02] [-7.06380140e-01 7.06653448e-01 -4.08411920e-02 -2.53886463e+02] [-5.82404691e-02 -5.20833444e-04 9.98302447e-01 -1.77905873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.87864 meters Centerline goodness [0,1] 0.9968783533313823 Centerline is valid? [True, True] Translation: X:345.66, Y:-253.91, Z:-17.79 [[ 7.02693255e-01 7.10241203e-01 4.21855830e-02 3.45663703e+02] [-7.09026091e-01 7.03958030e-01 -4.15342596e-02 -2.53908569e+02] [-5.91962224e-02 -7.24834886e-04 9.98246103e-01 -1.77905490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90864 meters Centerline goodness [0,1] 0.9967302718266556 Centerline is valid? [True, True] Translation: X:345.69, Y:-253.93, Z:-17.79 [[ 7.01035959e-01 7.11853005e-01 4.25897084e-02 3.45686241e+02] [-7.10615177e-01 7.02327979e-01 -4.19700007e-02 -2.53931077e+02] [-5.97884149e-02 -8.42413434e-04 9.98210717e-01 -1.77911963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93864 meters Centerline goodness [0,1] 0.9963366384994872 Centerline is valid? [True, True] Translation: X:345.71, Y:-253.95, Z:-17.79 [[ 6.99562669e-01 7.13251447e-01 4.34101954e-02 3.45709597e+02] [-7.11965625e-01 7.00907603e-01 -4.28191666e-02 -2.53953664e+02] [-6.09673685e-02 -9.51876409e-04 9.98139306e-01 -1.77921208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96864 meters Centerline goodness [0,1] 0.9967760844079718 Centerline is valid? [True, True] Translation: X:345.73, Y:-253.98, Z:-17.79 [[ 6.96878049e-01 7.15877478e-01 4.33638240e-02 3.45733106e+02] [-7.14597022e-01 6.98224971e-01 -4.28133896e-02 -2.53975134e+02] [-6.09268461e-02 -1.15194809e-03 9.98141569e-01 -1.77931855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99864 meters Centerline goodness [0,1] 0.9965310011237603 Centerline is valid? [True, True] Translation: X:345.76, Y:-254.00, Z:-17.80 [[ 6.95935133e-01 7.16802642e-01 4.32234065e-02 3.45757961e+02] [-7.15529712e-01 6.97275077e-01 -4.27164883e-02 -2.53997189e+02] [-6.07578958e-02 -1.19972657e-03 9.98151811e-01 -1.77953626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02864 meters Centerline goodness [0,1] 0.9956506866050922 Centerline is valid? [True, True] Translation: X:345.78, Y:-254.02, Z:-17.80 [[ 6.93110015e-01 7.19549535e-01 4.29764297e-02 3.45781910e+02] [-7.18293861e-01 6.94439701e-01 -4.25138881e-02 -2.54018140e+02] [-6.04353874e-02 -1.40290405e-03 9.98171126e-01 -1.77955649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05864 meters Centerline goodness [0,1] 0.9948752989408951 Centerline is valid? [True, True] Translation: X:345.81, Y:-254.04, Z:-17.80 [[ 6.92185353e-01 7.20419267e-01 4.33072407e-02 3.45805791e+02] [-7.19143550e-01 6.93537264e-01 -4.28791051e-02 -2.54039686e+02] [-6.09261187e-02 -1.46383432e-03 9.98141205e-01 -1.77962651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08864 meters Centerline goodness [0,1] 0.995307459184671 Centerline is valid? [True, True] Translation: X:345.83, Y:-254.06, Z:-17.80 [[ 6.91605715e-01 7.20967133e-01 4.34503024e-02 3.45830289e+02] [-7.19681481e-01 6.92967661e-01 -4.30625880e-02 -2.54061341e+02] [-6.11563651e-02 -1.48804606e-03 9.98127088e-01 -1.77973897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11863999999997 meters Centerline goodness [0,1] 0.9954616435682218 Centerline is valid? [True, True] Translation: X:345.85, Y:-254.08, Z:-17.80 [[ 6.91731098e-01 7.20858282e-01 4.32599695e-02 3.45854587e+02] [-7.19581069e-01 6.93080989e-01 -4.29165204e-02 -2.54081981e+02] [-6.09193916e-02 -1.44236330e-03 9.98141647e-01 -1.77981630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14864 meters Centerline goodness [0,1] 0.9954576536094559 Centerline is valid? [True, True] Translation: X:345.88, Y:-254.10, Z:-17.80 [[ 6.91686386e-01 7.20882417e-01 4.35715882e-02 3.45878795e+02] [-7.19584183e-01 6.93055920e-01 -4.32677213e-02 -2.54104109e+02] [-6.13884867e-02 -1.42573187e-03 9.98112930e-01 -1.77996087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17864 meters Centerline goodness [0,1] 0.9947255323305333 Centerline is valid? [True, True] Translation: X:345.90, Y:-254.12, Z:-17.80 [[ 6.92333580e-01 7.20274233e-01 4.33502512e-02 3.45903872e+02] [-7.18985344e-01 6.93688149e-01 -4.30909157e-02 -2.54124125e+02] [-6.11088318e-02 -1.33490738e-03 9.98130216e-01 -1.77989215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20864 meters Centerline goodness [0,1] 0.9957068982339741 Centerline is valid? [True, True] Translation: X:345.93, Y:-254.15, Z:-17.80 [[ 6.92764517e-01 7.19822511e-01 4.39644955e-02 3.45928743e+02] [-7.18493220e-01 6.94156974e-01 -4.37445679e-02 -2.54146364e+02] [-6.20065858e-02 -1.28350751e-03 9.98074915e-01 -1.78017645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23864 meters Centerline goodness [0,1] 0.9957052220595413 Centerline is valid? [True, True] Translation: X:345.95, Y:-254.17, Z:-17.80 [[ 6.94167187e-01 7.18508795e-01 4.33246824e-02 3.45952970e+02] [-7.17212747e-01 6.95516973e-01 -4.31510815e-02 -2.54167937e+02] [-6.11374835e-02 -1.11894966e-03 9.98128727e-01 -1.78029448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26864 meters Centerline goodness [0,1] 0.9956108266276518 Centerline is valid? [True, True] Translation: X:345.98, Y:-254.19, Z:-17.80 [[ 6.94251731e-01 7.18411511e-01 4.35825189e-02 3.45976899e+02] [-7.17097157e-01 6.95617509e-01 -4.34505196e-02 -2.54190207e+02] [-6.15321167e-02 -1.08730195e-03 9.98104512e-01 -1.78040942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29864 meters Centerline goodness [0,1] 0.9954614220877458 Centerline is valid? [True, True] Translation: X:346.00, Y:-254.21, Z:-17.80 [[ 6.93455803e-01 7.19245315e-01 4.24879644e-02 3.46001817e+02] [-7.17995233e-01 6.94755325e-01 -4.24014544e-02 -2.54211035e+02] [-6.00157869e-02 -1.10262131e-03 9.98196819e-01 -1.78048191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32864 meters Centerline goodness [0,1] 0.9956033219345384 Centerline is valid? [True, True] Translation: X:346.03, Y:-254.23, Z:-17.81 [[ 6.92588118e-01 7.20103361e-01 4.21052034e-02 3.46025911e+02] [-7.18874861e-01 6.93865877e-01 -4.20604146e-02 -2.54233588e+02] [-5.95032098e-02 -1.13782881e-03 9.98227466e-01 -1.78058009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35864 meters Centerline goodness [0,1] 0.9955128517777886 Centerline is valid? [True, True] Translation: X:346.05, Y:-254.26, Z:-17.81 [[ 6.91561328e-01 7.21126961e-01 4.14588347e-02 3.46049069e+02] [-7.19935200e-01 6.92801935e-01 -4.14582464e-02 -2.54256986e+02] [-5.86194201e-02 -1.17675452e-03 9.98279710e-01 -1.78065858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38864 meters Centerline goodness [0,1] 0.9958018061996583 Centerline is valid? [True, True] Translation: X:346.07, Y:-254.35, Z:-16.33 [[ 7.69860993e-01 -6.38146702e-01 -9.10156188e-03 3.46065561e+02] [-6.38051614e-01 -7.69909033e-01 1.14113575e-02 -2.54350341e+02] [-1.42894949e-02 -2.97789276e-03 -9.99893466e-01 -1.63335570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41864 meters Centerline goodness [0,1] 0.9963335940555338 Centerline is valid? [True, True] Translation: X:346.08, Y:-254.30, Z:-17.81 [[ 7.38921646e-01 6.72233983e-01 4.57850750e-02 3.46081207e+02] [-6.71063447e-01 7.40337421e-01 -3.96781248e-02 -2.54297951e+02] [-6.05693882e-02 -1.40566495e-03 9.98162999e-01 -1.78087898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44864 meters Centerline goodness [0,1] 0.996923978321371 Centerline is valid? [True, True] Translation: X:346.11, Y:-254.32, Z:-17.81 [[ 7.38361351e-01 6.72773265e-01 4.68897581e-02 3.46106291e+02] [-6.71544203e-01 7.39847290e-01 -4.06739537e-02 -2.54318031e+02] [-6.20556091e-02 -1.45646990e-03 9.98071631e-01 -1.78112185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47864 meters Centerline goodness [0,1] 0.9966645411291509 Centerline is valid? [True, True] Translation: X:346.13, Y:-254.34, Z:-17.81 [[ 7.38313395e-01 6.72819648e-01 4.69792637e-02 3.46130940e+02] [-6.71583472e-01 7.39805154e-01 -4.07918277e-02 -2.54339602e+02] [-6.22010446e-02 -1.43334423e-03 9.98062611e-01 -1.78118403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50864 meters Centerline goodness [0,1] 0.9972144846796658 Centerline is valid? [True, True] Translation: X:346.16, Y:-254.36, Z:-17.81 [[ 7.39219226e-01 6.71827821e-01 4.69288305e-02 3.46156748e+02] [-6.70589748e-01 7.40706178e-01 -4.07890644e-02 -2.54358931e+02] [-6.21637029e-02 -1.31793199e-03 9.98065097e-01 -1.78134464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53864 meters Centerline goodness [0,1] 0.9976091729690169 Centerline is valid? [True, True] Translation: X:346.18, Y:-254.38, Z:-17.82 [[ 7.39276793e-01 6.71771686e-01 4.68254757e-02 3.46182790e+02] [-6.70536454e-01 7.40757154e-01 -4.07394461e-02 -2.54379025e+02] [-6.20539126e-02 -1.28046135e-03 9.98071978e-01 -1.78158506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56864 meters Centerline goodness [0,1] 0.9970249707374171 Centerline is valid? [True, True] Translation: X:346.21, Y:-254.40, Z:-17.82 [[ 7.39959581e-01 6.71124326e-01 4.52985432e-02 3.46207187e+02] [-6.69964824e-01 7.41343916e-01 -3.94503900e-02 -2.54399736e+02] [-6.00579158e-02 -1.15673642e-03 9.98194224e-01 -1.78172141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59864 meters Centerline goodness [0,1] 0.9974129936057011 Centerline is valid? [True, True] Translation: X:346.23, Y:-254.42, Z:-17.82 [[ 7.40081708e-01 6.70975261e-01 4.55111456e-02 3.46232181e+02] [-6.69802176e-01 7.41478889e-01 -3.96749673e-02 -2.54420627e+02] [-6.03664752e-02 -1.12074680e-03 9.98175652e-01 -1.78189323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62864 meters Centerline goodness [0,1] 0.9978525062228513 Centerline is valid? [True, True] Translation: X:346.26, Y:-254.44, Z:-17.82 [[ 7.40200176e-01 6.70882104e-01 4.49544403e-02 3.46257422e+02] [-6.69735018e-01 7.41563253e-01 -3.92294270e-02 -2.54440510e+02] [-5.96548815e-02 -1.06993417e-03 9.98218488e-01 -1.78189521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65864 meters Centerline goodness [0,1] 0.997903359500707 Centerline is valid? [True, True] Translation: X:346.28, Y:-254.46, Z:-17.82 [[ 7.38550812e-01 6.72645778e-01 4.57204029e-02 3.46283173e+02] [-6.71460294e-01 7.39963652e-01 -3.99358005e-02 -2.54459565e+02] [-6.06940839e-02 -1.20481733e-03 9.98155688e-01 -1.78201294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68864 meters Centerline goodness [0,1] 0.9976551050317538 Centerline is valid? [True, True] Translation: X:346.31, Y:-254.48, Z:-17.82 [[ 7.38186014e-01 6.73052466e-01 4.56266017e-02 3.46308634e+02] [-6.71870223e-01 7.39593755e-01 -3.98933583e-02 -2.54480112e+02] [-6.05954729e-02 -1.20643589e-03 9.98161677e-01 -1.78214144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71864 meters Centerline goodness [0,1] 0.9986322114210346 Centerline is valid? [True, True] Translation: X:346.33, Y:-254.50, Z:-17.82 [[ 7.39450007e-01 6.71685748e-01 4.52983820e-02 3.46334385e+02] [-6.70515484e-01 7.40835434e-01 -3.96465193e-02 -2.54499266e+02] [-6.01886485e-02 -1.05664760e-03 9.98186461e-01 -1.78234041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74864 meters Centerline goodness [0,1] 0.9987769080234834 Centerline is valid? [True, True] Translation: X:346.36, Y:-254.52, Z:-17.82 [[ 7.40272894e-01 6.70795670e-01 4.50467795e-02 3.46359699e+02] [-6.69634516e-01 7.41641601e-01 -3.94632770e-02 -2.54519861e+02] [-5.98803610e-02 -9.51284167e-04 9.98205108e-01 -1.78236689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77864 meters Centerline goodness [0,1] 0.9993157380254154 Centerline is valid? [True, True] Translation: X:346.39, Y:-254.54, Z:-17.82 [[ 7.41958798e-01 6.68956218e-01 4.46622937e-02 3.46386325e+02] [-6.67809293e-01 7.43301411e-01 -3.91632540e-02 -2.54538653e+02] [-5.93960483e-02 -7.68373899e-04 9.98234201e-01 -1.78243932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80864 meters Centerline goodness [0,1] 0.9984371947646025 Centerline is valid? [True, True] Translation: X:346.41, Y:-254.56, Z:-17.83 [[ 7.42421055e-01 6.68471949e-01 4.42292905e-02 3.46411627e+02] [-6.67344177e-01 7.43737030e-01 -3.88198380e-02 -2.54558433e+02] [-5.88449339e-02 -6.95494413e-04 9.98266893e-01 -1.78251509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83864 meters Centerline goodness [0,1] 0.9989739079448842 Centerline is valid? [True, True] Translation: X:346.44, Y:-254.58, Z:-17.83 [[ 7.42272513e-01 6.68653594e-01 4.39759950e-02 3.46436964e+02] [-6.67536793e-01 7.43573744e-01 -3.86356952e-02 -2.54579080e+02] [-5.85332917e-02 -6.77380118e-04 9.98285227e-01 -1.78265430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86863999999997 meters Centerline goodness [0,1] 0.9992685781158572 Centerline is valid? [True, True] Translation: X:346.46, Y:-254.60, Z:-17.83 [[ 7.41201859e-01 6.69884299e-01 4.32993127e-02 3.46464088e+02] [-6.68801366e-01 7.42465144e-01 -3.80820596e-02 -2.54597952e+02] [-5.76588042e-02 -7.32146132e-04 9.98336079e-01 -1.78278301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89864 meters Centerline goodness [0,1] 0.9993157714676703 Centerline is valid? [True, True] Translation: X:346.49, Y:-254.62, Z:-17.83 [[ 7.41082426e-01 6.70074911e-01 4.23845630e-02 3.46490265e+02] [-6.69035444e-01 7.42293150e-01 -3.73156129e-02 -2.54616535e+02] [-5.64660268e-02 -7.02829999e-04 9.98404274e-01 -1.78293836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92864 meters Centerline goodness [0,1] 0.9992682926829268 Centerline is valid? [True, True] Translation: X:346.52, Y:-254.64, Z:-17.83 [[ 7.41654593e-01 6.69460186e-01 4.20894752e-02 3.46516629e+02] [-6.68432219e-01 7.42847675e-01 -3.70904350e-02 -2.54635196e+02] [-5.60966383e-02 -6.25669817e-04 9.98425148e-01 -1.78308267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95864 meters Centerline goodness [0,1] 0.9996090504813566 Centerline is valid? [True, True] Translation: X:346.54, Y:-254.66, Z:-17.83 [[ 7.42066801e-01 6.68995307e-01 4.22154201e-02 3.46541251e+02] [-6.67958347e-01 7.43266412e-01 -3.72382367e-02 -2.54656525e+02] [-5.62895094e-02 -5.64883043e-04 9.98414329e-01 -1.78323967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98864 meters Centerline goodness [0,1] 0.9994628643976756 Centerline is valid? [True, True] Translation: X:346.57, Y:-254.68, Z:-17.83 [[ 7.44292476e-01 6.66475802e-01 4.28802442e-02 3.46567730e+02] [-6.65399352e-01 7.45526581e-01 -3.78658026e-02 -2.54675964e+02] [-5.72050030e-02 -3.49254780e-04 9.98362392e-01 -1.78330022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01864 meters Centerline goodness [0,1] 0.9996580528552587 Centerline is valid? [True, True] Translation: X:346.59, Y:-254.70, Z:-17.83 [[ 7.45078821e-01 6.65627575e-01 4.23967123e-02 3.46593532e+02] [-6.64571735e-01 7.46284040e-01 -3.74772123e-02 -2.54695181e+02] [-5.65858557e-02 -2.52179477e-04 9.98397705e-01 -1.78339508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04864 meters Centerline goodness [0,1] 0.9996086105675147 Centerline is valid? [True, True] Translation: X:346.62, Y:-254.72, Z:-17.84 [[ 7.46101600e-01 6.64463737e-01 4.26654973e-02 3.46619504e+02] [-6.63390400e-01 7.47320496e-01 -3.77525322e-02 -2.54715713e+02] [-5.69699892e-02 -1.36656635e-04 9.98375882e-01 -1.78362345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07864 meters Centerline goodness [0,1] 0.9995114086089804 Centerline is valid? [True, True] Translation: X:346.65, Y:-254.74, Z:-17.84 [[ 7.48459738e-01 6.61823848e-01 4.23935673e-02 3.46645187e+02] [-6.60757619e-01 7.49659380e-01 -3.75524104e-02 -2.54736272e+02] [-5.66338161e-02 9.45946431e-05 9.98395013e-01 -1.78379098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10864 meters Centerline goodness [0,1] 0.999951102635568 Centerline is valid? [True, True] Translation: X:346.67, Y:-254.76, Z:-17.84 [[ 7.49049997e-01 6.61145909e-01 4.25463291e-02 3.46670454e+02] [-6.60068581e-01 7.50257327e-01 -3.77281281e-02 -2.54757284e+02] [-5.68644926e-02 1.76759108e-04 9.98381890e-01 -1.78387258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.13864 meters Centerline goodness [0,1] 0.9996088784589812 Centerline is valid? [True, True] Translation: X:346.70, Y:-254.78, Z:-17.84 [[ 7.50549071e-01 6.59432065e-01 4.27252136e-02 3.46696778e+02] [-6.58340568e-01 7.51764083e-01 -3.79270358e-02 -2.54777838e+02] [-5.71295846e-02 3.38360125e-04 9.98366714e-01 -1.78401609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16864 meters Centerline goodness [0,1] 0.9994132890040581 Centerline is valid? [True, True] Translation: X:346.72, Y:-254.80, Z:-17.84 [[ 7.50944915e-01 6.59033959e-01 4.19043690e-02 3.46721501e+02] [-6.57981224e-01 7.52113082e-01 -3.72373428e-02 -2.54799544e+02] [-5.60574976e-02 3.90905239e-04 9.98427466e-01 -1.78410367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.19864 meters Centerline goodness [0,1] 0.9994629430719656 Centerline is valid? [True, True] Translation: X:346.75, Y:-254.82, Z:-17.84 [[ 7.52439187e-01 6.57365231e-01 4.13064548e-02 3.46746593e+02] [-6.56337713e-01 7.53571937e-01 -3.67442675e-02 -2.54821588e+02] [-5.52817891e-02 5.36842696e-04 9.98470648e-01 -1.78429711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22864 meters Centerline goodness [0,1] 0.9994131455399061 Centerline is valid? [True, True] Translation: X:346.77, Y:-254.84, Z:-17.85 [[ 7.52464245e-01 6.57276711e-01 4.22478944e-02 3.46771464e+02] [-6.56199478e-01 7.53649111e-01 -3.76199649e-02 -2.54842132e+02] [-5.65668149e-02 5.84632251e-04 9.98398645e-01 -1.78452652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.25864 meters Centerline goodness [0,1] 0.9994629430719656 Centerline is valid? [True, True] Translation: X:346.80, Y:-254.86, Z:-17.84 [[ 7.53152331e-01 6.56564908e-01 4.10376383e-02 3.46798336e+02] [-6.55545617e-01 7.54269252e-01 -3.65764905e-02 -2.54862162e+02] [-5.49682689e-02 6.45625211e-04 9.98487893e-01 -1.78446117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28864 meters Centerline goodness [0,1] 0.9991203635830523 Centerline is valid? [True, True] Translation: X:346.82, Y:-254.88, Z:-17.85 [[ 7.53099714e-01 6.56657956e-01 4.05111023e-02 3.46823700e+02] [-6.55662777e-01 7.54188236e-01 -3.61445496e-02 -2.54883602e+02] [-5.42876028e-02 6.58828185e-04 9.98525123e-01 -1.78457546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.31864 meters Centerline goodness [0,1] 0.9993158717748241 Centerline is valid? [True, True] Translation: X:346.85, Y:-254.91, Z:-17.85 [[ 7.53054542e-01 6.56700177e-01 4.06661428e-02 3.46848632e+02] [-6.55695348e-01 7.54151448e-01 -3.63208547e-02 -2.54905065e+02] [-5.45203422e-02 6.86983957e-04 9.98512424e-01 -1.78472636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34864 meters Centerline goodness [0,1] 0.9990701316497822 Centerline is valid? [True, True] Translation: X:346.87, Y:-254.93, Z:-17.85 [[ 7.54020770e-01 6.55679396e-01 3.92072434e-02 3.46872445e+02] [-6.54742570e-01 7.55039046e-01 -3.50457762e-02 -2.54926485e+02] [-5.25817930e-02 7.54591849e-04 9.98616336e-01 -1.78486004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.37864 meters Centerline goodness [0,1] 0.9990228649599374 Centerline is valid? [True, True] Translation: X:346.90, Y:-254.95, Z:-17.85 [[ 7.53855253e-01 6.55854063e-01 3.94677801e-02 3.46897240e+02] [-6.54903959e-01 7.54887321e-01 -3.52978186e-02 -2.54948201e+02] [-5.29439445e-02 7.61840492e-04 9.98597195e-01 -1.78508619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40864 meters Centerline goodness [0,1] 0.9986786081339011 Centerline is valid? [True, True] Translation: X:346.92, Y:-254.97, Z:-17.85 [[ 7.53988738e-01 6.55682331e-01 3.97701307e-02 3.46920574e+02] [-6.54715371e-01 7.55036441e-01 -3.56055571e-02 -2.54971057e+02] [-5.33738326e-02 8.08073210e-04 9.98574274e-01 -1.78508873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43864 meters Centerline goodness [0,1] 0.9988272087568413 Centerline is valid? [True, True] Translation: X:346.94, Y:-254.99, Z:-17.85 [[ 7.53689809e-01 6.56041485e-01 3.95125438e-02 3.46944484e+02] [-6.55085579e-01 7.54724401e-01 -3.54113423e-02 -2.54993677e+02] [-5.30523906e-02 8.05070222e-04 9.98591406e-01 -1.78522049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46864 meters Centerline goodness [0,1] 0.9984377288483133 Centerline is valid? [True, True] Translation: X:346.97, Y:-255.02, Z:-17.85 [[ 7.53279259e-01 6.56461135e-01 4.03625642e-02 3.46968707e+02] [-6.55462152e-01 7.54359400e-01 -3.62113780e-02 -2.55016333e+02] [-5.42192420e-02 8.21146847e-04 9.98528717e-01 -1.78537318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49864 meters Centerline goodness [0,1] 0.9985302043016021 Centerline is valid? [True, True] Translation: X:346.99, Y:-255.04, Z:-17.86 [[ 7.51209147e-01 6.58757506e-01 4.15134428e-02 3.46991845e+02] [-6.57701983e-01 7.52355004e-01 -3.72833691e-02 -2.55039722e+02] [-5.57935457e-02 7.04134276e-04 9.98442079e-01 -1.78550325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52864 meters Centerline goodness [0,1] 0.9990716309977524 Centerline is valid? [True, True] Translation: X:347.01, Y:-255.06, Z:-17.86 [[ 7.48156200e-01 6.62144008e-01 4.27505923e-02 3.47014300e+02] [-6.61027728e-01 7.49376451e-01 -3.84353596e-02 -2.55063953e+02] [-5.74860302e-02 4.96325685e-04 9.98346187e-01 -1.78565675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55864 meters Centerline goodness [0,1] 0.9993159386299229 Centerline is valid? [True, True] Translation: X:347.04, Y:-255.09, Z:-17.86 [[ 7.46526530e-01 6.63949968e-01 4.32270668e-02 3.47037602e+02] [-6.62809263e-01 7.47776896e-01 -3.89049501e-02 -2.55087935e+02] [-5.81551422e-02 3.92277059e-04 9.98307480e-01 -1.78588397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58864 meters Centerline goodness [0,1] 0.9992189788148004 Centerline is valid? [True, True] Translation: X:347.06, Y:-255.11, Z:-17.86 [[ 7.45542730e-01 6.65059468e-01 4.31502194e-02 3.47060144e+02] [-6.63922877e-01 7.46790329e-01 -3.88666571e-02 -2.55111706e+02] [-5.80728049e-02 3.28335779e-04 9.98312297e-01 -1.78599291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61863999999997 meters Centerline goodness [0,1] 0.9987797735259665 Centerline is valid? [True, True] Translation: X:347.08, Y:-255.14, Z:-17.86 [[ 7.43402377e-01 6.67453674e-01 4.31103137e-02 3.47081878e+02] [-6.66321858e-01 7.44651306e-01 -3.88537383e-02 -2.55136249e+02] [-5.80352218e-02 1.58617070e-04 9.98314524e-01 -1.78618307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64864 meters Centerline goodness [0,1] 0.9987314597970336 Centerline is valid? [True, True] Translation: X:347.10, Y:-255.16, Z:-17.86 [[ 7.41338167e-01 6.69824811e-01 4.18621963e-02 3.47102883e+02] [-6.68759283e-01 7.42519173e-01 -3.77663825e-02 -2.55160406e+02] [-5.63803434e-02 1.92848224e-06 9.98409363e-01 -1.78629427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67864 meters Centerline goodness [0,1] 0.9987314597970336 Centerline is valid? [True, True] Translation: X:347.13, Y:-255.18, Z:-17.86 [[ 7.40980002e-01 6.70222153e-01 4.18437809e-02 3.47127244e+02] [-6.69156106e-01 7.42160539e-01 -3.77867785e-02 -2.55181961e+02] [-5.63803390e-02 -7.74271778e-07 9.98409364e-01 -1.78641478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70864 meters Centerline goodness [0,1] 0.9992186355423157 Centerline is valid? [True, True] Translation: X:347.15, Y:-255.21, Z:-17.87 [[ 7.39906294e-01 6.71386220e-01 4.21808099e-02 3.47150508e+02] [-6.70302456e-01 7.41107644e-01 -3.81323693e-02 -2.55205057e+02] [-5.68620680e-02 -5.95204462e-05 9.98382042e-01 -1.78650168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73864 meters Centerline goodness [0,1] 0.9992181391712275 Centerline is valid? [True, True] Translation: X:347.17, Y:-255.23, Z:-17.87 [[ 7.38880226e-01 6.72509800e-01 4.22679620e-02 3.47174147e+02] [-6.71421029e-01 7.40088208e-01 -3.82523977e-02 -2.55228251e+02] [-5.70071326e-02 -1.15658291e-04 9.98373764e-01 -1.78660603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76864 meters Centerline goodness [0,1] 0.9992184828798906 Centerline is valid? [True, True] Translation: X:347.20, Y:-255.25, Z:-17.87 [[ 7.38266538e-01 6.73191251e-01 4.21432976e-02 3.47197806e+02] [-6.72107666e-01 7.39468404e-01 -3.81806816e-02 -2.55251109e+02] [-5.68665378e-02 -1.37313784e-04 9.98381780e-01 -1.78670314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79864 meters Centerline goodness [0,1] 0.9988776107749365 Centerline is valid? [True, True] Translation: X:347.22, Y:-255.27, Z:-17.87 [[ 7.37503142e-01 6.74090681e-01 4.11201725e-02 3.47221561e+02] [-6.73058405e-01 7.38648579e-01 -3.72915634e-02 -2.55273222e+02] [-5.55112524e-02 -1.73632489e-04 9.98458047e-01 -1.78687625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82864 meters Centerline goodness [0,1] 0.9991206214275246 Centerline is valid? [True, True] Translation: X:347.24, Y:-255.30, Z:-17.87 [[ 7.36764106e-01 6.74884813e-01 4.13417540e-02 3.47244581e+02] [-6.73840547e-01 7.37923062e-01 -3.75296040e-02 -2.55296812e+02] [-5.58351935e-02 -2.07284984e-04 9.98439977e-01 -1.78702445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85864 meters Centerline goodness [0,1] 0.9990719937481685 Centerline is valid? [True, True] Translation: X:347.27, Y:-255.32, Z:-17.87 [[ 7.36274407e-01 6.75380334e-01 4.19690636e-02 3.47268893e+02] [-6.74302549e-01 7.37469564e-01 -3.81407269e-02 -2.55319798e+02] [-5.67104039e-02 -2.17805456e-04 9.98390646e-01 -1.78716774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88864 meters Centerline goodness [0,1] 0.9991216941543867 Centerline is valid? [True, True] Translation: X:347.29, Y:-255.34, Z:-17.87 [[ 7.35081480e-01 6.76688638e-01 4.18055630e-02 3.47293036e+02] [-6.75619018e-01 7.36269248e-01 -3.80333734e-02 -2.55342101e+02] [-5.65169021e-02 -2.87005023e-04 9.98401601e-01 -1.78723171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91864 meters Centerline goodness [0,1] 0.9991209649851053 Centerline is valid? [True, True] Translation: X:347.32, Y:-255.36, Z:-17.87 [[ 7.34599939e-01 6.77228879e-01 4.15207848e-02 3.47318098e+02] [-6.76172362e-01 7.35772355e-01 -3.78150688e-02 -2.55364086e+02] [-5.61593022e-02 -2.96259868e-04 9.98421777e-01 -1.78744278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94864 meters Centerline goodness [0,1] 0.9993656989509636 Centerline is valid? [True, True] Translation: X:347.34, Y:-255.39, Z:-17.88 [[ 7.34231721e-01 6.77598729e-01 4.19969341e-02 3.47341565e+02] [-6.76516062e-01 7.35431760e-01 -3.82902539e-02 -2.55386760e+02] [-5.68313065e-02 -2.97681468e-04 9.98383751e-01 -1.78759373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97864 meters Centerline goodness [0,1] 0.9997068738091749 Centerline is valid? [True, True] Translation: X:347.37, Y:-255.41, Z:-17.88 [[ 7.33548364e-01 6.78363550e-01 4.15895630e-02 3.47366057e+02] [-6.77300748e-01 7.34726336e-01 -3.79592903e-02 -2.55409420e+02] [-5.63071462e-02 -3.23666886e-04 9.98413442e-01 -1.78765619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00864 meters Centerline goodness [0,1] 0.9993165397383323 Centerline is valid? [True, True] Translation: X:347.39, Y:-255.43, Z:-17.88 [[ 7.32386553e-01 6.79568531e-01 4.23857035e-02 3.47390249e+02] [-6.78464314e-01 7.33611925e-01 -3.87262077e-02 -2.55430264e+02] [-5.74117696e-02 -3.94633439e-04 9.98350506e-01 -1.78779000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03864 meters Centerline goodness [0,1] 0.9995115995115995 Centerline is valid? [True, True] Translation: X:347.42, Y:-255.45, Z:-17.88 [[ 7.30731276e-01 6.81345090e-01 4.24343119e-02 3.47415117e+02] [-6.80239114e-01 7.31962166e-01 -3.88089627e-02 -2.55452117e+02] [-5.75026070e-02 -5.06555855e-04 9.98345228e-01 -1.78785183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06864 meters Centerline goodness [0,1] 0.9991689886102556 Centerline is valid? [True, True] Translation: X:347.44, Y:-255.48, Z:-17.88 [[ 7.29944713e-01 6.82197848e-01 4.22706994e-02 3.47439213e+02] [-6.81099436e-01 7.31167425e-01 -3.87008408e-02 -2.55475026e+02] [-5.73085887e-02 -5.41075408e-04 9.98356366e-01 -1.78791056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09864 meters Centerline goodness [0,1] 0.9992189406883085 Centerline is valid? [True, True] Translation: X:347.46, Y:-255.50, Z:-17.88 [[ 7.29803807e-01 6.82398010e-01 4.14651548e-02 3.47462753e+02] [-6.81339234e-01 7.30980634e-01 -3.80021221e-02 -2.55496264e+02] [-5.62427977e-02 -5.17743428e-04 9.98416987e-01 -1.78803611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12864 meters Centerline goodness [0,1] 0.999072899385186 Centerline is valid? [True, True] Translation: X:347.49, Y:-255.52, Z:-17.88 [[ 7.30755311e-01 6.81401843e-01 4.10877506e-02 3.47487523e+02] [-6.80358714e-01 7.31909393e-01 -3.76916550e-02 -2.55516360e+02] [-5.57556737e-02 -4.11032050e-04 9.98444358e-01 -1.78825019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15864 meters Centerline goodness [0,1] 0.9988278960734518 Centerline is valid? [True, True] Translation: X:347.51, Y:-255.54, Z:-17.88 [[ 7.30812725e-01 6.81335143e-01 4.11726053e-02 3.47512919e+02] [-6.80285488e-01 7.31971502e-01 -3.78070818e-02 -2.55538200e+02] [-5.58964672e-02 -3.79229439e-04 9.98436498e-01 -1.78837492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18864 meters Centerline goodness [0,1] 0.9992190931719459 Centerline is valid? [True, True] Translation: X:347.54, Y:-255.56, Z:-17.88 [[ 7.32012495e-01 6.80053554e-01 4.10471752e-02 3.47537927e+02] [-6.79006003e-01 7.33162397e-01 -3.77325801e-02 -2.55559273e+02] [-5.57544206e-02 -2.50558233e-04 9.98444481e-01 -1.78846755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21864 meters Centerline goodness [0,1] 0.9998048399687745 Centerline is valid? [True, True] Translation: X:347.56, Y:-255.58, Z:-17.89 [[ 7.32025822e-01 6.79993555e-01 4.17966615e-02 3.47562958e+02] [-6.78904935e-01 7.33218055e-01 -3.84626139e-02 -2.55580070e+02] [-5.68003964e-02 -2.20333167e-04 9.98385530e-01 -1.78859264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24864 meters Centerline goodness [0,1] 0.9992669338285602 Centerline is valid? [True, True] Translation: X:347.59, Y:-255.60, Z:-17.89 [[ 7.33030692e-01 6.79004758e-01 4.02311121e-02 3.47588440e+02] [-6.77992778e-01 7.34133861e-01 -3.70576107e-02 -2.55599973e+02] [-5.46973157e-02 -1.12037428e-04 9.98502975e-01 -1.78865913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27864 meters Centerline goodness [0,1] 0.9995118140988088 Centerline is valid? [True, True] Translation: X:347.61, Y:-255.62, Z:-17.89 [[ 7.33062436e-01 6.78957687e-01 4.04465588e-02 3.47612754e+02] [-6.77932716e-01 7.34177399e-01 -3.72931518e-02 -2.55621713e+02] [-5.50154215e-02 -8.18367496e-05 9.98485502e-01 -1.78892282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30864 meters Centerline goodness [0,1] 0.9992677926388753 Centerline is valid? [True, True] Translation: X:347.64, Y:-255.64, Z:-17.89 [[ 7.32894226e-01 6.79120363e-01 4.07625454e-02 3.47636750e+02] [-6.78077284e-01 7.34026926e-01 -3.76253841e-02 -2.55643729e+02] [-5.54729704e-02 -6.47292583e-05 9.98460187e-01 -1.78902263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33864 meters Centerline goodness [0,1] 0.9995609113528809 Centerline is valid? [True, True] Translation: X:347.66, Y:-255.66, Z:-17.89 [[ 7.32267995e-01 6.79829872e-01 4.01861754e-02 3.47662324e+02] [-6.78815007e-01 7.33369850e-01 -3.71328628e-02 -2.55664688e+02] [-5.47153588e-02 -8.77719718e-05 9.98501989e-01 -1.78914056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36863999999997 meters Centerline goodness [0,1] 0.9994630741445795 Centerline is valid? [True, True] Translation: X:347.69, Y:-255.69, Z:-17.89 [[ 7.31293572e-01 6.80883334e-01 4.00948440e-02 3.47688119e+02] [-6.79872475e-01 7.32391880e-01 -3.70884175e-02 -2.55685734e+02] [-5.46180236e-02 -1.36859473e-04 9.98507312e-01 -1.78926754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39864 meters Centerline goodness [0,1] 0.9997557043044901 Centerline is valid? [True, True] Translation: X:347.71, Y:-255.71, Z:-17.89 [[ 7.31309463e-01 6.80862702e-01 4.01553394e-02 3.47713807e+02] [-6.79846551e-01 7.32411067e-01 -3.71846318e-02 -2.55706197e+02] [-5.47278438e-02 -1.05995901e-04 9.98501303e-01 -1.78946458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42864 meters Centerline goodness [0,1] 0.9996092796092796 Centerline is valid? [True, True] Translation: X:347.74, Y:-255.73, Z:-17.90 [[ 7.31760212e-01 6.80353262e-01 4.05762404e-02 3.47739113e+02] [-6.79312638e-01 7.32884328e-01 -3.76151918e-02 -2.55727498e+02] [-5.53293091e-02 -3.86521944e-05 9.98468160e-01 -1.78959517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45864 meters Centerline goodness [0,1] 0.9990239141044412 Centerline is valid? [True, True] Translation: X:347.77, Y:-255.75, Z:-17.90 [[ 7.34091262e-01 6.77890109e-01 3.96865122e-02 3.47766374e+02] [-6.76888930e-01 7.35163227e-01 -3.68294227e-02 -2.55746372e+02] [-5.41423658e-02 1.72796623e-04 9.98533211e-01 -1.78962964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48864 meters Centerline goodness [0,1] 0.998925518925519 Centerline is valid? [True, True] Translation: X:347.79, Y:-255.77, Z:-17.90 [[ 7.36099060e-01 6.75739019e-01 3.91784740e-02 3.47792073e+02] [-6.74758202e-01 7.37140863e-01 -3.63966594e-02 -2.55767675e+02] [-5.34746971e-02 3.55550101e-04 9.98569142e-01 -1.78975012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51864 meters Centerline goodness [0,1] 0.9988762947039281 Centerline is valid? [True, True] Translation: X:347.82, Y:-255.79, Z:-17.90 [[ 7.38603844e-01 6.73008478e-01 3.90378079e-02 3.47815738e+02] [-6.72028899e-01 7.39634541e-01 -3.63029647e-02 -2.55789030e+02] [-5.33059142e-02 5.78974175e-04 9.98578061e-01 -1.78982825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54864 meters Centerline goodness [0,1] 0.9974114774114774 Centerline is valid? [True, True] Translation: X:347.84, Y:-255.81, Z:-17.90 [[ 7.44001489e-01 6.67054085e-01 3.87380006e-02 3.47839860e+02] [-6.66079638e-01 7.45008590e-01 -3.60571235e-02 -2.55810056e+02] [-5.29121947e-02 1.02396017e-03 9.98598644e-01 -1.78996721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57864 meters Centerline goodness [0,1] 0.9973131411822179 Centerline is valid? [True, True] Translation: X:347.86, Y:-255.83, Z:-17.90 [[ 7.46656349e-01 6.64128682e-01 3.79129244e-02 3.47864521e+02] [-6.63189918e-01 7.47617271e-01 -3.53206644e-02 -2.55831276e+02] [-5.18018233e-02 1.22892914e-03 9.98656628e-01 -1.79005075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60864 meters Centerline goodness [0,1] 0.9965219947095131 Centerline is valid? [True, True] Translation: X:347.89, Y:-255.86, Z:-17.90 [[ 7.51551058e-01 6.58698988e-01 3.58699229e-02 3.47885869e+02] [-6.57851153e-01 7.52404995e-01 -3.34452499e-02 -2.55855136e+02] [-4.90190614e-02 1.53874285e-03 9.98796658e-01 -1.79018662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.63864 meters Centerline goodness [0,1] 0.9967291544620192 Centerline is valid? [True, True] Translation: X:347.91, Y:-255.88, Z:-17.90 [[ 7.52590474e-01 6.57511404e-01 3.58654588e-02 3.47907280e+02] [-6.56661070e-01 7.53442814e-01 -3.34688778e-02 -2.55879869e+02] [-4.90287411e-02 1.63690810e-03 9.98796027e-01 -1.79035488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66864 meters Centerline goodness [0,1] 0.9964854046666016 Centerline is valid? [True, True] Translation: X:347.93, Y:-255.90, Z:-17.90 [[ 7.53345535e-01 6.56713999e-01 3.46009910e-02 3.47927780e+02] [-6.55920481e-01 7.54137920e-01 -3.23159500e-02 -2.55904430e+02] [-4.73162561e-02 1.64957800e-03 9.98878597e-01 -1.79036770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.69864 meters Centerline goodness [0,1] 0.9963391418948602 Centerline is valid? [True, True] Translation: X:347.95, Y:-255.93, Z:-17.90 [[ 7.52755442e-01 6.57396486e-01 3.44834036e-02 3.47946468e+02] [-6.56607824e-01 7.53543119e-01 -3.22324898e-02 -2.55931185e+02] [-4.71742570e-02 1.62110948e-03 9.98885360e-01 -1.79047197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72864 meters Centerline goodness [0,1] 0.996822603509801 Centerline is valid? [True, True] Translation: X:347.97, Y:-255.96, Z:-17.91 [[ 7.51481905e-01 6.58826766e-01 3.49605272e-02 3.47967292e+02] [-6.58016278e-01 7.52293037e-01 -3.27072484e-02 -2.55956143e+02] [-4.78489719e-02 1.57430935e-03 9.98853341e-01 -1.79065307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.75864 meters Centerline goodness [0,1] 0.9976548759038499 Centerline is valid? [True, True] Translation: X:347.99, Y:-255.98, Z:-17.91 [[ 7.48715341e-01 6.61858828e-01 3.69895775e-02 3.47985434e+02] [-6.60953728e-01 7.49627037e-01 -3.46334410e-02 -2.55984573e+02] [-5.06508361e-02 1.48218945e-03 9.98715323e-01 -1.79085402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78864 meters Centerline goodness [0,1] 0.9979490184588339 Centerline is valid? [True, True] Translation: X:348.01, Y:-256.01, Z:-17.91 [[ 7.47035382e-01 6.63750428e-01 3.70608607e-02 3.48007394e+02] [-6.62843374e-01 7.47952871e-01 -3.47154793e-02 -2.56008897e+02] [-5.07621914e-02 1.36814544e-03 9.98709832e-01 -1.79094947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.81864 meters Centerline goodness [0,1] 0.9985798932471476 Centerline is valid? [True, True] Translation: X:348.03, Y:-256.03, Z:-17.91 [[ 7.44838194e-01 6.66206500e-01 3.72151158e-02 3.48029528e+02] [-6.65294075e-01 7.45766327e-01 -3.48766148e-02 -2.56032643e+02] [-5.09888077e-02 1.21843872e-03 9.98698481e-01 -1.79111047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84864 meters Centerline goodness [0,1] 0.9990235328581193 Centerline is valid? [True, True] Translation: X:348.05, Y:-256.06, Z:-17.91 [[ 7.41403555e-01 6.70003801e-01 3.76254599e-02 3.48049436e+02] [-6.69074350e-01 7.42357005e-01 -3.52929421e-02 -2.56058218e+02] [-5.15779291e-02 9.92082651e-04 9.98668480e-01 -1.79133690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.87864 meters Centerline goodness [0,1] 0.9994141197148716 Centerline is valid? [True, True] Translation: X:348.07, Y:-256.08, Z:-17.91 [[ 7.36264241e-01 6.75722210e-01 3.62555157e-02 3.48071572e+02] [-6.74864818e-01 7.37156121e-01 -3.40342743e-02 -2.56082359e+02] [-4.97236904e-02 5.90647145e-04 9.98762838e-01 -1.79136517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90864 meters Centerline goodness [0,1] 0.9994129445721833 Centerline is valid? [True, True] Translation: X:348.10, Y:-256.10, Z:-17.91 [[ 7.32689255e-01 6.79652835e-01 3.51920258e-02 3.48096149e+02] [-6.78848758e-01 7.33533855e-01 -3.30521947e-02 -2.56103483e+02] [-4.82785601e-02 3.26924933e-04 9.98833857e-01 -1.79140359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93864 meters Centerline goodness [0,1] 0.9999021622150475 Centerline is valid? [True, True] Translation: X:348.12, Y:-256.12, Z:-17.92 [[ 7.28130425e-01 6.84561112e-01 3.46723040e-02 3.48121279e+02] [-6.83785426e-01 7.28955475e-01 -3.25792415e-02 -2.56124424e+02] [-4.75770476e-02 1.35207715e-05 9.98867571e-01 -1.79150375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96864 meters Centerline goodness [0,1] 0.9999023151313862 Centerline is valid? [True, True] Translation: X:348.15, Y:-256.15, Z:-17.92 [[ 7.23758397e-01 6.89160963e-01 3.50848914e-02 3.48146902e+02] [-6.88371245e-01 7.24608231e-01 -3.29839356e-02 -2.56145941e+02] [-4.81540419e-02 -2.79030045e-04 9.98839882e-01 -1.79161854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99864 meters Centerline goodness [0,1] 0.9996090886880039 Centerline is valid? [True, True] Translation: X:348.17, Y:-256.17, Z:-17.92 [[ 7.17376249e-01 6.95632596e-01 3.82963211e-02 3.48173275e+02] [-6.94698987e-01 7.18397330e-01 -3.60360001e-02 -2.56165242e+02] [-5.25797911e-02 -7.53044882e-04 9.98616442e-01 -1.79178022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02864 meters Centerline goodness [0,1] 0.9998046684246509 Centerline is valid? [True, True] Translation: X:348.20, Y:-256.19, Z:-17.92 [[ 7.14402791e-01 6.98645800e-01 3.90217757e-02 3.48198301e+02] [-6.97679984e-01 7.15467040e-01 -3.67362780e-02 -2.56185410e+02] [-5.35844407e-02 -9.80212306e-04 9.98562841e-01 -1.79186582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05864 meters Centerline goodness [0,1] 0.999804477466028 Centerline is valid? [True, True] Translation: X:348.23, Y:-256.20, Z:-17.92 [[ 7.10417045e-01 7.02618930e-01 4.04260036e-02 3.48226103e+02] [-7.01586666e-01 7.11565142e-01 -3.80946047e-02 -2.56202680e+02] [-5.55317254e-02 -1.29928860e-03 9.98456078e-01 -1.79192748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08864 meters Centerline goodness [0,1] 0.9991702054961683 Centerline is valid? [True, True] Translation: X:348.25, Y:-256.22, Z:-17.92 [[ 7.09153302e-01 7.03844195e-01 4.12909484e-02 3.48252415e+02] [-7.02767264e-01 7.10353004e-01 -3.89458776e-02 -2.56222178e+02] [-5.67429792e-02 -1.39932911e-03 9.98387839e-01 -1.79217118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11863999999997 meters Centerline goodness [0,1] 0.9994144341970429 Centerline is valid? [True, True] Translation: X:348.28, Y:-256.24, Z:-17.92 [[ 7.06954067e-01 7.06045895e-01 4.14142777e-02 3.48281266e+02] [-7.04964207e-01 7.08164372e-01 -3.90984552e-02 -2.56238985e+02] [-5.69334197e-02 -1.55477150e-03 9.98376767e-01 -1.79215936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14864 meters Centerline goodness [0,1] 0.9985352277720815 Centerline is valid? [True, True] Translation: X:348.31, Y:-256.26, Z:-17.92 [[ 7.06222350e-01 7.06846778e-01 4.02197050e-02 3.48308041e+02] [-7.05825943e-01 7.07364997e-01 -3.80065685e-02 -2.56259290e+02] [-5.53148320e-02 -1.54702306e-03 9.98467764e-01 -1.79217982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17864 meters Centerline goodness [0,1] 0.9986818980667839 Centerline is valid? [True, True] Translation: X:348.33, Y:-256.28, Z:-17.92 [[ 7.06358599e-01 7.06741904e-01 3.96662534e-02 3.48333456e+02] [-7.05746770e-01 7.07469900e-01 -3.75211608e-02 -2.56278677e+02] [-5.45804569e-02 -1.49093564e-03 9.98508263e-01 -1.79234959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20864 meters Centerline goodness [0,1] 0.9986802228956887 Centerline is valid? [True, True] Translation: X:348.36, Y:-256.30, Z:-17.93 [[ 7.08215173e-01 7.04870190e-01 3.98658164e-02 3.48361525e+02] [-7.03860522e-01 7.09335067e-01 -3.77376271e-02 -2.56296049e+02] [-5.48783499e-02 -1.33361417e-03 9.98492157e-01 -1.79251879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23864 meters Centerline goodness [0,1] 0.9986810610131406 Centerline is valid? [True, True] Translation: X:348.39, Y:-256.32, Z:-17.93 [[ 7.09474645e-01 7.03643084e-01 3.91425506e-02 3.48387224e+02] [-7.02667221e-01 7.10552569e-01 -3.70651254e-02 -2.56316482e+02] [-5.38934590e-02 -1.20742059e-03 9.98545961e-01 -1.79255836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26864 meters Centerline goodness [0,1] 0.9983885145033695 Centerline is valid? [True, True] Translation: X:348.42, Y:-256.33, Z:-17.93 [[ 7.12057727e-01 7.00944679e-01 4.06245006e-02 3.48415138e+02] [-6.99887889e-01 7.13214908e-01 -3.84894517e-02 -2.56333492e+02] [-5.59529758e-02 -1.02588448e-03 9.98432878e-01 -1.79256619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29864 meters Centerline goodness [0,1] 0.9991214798184391 Centerline is valid? [True, True] Translation: X:348.44, Y:-256.35, Z:-17.93 [[ 7.12973061e-01 7.00046646e-01 4.00513005e-02 3.48440667e+02] [-6.99016122e-01 7.14096529e-01 -3.79816801e-02 -2.56353766e+02] [-5.51894424e-02 -9.16590040e-04 9.98475481e-01 -1.79264345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32864 meters Centerline goodness [0,1] 0.99931657310227 Centerline is valid? [True, True] Translation: X:348.47, Y:-256.37, Z:-17.93 [[ 7.15466998e-01 6.97491383e-01 4.01590007e-02 3.48466906e+02] [-6.96449268e-01 7.16592832e-01 -3.81199404e-02 -2.56372337e+02] [-5.53659820e-02 -6.95147296e-04 9.98465886e-01 -1.79284098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35864 meters Centerline goodness [0,1] 0.9989258861439313 Centerline is valid? [True, True] Translation: X:348.49, Y:-256.39, Z:-17.93 [[ 7.15957272e-01 6.96989323e-01 4.01381225e-02 3.48492222e+02] [-6.95945416e-01 7.17081229e-01 -3.81377617e-02 -2.56393591e+02] [-5.53639069e-02 -6.28934567e-04 9.98466045e-01 -1.79306330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38864 meters Centerline goodness [0,1] 0.9995608256477821 Centerline is valid? [True, True] Translation: X:348.52, Y:-256.41, Z:-17.93 [[ 7.16965137e-01 6.95994769e-01 3.93989160e-02 3.48517525e+02] [-6.94985414e-01 7.18046668e-01 -3.74734138e-02 -2.56414337e+02] [-5.43715603e-02 -5.14540688e-04 9.98520640e-01 -1.79316922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41864 meters Centerline goodness [0,1] 0.9992678641155799 Centerline is valid? [True, True] Translation: X:348.54, Y:-256.43, Z:-17.93 [[ 7.19096973e-01 6.93866569e-01 3.80621678e-02 3.48543410e+02] [-6.92919872e-01 7.20103523e-01 -3.62348946e-02 -2.56433853e+02] [-5.25508831e-02 -3.17629382e-04 9.98618197e-01 -1.79328867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44864 meters Centerline goodness [0,1] 0.9991204925241864 Centerline is valid? [True, True] Translation: X:348.57, Y:-256.45, Z:-17.93 [[ 7.20563695e-01 6.92398620e-01 3.70420223e-02 3.48567844e+02] [-6.91498426e-01 7.21515154e-01 -3.52960341e-02 -2.56454383e+02] [-5.11653057e-02 -1.81459379e-04 9.98690181e-01 -1.79341511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47864 meters Centerline goodness [0,1] 0.9998046016315764 Centerline is valid? [True, True] Translation: X:348.59, Y:-256.48, Z:-17.93 [[ 7.21687195e-01 6.91270725e-01 3.62267479e-02 3.48592023e+02] [-6.90406731e-01 7.22595861e-01 -3.45509482e-02 -2.56475469e+02] [-5.00613571e-02 -7.62137331e-05 9.98746141e-01 -1.79341422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50864 meters Centerline goodness [0,1] 0.9993164396269714 Centerline is valid? [True, True] Translation: X:348.62, Y:-256.50, Z:-17.94 [[ 7.24481078e-01 6.88315726e-01 3.67236820e-02 3.48618027e+02] [-6.87422282e-01 7.25411219e-01 -3.50595085e-02 -2.56496693e+02] [-5.07717820e-02 1.55273265e-04 9.98710269e-01 -1.79361635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53864 meters Centerline goodness [0,1] 0.9992683640620428 Centerline is valid? [True, True] Translation: X:348.64, Y:-256.52, Z:-17.94 [[ 7.25622744e-01 6.87122676e-01 3.65248238e-02 3.48642241e+02] [-6.86235499e-01 7.26541368e-01 -3.49067533e-02 -2.56518621e+02] [-5.05220172e-02 2.64503461e-04 9.98722912e-01 -1.79365664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56864 meters Centerline goodness [0,1] 0.9992660011743981 Centerline is valid? [True, True] Translation: X:348.67, Y:-256.54, Z:-17.94 [[ 7.27852565e-01 6.84748783e-01 3.67389188e-02 3.48665353e+02] [-6.83846316e-01 7.28779044e-01 -3.51471329e-02 -2.56541141e+02] [-5.08415106e-02 4.58156553e-04 9.98706629e-01 -1.79382282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59864 meters Centerline goodness [0,1] 0.9992660011743981 Centerline is valid? [True, True] Translation: X:348.69, Y:-256.56, Z:-17.94 [[ 7.27496186e-01 6.85128291e-01 3.67222496e-02 3.48689083e+02] [-6.84225429e-01 7.28422279e-01 -3.51645427e-02 -2.56563413e+02] [-5.08415278e-02 4.55773714e-04 9.98706629e-01 -1.79394333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62864 meters Centerline goodness [0,1] 0.9993657917845643 Centerline is valid? [True, True] Translation: X:348.71, Y:-256.59, Z:-17.94 [[ 7.27294844e-01 6.85261398e-01 3.81972102e-02 3.48711151e+02] [-6.84282681e-01 7.28297037e-01 -3.66147262e-02 -2.56587211e+02] [-5.29095735e-02 4.92012204e-04 9.98599186e-01 -1.79413714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65864 meters Centerline goodness [0,1] 0.9993165397383323 Centerline is valid? [True, True] Translation: X:348.73, Y:-256.61, Z:-17.94 [[ 7.27264958e-01 6.85328338e-01 3.75599426e-02 3.48733891e+02] [-6.84380361e-01 7.28234039e-01 -3.60375724e-02 -2.56611516e+02] [-5.20499983e-02 5.03576518e-04 9.98644353e-01 -1.79422143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68864 meters Centerline goodness [0,1] 0.9994632837277385 Centerline is valid? [True, True] Translation: X:348.76, Y:-256.64, Z:-17.94 [[ 7.27452911e-01 6.85132488e-01 3.74931503e-02 3.48756545e+02] [-6.84185675e-01 7.28418271e-01 -3.60108873e-02 -2.56635874e+02] [-5.19829245e-02 5.43948463e-04 9.98647826e-01 -1.79436341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71864 meters Centerline goodness [0,1] 0.9990726731416858 Centerline is valid? [True, True] Translation: X:348.78, Y:-256.66, Z:-17.94 [[ 7.27318398e-01 6.85295843e-01 3.71154349e-02 3.48777457e+02] [-6.84366328e-01 7.28264582e-01 -3.56851090e-02 -2.56661448e+02] [-5.14847135e-02 5.53882446e-04 9.98673629e-01 -1.79448123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74864 meters Centerline goodness [0,1] 0.9993159386299229 Centerline is valid? [True, True] Translation: X:348.80, Y:-256.69, Z:-17.95 [[ 7.26797859e-01 6.85851051e-01 3.70568222e-02 3.48799100e+02] [-6.84923651e-01 7.27741746e-01 -3.56587013e-02 -2.56685746e+02] [-5.14243543e-02 5.35573816e-04 9.98676749e-01 -1.79457523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77864 meters Centerline goodness [0,1] 0.999657785382547 Centerline is valid? [True, True] Translation: X:348.82, Y:-256.71, Z:-17.95 [[ 7.24728000e-01 6.88013367e-01 3.75091104e-02 3.48818876e+02] [-6.87065044e-01 7.25697903e-01 -3.61134206e-02 -2.56712891e+02] [-5.20667989e-02 4.01208491e-04 9.98643524e-01 -1.79478769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80864 meters Centerline goodness [0,1] 0.9997555729370355 Centerline is valid? [True, True] Translation: X:348.84, Y:-256.74, Z:-17.95 [[ 7.23156181e-01 6.89604003e-01 3.86193944e-02 3.48840469e+02] [-6.88598769e-01 7.24186588e-01 -3.72225849e-02 -2.56738005e+02] [-5.36364910e-02 3.24474898e-04 9.98560475e-01 -1.79481888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83864 meters Centerline goodness [0,1] 0.9998049065990343 Centerline is valid? [True, True] Translation: X:348.86, Y:-256.76, Z:-17.95 [[ 7.21430051e-01 6.91340140e-01 3.98433520e-02 3.48862121e+02] [-6.90270469e-01 7.22529416e-01 -3.84437478e-02 -2.56762954e+02] [-5.53656998e-02 2.31785651e-04 9.98466116e-01 -1.79498031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86863999999997 meters Centerline goodness [0,1] 0.9997559785261103 Centerline is valid? [True, True] Translation: X:348.88, Y:-256.79, Z:-17.95 [[ 7.18373508e-01 6.94459159e-01 4.08164132e-02 3.48883042e+02] [-6.93339165e-01 7.19532123e-01 -3.94249357e-02 -2.56789172e+02] [-5.67477281e-02 2.22115102e-05 9.98388549e-01 -1.79520034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89864 meters Centerline goodness [0,1] 0.9999512432959532 Centerline is valid? [True, True] Translation: X:348.91, Y:-256.81, Z:-17.95 [[ 7.16524062e-01 6.96401075e-01 4.02344512e-02 3.48905896e+02] [-6.95313585e-01 7.17652794e-01 -3.89035501e-02 -2.56813256e+02] [-5.59668404e-02 -1.00230792e-04 9.98432623e-01 -1.79528194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92864 meters Centerline goodness [0,1] 0.999804801873902 Centerline is valid? [True, True] Translation: X:348.93, Y:-256.84, Z:-17.95 [[ 7.14399098e-01 6.98609936e-01 3.97251254e-02 3.48928586e+02] [-6.97550987e-01 7.15502690e-01 -3.84515443e-02 -2.56837128e+02] [-5.52860650e-02 -2.40551842e-04 9.98470527e-01 -1.79538156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95864 meters Centerline goodness [0,1] 0.9996095656417765 Centerline is valid? [True, True] Translation: X:348.95, Y:-256.86, Z:-17.95 [[ 7.10138626e-01 7.02898155e-01 4.04637487e-02 3.48951587e+02] [-7.01804058e-01 7.11290289e-01 -3.92069994e-02 -2.56859638e+02] [-5.63399991e-02 -5.55218343e-04 9.98411486e-01 -1.79549783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98864 meters Centerline goodness [0,1] 0.9995604610275445 Centerline is valid? [True, True] Translation: X:348.98, Y:-256.88, Z:-17.96 [[ 7.08738188e-01 7.04252837e-01 4.14502330e-02 3.48975620e+02] [-7.03104803e-01 7.09948953e-01 -4.02009938e-02 -2.56881496e+02] [-5.77392135e-02 -6.51878400e-04 9.98331487e-01 -1.79568943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01864 meters Centerline goodness [0,1] 0.9996095275283092 Centerline is valid? [True, True] Translation: X:349.00, Y:-256.90, Z:-17.96 [[ 7.06236400e-01 7.06702178e-01 4.24520882e-02 3.49000086e+02] [-7.05500020e-01 7.07510649e-01 -4.12116987e-02 -2.56902243e+02] [-5.91597017e-02 -8.44747326e-04 9.98248174e-01 -1.79585757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04864 meters Centerline goodness [0,1] 0.9997069883283685 Centerline is valid? [True, True] Translation: X:349.03, Y:-256.92, Z:-17.96 [[ 7.06036174e-01 7.06884576e-01 4.27447989e-02 3.49025318e+02] [-7.05663646e-01 7.07328422e-01 -4.15369999e-02 -2.56923877e+02] [-5.95964757e-02 -8.36826202e-04 9.98222200e-01 -1.79606820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07864 meters Centerline goodness [0,1] 0.9998046493455753 Centerline is valid? [True, True] Translation: X:349.05, Y:-256.94, Z:-17.96 [[ 7.06710328e-01 7.06244685e-01 4.21776824e-02 3.49050624e+02] [-7.05052382e-01 7.07967437e-01 -4.10273926e-02 -2.56944689e+02] [-5.88358037e-02 -7.42993397e-04 9.98267397e-01 -1.79616321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10864 meters Centerline goodness [0,1] 0.9996585365853659 Centerline is valid? [True, True] Translation: X:349.08, Y:-256.96, Z:-17.96 [[ 7.08759154e-01 7.04217853e-01 4.16854671e-02 3.49076898e+02] [-7.03047519e-01 7.09983749e-01 -4.05864769e-02 -2.56964229e+02] [-5.81777258e-02 -5.40827257e-04 9.98306095e-01 -1.79633921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.13864 meters Centerline goodness [0,1] 0.9997069597069597 Centerline is valid? [True, True] Translation: X:349.10, Y:-256.99, Z:-17.96 [[ 7.10084222e-01 7.02894605e-01 4.14677242e-02 3.49101022e+02] [-7.01732023e-01 7.11293900e-01 -4.04123244e-02 -2.56985129e+02] [-5.79013441e-02 -4.03076052e-04 9.98322228e-01 -1.79645546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16864 meters Centerline goodness [0,1] 0.9999023675860386 Centerline is valid? [True, True] Translation: X:349.13, Y:-257.01, Z:-17.97 [[ 7.13097593e-01 6.99890641e-01 4.05575305e-02 3.49126292e+02] [-6.98771627e-01 7.14250008e-01 -3.95618450e-02 -2.57005650e+02] [-5.66571816e-02 -1.28995076e-04 9.98393683e-01 -1.79662604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.19864 meters Centerline goodness [0,1] 0.9998048113990143 Centerline is valid? [True, True] Translation: X:349.15, Y:-257.03, Z:-17.97 [[ 7.14176526e-01 6.98785222e-01 4.06337700e-02 3.49150206e+02] [-6.97657972e-01 7.15331541e-01 -3.96754455e-02 -2.57027765e+02] [-5.67912323e-02 -1.32017521e-05 9.98386076e-01 -1.79676458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22864 meters Centerline goodness [0,1] 0.9998532074179185 Centerline is valid? [True, True] Translation: X:349.17, Y:-257.05, Z:-17.97 [[ 7.15801673e-01 6.97091127e-01 4.11330287e-02 3.49174099e+02] [-6.95930694e-01 7.16982523e-01 -4.02061218e-02 -2.57050122e+02] [-5.75189934e-02 1.53872047e-04 9.98344400e-01 -1.79697404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.25864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.20, Y:-257.07, Z:-17.97 [[ 7.19401103e-01 6.93473671e-01 3.94502285e-02 3.49197004e+02] [-6.92398660e-01 7.20481826e-01 -3.86009712e-02 -2.57073748e+02] [-5.51919299e-02 4.54295941e-04 9.98475660e-01 -1.79698627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28864 meters Centerline goodness [0,1] 0.9998046588855789 Centerline is valid? [True, True] Translation: X:349.22, Y:-257.10, Z:-17.97 [[ 7.20443517e-01 6.92427371e-01 3.88004600e-02 3.49219370e+02] [-6.91383844e-01 7.21487373e-01 -3.80046219e-02 -2.57097506e+02] [-5.43094823e-02 5.54172299e-04 9.98523997e-01 -1.79713750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.31864 meters Centerline goodness [0,1] 0.9999511909410387 Centerline is valid? [True, True] Translation: X:349.24, Y:-257.12, Z:-17.97 [[ 7.20996409e-01 6.91802846e-01 3.96610775e-02 3.49239331e+02] [-6.90709332e-01 7.22086151e-01 -3.88871446e-02 -2.57122840e+02] [-5.55409521e-02 6.43215226e-04 9.98456203e-01 -1.79719599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34864 meters Centerline goodness [0,1] 0.99990234375 Centerline is valid? [True, True] Translation: X:349.26, Y:-257.15, Z:-17.97 [[ 7.19998058e-01 6.92810858e-01 4.01984132e-02 3.49261088e+02] [-6.91686919e-01 7.21119099e-01 -3.94518931e-02 -2.57147262e+02] [-5.63205434e-02 6.00569815e-04 9.98412558e-01 -1.79725787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.37864 meters Centerline goodness [0,1] 0.9999024152232252 Centerline is valid? [True, True] Translation: X:349.28, Y:-257.17, Z:-17.97 [[ 7.19422871e-01 6.93396111e-01 4.04050244e-02 3.49283729e+02] [-6.92259152e-01 7.20556374e-01 -3.96960785e-02 -2.57171744e+02] [-5.66392044e-02 5.87518842e-04 9.98394539e-01 -1.79736588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40864 meters Centerline goodness [0,1] 0.9997557758999658 Centerline is valid? [True, True] Translation: X:349.31, Y:-257.20, Z:-17.98 [[ 7.17385254e-01 6.95428796e-01 4.16795732e-02 3.49305135e+02] [-6.94219778e-01 7.18594856e-01 -4.09918695e-02 -2.57197435e+02] [-5.84576533e-02 4.72178706e-04 9.98289777e-01 -1.79760455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43864 meters Centerline goodness [0,1] 0.99975564460952 Centerline is valid? [True, True] Translation: X:349.33, Y:-257.22, Z:-17.98 [[ 7.15864709e-01 6.97007570e-01 4.14507581e-02 3.49326640e+02] [-6.95812592e-01 7.17063676e-01 -4.07985537e-02 -2.57221659e+02] [-5.81597338e-02 3.64285345e-04 9.98307224e-01 -1.79773428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46864 meters Centerline goodness [0,1] 0.9997070169441867 Centerline is valid? [True, True] Translation: X:349.35, Y:-257.25, Z:-17.98 [[ 7.13814838e-01 6.99128586e-01 4.10803861e-02 3.49346857e+02] [-6.97957127e-01 7.14995929e-01 -4.04557771e-02 -2.57247180e+02] [-5.76560991e-02 2.05585704e-04 9.98336482e-01 -1.79778484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49864 meters Centerline goodness [0,1] 0.9997070026369763 Centerline is valid? [True, True] Translation: X:349.37, Y:-257.27, Z:-17.98 [[ 7.12752440e-01 7.00223788e-01 4.08730517e-02 3.49370238e+02] [-6.99063686e-01 7.13923404e-01 -4.02906549e-02 -2.57270907e+02] [-5.73927032e-02 1.44396415e-04 9.98351670e-01 -1.79792877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52864 meters Centerline goodness [0,1] 0.9998535513790578 Centerline is valid? [True, True] Translation: X:349.39, Y:-257.29, Z:-17.98 [[ 7.11993122e-01 7.00988758e-01 4.09945841e-02 3.49394265e+02] [-6.99820527e-01 7.13172313e-01 -4.04534473e-02 -2.57293649e+02] [-5.75936142e-02 1.13724812e-04 9.98340104e-01 -1.79809556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55864 meters Centerline goodness [0,1] 0.99990225306681 Centerline is valid? [True, True] Translation: X:349.42, Y:-257.32, Z:-17.98 [[ 7.12329536e-01 7.00692977e-01 4.01993147e-02 3.49418467e+02] [-6.99566944e-01 7.13462911e-01 -3.97085022e-02 -2.57315236e+02] [-5.65041886e-02 1.63427191e-04 9.98402349e-01 -1.79820758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58864 meters Centerline goodness [0,1] 0.9998535799697399 Centerline is valid? [True, True] Translation: X:349.44, Y:-257.34, Z:-17.98 [[ 7.11696435e-01 7.01323061e-01 4.04245917e-02 3.49442447e+02] [-7.00183157e-01 7.12843562e-01 -3.99700331e-02 -2.57337773e+02] [-5.68483159e-02 1.41911831e-04 9.98382817e-01 -1.79836381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61863999999997 meters Centerline goodness [0,1] 0.9998044965786901 Centerline is valid? [True, True] Translation: X:349.47, Y:-257.36, Z:-17.98 [[ 7.12690257e-01 7.00283388e-01 4.09362179e-02 3.49468296e+02] [-6.99110215e-01 7.13864909e-01 -4.05191030e-02 -2.57358810e+02] [-5.75977842e-02 2.58641777e-04 9.98339836e-01 -1.79844856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64864 meters Centerline goodness [0,1] 0.99965856989562 Centerline is valid? [True, True] Translation: X:349.49, Y:-257.38, Z:-17.99 [[ 7.13119846e-01 6.99852126e-01 4.08299734e-02 3.49492954e+02] [-6.98681885e-01 7.14287685e-01 -4.04564776e-02 -2.57381009e+02] [-5.74778990e-02 3.23154309e-04 9.98346727e-01 -1.79853012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67864 meters Centerline goodness [0,1] 0.9997071599394797 Centerline is valid? [True, True] Translation: X:349.52, Y:-257.40, Z:-17.99 [[ 7.13750505e-01 6.99238813e-01 4.03150041e-02 3.49517451e+02] [-6.98094575e-01 7.14888050e-01 -3.99879974e-02 -2.57403272e+02] [-5.67818745e-02 3.97767690e-04 9.98386529e-01 -1.79869074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70864 meters Centerline goodness [0,1] 0.9993161391168425 Centerline is valid? [True, True] Translation: X:349.54, Y:-257.43, Z:-17.99 [[ 7.14503319e-01 6.98501442e-01 3.97585621e-02 3.49542200e+02] [-6.97385144e-01 7.15608486e-01 -3.94772777e-02 -2.57425406e+02] [-5.60264999e-02 4.79615367e-04 9.98429167e-01 -1.79877563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73864 meters Centerline goodness [0,1] 0.9995117425906939 Centerline is valid? [True, True] Translation: X:349.57, Y:-257.45, Z:-17.99 [[ 7.14446133e-01 6.98589298e-01 3.92392083e-02 3.49566289e+02] [-6.97499879e-01 7.15522709e-01 -3.90021917e-02 -2.57447385e+02] [-5.53230583e-02 4.95621951e-04 9.98468384e-01 -1.79884880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76864 meters Centerline goodness [0,1] 0.9998046493455753 Centerline is valid? [True, True] Translation: X:349.59, Y:-257.47, Z:-17.99 [[ 7.14117734e-01 6.98984780e-01 3.81593832e-02 3.49589487e+02] [-6.97953091e-01 7.15136384e-01 -3.79662302e-02 -2.57469640e+02] [-5.38269804e-02 4.78898787e-04 9.98550162e-01 -1.79902362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79864 meters Centerline goodness [0,1] 0.9995604180912376 Centerline is valid? [True, True] Translation: X:349.61, Y:-257.49, Z:-17.99 [[ 7.13872441e-01 6.99256860e-01 3.77621693e-02 3.49612554e+02] [-6.98245035e-01 7.14870348e-01 -3.76066092e-02 -2.57493152e+02] [-5.32917346e-02 4.79074704e-04 9.98578871e-01 -1.79913128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82864 meters Centerline goodness [0,1] 0.9996568122763152 Centerline is valid? [True, True] Translation: X:349.64, Y:-257.52, Z:-17.99 [[ 7.13994410e-01 6.99077212e-01 3.87689871e-02 3.49635371e+02] [-6.98008229e-01 7.15045989e-01 -3.86490051e-02 -2.57516302e+02] [-5.47402475e-02 5.34101546e-04 9.98500486e-01 -1.79931048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85864 meters Centerline goodness [0,1] 0.9990716763570626 Centerline is valid? [True, True] Translation: X:349.66, Y:-257.54, Z:-17.99 [[ 7.14226730e-01 6.98845400e-01 3.86689225e-02 3.49658161e+02] [-6.97779576e-01 7.15272518e-01 -3.85861190e-02 -2.57540364e+02] [-5.46245493e-02 5.76853252e-04 9.98506798e-01 -1.79940458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88864 meters Centerline goodness [0,1] 0.9994142341111003 Centerline is valid? [True, True] Translation: X:349.68, Y:-257.56, Z:-17.99 [[ 7.13867233e-01 6.99224098e-01 3.84608145e-02 3.49680723e+02] [-6.98168081e-01 7.14902323e-01 -3.84187256e-02 -2.57563905e+02] [-5.43590244e-02 5.73756216e-04 9.98521290e-01 -1.79949958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91864 meters Centerline goodness [0,1] 0.9995120523079926 Centerline is valid? [True, True] Translation: X:349.70, Y:-257.59, Z:-18.00 [[ 7.13323249e-01 6.99833655e-01 3.74539413e-02 3.49701982e+02] [-6.98831110e-01 7.14305651e-01 -3.74501916e-02 -2.57587733e+02] [-5.29624664e-02 5.40112965e-04 9.98596358e-01 -1.79963362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94864 meters Centerline goodness [0,1] 0.9993658536585366 Centerline is valid? [True, True] Translation: X:349.69, Y:-257.71, Z:-16.51 [[ 7.48534756e-01 -6.62963220e-01 -1.32471970e-02 3.49686052e+02] [-6.62798381e-01 -7.48648010e-01 1.49820868e-02 -2.57705409e+02] [-1.98500602e-02 -2.43439201e-03 -9.99800004e-01 -1.65101151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97864 meters Centerline goodness [0,1] 0.9992182155770546 Centerline is valid? [True, True] Translation: X:349.73, Y:-257.63, Z:-18.00 [[ 7.60906436e-01 6.47512563e-01 4.18195688e-02 3.49725596e+02] [-6.46496195e-01 7.62054568e-01 -3.62698890e-02 -2.57626525e+02] [-5.53540022e-02 5.61799814e-04 9.98466634e-01 -1.79995757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00864 meters Centerline goodness [0,1] 0.9995120284975357 Centerline is valid? [True, True] Translation: X:349.75, Y:-257.65, Z:-18.00 [[ 7.61234007e-01 6.47072706e-01 4.26579362e-02 3.49749694e+02] [-6.46012319e-01 7.62428036e-01 -3.70347561e-02 -2.57647201e+02] [-5.64877864e-02 6.34563567e-04 9.98403089e-01 -1.80011326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03864 meters Centerline goodness [0,1] 0.9996094894074001 Centerline is valid? [True, True] Translation: X:349.77, Y:-257.67, Z:-18.00 [[ 7.62653588e-01 6.45407911e-01 4.25221394e-02 3.49774460e+02] [-6.44349758e-01 7.63837690e-01 -3.69509407e-02 -2.57668098e+02] [-5.63284422e-02 7.81637263e-04 9.98411987e-01 -1.80009990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06864 meters Centerline goodness [0,1] 0.9993648622239594 Centerline is valid? [True, True] Translation: X:349.80, Y:-257.69, Z:-18.00 [[ 7.66007105e-01 6.41463229e-01 4.19289982e-02 3.49797790e+02] [-6.40426637e-01 7.67153018e-01 -3.64687349e-02 -2.57690901e+02] [-5.55593099e-02 1.08286271e-03 9.98454801e-01 -1.80012219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09864 meters Centerline goodness [0,1] 0.999609508468785 Centerline is valid? [True, True] Translation: X:349.82, Y:-257.71, Z:-18.00 [[ 7.67966575e-01 6.39144931e-01 4.14861058e-02 3.49820259e+02] [-6.38125230e-01 7.69085283e-01 -3.61112063e-02 -2.57713275e+02] [-5.49866479e-02 1.25886861e-03 9.98486296e-01 -1.80033577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12864 meters Centerline goodness [0,1] 0.9996582365003418 Centerline is valid? [True, True] Translation: X:349.84, Y:-257.74, Z:-18.00 [[ 7.69455227e-01 6.37380471e-01 4.10461819e-02 3.49843007e+02] [-6.36378583e-01 7.70547994e-01 -3.57503551e-02 -2.57735684e+02] [-5.44146313e-02 1.38738651e-03 9.98517463e-01 -1.80044503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15864 meters Centerline goodness [0,1] 0.999658419948275 Centerline is valid? [True, True] Translation: X:349.87, Y:-257.76, Z:-18.01 [[ 7.71807171e-01 6.34484949e-01 4.17437424e-02 3.49865400e+02] [-6.33442645e-01 7.72933468e-01 -3.63905076e-02 -2.57759529e+02] [-5.53543649e-02 1.64418808e-03 9.98465418e-01 -1.80057238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18864 meters Centerline goodness [0,1] 0.999609375 Centerline is valid? [True, True] Translation: X:349.89, Y:-257.78, Z:-18.01 [[ 7.72470584e-01 6.33705964e-01 4.13031138e-02 3.49888552e+02] [-6.32682738e-01 7.73572129e-01 -3.60376635e-02 -2.57781846e+02] [-5.47882200e-02 1.70626781e-03 9.98496540e-01 -1.80063241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21864 meters Centerline goodness [0,1] 0.9993656370467965 Centerline is valid? [True, True] Translation: X:349.91, Y:-257.81, Z:-18.01 [[ 7.73335720e-01 6.32631862e-01 4.15787492e-02 3.49908445e+02] [-6.31591581e-01 7.74450526e-01 -3.63105778e-02 -2.57808152e+02] [-5.51719126e-02 1.81947886e-03 9.98475212e-01 -1.80090280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24864 meters Centerline goodness [0,1] 0.9995119808696501 Centerline is valid? [True, True] Translation: X:349.93, Y:-257.83, Z:-18.01 [[ 7.73657356e-01 6.32273050e-01 4.10498051e-02 3.49930941e+02] [-6.31256792e-01 7.74743428e-01 -3.58815150e-02 -2.57832700e+02] [-5.44899816e-02 1.84702973e-03 9.98512609e-01 -1.80102144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27864 meters Centerline goodness [0,1] 0.9995610184372257 Centerline is valid? [True, True] Translation: X:349.95, Y:-257.86, Z:-18.01 [[ 7.73090631e-01 6.33007868e-01 4.03969688e-02 3.49952113e+02] [-6.32022887e-01 7.74143284e-01 -3.53446687e-02 -2.57857341e+02] [-5.36464955e-02 1.79282338e-03 9.98558381e-01 -1.80117738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30864 meters Centerline goodness [0,1] 0.9994633884579736 Centerline is valid? [True, True] Translation: X:349.97, Y:-257.89, Z:-18.01 [[ 7.72785676e-01 6.33376458e-01 4.04544374e-02 3.49971037e+02] [-6.32387424e-01 7.73841741e-01 -3.54274718e-02 -2.57885893e+02] [-5.37442589e-02 1.79496533e-03 9.98553120e-01 -1.80138796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33864 meters Centerline goodness [0,1] 0.9994629692916077 Centerline is valid? [True, True] Translation: X:349.99, Y:-257.91, Z:-18.01 [[ 7.71889882e-01 6.34521593e-01 3.96025050e-02 3.49991844e+02] [-6.33573566e-01 7.72903255e-01 -3.47144840e-02 -2.57910634e+02] [-5.26359947e-02 1.70465864e-03 9.98612310e-01 -1.80144632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36863999999997 meters Centerline goodness [0,1] 0.9995608256477821 Centerline is valid? [True, True] Translation: X:350.01, Y:-257.94, Z:-18.02 [[ 7.69920232e-01 6.36885526e-01 3.99957830e-02 3.50009933e+02] [-6.35920076e-01 7.70956758e-01 -3.50903865e-02 -2.57939390e+02] [-5.31835785e-02 1.58267714e-03 9.98583498e-01 -1.80153471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39864 meters Centerline goodness [0,1] 0.9992176039119804 Centerline is valid? [True, True] Translation: X:350.03, Y:-257.96, Z:-18.02 [[ 7.68810808e-01 6.38210460e-01 4.02162917e-02 3.50031148e+02] [-6.37234445e-01 7.69860434e-01 -3.53153638e-02 -2.57964611e+02] [-5.34995663e-02 1.52362708e-03 9.98566710e-01 -1.80158731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42864 meters Centerline goodness [0,1] 0.9985375127967631 Centerline is valid? [True, True] Translation: X:350.05, Y:-257.99, Z:-18.02 [[ 7.67263836e-01 6.40035647e-01 4.07501796e-02 3.50052328e+02] [-6.39034325e-01 7.68343867e-01 -3.58166726e-02 -2.57989748e+02] [-5.42340978e-02 1.44007412e-03 9.98527210e-01 -1.80174716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45864 meters Centerline goodness [0,1] 0.9982919330437753 Centerline is valid? [True, True] Translation: X:350.07, Y:-258.01, Z:-18.02 [[ 7.65971290e-01 6.41552242e-01 4.12153454e-02 3.50073734e+02] [-6.40528284e-01 7.67078115e-01 -3.62585513e-02 -2.58013981e+02] [-5.48771443e-02 1.37341483e-03 9.98492170e-01 -1.80181301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48864 meters Centerline goodness [0,1] 0.9982919330437753 Centerline is valid? [True, True] Translation: X:350.10, Y:-258.04, Z:-18.02 [[ 7.65643470e-01 6.41944524e-01 4.11983613e-02 3.50098333e+02] [-6.40920096e-01 7.66749861e-01 -3.62778420e-02 -2.58035223e+02] [-5.48771998e-02 1.37103520e-03 9.98492170e-01 -1.80193323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51864 meters Centerline goodness [0,1] 0.9983878847093307 Centerline is valid? [True, True] Translation: X:350.12, Y:-258.06, Z:-18.02 [[ 7.63155354e-01 6.44913406e-01 4.09951769e-02 3.50116927e+02] [-6.43901378e-01 7.64254740e-01 -3.61345681e-02 -2.58062602e+02] [-5.46344257e-02 1.17943815e-03 9.98505728e-01 -1.80205479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54864 meters Centerline goodness [0,1] 0.998096167927752 Centerline is valid? [True, True] Translation: X:350.14, Y:-258.09, Z:-18.02 [[ 7.61853350e-01 6.46463817e-01 4.07922351e-02 3.50138071e+02] [-6.45462237e-01 7.62943871e-01 -3.59882014e-02 -2.58087669e+02] [-5.43872558e-02 1.08788452e-03 9.98519325e-01 -1.80215987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57864 meters Centerline goodness [0,1] 0.9978014461598593 Centerline is valid? [True, True] Translation: X:350.16, Y:-258.12, Z:-18.02 [[ 7.60640118e-01 6.47916609e-01 4.03816678e-02 3.50155973e+02] [-6.46935755e-01 7.61710628e-01 -3.56517655e-02 -2.58115737e+02] [-5.38585165e-02 9.93818386e-04 9.98548082e-01 -1.80222571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60864 meters Centerline goodness [0,1] 0.9973661106233538 Centerline is valid? [True, True] Translation: X:350.18, Y:-258.14, Z:-18.02 [[ 7.59839494e-01 6.48807957e-01 4.11360890e-02 3.50179286e+02] [-6.47790240e-01 7.60951579e-01 -3.63386818e-02 -2.58139491e+02] [-5.48793977e-02 9.64008648e-04 9.98492525e-01 -1.80231870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.63864 meters Centerline goodness [0,1] 0.9979511195668082 Centerline is valid? [True, True] Translation: X:350.20, Y:-258.17, Z:-18.03 [[ 7.57907218e-01 6.50977985e-01 4.24771853e-02 3.50200057e+02] [-6.49893853e-01 7.59096117e-01 -3.75641309e-02 -2.58165762e+02] [-5.66976887e-02 8.64464283e-04 9.98391018e-01 -1.80257348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66864 meters Centerline goodness [0,1] 0.9979495191134111 Centerline is valid? [True, True] Translation: X:350.22, Y:-258.19, Z:-18.03 [[ 7.56652575e-01 6.52412005e-01 4.28422320e-02 3.50222499e+02] [-6.51309123e-01 7.57864068e-01 -3.79273056e-02 -2.58190717e+02] [-5.72128177e-02 7.94256862e-04 9.98361689e-01 -1.80264224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.69864 meters Centerline goodness [0,1] 0.9976588791884115 Centerline is valid? [True, True] Translation: X:350.24, Y:-258.21, Z:-18.03 [[ 7.55846381e-01 6.53279114e-01 4.38480041e-02 3.50244847e+02] [-6.52122777e-01 7.57116764e-01 -3.88598598e-02 -2.58214832e+02] [-5.85843937e-02 7.77802164e-04 9.98282156e-01 -1.80272116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72864 meters Centerline goodness [0,1] 0.9972696245733789 Centerline is valid? [True, True] Translation: X:350.27, Y:-258.24, Z:-18.03 [[ 7.55223352e-01 6.54082417e-01 4.25896797e-02 3.50267283e+02] [-6.52990661e-01 7.56422943e-01 -3.77826471e-02 -2.58238194e+02] [-5.69287760e-02 7.23674291e-04 9.98377980e-01 -1.80281881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.75864 meters Centerline goodness [0,1] 0.996977084349098 Centerline is valid? [True, True] Translation: X:350.29, Y:-258.26, Z:-18.03 [[ 7.53773718e-01 6.55795229e-01 4.19261192e-02 3.50287660e+02] [-6.54737957e-01 7.54938569e-01 -3.72285473e-02 -2.58263143e+02] [-5.60659482e-02 6.11278898e-04 9.98426881e-01 -1.80288247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78864 meters Centerline goodness [0,1] 0.9959945291129347 Centerline is valid? [True, True] Translation: X:350.31, Y:-258.29, Z:-18.03 [[ 7.50974480e-01 6.58995948e-01 4.19722591e-02 3.50308661e+02] [-6.57939338e-01 7.52146382e-01 -3.73047777e-02 -2.58288044e+02] [-5.61529802e-02 3.99735700e-04 9.98422097e-01 -1.80296514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.81864 meters Centerline goodness [0,1] 0.9961934507832707 Centerline is valid? [True, True] Translation: X:350.33, Y:-258.31, Z:-18.03 [[ 7.48910278e-01 6.61342366e-01 4.19484313e-02 3.50332455e+02] [-6.60288515e-01 7.50084136e-01 -3.73211216e-02 -2.58310170e+02] [-5.61468917e-02 2.52104136e-04 9.98422487e-01 -1.80321936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84864 meters Centerline goodness [0,1] 0.9958490013185525 Centerline is valid? [True, True] Translation: X:350.36, Y:-258.33, Z:-18.03 [[ 7.46214555e-01 6.64383325e-01 4.19360884e-02 3.50356352e+02] [-6.63332556e-01 7.47391995e-01 -3.73513867e-02 -2.58332464e+02] [-5.61583353e-02 5.45757328e-05 9.98421874e-01 -1.80343888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.87864 meters Centerline goodness [0,1] 0.995512632913862 Centerline is valid? [True, True] Translation: X:350.38, Y:-258.35, Z:-18.04 [[ 7.43941609e-01 6.66901707e-01 4.23437775e-02 3.50380461e+02] [-6.65832081e-01 7.45145692e-01 -3.77563070e-02 -2.58354619e+02] [-5.67320290e-02 -1.05357727e-04 9.98389436e-01 -1.80357559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90864 meters Centerline goodness [0,1] 0.9954498752385146 Centerline is valid? [True, True] Translation: X:350.40, Y:-258.38, Z:-18.04 [[ 7.40811257e-01 6.70384031e-01 4.22366221e-02 3.50403282e+02] [-6.69323102e-01 7.42014242e-01 -3.77021238e-02 -2.58377864e+02] [-5.66150769e-02 -3.39789143e-04 9.98396022e-01 -1.80359907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93864 meters Centerline goodness [0,1] 0.9949765899336714 Centerline is valid? [True, True] Translation: X:350.43, Y:-258.40, Z:-18.04 [[ 7.39863178e-01 6.71366450e-01 4.32385001e-02 3.50427218e+02] [-6.70253846e-01 7.41125451e-01 -3.86373915e-02 -2.58399818e+02] [-5.79850013e-02 -3.94387661e-04 9.98317376e-01 -1.80381273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96864 meters Centerline goodness [0,1] 0.9949726669269816 Centerline is valid? [True, True] Translation: X:350.45, Y:-258.42, Z:-18.04 [[ 7.39127160e-01 6.72191797e-01 4.30026713e-02 3.50452554e+02] [-6.71090479e-01 7.40376934e-01 -3.84651069e-02 -2.58420832e+02] [-5.76941153e-02 -4.28078104e-04 9.98334215e-01 -1.80387614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99864 meters Centerline goodness [0,1] 0.9947659345497236 Centerline is valid? [True, True] Translation: X:350.48, Y:-258.44, Z:-18.04 [[ 7.38112602e-01 6.73280513e-01 4.33951210e-02 3.50477481e+02] [-6.72158397e-01 7.39386985e-01 -3.88584034e-02 -2.58442263e+02] [-5.82483934e-02 -4.86517712e-04 9.98302002e-01 -1.80399633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02864 meters Centerline goodness [0,1] 0.9939956065413718 Centerline is valid? [True, True] Translation: X:350.50, Y:-258.46, Z:-18.04 [[ 7.37541753e-01 6.73938615e-01 4.28824664e-02 3.50502476e+02] [-6.72841622e-01 7.38787176e-01 -3.84403419e-02 -2.58464401e+02] [-5.75874470e-02 -5.01751090e-04 9.98340340e-01 -1.80411911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05864 meters Centerline goodness [0,1] 0.9922393596251464 Centerline is valid? [True, True] Translation: X:350.53, Y:-258.49, Z:-18.04 [[ 7.36326685e-01 6.75310405e-01 4.21766594e-02 3.50527590e+02] [-6.74249221e-01 7.37533412e-01 -3.78477902e-02 -2.58485212e+02] [-5.66657020e-02 -5.69241870e-04 9.98393046e-01 -1.80408915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08864 meters Centerline goodness [0,1] 0.9930213264359963 Centerline is valid? [True, True] Translation: X:350.55, Y:-258.51, Z:-18.04 [[ 7.35470444e-01 6.76271016e-01 4.17221602e-02 3.50553482e+02] [-6.75231904e-01 7.36652662e-01 -3.74797475e-02 -2.58505933e+02] [-5.60812073e-02 -6.06887175e-04 9.98426026e-01 -1.80421731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11863999999997 meters Centerline goodness [0,1] 0.9936563704679646 Centerline is valid? [True, True] Translation: X:350.58, Y:-258.53, Z:-18.04 [[ 7.34899459e-01 6.76861319e-01 4.22082914e-02 3.50579172e+02] [-6.75796464e-01 7.36110290e-01 -3.79576197e-02 -2.58525952e+02] [-5.67620022e-02 -6.29179924e-04 9.98387540e-01 -1.80443491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14864 meters Centerline goodness [0,1] 0.9933046623008503 Centerline is valid? [True, True] Translation: X:350.60, Y:-258.55, Z:-18.05 [[ 7.34876148e-01 6.76840015e-01 4.29492835e-02 3.50604006e+02] [-6.75734943e-01 7.36129897e-01 -3.86660318e-02 -2.58546910e+02] [-5.77869692e-02 -6.07587100e-04 9.98328752e-01 -1.80454426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17864 meters Centerline goodness [0,1] 0.9935628596508339 Centerline is valid? [True, True] Translation: X:350.63, Y:-258.57, Z:-18.05 [[ 7.34838824e-01 6.76840865e-01 4.35700227e-02 3.50629357e+02] [-6.75701105e-01 7.36129134e-01 -3.92672227e-02 -2.58567699e+02] [-5.86508241e-02 -5.85232756e-04 9.98278387e-01 -1.80473230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20864 meters Centerline goodness [0,1] 0.9941400527395253 Centerline is valid? [True, True] Translation: X:350.66, Y:-258.59, Z:-18.05 [[ 7.36235498e-01 6.75294767e-01 4.39803229e-02 3.50655216e+02] [-6.74128109e-01 7.37547821e-01 -3.96800147e-02 -2.58587505e+02] [-5.92332976e-02 -4.34536535e-04 9.98244072e-01 -1.80488858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23864 meters Centerline goodness [0,1] 0.9932673074108406 Centerline is valid? [True, True] Translation: X:350.68, Y:-258.61, Z:-18.05 [[ 7.37126073e-01 6.74288362e-01 4.45012010e-02 3.50679916e+02] [-6.73089417e-01 7.38468075e-01 -4.01937641e-02 -2.58609256e+02] [-5.99649036e-02 -3.25415928e-04 9.98200433e-01 -1.80506926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26864 meters Centerline goodness [0,1] 0.9944322344322344 Centerline is valid? [True, True] Translation: X:350.70, Y:-258.63, Z:-18.05 [[ 7.38877556e-01 6.72512955e-01 4.22644273e-02 3.50703729e+02] [-6.71426834e-01 7.40085335e-01 -3.82060648e-02 -2.58631067e+02] [-5.69733564e-02 -1.47866783e-04 9.98375688e-01 -1.80503213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29864 meters Centerline goodness [0,1] 0.9948292682926829 Centerline is valid? [True, True] Translation: X:350.73, Y:-258.65, Z:-18.05 [[ 7.38945423e-01 6.72443714e-01 4.21795463e-02 3.50728685e+02] [-6.71360270e-01 7.40148254e-01 -3.81569304e-02 -2.58652512e+02] [-5.68775055e-02 -1.21782472e-04 9.98381157e-01 -1.80525372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32864 meters Centerline goodness [0,1] 0.9949161656156816 Centerline is valid? [True, True] Translation: X:350.75, Y:-258.67, Z:-18.05 [[ 7.38744918e-01 6.72673744e-01 4.20235560e-02 3.50753998e+02] [-6.71596296e-01 7.39939201e-01 -3.80577631e-02 -2.58674212e+02] [-5.66953345e-02 -1.07885477e-04 9.98391520e-01 -1.80536554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35864 meters Centerline goodness [0,1] 0.9948630136986302 Centerline is valid? [True, True] Translation: X:350.78, Y:-258.70, Z:-18.05 [[ 7.37989892e-01 6.73384315e-01 4.38689369e-02 3.50778231e+02] [-6.72208775e-01 7.39292598e-01 -3.97720638e-02 -2.58695168e+02] [-5.92138643e-02 -1.37703251e-04 9.98245310e-01 -1.80544913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38864 meters Centerline goodness [0,1] 0.9946787736770162 Centerline is valid? [True, True] Translation: X:350.80, Y:-258.72, Z:-18.06 [[ 7.37113810e-01 6.74277364e-01 4.48694430e-02 3.50802362e+02] [-6.73046778e-01 7.38478166e-01 -4.07189458e-02 -2.58716633e+02] [-6.05909675e-02 -1.84736771e-04 9.98162662e-01 -1.80555319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41864 meters Centerline goodness [0,1] 0.9944867291178766 Centerline is valid? [True, True] Translation: X:350.83, Y:-258.74, Z:-18.06 [[ 7.36137600e-01 6.75342908e-01 4.48708196e-02 3.50827372e+02] [-6.74111724e-01 7.37503829e-01 -4.07613254e-02 -2.58737854e+02] [-6.06202733e-02 -2.42001353e-04 9.98160871e-01 -1.80562002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44864 meters Centerline goodness [0,1] 0.9953640445051728 Centerline is valid? [True, True] Translation: X:350.85, Y:-258.76, Z:-18.06 [[ 7.35522964e-01 6.76047471e-01 4.43371863e-02 3.50853037e+02] [-6.74844090e-01 7.36858024e-01 -4.03200612e-02 -2.58758951e+02] [-5.99284868e-02 -2.64357201e-04 9.98202638e-01 -1.80576770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47864 meters Centerline goodness [0,1] 0.9955183164458301 Centerline is valid? [True, True] Translation: X:350.88, Y:-258.78, Z:-18.06 [[ 7.34907747e-01 6.76733794e-01 4.40678410e-02 3.50878607e+02] [-6.75543642e-01 7.36227743e-01 -4.01185450e-02 -2.58780288e+02] [-5.95935423e-02 -2.86320225e-04 9.98222684e-01 -1.80594725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50864 meters Centerline goodness [0,1] 0.9956489855780982 Centerline is valid? [True, True] Translation: X:350.91, Y:-258.80, Z:-18.06 [[ 7.34701506e-01 6.76971774e-01 4.38510519e-02 3.50905123e+02] [-6.75791164e-01 7.36008929e-01 -3.99644742e-02 -2.58799646e+02] [-5.93295867e-02 -2.72194111e-04 9.98238411e-01 -1.80613420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53864 meters Centerline goodness [0,1] 0.9971700414735302 Centerline is valid? [True, True] Translation: X:350.93, Y:-258.82, Z:-18.06 [[ 7.35004217e-01 6.76608103e-01 4.43877925e-02 3.50931399e+02] [-6.75395056e-01 7.36343282e-01 -4.04980231e-02 -2.58820088e+02] [-6.00859434e-02 -2.13077853e-04 9.98193185e-01 -1.80629287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56864 meters Centerline goodness [0,1] 0.9965313400752357 Centerline is valid? [True, True] Translation: X:350.96, Y:-258.84, Z:-18.06 [[ 7.36593103e-01 6.74871205e-01 4.44910987e-02 3.50960782e+02] [-6.73647231e-01 7.37935535e-01 -4.06270118e-02 -2.58836786e+02] [-6.02495631e-02 -4.57288020e-05 9.98183344e-01 -1.80637012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59864 meters Centerline goodness [0,1] 0.9969742813918305 Centerline is valid? [True, True] Translation: X:350.99, Y:-258.86, Z:-18.07 [[ 7.37259114e-01 6.74142699e-01 4.45041649e-02 3.50986849e+02] [-6.72914909e-01 7.38601124e-01 -4.06682292e-02 -2.58856982e+02] [-6.02870160e-02 3.55065855e-05 9.98181083e-01 -1.80650881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62864 meters Centerline goodness [0,1] 0.9976580796252927 Centerline is valid? [True, True] Translation: X:351.01, Y:-258.88, Z:-18.07 [[ 7.40401799e-01 6.70746364e-01 4.36404746e-02 3.51011467e+02] [-6.69557326e-01 7.41686727e-01 -3.99222582e-02 -2.58878203e+02] [-5.91452703e-02 3.38712362e-04 9.98249329e-01 -1.80664728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65864 meters Centerline goodness [0,1] 0.998097468169179 Centerline is valid? [True, True] Translation: X:351.04, Y:-258.90, Z:-18.07 [[ 7.41941770e-01 6.69045383e-01 4.35968379e-02 3.51036449e+02] [-6.67853217e-01 7.43221379e-01 -3.99257035e-02 -2.58900256e+02] [-5.91142096e-02 5.06258666e-04 9.98251098e-01 -1.80678250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68864 meters Centerline goodness [0,1] 0.9979001855649966 Centerline is valid? [True, True] Translation: X:351.06, Y:-258.92, Z:-18.07 [[ 7.43351461e-01 6.67519329e-01 4.29715120e-02 3.51061854e+02] [-6.66356135e-01 7.44592185e-01 -3.93951575e-02 -2.58922097e+02] [-5.82932811e-02 6.50117154e-04 9.98299289e-01 -1.80677381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71864 meters Centerline goodness [0,1] 0.9981454367984383 Centerline is valid? [True, True] Translation: X:351.09, Y:-258.94, Z:-18.07 [[ 7.44888834e-01 6.65825854e-01 4.26210806e-02 3.51087043e+02] [-6.64676494e-01 7.46106750e-01 -3.91136333e-02 -2.58942706e+02] [-5.78427443e-02 8.06078270e-04 9.98325381e-01 -1.80695757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74864 meters Centerline goodness [0,1] 0.9984880998829496 Centerline is valid? [True, True] Translation: X:351.11, Y:-258.97, Z:-18.07 [[ 7.44850781e-01 6.65863320e-01 4.27007511e-02 3.51111297e+02] [-6.64707473e-01 7.46073284e-01 -3.92253755e-02 -2.58965110e+02] [-5.79766283e-02 8.33543224e-04 9.98317593e-01 -1.80707835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77864 meters Centerline goodness [0,1] 0.9983898511832154 Centerline is valid? [True, True] Translation: X:351.14, Y:-258.99, Z:-18.07 [[ 7.44462195e-01 6.66269106e-01 4.31453148e-02 3.51135477e+02] [-6.65087239e-01 7.45710915e-01 -3.96761255e-02 -2.58988208e+02] [-5.86089089e-02 8.41977125e-04 9.98280665e-01 -1.80721723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80864 meters Centerline goodness [0,1] 0.9982935153583617 Centerline is valid? [True, True] Translation: X:351.16, Y:-259.01, Z:-18.07 [[ 7.43749663e-01 6.67068542e-01 4.30813149e-02 3.51158722e+02] [-6.65889071e-01 7.44995910e-01 -3.96590262e-02 -2.59011433e+02] [-5.85506922e-02 8.09010647e-04 9.98284109e-01 -1.80721938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83864 meters Centerline goodness [0,1] 0.9984875835488121 Centerline is valid? [True, True] Translation: X:351.18, Y:-259.03, Z:-18.07 [[ 7.43081967e-01 6.67834734e-01 4.27312380e-02 3.51182301e+02] [-6.66673226e-01 7.44309190e-01 -3.93781711e-02 -2.59034496e+02] [-5.81033636e-02 7.73436512e-04 9.98310273e-01 -1.80740411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86863999999997 meters Centerline goodness [0,1] 0.9976565932724698 Centerline is valid? [True, True] Translation: X:351.20, Y:-259.06, Z:-18.08 [[ 7.40913801e-01 6.70213663e-01 4.31321773e-02 3.51203884e+02] [-6.69031869e-01 7.42167944e-01 -3.97881965e-02 -2.59058619e+02] [-5.86779123e-02 6.22822674e-04 9.98276773e-01 -1.80752834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89864 meters Centerline goodness [0,1] 0.9973652110270798 Centerline is valid? [True, True] Translation: X:351.23, Y:-259.08, Z:-18.08 [[ 7.39217157e-01 6.71982284e-01 4.46968085e-02 3.51227105e+02] [-6.70713930e-01 7.40567032e-01 -4.12709978e-02 -2.59080535e+02] [-6.08343622e-02 5.29457554e-04 9.98147735e-01 -1.80770539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92864 meters Centerline goodness [0,1] 0.9965825318556852 Centerline is valid? [True, True] Translation: X:351.25, Y:-259.10, Z:-18.08 [[ 7.37327176e-01 6.74032629e-01 4.50405500e-02 3.51251211e+02] [-6.72745925e-01 7.38701469e-01 -4.16300416e-02 -2.59103741e+02] [-6.13315269e-02 3.94114502e-04 9.98117372e-01 -1.80775302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95864 meters Centerline goodness [0,1] 0.9963403923099444 Centerline is valid? [True, True] Translation: X:351.27, Y:-259.13, Z:-18.08 [[ 7.33244343e-01 6.78410499e-01 4.59557174e-02 3.51274655e+02] [-6.77076539e-01 7.34683055e-01 -4.25225675e-02 -2.59127028e+02] [-6.26106431e-02 6.38939867e-05 9.98038027e-01 -1.80806002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98864 meters Centerline goodness [0,1] 0.9964876335430997 Centerline is valid? [True, True] Translation: X:351.30, Y:-259.15, Z:-18.08 [[ 7.31321485e-01 6.80508691e-01 4.55720074e-02 3.51298478e+02] [-6.79198151e-01 7.32740005e-01 -4.22132238e-02 -2.59149613e+02] [-6.21188986e-02 -8.09856725e-05 9.98068753e-01 -1.80829950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01864 meters Centerline goodness [0,1] 0.9963904199795132 Centerline is valid? [True, True] Translation: X:351.32, Y:-259.17, Z:-18.09 [[ 7.30191849e-01 6.81704152e-01 4.58182649e-02 3.51322162e+02] [-6.80378841e-01 7.31627929e-01 -4.24877167e-02 -2.59172476e+02] [-6.24859752e-02 -1.49593583e-04 9.98045831e-01 -1.80851678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04864 meters Centerline goodness [0,1] 0.9949221229432157 Centerline is valid? [True, True] Translation: X:351.35, Y:-259.20, Z:-18.09 [[ 7.28876950e-01 6.83082596e-01 4.62229130e-02 3.51345108e+02] [-6.81733545e-01 7.30341092e-01 -4.29099323e-02 -2.59196489e+02] [-6.30695208e-02 -2.35649713e-04 9.98009108e-01 -1.80861802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07864 meters Centerline goodness [0,1] 0.9951747331481211 Centerline is valid? [True, True] Translation: X:351.37, Y:-259.22, Z:-18.09 [[ 7.28028207e-01 6.83974778e-01 4.64050876e-02 3.51368743e+02] [-6.82613888e-01 7.29505603e-01 -4.31260488e-02 -2.59219059e+02] [-6.33499010e-02 -2.79777277e-04 9.97991339e-01 -1.80880266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10864 meters Centerline goodness [0,1] 0.99482421875 Centerline is valid? [True, True] Translation: X:351.39, Y:-259.24, Z:-18.09 [[ 7.26837883e-01 6.85262265e-01 4.60686442e-02 3.51391995e+02] [-6.83920723e-01 7.28296301e-01 -4.28595720e-02 -2.59242366e+02] [-6.29216705e-02 -3.55339916e-04 9.98018405e-01 -1.80900666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.13864 meters Centerline goodness [0,1] 0.994975119523856 Centerline is valid? [True, True] Translation: X:351.41, Y:-259.26, Z:-18.09 [[ 7.25300233e-01 6.86850640e-01 4.66451542e-02 3.51414462e+02] [-6.85475770e-01 7.26798445e-01 -4.34394772e-02 -2.59264640e+02] [-6.37380582e-02 -4.67460113e-04 9.97966553e-01 -1.80914861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16864 meters Centerline goodness [0,1] 0.9939370232740075 Centerline is valid? [True, True] Translation: X:351.44, Y:-259.29, Z:-18.09 [[ 7.23506739e-01 6.88727459e-01 4.68239947e-02 3.51438334e+02] [-6.87343238e-01 7.25020084e-01 -4.36480398e-02 -2.59287468e+02] [-6.40099401e-02 -6.04505206e-04 9.97949078e-01 -1.80925911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.19864 meters Centerline goodness [0,1] 0.9925219941348974 Centerline is valid? [True, True] Translation: X:351.46, Y:-259.31, Z:-18.09 [[ 7.19813593e-01 6.92575446e-01 4.69855630e-02 3.51461430e+02] [-6.91186919e-01 7.21344862e-01 -4.38432653e-02 -2.59310060e+02] [-6.42575635e-02 -9.16828262e-04 9.97932926e-01 -1.80934770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22864 meters Centerline goodness [0,1] 0.99310951473391 Centerline is valid? [True, True] Translation: X:351.49, Y:-259.33, Z:-18.10 [[ 7.17762495e-01 6.94678840e-01 4.73107820e-02 3.51485261e+02] [-6.93272879e-01 7.19319218e-01 -4.41879771e-02 -2.59331298e+02] [-6.47280073e-02 -1.08280938e-03 9.97902356e-01 -1.80952213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.25864 meters Centerline goodness [0,1] 0.9926839974637858 Centerline is valid? [True, True] Translation: X:351.51, Y:-259.35, Z:-18.10 [[ 7.14004417e-01 6.98315869e-01 5.05236565e-02 3.51508583e+02] [-6.96718267e-01 7.15788214e-01 -4.72322913e-02 -2.59352912e+02] [-6.91472964e-02 -1.47668976e-03 9.97605368e-01 -1.80976201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28864 meters Centerline goodness [0,1] 0.9932544725779646 Centerline is valid? [True, True] Translation: X:351.53, Y:-259.37, Z:-18.10 [[ 7.12417133e-01 6.99915257e-01 5.07982487e-02 3.51531781e+02] [-6.98301481e-01 7.14224078e-01 -4.75290176e-02 -2.59374438e+02] [-6.95476169e-02 -1.61200587e-03 9.97577331e-01 -1.80979417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.31864 meters Centerline goodness [0,1] 0.9929098821573518 Centerline is valid? [True, True] Translation: X:351.56, Y:-259.40, Z:-18.10 [[ 7.11524149e-01 7.00781790e-01 5.13640717e-02 3.51555624e+02] [-6.99131130e-01 7.13373704e-01 -4.81001302e-02 -2.59395614e+02] [-7.03494734e-02 -1.68581723e-03 9.97520982e-01 -1.80992329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34864 meters Centerline goodness [0,1] 0.9916056612981943 Centerline is valid? [True, True] Translation: X:351.58, Y:-259.42, Z:-18.10 [[ 7.10430134e-01 7.02050268e-01 4.91370183e-02 3.51580851e+02] [-7.00540103e-01 7.12125354e-01 -4.60548006e-02 -2.59415904e+02] [-6.73245016e-02 -1.70373373e-03 9.97729677e-01 -1.80993410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.37864 meters Centerline goodness [0,1] 0.9917109561655858 Centerline is valid? [True, True] Translation: X:351.61, Y:-259.44, Z:-18.10 [[ 7.10538326e-01 7.01990606e-01 4.84198006e-02 3.51605436e+02] [-7.00521435e-01 7.12184306e-01 -4.54228285e-02 -2.59436205e+02] [-6.63702209e-02 -1.64444771e-03 9.97793711e-01 -1.81005556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40864 meters Centerline goodness [0,1] 0.9917109561655858 Centerline is valid? [True, True] Translation: X:351.63, Y:-259.46, Z:-18.10 [[ 7.10180124e-01 7.02354471e-01 4.83982425e-02 3.51629336e+02] [-7.00884580e-01 7.11825460e-01 -4.54457919e-02 -2.59458211e+02] [-6.63701564e-02 -1.64688381e-03 9.97793711e-01 -1.81017580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43864 meters Centerline goodness [0,1] 0.9920250501492245 Centerline is valid? [True, True] Translation: X:351.66, Y:-259.48, Z:-18.10 [[ 7.09445321e-01 7.03106321e-01 4.82580397e-02 3.51656235e+02] [-7.01643600e-01 7.11082753e-01 -4.53605257e-02 -2.59478019e+02] [-6.62087321e-02 -1.67913194e-03 9.97804382e-01 -1.81026519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46864 meters Centerline goodness [0,1] 0.9929008567931457 Centerline is valid? [True, True] Translation: X:351.68, Y:-259.50, Z:-18.10 [[ 7.09031421e-01 7.03477084e-01 4.89329799e-02 3.51681877e+02] [-7.01970975e-01 7.10715895e-01 -4.60398472e-02 -2.59497480e+02] [-6.71654240e-02 -1.70583329e-03 9.97740395e-01 -1.81025408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49864 meters Centerline goodness [0,1] 0.99184251660805 Centerline is valid? [True, True] Translation: X:351.71, Y:-259.52, Z:-18.10 [[ 7.08696734e-01 7.03773868e-01 4.95104244e-02 3.51707955e+02] [-7.02229805e-01 7.10421966e-01 -4.66254414e-02 -2.59516780e+02] [-6.79870603e-02 -1.72439770e-03 9.97684713e-01 -1.81048530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52864 meters Centerline goodness [0,1] 0.9922348114866185 Centerline is valid? [True, True] Translation: X:351.73, Y:-259.54, Z:-18.11 [[ 7.08048082e-01 7.04442314e-01 4.92842808e-02 3.51734284e+02] [-7.02910934e-01 7.09759092e-01 -4.64569673e-02 -2.59536250e+02] [-6.77062199e-02 -1.74869328e-03 9.97703769e-01 -1.81058020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55864 meters Centerline goodness [0,1] 0.9923809523809524 Centerline is valid? [True, True] Translation: X:351.76, Y:-259.55, Z:-18.11 [[ 7.07084678e-01 7.05421368e-01 4.91116332e-02 3.51763572e+02] [-7.03899858e-01 7.08785896e-01 -4.63415987e-02 -2.59553082e+02] [-6.74999869e-02 -1.80223726e-03 9.97717647e-01 -1.81073877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58864 meters Centerline goodness [0,1] 0.9925285672428948 Centerline is valid? [True, True] Translation: X:351.79, Y:-259.57, Z:-18.11 [[ 7.05984421e-01 7.06519410e-01 4.91560945e-02 3.51792581e+02] [-7.04994749e-01 7.07691176e-01 -4.64284699e-02 -2.59569019e+02] [-6.75899495e-02 -1.87701215e-03 9.97711419e-01 -1.81101363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61863999999997 meters Centerline goodness [0,1] 0.9929780075096308 Centerline is valid? [True, True] Translation: X:351.82, Y:-259.59, Z:-18.11 [[ 7.05610068e-01 7.06955613e-01 4.82513502e-02 3.51818823e+02] [-7.05484930e-01 7.07255485e-01 -4.56146085e-02 -2.59587457e+02] [-6.63735356e-02 -1.85447336e-03 9.97793122e-01 -1.81115402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64864 meters Centerline goodness [0,1] 0.9919461121686923 Centerline is valid? [True, True] Translation: X:351.84, Y:-259.61, Z:-18.11 [[ 7.05687022e-01 7.06954963e-01 4.71222521e-02 3.51844960e+02] [-7.05549787e-01 7.07256320e-01 -4.45869536e-02 -2.59606529e+02] [-6.48484787e-02 -1.78266040e-03 9.97893530e-01 -1.81117993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67864 meters Centerline goodness [0,1] 0.991695163654128 Centerline is valid? [True, True] Translation: X:351.87, Y:-259.62, Z:-18.11 [[ 7.08731937e-01 7.04030963e-01 4.51602162e-02 3.51874073e+02] [-7.02732940e-01 7.10167832e-01 -4.27558918e-02 -2.59622048e+02] [-6.21728045e-02 -1.43310548e-03 9.98064371e-01 -1.81120038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70864 meters Centerline goodness [0,1] 0.992333984375 Centerline is valid? [True, True] Translation: X:351.90, Y:-259.64, Z:-18.11 [[ 7.10257018e-01 7.02489755e-01 4.52008124e-02 3.51900299e+02] [-7.01184965e-01 7.11692697e-01 -4.28152944e-02 -2.59640982e+02] [-6.22463938e-02 -1.28426676e-03 9.98059987e-01 -1.81135814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73864 meters Centerline goodness [0,1] 0.992822966507177 Centerline is valid? [True, True] Translation: X:351.93, Y:-259.66, Z:-18.11 [[ 7.14195520e-01 6.98522055e-01 4.46284494e-02 3.51928137e+02] [-6.97240589e-01 7.15587954e-01 -4.23017965e-02 -2.59659082e+02] [-6.14843186e-02 -9.05012798e-04 9.98107639e-01 -1.81144797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76864 meters Centerline goodness [0,1] 0.9925329428989751 Centerline is valid? [True, True] Translation: X:351.95, Y:-259.68, Z:-18.12 [[ 7.15455967e-01 6.97204058e-01 4.50473046e-02 3.51953717e+02] [-6.95894106e-01 7.16872299e-01 -4.27258802e-02 -2.59679356e+02] [-6.20818219e-02 -7.79667752e-04 9.98070759e-01 -1.81155865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79864 meters Centerline goodness [0,1] 0.9918516711393023 Centerline is valid? [True, True] Translation: X:351.98, Y:-259.70, Z:-18.12 [[ 7.16380455e-01 6.96259629e-01 4.49618999e-02 3.51979007e+02] [-6.94950081e-01 7.17789723e-01 -4.26883836e-02 -2.59699116e+02] [-6.19953878e-02 -6.65152315e-04 9.98076214e-01 -1.81162333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82864 meters Centerline goodness [0,1] 0.9928703974997558 Centerline is valid? [True, True] Translation: X:352.01, Y:-259.72, Z:-18.12 [[ 7.18222228e-01 6.94420793e-01 4.40067435e-02 3.52006581e+02] [-6.93160515e-01 7.19568998e-01 -4.18205419e-02 -2.59716906e+02] [-6.07069422e-02 -4.67294216e-04 9.98155523e-01 -1.81179230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85864 meters Centerline goodness [0,1] 0.993017578125 Centerline is valid? [True, True] Translation: X:352.03, Y:-259.74, Z:-18.12 [[ 7.18515517e-01 6.94106430e-01 4.41782355e-02 3.52031898e+02] [-6.92833137e-01 7.19872276e-01 -4.20255883e-02 -2.59738801e+02] [-6.09729180e-02 -4.12108130e-04 9.98139336e-01 -1.81190095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88864 meters Centerline goodness [0,1] 0.9922791243158717 Centerline is valid? [True, True] Translation: X:352.06, Y:-259.76, Z:-18.12 [[ 7.19860514e-01 6.92656684e-01 4.50284304e-02 3.52056838e+02] [-6.91328103e-01 7.21267392e-01 -4.28812696e-02 -2.59760804e+02] [-6.21795365e-02 -2.60886634e-04 9.98064946e-01 -1.81203870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91864 meters Centerline goodness [0,1] 0.9928752683974233 Centerline is valid? [True, True] Translation: X:352.08, Y:-259.78, Z:-18.12 [[ 7.20116235e-01 6.92370709e-01 4.53366322e-02 3.52081355e+02] [-6.91020342e-01 7.21541933e-01 -4.32218316e-02 -2.59783276e+02] [-6.26378114e-02 -2.03792418e-04 9.98036303e-01 -1.81208841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94864 meters Centerline goodness [0,1] 0.9929684066604815 Centerline is valid? [True, True] Translation: X:352.11, Y:-259.81, Z:-18.12 [[ 7.20892043e-01 6.91568844e-01 4.52459657e-02 3.52105860e+02] [-6.90219369e-01 7.22310546e-01 -4.31821530e-02 -2.59805695e+02] [-6.25450698e-02 -9.99714083e-05 9.98042136e-01 -1.81219837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97864 meters Centerline goodness [0,1] 0.9927217663149668 Centerline is valid? [True, True] Translation: X:352.13, Y:-259.83, Z:-18.12 [[ 7.21479207e-01 6.91014828e-01 4.43425598e-02 3.52129559e+02] [-6.89715053e-01 7.22840582e-01 -4.23631609e-02 -2.59827743e+02] [-6.13261741e-02 -1.95913447e-05 9.98117779e-01 -1.81232926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00864 meters Centerline goodness [0,1] 0.9938464543856222 Centerline is valid? [True, True] Translation: X:352.15, Y:-259.85, Z:-18.12 [[ 7.22130590e-01 6.90395694e-01 4.33727627e-02 3.52151719e+02] [-6.89148753e-01 7.23431947e-01 -4.14754683e-02 -2.59851656e+02] [-6.00117269e-02 6.04190192e-05 9.98197670e-01 -1.81243949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03864 meters Centerline goodness [0,1] 0.9936025785027104 Centerline is valid? [True, True] Translation: X:352.17, Y:-259.88, Z:-18.12 [[ 7.22107141e-01 6.90466186e-01 4.26347484e-02 3.52173141e+02] [-6.89259217e-01 7.23364665e-01 -4.08080042e-02 -2.59875329e+02] [-5.90170175e-02 8.13579855e-05 9.98256973e-01 -1.81247312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06864 meters Centerline goodness [0,1] 0.9946852601296992 Centerline is valid? [True, True] Translation: X:352.20, Y:-259.90, Z:-18.13 [[ 7.22223397e-01 6.90297134e-01 4.33962297e-02 3.52195676e+02] [-6.89043928e-01 7.23525985e-01 -4.15765973e-02 -2.59897633e+02] [-6.00985058e-02 1.25682750e-04 9.98192443e-01 -1.81281809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09864 meters Centerline goodness [0,1] 0.995005386348056 Centerline is valid? [True, True] Translation: X:352.22, Y:-259.92, Z:-18.13 [[ 7.22418788e-01 6.90128717e-01 4.28187946e-02 3.52217384e+02] [-6.88906640e-01 7.23686623e-01 -4.10525621e-02 -2.59921307e+02] [-5.93189409e-02 1.58990193e-04 9.98239069e-01 -1.81287283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12864 meters Centerline goodness [0,1] 0.9953590620420127 Centerline is valid? [True, True] Translation: X:352.24, Y:-259.95, Z:-18.13 [[ 7.22836107e-01 6.89705804e-01 4.25895154e-02 3.52240042e+02] [-6.88494578e-01 7.24089677e-01 -4.08577519e-02 -2.59946020e+02] [-5.90184571e-02 2.10807925e-04 9.98256869e-01 -1.81307091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15864 meters Centerline goodness [0,1] 0.9956515366199248 Centerline is valid? [True, True] Translation: X:352.26, Y:-259.97, Z:-18.13 [[ 7.24173682e-01 6.88352345e-01 4.17555786e-02 3.52260255e+02] [-6.87183402e-01 7.25376406e-01 -4.01003946e-02 -2.59972365e+02] [-5.78917122e-02 3.45909813e-04 9.98322809e-01 -1.81305038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18864 meters Centerline goodness [0,1] 0.9951648351648351 Centerline is valid? [True, True] Translation: X:352.28, Y:-260.00, Z:-18.13 [[ 7.24437959e-01 6.88084045e-01 4.15931587e-02 3.52282649e+02] [-6.86921272e-01 7.25630891e-01 -3.99871979e-02 -2.59996686e+02] [-5.76958337e-02 3.97018565e-04 9.98334129e-01 -1.81311038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21864 meters Centerline goodness [0,1] 0.9952211439996099 Centerline is valid? [True, True] Translation: X:352.30, Y:-260.02, Z:-18.13 [[ 7.24347271e-01 6.88213650e-01 4.10244251e-02 3.52302901e+02] [-6.87080294e-01 7.25507962e-01 -3.94824903e-02 -2.60022934e+02] [-5.69359357e-02 4.11960011e-04 9.98377749e-01 -1.81307884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24864 meters Centerline goodness [0,1] 0.9949250963743718 Centerline is valid? [True, True] Translation: X:352.33, Y:-260.05, Z:-18.13 [[ 7.24037236e-01 6.88564288e-01 4.06116146e-02 3.52325225e+02] [-6.87451836e-01 7.25175188e-01 -3.91269721e-02 -2.60047626e+02] [-5.63919709e-02 4.10855627e-04 9.98408622e-01 -1.81313518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27864 meters Centerline goodness [0,1] 0.9953168447241328 Centerline is valid? [True, True] Translation: X:352.35, Y:-260.07, Z:-18.13 [[ 7.23065269e-01 6.89616506e-01 4.00710738e-02 3.52345857e+02] [-6.88532905e-01 7.24174668e-01 -3.86456836e-02 -2.60072419e+02] [-5.56691579e-02 3.53098760e-04 9.98449208e-01 -1.81325380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30864 meters Centerline goodness [0,1] 0.9959026388956637 Centerline is valid? [True, True] Translation: X:352.37, Y:-260.10, Z:-18.13 [[ 7.21750271e-01 6.90984380e-01 4.02135995e-02 3.52368724e+02] [-6.89893015e-01 7.22869636e-01 -3.88216138e-02 -2.60096021e+02] [-5.58943187e-02 2.76428861e-04 9.98436652e-01 -1.81343050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33864 meters Centerline goodness [0,1] 0.9958976362570815 Centerline is valid? [True, True] Translation: X:352.39, Y:-260.12, Z:-18.14 [[ 7.20885006e-01 6.91869897e-01 4.05074548e-02 3.52391515e+02] [-6.90761499e-01 7.22022152e-01 -3.91479662e-02 -2.60119465e+02] [-5.63325790e-02 2.40191612e-04 9.98412031e-01 -1.81360246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36863999999997 meters Centerline goodness [0,1] 0.9973657251573248 Centerline is valid? [True, True] Translation: X:352.41, Y:-260.14, Z:-18.14 [[ 7.19749442e-01 6.92970907e-01 4.18576486e-02 3.52411534e+02] [-6.91786734e-01 7.20965524e-01 -4.04947954e-02 -2.60144223e+02] [-5.82396366e-02 1.89540395e-04 9.98302614e-01 -1.81377920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39864 meters Centerline goodness [0,1] 0.9967320261437909 Centerline is valid? [True, True] Translation: X:352.43, Y:-260.17, Z:-18.14 [[ 7.19476163e-01 6.93311664e-01 4.09021677e-02 3.52433441e+02] [-6.92179513e-01 7.20637844e-01 -3.96057986e-02 -2.60168453e+02] [-5.69348121e-02 1.83785552e-04 9.98377881e-01 -1.81376493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42864 meters Centerline goodness [0,1] 0.9972613458528952 Centerline is valid? [True, True] Translation: X:352.46, Y:-260.19, Z:-18.14 [[ 7.19844482e-01 6.92942723e-01 4.06731460e-02 3.52455331e+02] [-6.91820397e-01 7.20992597e-01 -3.94235111e-02 -2.60193047e+02] [-5.66432723e-02 2.40284898e-04 9.98394452e-01 -1.81383718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45864 meters Centerline goodness [0,1] 0.9974614333138059 Centerline is valid? [True, True] Translation: X:352.48, Y:-260.22, Z:-18.14 [[ 7.19232048e-01 6.93557172e-01 4.10330415e-02 3.52478760e+02] [-6.92413362e-01 7.20401554e-01 -3.98162853e-02 -2.60216825e+02] [-5.71751371e-02 2.25322253e-04 9.98364138e-01 -1.81402683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48864 meters Centerline goodness [0,1] 0.9972649572649572 Centerline is valid? [True, True] Translation: X:352.50, Y:-260.24, Z:-18.14 [[ 7.18581866e-01 6.94215303e-01 4.12942348e-02 3.52501724e+02] [-6.93055425e-01 7.19767372e-01 -4.01136856e-02 -2.60240007e+02] [-5.75697773e-02 2.05773607e-04 9.98341464e-01 -1.81409601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51864 meters Centerline goodness [0,1] 0.9975583553081355 Centerline is valid? [True, True] Translation: X:352.52, Y:-260.26, Z:-18.14 [[ 7.16132351e-01 6.96641294e-01 4.29576940e-02 3.52522546e+02] [-6.95387690e-01 7.17419616e-01 -4.17738516e-02 -2.60264042e+02] [-5.99200824e-02 4.33549279e-05 9.98203177e-01 -1.81423337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54864 meters Centerline goodness [0,1] 0.9970245353885177 Centerline is valid? [True, True] Translation: X:352.55, Y:-260.29, Z:-18.14 [[ 7.14160750e-01 6.98599250e-01 4.39716978e-02 3.52545183e+02] [-6.97286865e-01 7.15513158e-01 -4.28012756e-02 -2.60286962e+02] [-6.13632674e-02 -9.38962001e-05 9.98115495e-01 -1.81441827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57864 meters Centerline goodness [0,1] 0.996677091477717 Centerline is valid? [True, True] Translation: X:352.57, Y:-260.31, Z:-18.14 [[ 7.10185064e-01 7.02651171e-01 4.38007636e-02 3.52567800e+02] [-7.01354013e-01 7.11534372e-01 -4.26776883e-02 -2.60311017e+02] [-6.11532765e-02 -4.10784512e-04 9.98128302e-01 -1.81442863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60864 meters Centerline goodness [0,1] 0.9970675920043008 Centerline is valid? [True, True] Translation: X:352.59, Y:-260.33, Z:-18.15 [[ 7.08960741e-01 7.03936609e-01 4.29874143e-02 3.52590684e+02] [-7.02686882e-01 7.10262642e-01 -4.19300040e-02 -2.60334150e+02] [-6.00484193e-02 -4.79965432e-04 9.98195350e-01 -1.81467855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.63864 meters Centerline goodness [0,1] 0.997117592456886 Centerline is valid? [True, True] Translation: X:352.61, Y:-260.36, Z:-18.15 [[ 7.08113577e-01 7.04897741e-01 4.11623103e-02 3.52613066e+02] [-7.03751270e-01 7.09308759e-01 -4.01899867e-02 -2.60357265e+02] [-5.75266181e-02 -5.08952881e-04 9.98343843e-01 -1.81476628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66864 meters Centerline goodness [0,1] 0.996919014084507 Centerline is valid? [True, True] Translation: X:352.64, Y:-260.38, Z:-18.15 [[ 7.07794745e-01 7.05187757e-01 4.16752477e-02 3.52635890e+02] [-7.04010650e-01 7.09020427e-01 -4.07312916e-02 -2.60380977e+02] [-5.82718101e-02 -5.10424093e-04 9.98300624e-01 -1.81487844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.69864 meters Centerline goodness [0,1] 0.9962417024599766 Centerline is valid? [True, True] Translation: X:352.66, Y:-260.40, Z:-18.15 [[ 7.07411941e-01 7.05470096e-01 4.33622966e-02 3.52658651e+02] [-7.04193491e-01 7.08739493e-01 -4.24247387e-02 -2.60403931e+02] [-6.06619566e-02 -5.23680250e-04 9.98158230e-01 -1.81493726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72864 meters Centerline goodness [0,1] 0.9971181556195965 Centerline is valid? [True, True] Translation: X:352.68, Y:-260.43, Z:-18.15 [[ 7.07676215e-01 7.05228995e-01 4.29702207e-02 3.52681605e+02] [-7.03972562e-01 7.08979438e-01 -4.20807291e-02 -2.60426125e+02] [-6.01415533e-02 -4.70325261e-04 9.98189748e-01 -1.81508117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.75864 meters Centerline goodness [0,1] 0.9976575081743204 Centerline is valid? [True, True] Translation: X:352.70, Y:-260.45, Z:-18.15 [[ 7.07411004e-01 7.05507800e-01 4.27599662e-02 3.52704720e+02] [-7.04261659e-01 7.08702004e-01 -4.19164122e-02 -2.60449655e+02] [-5.98764295e-02 -4.62073526e-04 9.98205690e-01 -1.81527371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78864 meters Centerline goodness [0,1] 0.9967797023664309 Centerline is valid? [True, True] Translation: X:352.73, Y:-260.47, Z:-18.15 [[ 7.06916920e-01 7.06071154e-01 4.16172250e-02 3.52727229e+02] [-7.04889342e-01 7.08140740e-01 -4.08375814e-02 -2.60472320e+02] [-5.83050908e-02 -4.66761106e-04 9.98298702e-01 -1.81539566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.81864 meters Centerline goodness [0,1] 0.9968240007817845 Centerline is valid? [True, True] Translation: X:352.75, Y:-260.49, Z:-18.15 [[ 7.05333389e-01 7.07663210e-01 4.14438317e-02 3.52751026e+02] [-7.06491639e-01 7.06549686e-01 -4.07075584e-02 -2.60494652e+02] [-5.80893677e-02 -5.67320456e-04 9.98311226e-01 -1.81545558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84864 meters Centerline goodness [0,1] 0.9957041737856969 Centerline is valid? [True, True] Translation: X:352.77, Y:-260.52, Z:-18.16 [[ 7.04317420e-01 7.08612525e-01 4.24883664e-02 3.52773879e+02] [-7.07380241e-01 7.05597542e-01 -4.17768323e-02 -2.60517175e+02] [-5.95832735e-02 -6.31280113e-04 9.98223139e-01 -1.81557707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.87864 meters Centerline goodness [0,1] 0.9965347259505101 Centerline is valid? [True, True] Translation: X:352.80, Y:-260.54, Z:-18.16 [[ 7.04525759e-01 7.08401783e-01 4.25484227e-02 3.52797490e+02] [-7.07163161e-01 7.05809160e-01 -4.18771156e-02 -2.60540717e+02] [-5.96968899e-02 -5.85170445e-04 9.98216379e-01 -1.81580468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90864 meters Centerline goodness [0,1] 0.9967765567765567 Centerline is valid? [True, True] Translation: X:352.82, Y:-260.56, Z:-18.16 [[ 7.04870101e-01 7.08048841e-01 4.27197866e-02 3.52821285e+02] [-7.06796857e-01 7.06163269e-01 -4.20908485e-02 -2.60564102e+02] [-5.99695207e-02 -5.25630306e-04 9.98200070e-01 -1.81584416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93864 meters Centerline goodness [0,1] 0.9972677595628415 Centerline is valid? [True, True] Translation: X:352.84, Y:-260.59, Z:-18.16 [[ 7.05881050e-01 7.07086107e-01 4.19664220e-02 3.52844357e+02] [-7.05873765e-01 7.07127338e-01 -4.13902926e-02 -2.60585799e+02] [-5.89421051e-02 -4.06373036e-04 9.98261320e-01 -1.81605268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96864 meters Centerline goodness [0,1] 0.9976076555023924 Centerline is valid? [True, True] Translation: X:352.87, Y:-260.61, Z:-18.16 [[ 7.07213271e-01 7.05792026e-01 4.13159222e-02 3.52866456e+02] [-7.04612584e-01 7.08419046e-01 -4.07867806e-02 -2.60608567e+02] [-5.80559708e-02 -2.66766202e-04 9.98313294e-01 -1.81610700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99864 meters Centerline goodness [0,1] 0.9972161172161172 Centerline is valid? [True, True] Translation: X:352.89, Y:-260.63, Z:-18.16 [[ 7.08616645e-01 7.04404525e-01 4.09477219e-02 3.52889589e+02] [-7.03241388e-01 7.09798740e-01 -4.04635568e-02 -2.60632137e+02] [-5.75673539e-02 -1.22982906e-04 9.98341617e-01 -1.81618235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02864 meters Centerline goodness [0,1] 0.9971690745802421 Centerline is valid? [True, True] Translation: X:352.91, Y:-260.66, Z:-18.16 [[ 7.08432478e-01 7.04621136e-01 4.04039479e-02 3.52913146e+02] [-7.03486591e-01 7.09583711e-01 -3.99696590e-02 -2.60655571e+02] [-5.68334499e-02 -1.07830976e-04 9.98383667e-01 -1.81627623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05864 meters Centerline goodness [0,1] 0.9962400507837297 Centerline is valid? [True, True] Translation: X:352.94, Y:-260.68, Z:-18.16 [[ 7.08340266e-01 7.04743617e-01 3.98811036e-02 3.52936262e+02] [-7.03636040e-01 7.09462069e-01 -3.94955218e-02 -2.60678808e+02] [-5.61283472e-02 -8.55134397e-05 9.98423558e-01 -1.81639101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08864 meters Centerline goodness [0,1] 0.9968722510018571 Centerline is valid? [True, True] Translation: X:352.96, Y:-260.70, Z:-18.17 [[ 7.07563785e-01 7.05479549e-01 4.06459878e-02 3.52959049e+02] [-7.04327689e-01 7.08730268e-01 -4.02978143e-02 -2.60702278e+02] [-5.72363257e-02 -1.14820585e-04 9.98360651e-01 -1.81661613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11863999999997 meters Centerline goodness [0,1] 0.996780801872988 Centerline is valid? [True, True] Translation: X:352.98, Y:-260.73, Z:-18.17 [[ 7.07314731e-01 7.05720679e-01 4.07945419e-02 3.52980546e+02] [-7.04558209e-01 7.08490164e-01 -4.04897208e-02 -2.60727195e+02] [-5.74769649e-02 -1.03153378e-04 9.98346827e-01 -1.81656796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14864 meters Centerline goodness [0,1] 0.9959982431311307 Centerline is valid? [True, True] Translation: X:353.00, Y:-260.75, Z:-18.17 [[ 7.07251920e-01 7.05806496e-01 4.03969312e-02 3.53002165e+02] [-7.04664235e-01 7.08404676e-01 -4.01389029e-02 -2.60751785e+02] [-5.69476733e-02 -7.79564631e-05 9.98377161e-01 -1.81665827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17864 meters Centerline goodness [0,1] 0.996244818336991 Centerline is valid? [True, True] Translation: X:353.02, Y:-260.78, Z:-18.17 [[ 7.07000545e-01 7.06068546e-01 4.02173796e-02 3.53024779e+02] [-7.04934360e-01 7.08143491e-01 -4.00042908e-02 -2.60776003e+02] [-5.67254470e-02 -6.75573844e-05 9.98389813e-01 -1.81689389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20864 meters Centerline goodness [0,1] 0.9960839982377993 Centerline is valid? [True, True] Translation: X:353.05, Y:-260.80, Z:-18.17 [[ 7.07506517e-01 7.05540396e-01 4.05866717e-02 3.53047024e+02] [-7.04381847e-01 7.08669704e-01 -4.04161391e-02 -2.60799868e+02] [-5.72777634e-02 6.16698742e-06 9.98358281e-01 -1.81695359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23864 meters Centerline goodness [0,1] 0.9960451149846199 Centerline is valid? [True, True] Translation: X:353.07, Y:-260.82, Z:-18.17 [[ 7.08098924e-01 7.04879619e-01 4.17209521e-02 3.53067608e+02] [-7.03651595e-01 7.09326945e-01 -4.15898756e-02 -2.60824822e+02] [-5.89096511e-02 9.27316029e-05 9.98263314e-01 -1.81713939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26864 meters Centerline goodness [0,1] 0.9958013962798418 Centerline is valid? [True, True] Translation: X:353.09, Y:-260.85, Z:-18.17 [[ 7.07774015e-01 7.05149880e-01 4.26566538e-02 3.53089162e+02] [-7.03864113e-01 7.09058275e-01 -4.25637650e-02 -2.60848641e+02] [-6.02598871e-02 1.01039070e-04 9.98182717e-01 -1.81729417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29864 meters Centerline goodness [0,1] 0.9958013962798418 Centerline is valid? [True, True] Translation: X:353.11, Y:-260.87, Z:-18.17 [[ 7.07388181e-01 7.05538232e-01 4.26352491e-02 3.53112361e+02] [-7.04251878e-01 7.08671852e-01 -4.25851990e-02 -2.60871357e+02] [-6.02598869e-02 9.83121940e-05 9.98182717e-01 -1.81741435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32864 meters Centerline goodness [0,1] 0.9958005762000097 Centerline is valid? [True, True] Translation: X:353.13, Y:-260.90, Z:-18.17 [[ 7.07340846e-01 7.05650616e-01 4.15467762e-02 3.53132281e+02] [-7.04426846e-01 7.08559944e-01 -4.15406387e-02 -2.60896287e+02] [-5.87515587e-02 1.16725989e-04 9.98272628e-01 -1.81747640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35864 meters Centerline goodness [0,1] 0.9963888346671872 Centerline is valid? [True, True] Translation: X:353.30, Y:-260.86, Z:-16.68 [[ 7.57297014e-01 -6.52999745e-01 -9.62111170e-03 3.53302878e+02] [-6.52896002e-01 -7.57353022e-01 1.19670605e-02 -2.60864848e+02] [-1.51010655e-02 -2.78103381e-03 -9.99882105e-01 -1.66844508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38864 meters Centerline goodness [0,1] 0.9962859795728877 Centerline is valid? [True, True] Translation: X:353.19, Y:-260.97, Z:-18.18 [[ 7.58931002e-01 6.49680216e-01 4.40380581e-02 3.53185922e+02] [-6.48578370e-01 7.60207601e-01 -3.78219639e-02 -2.60967639e+02] [-5.80502482e-02 1.42128992e-04 9.98313652e-01 -1.81797083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41864 meters Centerline goodness [0,1] 0.9953168447241328 Centerline is valid? [True, True] Translation: X:353.21, Y:-260.99, Z:-18.18 [[ 7.58504236e-01 6.50124638e-01 4.48249860e-02 3.53207453e+02] [-6.48981255e-01 7.59827569e-01 -3.85408323e-02 -2.60992995e+02] [-5.91156047e-02 1.42808871e-04 9.98251133e-01 -1.81824747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44864 meters Centerline goodness [0,1] 0.9959448895837405 Centerline is valid? [True, True] Translation: X:353.23, Y:-261.02, Z:-18.18 [[ 7.57909812e-01 6.50785792e-01 4.52832189e-02 3.53230498e+02] [-6.49617465e-01 7.59261376e-01 -3.89783534e-02 -2.61016256e+02] [-5.97483577e-02 1.25306654e-04 9.98213463e-01 -1.81832664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47864 meters Centerline goodness [0,1] 0.9951577402787968 Centerline is valid? [True, True] Translation: X:353.25, Y:-261.04, Z:-18.18 [[ 7.56633846e-01 6.52193373e-01 4.63576130e-02 3.53251626e+02] [-6.50968920e-01 7.58052638e-01 -3.99457574e-02 -2.61041506e+02] [-6.11938691e-02 4.69468373e-05 9.98125898e-01 -1.81840954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50864 meters Centerline goodness [0,1] 0.9955525145398563 Centerline is valid? [True, True] Translation: X:353.28, Y:-261.06, Z:-18.18 [[ 7.55904939e-01 6.53111908e-01 4.53051778e-02 3.53275248e+02] [-6.51941890e-01 7.57261405e-01 -3.90760299e-02 -2.61064005e+02] [-5.98288831e-02 1.42071793e-06 9.98208648e-01 -1.81848433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53864 meters Centerline goodness [0,1] 0.9959494412180957 Centerline is valid? [True, True] Translation: X:353.30, Y:-261.09, Z:-18.19 [[ 7.55290461e-01 6.53832452e-01 4.51602099e-02 3.53299721e+02] [-6.52668831e-01 7.56639362e-01 -3.89906700e-02 -2.61086607e+02] [-5.96633578e-02 -2.53802818e-05 9.98218555e-01 -1.81866607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56864 meters Centerline goodness [0,1] 0.9959988289255391 Centerline is valid? [True, True] Translation: X:353.32, Y:-261.11, Z:-18.19 [[ 7.52462576e-01 6.56925675e-01 4.74207733e-02 3.53322652e+02] [-6.55645867e-01 7.53955301e-01 -4.09866086e-02 -2.61108868e+02] [-6.26782989e-02 -2.50344903e-04 9.98033751e-01 -1.81886853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59864 meters Centerline goodness [0,1] 0.9954146341463415 Centerline is valid? [True, True] Translation: X:353.35, Y:-261.13, Z:-18.19 [[ 7.50415729e-01 6.59262283e-01 4.74286267e-02 3.53347443e+02] [-6.57984099e-01 7.51912941e-01 -4.10348041e-02 -2.61130658e+02] [-6.27148968e-02 -4.14119768e-04 9.98031397e-01 -1.81893121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62864 meters Centerline goodness [0,1] 0.9950748524893939 Centerline is valid? [True, True] Translation: X:353.37, Y:-261.15, Z:-18.19 [[ 7.48086685e-01 6.61794386e-01 4.89336603e-02 3.53371493e+02] [-6.60436321e-01 7.49685143e-01 -4.23798511e-02 -2.61151206e+02] [-6.47315856e-02 -6.13764287e-04 9.97902523e-01 -1.81900702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65864 meters Centerline goodness [0,1] 0.995608685045133 Centerline is valid? [True, True] Translation: X:353.40, Y:-261.17, Z:-18.19 [[ 7.47297017e-01 6.62614344e-01 4.98938896e-02 3.53395484e+02] [-6.61201626e-01 7.48960469e-01 -4.32507235e-02 -2.61172078e+02] [-6.60271007e-02 -6.68784313e-04 9.97817606e-01 -1.81915528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68864 meters Centerline goodness [0,1] 0.9961446488702357 Centerline is valid? [True, True] Translation: X:353.42, Y:-261.19, Z:-18.19 [[ 7.47668476e-01 6.62269687e-01 4.88949057e-02 3.53420410e+02] [-6.60909769e-01 7.49265311e-01 -4.24237142e-02 -2.61192388e+02] [-6.47311966e-02 -5.96247087e-04 9.97902559e-01 -1.81926021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71864 meters Centerline goodness [0,1] 0.994728878910635 Centerline is valid? [True, True] Translation: X:353.45, Y:-261.21, Z:-18.19 [[ 7.47884761e-01 6.62042685e-01 4.86607334e-02 3.53446949e+02] [-6.60692612e-01 7.49465936e-01 -4.22620932e-02 -2.61212270e+02] [-6.44488718e-02 -5.42611574e-04 9.97920863e-01 -1.81929828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74864 meters Centerline goodness [0,1] 0.9951726155646577 Centerline is valid? [True, True] Translation: X:353.47, Y:-261.23, Z:-18.19 [[ 7.48019250e-01 6.61908088e-01 4.84240165e-02 3.53472467e+02] [-6.60567972e-01 7.49584844e-01 -4.21012590e-02 -2.61233114e+02] [-6.41650726e-02 -4.94802177e-04 9.97939176e-01 -1.81933869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77864 meters Centerline goodness [0,1] 0.9950107611035023 Centerline is valid? [True, True] Translation: X:353.50, Y:-261.25, Z:-18.19 [[ 7.48978841e-01 6.60850767e-01 4.80308162e-02 3.53498216e+02] [-6.59527485e-01 7.50517240e-01 -4.18015394e-02 -2.61253080e+02] [-6.36725350e-02 -3.69174907e-04 9.97970777e-01 -1.81948531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80864 meters Centerline goodness [0,1] 0.9958036498487363 Centerline is valid? [True, True] Translation: X:353.52, Y:-261.27, Z:-18.20 [[ 7.49329974e-01 6.60452085e-01 4.80378365e-02 3.53523980e+02] [-6.59124924e-01 7.50868132e-01 -4.18495348e-02 -2.61273106e+02] [-6.37096930e-02 -3.03824462e-04 9.97968428e-01 -1.81960831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83864 meters Centerline goodness [0,1] 0.99501953125 Centerline is valid? [True, True] Translation: X:353.55, Y:-261.29, Z:-18.20 [[ 7.49823159e-01 6.59932234e-01 4.74834337e-02 3.53549374e+02] [-6.58631850e-01 7.51325094e-01 -4.14088089e-02 -2.61292430e+02] [-6.30025031e-02 -2.24817873e-04 9.98013344e-01 -1.81972971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86863999999997 meters Centerline goodness [0,1] 0.9958046733987024 Centerline is valid? [True, True] Translation: X:353.58, Y:-261.31, Z:-18.20 [[ 7.49439357e-01 6.60355437e-01 4.76586446e-02 3.53575876e+02] [-6.59043638e-01 7.50953157e-01 -4.16033574e-02 -2.61312172e+02] [-6.32624129e-02 -2.29933045e-04 9.97996901e-01 -1.81990455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89864 meters Centerline goodness [0,1] 0.9961895456765999 Centerline is valid? [True, True] Translation: X:353.60, Y:-261.33, Z:-18.20 [[ 7.48744543e-01 6.61122580e-01 4.79431353e-02 3.53601367e+02] [-6.59793730e-01 7.50277859e-01 -4.18971173e-02 -2.61333145e+02] [-6.36698032e-02 -2.62342133e-04 9.97970985e-01 -1.81998282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92864 meters Centerline goodness [0,1] 0.9952155445979592 Centerline is valid? [True, True] Translation: X:353.63, Y:-261.35, Z:-18.20 [[ 7.47485700e-01 6.62598659e-01 4.72032303e-02 3.53626519e+02] [-6.61310852e-01 7.48974561e-01 -4.12924157e-02 -2.61352945e+02] [-6.27143180e-02 -3.50518155e-04 9.98031458e-01 -1.82006374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95864 meters Centerline goodness [0,1] 0.9950659501709819 Centerline is valid? [True, True] Translation: X:353.65, Y:-261.37, Z:-18.20 [[ 7.46638979e-01 6.63554333e-01 4.71792583e-02 3.53651297e+02] [-6.62267129e-01 7.48127989e-01 -4.13129737e-02 -2.61374422e+02] [-6.27095263e-02 -3.99395467e-04 9.98031741e-01 -1.82028556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98864 meters Centerline goodness [0,1] 0.9950688409335026 Centerline is valid? [True, True] Translation: X:353.68, Y:-261.40, Z:-18.20 [[ 7.46011992e-01 6.64320512e-01 4.63073009e-02 3.53675818e+02] [-6.63079414e-01 7.47447709e-01 -4.05907933e-02 -2.61395267e+02] [-6.15775826e-02 -4.24199376e-04 9.98102210e-01 -1.82038169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01864 meters Centerline goodness [0,1] 0.9947843041676822 Centerline is valid? [True, True] Translation: X:353.70, Y:-261.42, Z:-18.20 [[ 7.44753459e-01 6.65760397e-01 4.58843989e-02 3.53701399e+02] [-6.64542171e-01 7.46165421e-01 -4.02600010e-02 -2.61415819e+02] [-6.10408660e-02 -5.08343043e-04 9.98135138e-01 -1.82049127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04864 meters Centerline goodness [0,1] 0.9955512099731118 Centerline is valid? [True, True] Translation: X:353.73, Y:-261.44, Z:-18.21 [[ 7.43618170e-01 6.67036521e-01 4.57634980e-02 3.53726994e+02] [-6.65824482e-01 7.45024795e-01 -4.01971954e-02 -2.61436823e+02] [-6.09079381e-02 -5.79092523e-04 9.98143220e-01 -1.82064359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07864 meters Centerline goodness [0,1] 0.9948244714613544 Centerline is valid? [True, True] Translation: X:353.75, Y:-261.46, Z:-18.21 [[ 7.43064031e-01 6.67660724e-01 4.56618357e-02 3.53752428e+02] [-6.66452620e-01 7.44465447e-01 -4.01510134e-02 -2.61458349e+02] [-6.08009136e-02 -5.96676219e-04 9.98149735e-01 -1.82070335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10864 meters Centerline goodness [0,1] 0.9942885037832561 Centerline is valid? [True, True] Translation: X:353.78, Y:-261.48, Z:-18.21 [[ 7.42467696e-01 6.68350740e-01 4.52659876e-02 3.53778316e+02] [-6.67162217e-01 7.43846026e-01 -3.98455391e-02 -2.61479174e+02] [-6.03017205e-02 -6.15731007e-04 9.98180006e-01 -1.82083916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.13864 meters Centerline goodness [0,1] 0.9947761558365473 Centerline is valid? [True, True] Translation: X:353.80, Y:-261.50, Z:-18.21 [[ 7.42003666e-01 6.68880332e-01 4.50517525e-02 3.53804234e+02] [-6.67701471e-01 7.43369835e-01 -3.96993019e-02 -2.61499548e+02] [-6.00441961e-02 -6.24093850e-04 9.98195524e-01 -1.82089293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16864 meters Centerline goodness [0,1] 0.9947232129769873 Centerline is valid? [True, True] Translation: X:353.83, Y:-261.52, Z:-18.21 [[ 7.40188636e-01 6.70768239e-01 4.68054763e-02 3.53830451e+02] [-6.69496802e-01 7.41666615e-01 -4.12875760e-02 -2.61518653e+02] [-6.24084538e-02 -7.75522096e-04 9.98050391e-01 -1.82111819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.19864 meters Centerline goodness [0,1] 0.9955629235945195 Centerline is valid? [True, True] Translation: X:353.86, Y:-261.54, Z:-18.21 [[ 7.39495493e-01 6.71494526e-01 4.73446570e-02 3.53855050e+02] [-6.70192591e-01 7.41009064e-01 -4.18026068e-02 -2.61538947e+02] [-6.31530417e-02 -8.17199006e-04 9.98003520e-01 -1.82121292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22864 meters Centerline goodness [0,1] 0.9947198591962453 Centerline is valid? [True, True] Translation: X:353.88, Y:-261.56, Z:-18.21 [[ 7.37652440e-01 6.73481497e-01 4.78701500e-02 3.53880865e+02] [-6.72152111e-01 7.39203446e-01 -4.23060843e-02 -2.61557889e+02] [-6.38781448e-02 -9.68836122e-04 9.97957236e-01 -1.82122171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.25864 meters Centerline goodness [0,1] 0.9934078812442014 Centerline is valid? [True, True] Translation: X:353.91, Y:-261.58, Z:-18.21 [[ 7.36403700e-01 6.74874653e-01 4.74741392e-02 3.53906748e+02] [-6.73567471e-01 7.37931636e-01 -4.19971682e-02 -2.61577885e+02] [-6.33754936e-02 -1.05016585e-03 9.97989200e-01 -1.82133047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28864 meters Centerline goodness [0,1] 0.9935125115848007 Centerline is valid? [True, True] Translation: X:353.93, Y:-261.60, Z:-18.21 [[ 7.34960992e-01 6.76454144e-01 4.73511490e-02 3.53932821e+02] [-6.75154192e-01 7.36483854e-01 -4.19326730e-02 -2.61598234e+02] [-6.32388871e-02 -1.15044785e-03 9.97997755e-01 -1.82146228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.31864 meters Centerline goodness [0,1] 0.9922294985827388 Centerline is valid? [True, True] Translation: X:353.96, Y:-261.62, Z:-18.22 [[ 7.33892617e-01 6.77586417e-01 4.77312747e-02 3.53958336e+02] [-6.76265170e-01 7.35442141e-01 -4.23116673e-02 -2.61617468e+02] [-6.37734019e-02 -1.22677831e-03 9.97963651e-01 -1.82158467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34864 meters Centerline goodness [0,1] 0.993556575222103 Centerline is valid? [True, True] Translation: X:353.98, Y:-261.64, Z:-18.22 [[ 7.33581208e-01 6.77935587e-01 4.75599791e-02 3.53983978e+02] [-6.76621925e-01 7.35120294e-01 -4.22009965e-02 -2.61637586e+02] [-6.35718631e-02 -1.22226663e-03 9.97976515e-01 -1.82170081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.37864 meters Centerline goodness [0,1] 0.9943784523634942 Centerline is valid? [True, True] Translation: X:354.01, Y:-261.66, Z:-18.22 [[ 7.33060321e-01 6.78561580e-01 4.66556384e-02 3.54011470e+02] [-6.77296150e-01 7.34542503e-01 -4.14395428e-02 -2.61655583e+02] [-6.23898310e-02 -1.22199976e-03 9.98051109e-01 -1.82194961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40864 meters Centerline goodness [0,1] 0.9938015520523208 Centerline is valid? [True, True] Translation: X:354.04, Y:-261.68, Z:-18.22 [[ 7.32903544e-01 6.78778872e-01 4.59525558e-02 3.54036924e+02] [-6.77549452e-01 7.34341757e-01 -4.08524570e-02 -2.61675676e+02] [-6.14746653e-02 -1.19421846e-03 9.98107930e-01 -1.82205116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43864 meters Centerline goodness [0,1] 0.9929150786670575 Centerline is valid? [True, True] Translation: X:354.06, Y:-261.69, Z:-18.22 [[ 7.33238178e-01 6.78462308e-01 4.52843281e-02 3.54063461e+02] [-6.77266143e-01 7.34634343e-01 -4.02858860e-02 -2.61694945e+02] [-6.05998778e-02 -1.13039259e-03 9.98161498e-01 -1.82208456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46864 meters Centerline goodness [0,1] 0.9924859721883387 Centerline is valid? [True, True] Translation: X:354.09, Y:-261.71, Z:-18.22 [[ 7.32943225e-01 6.78728125e-01 4.60690923e-02 3.54089501e+02] [-6.77489178e-01 7.34388724e-01 -4.10075023e-02 -2.61714269e+02] [-6.16655671e-02 -1.15514049e-03 9.98096200e-01 -1.82220283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49864 meters Centerline goodness [0,1] 0.9938057845193387 Centerline is valid? [True, True] Translation: X:354.12, Y:-261.73, Z:-18.22 [[ 7.33451975e-01 6.78192903e-01 4.58539832e-02 3.54115844e+02] [-6.76962150e-01 7.34883138e-01 -4.08536465e-02 -2.61733057e+02] [-6.14039722e-02 -1.07722334e-03 9.98112414e-01 -1.82232485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52864 meters Centerline goodness [0,1] 0.9947247594392614 Centerline is valid? [True, True] Translation: X:354.14, Y:-261.75, Z:-18.22 [[ 7.34943273e-01 6.76573096e-01 4.59045945e-02 3.54143229e+02] [-6.75334132e-01 7.36374911e-01 -4.09365518e-02 -2.61750880e+02] [-6.14995612e-02 -9.14896162e-04 9.98106691e-01 -1.82238546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55864 meters Centerline goodness [0,1] 0.9938000390548721 Centerline is valid? [True, True] Translation: X:354.17, Y:-261.77, Z:-18.23 [[ 7.36159594e-01 6.75249691e-01 4.59010582e-02 3.54168600e+02] [-6.74006002e-01 7.37588810e-01 -4.09714190e-02 -2.61770686e+02] [-6.15220449e-02 -7.76085506e-04 9.98105423e-01 -1.82259726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58864 meters Centerline goodness [0,1] 0.9938982719906277 Centerline is valid? [True, True] Translation: X:354.20, Y:-261.79, Z:-18.23 [[ 7.38200960e-01 6.73144006e-01 4.40055629e-02 3.54196406e+02] [-6.71995123e-01 7.39511221e-01 -3.93154907e-02 -2.61787274e+02] [-5.90075945e-02 -5.48790738e-04 9.98257383e-01 -1.82269113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61863999999997 meters Centerline goodness [0,1] 0.994578224979241 Centerline is valid? [True, True] Translation: X:354.22, Y:-261.81, Z:-18.23 [[ 7.39341184e-01 6.71977482e-01 4.26717459e-02 3.54222229e+02] [-6.70893273e-01 7.40571463e-01 -3.81591995e-02 -2.61806077e+02] [-5.72436001e-02 -4.15519528e-04 9.98360154e-01 -1.82281151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64864 meters Centerline goodness [0,1] 0.9937414433796206 Centerline is valid? [True, True] Translation: X:354.25, Y:-261.82, Z:-18.23 [[ 7.41030389e-01 6.70193679e-01 4.14052608e-02 3.54248065e+02] [-6.69168208e-01 7.42186212e-01 -3.70612581e-02 -2.61824931e+02] [-5.55686346e-02 -2.43565633e-04 9.98454840e-01 -1.82268731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67864 meters Centerline goodness [0,1] 0.995119332324662 Centerline is valid? [True, True] Translation: X:354.27, Y:-261.85, Z:-18.23 [[ 7.41486039e-01 6.69674245e-01 4.16516483e-02 3.54273792e+02] [-6.68633584e-01 7.42654950e-01 -3.73196398e-02 -2.61845590e+02] [-5.59248044e-02 -1.77699034e-04 9.98434968e-01 -1.82278647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70864 meters Centerline goodness [0,1] 0.9959972664258518 Centerline is valid? [True, True] Translation: X:354.30, Y:-261.87, Z:-18.23 [[ 7.41727941e-01 6.69340700e-01 4.26929588e-02 3.54298999e+02] [-6.68244406e-01 7.42955592e-01 -3.82936396e-02 -2.61865666e+02] [-5.73504640e-02 -1.25868406e-04 9.98354100e-01 -1.82291281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73864 meters Centerline goodness [0,1] 0.9959494412180957 Centerline is valid? [True, True] Translation: X:354.32, Y:-261.89, Z:-18.23 [[ 7.42155927e-01 6.68836398e-01 4.31561448e-02 3.54324557e+02] [-6.67713028e-01 7.43409625e-01 -3.87484462e-02 -2.61886701e+02] [-5.79990645e-02 -5.85310848e-05 9.98316636e-01 -1.82303750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76864 meters Centerline goodness [0,1] 0.9950710067834659 Centerline is valid? [True, True] Translation: X:354.35, Y:-261.91, Z:-18.23 [[ 7.41719941e-01 6.69370033e-01 4.23708369e-02 3.54348692e+02] [-6.68286297e-01 7.42929171e-01 -3.80745561e-02 -2.61908700e+02] [-5.69644976e-02 -7.51922193e-05 9.98376202e-01 -1.82307057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79864 meters Centerline goodness [0,1] 0.9966809839906287 Centerline is valid? [True, True] Translation: X:354.37, Y:-261.93, Z:-18.23 [[ 7.41449778e-01 6.69670594e-01 4.23500016e-02 3.54372798e+02] [-6.68587092e-01 7.42658259e-01 -3.80790153e-02 -2.61930853e+02] [-5.69519752e-02 -8.09869706e-05 9.98376916e-01 -1.82308482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82864 meters Centerline goodness [0,1] 0.9958536585365854 Centerline is valid? [True, True] Translation: X:354.40, Y:-261.95, Z:-18.23 [[ 7.40916741e-01 6.70238665e-01 4.26909254e-02 3.54397223e+02] [-6.69136134e-01 7.42145622e-01 -3.84279981e-02 -2.61952864e+02] [-5.74388134e-02 -9.40936326e-05 9.98349024e-01 -1.82327159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85864 meters Centerline goodness [0,1] 0.9958976362570815 Centerline is valid? [True, True] Translation: X:354.42, Y:-261.98, Z:-18.23 [[ 7.42011108e-01 6.69078900e-01 4.18681489e-02 3.54419962e+02] [-6.68014437e-01 7.43191379e-01 -3.77264761e-02 -2.61975925e+02] [-5.63580364e-02 2.49363917e-05 9.98410622e-01 -1.82333741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88864 meters Centerline goodness [0,1] 0.9957536118703632 Centerline is valid? [True, True] Translation: X:354.44, Y:-262.00, Z:-18.23 [[ 7.42233675e-01 6.68897767e-01 4.08037797e-02 3.54442837e+02] [-6.67884598e-01 7.43354406e-01 -3.68020544e-02 -2.61998592e+02] [-5.49484814e-02 6.35081234e-05 9.98489189e-01 -1.82346072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91864 meters Centerline goodness [0,1] 0.9959966801738027 Centerline is valid? [True, True] Translation: X:354.47, Y:-262.02, Z:-18.24 [[ 7.41977230e-01 6.69234310e-01 3.99403155e-02 3.54466148e+02] [-6.68262249e-01 7.43051435e-01 -3.60573309e-02 -2.62021444e+02] [-5.38085117e-02 6.31134143e-05 9.98551271e-01 -1.82356698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94864 meters Centerline goodness [0,1] 0.9949223708622205 Centerline is valid? [True, True] Translation: X:354.49, Y:-262.05, Z:-18.24 [[ 7.40781837e-01 6.70594846e-01 3.93042244e-02 3.54488736e+02] [-6.69653570e-01 7.41823801e-01 -3.55182160e-02 -2.62045180e+02] [-5.29751418e-02 -8.96490422e-06 9.98595831e-01 -1.82372013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97864 meters Centerline goodness [0,1] 0.995900439238653 Centerline is valid? [True, True] Translation: X:354.51, Y:-262.07, Z:-18.24 [[ 7.38610061e-01 6.72901418e-01 4.07291058e-02 3.54511505e+02] [-6.71891912e-01 7.39732154e-01 -3.68456060e-02 -2.62067652e+02] [-5.49220896e-02 -1.51021466e-04 9.98490632e-01 -1.82385215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00864 meters Centerline goodness [0,1] 0.9938836424132701 Centerline is valid? [True, True] Translation: X:354.53, Y:-262.09, Z:-18.24 [[ 7.33539640e-01 6.78440859e-01 4.04672388e-02 3.54532422e+02] [-6.77450759e-01 7.34654827e-01 -3.66436177e-02 -2.62092902e+02] [-5.45899798e-02 -5.35015511e-04 9.98508712e-01 -1.82377166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03864 meters Centerline goodness [0,1] 0.9940479094501634 Centerline is valid? [True, True] Translation: X:354.55, Y:-262.12, Z:-18.24 [[ 7.31039274e-01 6.81085652e-01 4.12785137e-02 3.54554687e+02] [-6.80057600e-01 7.32203398e-01 -3.74144954e-02 -2.62116108e+02] [-5.57067440e-02 -7.20301393e-04 9.98446914e-01 -1.82389254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06864 meters Centerline goodness [0,1] 0.9944883426007218 Centerline is valid? [True, True] Translation: X:354.58, Y:-262.14, Z:-18.24 [[ 7.28609211e-01 6.83632281e-01 4.21369446e-02 3.54577444e+02] [-6.82563149e-01 7.29826063e-01 -3.82291194e-02 -2.62138490e+02] [-5.68873005e-02 -9.07037054e-04 9.98380194e-01 -1.82406288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09864 meters Centerline goodness [0,1] 0.9939920871391589 Centerline is valid? [True, True] Translation: X:354.60, Y:-262.16, Z:-18.24 [[ 7.25373781e-01 6.86944737e-01 4.40432368e-02 3.54600404e+02] [-6.85780444e-01 7.26708682e-01 -3.99959312e-02 -2.62160105e+02] [-5.94815970e-02 -1.19199063e-03 9.98228691e-01 -1.82421474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12864 meters Centerline goodness [0,1] 0.993995020260704 Centerline is valid? [True, True] Translation: X:354.62, Y:-262.18, Z:-18.24 [[ 7.24132046e-01 6.88210122e-01 4.47169823e-02 3.54624489e+02] [-6.87010123e-01 7.25510279e-01 -4.06438874e-02 -2.62181223e+02] [-6.04141650e-02 -1.28947816e-03 9.98172563e-01 -1.82434102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15864 meters Centerline goodness [0,1] 0.994039767453222 Centerline is valid? [True, True] Translation: X:354.65, Y:-262.20, Z:-18.25 [[ 7.23022146e-01 6.89401239e-01 4.43272888e-02 3.54649522e+02] [-6.88221989e-01 7.24378432e-01 -4.03284222e-02 -2.62203072e+02] [-5.99121962e-02 -1.34867253e-03 9.98202740e-01 -1.82463196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18864 meters Centerline goodness [0,1] 0.9935521688159438 Centerline is valid? [True, True] Translation: X:354.67, Y:-262.22, Z:-18.25 [[ 7.23878463e-01 6.88557658e-01 4.34548242e-02 3.54674043e+02] [-6.87421110e-01 7.25180553e-01 -3.95649243e-02 -2.62224765e+02] [-5.87553251e-02 -1.23156687e-03 9.98271654e-01 -1.82461464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21864 meters Centerline goodness [0,1] 0.9935521688159438 Centerline is valid? [True, True] Translation: X:354.70, Y:-262.25, Z:-18.25 [[ 7.23518434e-01 6.88936700e-01 4.34430533e-02 3.54698262e+02] [-6.87800059e-01 7.24820442e-01 -3.95778454e-02 -2.62246417e+02] [-5.87550433e-02 -1.24483388e-03 9.98271654e-01 -1.82473444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24864 meters Centerline goodness [0,1] 0.9942301109970173 Centerline is valid? [True, True] Translation: X:354.72, Y:-262.27, Z:-18.25 [[ 7.23238216e-01 6.89234033e-01 4.33927565e-02 3.54723574e+02] [-6.88098114e-01 7.24537726e-01 -3.95735883e-02 -2.62267809e+02] [-5.87151530e-02 -1.23734248e-03 9.98274010e-01 -1.82486955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27864 meters Centerline goodness [0,1] 0.9932122277566169 Centerline is valid? [True, True] Translation: X:354.75, Y:-262.29, Z:-18.25 [[ 7.22547789e-01 6.89878945e-01 4.46288395e-02 3.54749284e+02] [-6.88676056e-01 7.23923587e-01 -4.07422384e-02 -2.62287944e+02] [-6.04150820e-02 -1.29659890e-03 9.98172498e-01 -1.82489056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30864 meters Centerline goodness [0,1] 0.9954578754578755 Centerline is valid? [True, True] Translation: X:354.77, Y:-262.31, Z:-18.25 [[ 7.21737852e-01 6.90685800e-01 4.52504052e-02 3.54774089e+02] [-6.89448393e-01 7.23153710e-01 -4.13476054e-02 -2.62308406e+02] [-6.12812023e-02 -1.35568724e-03 9.98119620e-01 -1.82503825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33864 meters Centerline goodness [0,1] 0.9956440877055599 Centerline is valid? [True, True] Translation: X:354.80, Y:-262.33, Z:-18.25 [[ 7.20051085e-01 6.92456638e-01 4.50581871e-02 3.54800220e+02] [-6.91230906e-01 7.21457993e-01 -4.12092089e-02 -2.62326891e+02] [-6.10431795e-02 -1.47287590e-03 9.98134040e-01 -1.82517125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36863999999997 meters Centerline goodness [0,1] 0.9965325258839617 Centerline is valid? [True, True] Translation: X:354.83, Y:-262.35, Z:-18.25 [[ 7.18610242e-01 6.93920003e-01 4.55450331e-02 3.54825518e+02] [-6.92668185e-01 7.20050354e-01 -4.16926078e-02 -2.62347210e+02] [-6.17260517e-02 -1.58686046e-03 9.98091868e-01 -1.82545641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39864 meters Centerline goodness [0,1] 0.9958948294399375 Centerline is valid? [True, True] Translation: X:354.85, Y:-262.37, Z:-18.26 [[ 7.18299393e-01 6.94301064e-01 4.46319869e-02 3.54851103e+02] [-6.93097481e-01 7.19682984e-01 -4.08935662e-02 -2.62367318e+02] [-6.05133280e-02 -1.56049391e-03 9.98166170e-01 -1.82553532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42864 meters Centerline goodness [0,1] 0.9971135029354208 Centerline is valid? [True, True] Translation: X:354.88, Y:-262.39, Z:-18.26 [[ 7.17635961e-01 6.94834170e-01 4.69478851e-02 3.54876608e+02] [-6.93500891e-01 7.19168075e-01 -4.30557091e-02 -2.62386569e+02] [-6.36799981e-02 -1.66007497e-03 9.97968988e-01 -1.82575716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45864 meters Centerline goodness [0,1] 0.9975560877853268 Centerline is valid? [True, True] Translation: X:354.90, Y:-262.41, Z:-18.26 [[ 7.18107067e-01 6.94317704e-01 4.73831837e-02 3.54902501e+02] [-6.92955730e-01 7.19666846e-01 -4.34969845e-02 -2.62407147e+02] [-6.43008328e-02 -1.59895666e-03 9.97929279e-01 -1.82586291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48864 meters Centerline goodness [0,1] 0.9975057465642881 Centerline is valid? [True, True] Translation: X:354.93, Y:-262.43, Z:-18.26 [[ 7.20970933e-01 6.91281010e-01 4.82853937e-02 3.54927471e+02] [-6.89857660e-01 7.22584804e-01 -4.43577493e-02 -2.62427295e+02] [-6.55539614e-02 -1.32940082e-03 9.97848140e-01 -1.82601019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51864 meters Centerline goodness [0,1] 0.997755550134179 Centerline is valid? [True, True] Translation: X:354.95, Y:-262.45, Z:-18.26 [[ 7.22156171e-01 6.90017055e-01 4.86510990e-02 3.54951606e+02] [-6.88567410e-01 7.23792107e-01 -4.47203392e-02 -2.62448517e+02] [-6.60710782e-02 -1.20449233e-03 9.97814192e-01 -1.82616109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54864 meters Centerline goodness [0,1] 0.9984882473422413 Centerline is valid? [True, True] Translation: X:354.98, Y:-262.47, Z:-18.26 [[ 7.23454063e-01 6.88603199e-01 4.93948600e-02 3.54977052e+02] [-6.87102498e-01 7.25137582e-01 -4.54493670e-02 -2.62469916e+02] [-6.71146489e-02 -1.05880240e-03 9.97744708e-01 -1.82640348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57864 meters Centerline goodness [0,1] 0.9979969710293615 Centerline is valid? [True, True] Translation: X:355.00, Y:-262.49, Z:-18.27 [[ 7.25236958e-01 6.86865534e-01 4.74035130e-02 3.55001379e+02] [-6.85477038e-01 7.26784046e-01 -4.36598447e-02 -2.62490799e+02] [-6.44405595e-02 -8.30286662e-04 9.97921202e-01 -1.82650019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60864 meters Centerline goodness [0,1] 0.9991214369386958 Centerline is valid? [True, True] Translation: X:355.02, Y:-262.51, Z:-18.27 [[ 7.24957443e-01 6.87172965e-01 4.72231086e-02 3.55024531e+02] [-6.85792914e-01 7.26493386e-01 -4.35366439e-02 -2.62513940e+02] [-6.42244807e-02 -8.23059205e-04 9.97935137e-01 -1.82668640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.63864 meters Centerline goodness [0,1] 0.9981930946916052 Centerline is valid? [True, True] Translation: X:355.05, Y:-262.54, Z:-18.27 [[ 7.22746154e-01 6.89612032e-01 4.55328572e-02 3.55047568e+02] [-6.88331329e-01 7.24178362e-01 -4.20200049e-02 -2.62536526e+02] [-6.19514110e-02 -9.71895194e-04 9.98078693e-01 -1.82669477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66864 meters Centerline goodness [0,1] 0.9986814474776579 Centerline is valid? [True, True] Translation: X:355.07, Y:-262.56, Z:-18.27 [[ 7.20989415e-01 6.91452374e-01 4.54739263e-02 3.55071768e+02] [-6.90176210e-01 7.22421210e-01 -4.20047066e-02 -2.62557613e+02] [-6.18955829e-02 -1.10007326e-03 9.98082024e-01 -1.82683519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.69864 meters Centerline goodness [0,1] 0.998828010547905 Centerline is valid? [True, True] Translation: X:355.10, Y:-262.58, Z:-18.27 [[ 7.17581818e-01 6.94912410e-01 4.66162636e-02 3.55096813e+02] [-6.93575927e-01 7.19093020e-01 -4.31006057e-02 -2.62578128e+02] [-6.34725756e-02 -1.40370724e-03 9.97982596e-01 -1.82714564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72864 meters Centerline goodness [0,1] 0.9983393572335645 Centerline is valid? [True, True] Translation: X:355.12, Y:-262.60, Z:-18.27 [[ 7.16156819e-01 6.96368042e-01 4.68077019e-02 3.55120690e+02] [-6.95021104e-01 7.17683265e-01 -4.33173875e-02 -2.62599494e+02] [-6.37579486e-02 -1.51029822e-03 9.97964249e-01 -1.82724493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.75864 meters Centerline goodness [0,1] 0.9988272087568413 Centerline is valid? [True, True] Translation: X:355.15, Y:-262.62, Z:-18.27 [[ 7.15210011e-01 6.97343102e-01 4.67679266e-02 3.55146172e+02] [-6.95997865e-01 7.16735758e-01 -4.33223366e-02 -2.62620460e+02] [-6.37307779e-02 -1.56580825e-03 9.97965899e-01 -1.82733428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78864 meters Centerline goodness [0,1] 0.9980466842465084 Centerline is valid? [True, True] Translation: X:355.17, Y:-262.64, Z:-18.27 [[ 7.14100068e-01 6.98516631e-01 4.62126470e-02 3.55172985e+02] [-6.97202828e-01 7.15591989e-01 -4.28523185e-02 -2.62640217e+02] [-6.30024572e-02 -1.61874462e-03 9.98012059e-01 -1.82738809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.81864 meters Centerline goodness [0,1] 0.9985837769204473 Centerline is valid? [True, True] Translation: X:355.20, Y:-262.66, Z:-18.27 [[ 7.13848708e-01 6.98777701e-01 4.61491739e-02 3.55199210e+02] [-6.97465237e-01 7.15337082e-01 -4.28381019e-02 -2.62660106e+02] [-6.29465257e-02 -1.60752077e-03 9.98015606e-01 -1.82748308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84864 meters Centerline goodness [0,1] 0.9989758095981272 Centerline is valid? [True, True] Translation: X:355.23, Y:-262.68, Z:-18.28 [[ 7.14534843e-01 6.98107650e-01 4.56691011e-02 3.55226141e+02] [-6.96818422e-01 7.15991237e-01 -4.24338990e-02 -2.62678462e+02] [-6.23221057e-02 -1.50257156e-03 9.98054957e-01 -1.82760751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.87864 meters Centerline goodness [0,1] 0.9987800712438394 Centerline is valid? [True, True] Translation: X:355.25, Y:-262.70, Z:-18.28 [[ 7.14201770e-01 6.98450050e-01 4.56438358e-02 3.55252326e+02] [-6.97160399e-01 7.15657230e-01 -4.24512343e-02 -2.62698776e+02] [-6.23154078e-02 -1.50232815e-03 9.98055376e-01 -1.82777638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90864 meters Centerline goodness [0,1] 0.9990718577499877 Centerline is valid? [True, True] Translation: X:355.28, Y:-262.72, Z:-18.28 [[ 7.14170867e-01 6.98538155e-01 4.47707443e-02 3.55277863e+02] [-6.97295082e-01 7.15571337e-01 -4.16800922e-02 -2.62718009e+02] [-6.11517961e-02 -1.45171226e-03 9.98127422e-01 -1.82781914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93864 meters Centerline goodness [0,1] 0.9977032838154808 Centerline is valid? [True, True] Translation: X:355.31, Y:-262.73, Z:-18.28 [[ 7.13234751e-01 6.99518214e-01 4.43898466e-02 3.55307369e+02] [-6.98295689e-01 7.14613208e-01 -4.13653775e-02 -2.62734771e+02] [-6.06574056e-02 -1.49401378e-03 9.98157526e-01 -1.82792540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96864 meters Centerline goodness [0,1] 0.9981941529601249 Centerline is valid? [True, True] Translation: X:355.34, Y:-262.75, Z:-18.28 [[ 7.12704493e-01 6.99943970e-01 4.61599885e-02 3.55335885e+02] [-6.98620029e-01 7.14196055e-01 -4.30586873e-02 -2.62750996e+02] [-6.31059502e-02 -1.56017261e-03 9.98005614e-01 -1.82797239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99864 meters Centerline goodness [0,1] 0.9974630433722008 Centerline is valid? [True, True] Translation: X:355.36, Y:-262.77, Z:-18.28 [[ 7.12795372e-01 6.99849633e-01 4.61871071e-02 3.55362218e+02] [-6.98521286e-01 7.14288578e-01 -4.31258693e-02 -2.62770662e+02] [-6.31725468e-02 -1.52275739e-03 9.98001458e-01 -1.82812317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02864 meters Centerline goodness [0,1] 0.9980005851945772 Centerline is valid? [True, True] Translation: X:355.39, Y:-262.79, Z:-18.28 [[ 7.12224852e-01 7.00414131e-01 4.64306524e-02 3.55388413e+02] [-6.99070014e-01 7.13734998e-01 -4.33989481e-02 -2.62790417e+02] [-6.35364181e-02 -1.54846743e-03 9.97978319e-01 -1.82825188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05864 meters Centerline goodness [0,1] 0.9982925163430578 Centerline is valid? [True, True] Translation: X:355.42, Y:-262.81, Z:-18.28 [[ 7.13124518e-01 6.99416199e-01 4.76487424e-02 3.55417377e+02] [-6.97995240e-01 7.14713115e-01 -4.45848354e-02 -2.62807078e+02] [-6.52385372e-02 -1.46405614e-03 9.97868624e-01 -1.82841219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08864 meters Centerline goodness [0,1] 0.9982450153561157 Centerline is valid? [True, True] Translation: X:355.45, Y:-262.82, Z:-18.29 [[ 7.13580195e-01 6.98905842e-01 4.83107574e-02 3.55446021e+02] [-6.97440739e-01 7.15212315e-01 -4.52521756e-02 -2.62824335e+02] [-6.61794586e-02 -1.40283405e-03 9.97806750e-01 -1.82850881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11863999999997 meters Centerline goodness [0,1] 0.9978032706858677 Centerline is valid? [True, True] Translation: X:355.47, Y:-262.84, Z:-18.29 [[ 7.13474306e-01 6.99009866e-01 4.83696354e-02 3.55473083e+02] [-6.97538241e-01 7.15110693e-01 -4.53552516e-02 -2.62844266e+02] [-6.62934118e-02 -1.37986375e-03 9.97799218e-01 -1.82869202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14864 meters Centerline goodness [0,1] 0.9976030915227706 Centerline is valid? [True, True] Translation: X:355.50, Y:-262.86, Z:-18.29 [[ 7.13410438e-01 6.99128147e-01 4.75960131e-02 3.55499482e+02] [-6.97700640e-01 7.14995138e-01 -4.46740404e-02 -2.62863130e+02] [-6.52637970e-02 -1.33684206e-03 9.97867150e-01 -1.82887439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17864 meters Centerline goodness [0,1] 0.9975563266702507 Centerline is valid? [True, True] Translation: X:355.53, Y:-262.88, Z:-18.29 [[ 7.13691043e-01 6.98941462e-01 4.61077824e-02 3.55528451e+02] [-6.97599027e-01 7.15177789e-01 -4.33165910e-02 -2.62879481e+02] [-6.32510233e-02 -1.25008114e-03 9.97996866e-01 -1.82905549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20864 meters Centerline goodness [0,1] 0.9962919594067136 Centerline is valid? [True, True] Translation: X:355.55, Y:-262.90, Z:-18.29 [[ 7.14596331e-01 6.98043489e-01 4.56877708e-02 3.55554329e+02] [-6.96721083e-01 7.16054473e-01 -4.29618872e-02 -2.62899046e+02] [-6.27041982e-02 -1.13122619e-03 9.98031514e-01 -1.82914249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23864 meters Centerline goodness [0,1] 0.9962785231612966 Centerline is valid? [True, True] Translation: X:355.58, Y:-262.92, Z:-18.29 [[ 7.18565933e-01 6.94019574e-01 4.47194786e-02 3.55581512e+02] [-6.92742450e-01 7.19955757e-01 -4.20904525e-02 -2.62916746e+02] [-6.14076440e-02 -7.34315919e-04 9.98112500e-01 -1.82925067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26864 meters Centerline goodness [0,1] 0.9961438961292527 Centerline is valid? [True, True] Translation: X:355.61, Y:-262.94, Z:-18.29 [[ 7.21976826e-01 6.90533069e-01 4.37440700e-02 3.55607325e+02] [-6.89302946e-01 7.23300709e-01 -4.12011332e-02 -2.62936995e+02] [-6.00908618e-02 -4.06652976e-04 9.98192829e-01 -1.82928067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29864 meters Centerline goodness [0,1] 0.9967320261437909 Centerline is valid? [True, True] Translation: X:355.63, Y:-262.96, Z:-18.29 [[ 7.25137297e-01 6.87227992e-01 4.35153632e-02 3.55632816e+02] [-6.86003349e-01 7.26441789e-01 -4.10089288e-02 -2.62956230e+02] [-5.97938621e-02 -1.14581068e-04 9.98210740e-01 -1.82942376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32864 meters Centerline goodness [0,1] 0.9970258410531448 Centerline is valid? [True, True] Translation: X:355.66, Y:-262.97, Z:-18.30 [[ 7.30144004e-01 6.81934665e-01 4.30679117e-02 3.55660454e+02] [-6.80723487e-01 7.31413011e-01 -4.06268657e-02 -2.62974605e+02] [-5.92052990e-02 3.46123372e-04 9.98245768e-01 -1.82957497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35864 meters Centerline goodness [0,1] 0.9973675230341734 Centerline is valid? [True, True] Translation: X:355.68, Y:-262.99, Z:-18.30 [[ 7.31950318e-01 6.79984117e-01 4.32473334e-02 3.55684872e+02] [-6.78756959e-01 7.33226645e-01 -4.08372137e-02 -2.62994985e+02] [-5.94787538e-02 5.36383115e-04 9.98229428e-01 -1.82977619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38864 meters Centerline goodness [0,1] 0.9984401657323909 Centerline is valid? [True, True] Translation: X:355.71, Y:-263.02, Z:-18.30 [[ 7.34647909e-01 6.77205069e-01 4.10578126e-02 3.55710364e+02] [-6.76092743e-01 7.35793947e-01 -3.88055521e-02 -2.63016387e+02] [-5.64894066e-02 7.49528610e-04 9.98402917e-01 -1.82974672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41864 meters Centerline goodness [0,1] 0.9976575081743204 Centerline is valid? [True, True] Translation: X:355.73, Y:-263.04, Z:-18.30 [[ 7.35062674e-01 6.76759599e-01 4.09793999e-02 3.55734564e+02] [-6.75648572e-01 7.36203631e-01 -3.87713866e-02 -2.63038475e+02] [-5.64080910e-02 8.11726046e-04 9.98407466e-01 -1.82983481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44864 meters Centerline goodness [0,1] 0.9977526992036738 Centerline is valid? [True, True] Translation: X:355.76, Y:-263.06, Z:-18.30 [[ 7.35585275e-01 6.76230399e-01 4.03329968e-02 3.55758409e+02] [-6.75151209e-01 7.36689687e-01 -3.81988105e-02 -2.63061221e+02] [-5.55440996e-02 8.67610984e-04 9.98455858e-01 -1.82995354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47864 meters Centerline goodness [0,1] 0.9974624243607262 Centerline is valid? [True, True] Translation: X:355.78, Y:-263.08, Z:-18.30 [[ 7.36553414e-01 6.75207271e-01 3.98021271e-02 3.55781585e+02] [-6.74152709e-01 7.37627425e-01 -3.77346935e-02 -2.63084699e+02] [-5.48378799e-02 9.60905537e-04 9.98494809e-01 -1.83017066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50864 meters Centerline goodness [0,1] 0.998097375353693 Centerline is valid? [True, True] Translation: X:355.81, Y:-263.11, Z:-18.30 [[ 7.36770773e-01 6.74966522e-01 3.98625414e-02 3.55805141e+02] [-6.73906252e-01 7.37847665e-01 -3.78310306e-02 -2.63107481e+02] [-5.49471622e-02 1.00918180e-03 9.98488754e-01 -1.83040213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53864 meters Centerline goodness [0,1] 0.9984321411073004 Centerline is valid? [True, True] Translation: X:355.83, Y:-263.13, Z:-18.30 [[ 7.37809910e-01 6.73833649e-01 3.98089264e-02 3.55826961e+02] [-6.72772541e-01 7.38882237e-01 -3.78173095e-02 -2.63131448e+02] [-5.48966842e-02 1.11963314e-03 9.98491412e-01 -1.83035694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56864 meters Centerline goodness [0,1] 0.9983417869683964 Centerline is valid? [True, True] Translation: X:355.85, Y:-263.16, Z:-18.31 [[ 7.38354807e-01 6.73212927e-01 4.02061487e-02 3.55849082e+02] [-6.72127692e-01 7.39447705e-01 -3.82290181e-02 -2.63155111e+02] [-5.54666135e-02 1.20291335e-03 9.98459818e-01 -1.83054971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59864 meters Centerline goodness [0,1] 0.9988760201339002 Centerline is valid? [True, True] Translation: X:355.87, Y:-263.18, Z:-18.31 [[ 7.39423674e-01 6.72059137e-01 3.98641002e-02 3.55871369e+02] [-6.70988770e-01 7.40496331e-01 -3.79374952e-02 -2.63178767e+02] [-5.50154602e-02 1.30351848e-03 9.98484652e-01 -1.83060066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62864 meters Centerline goodness [0,1] 0.9987801902903147 Centerline is valid? [True, True] Translation: X:355.89, Y:-263.21, Z:-18.31 [[ 7.41875700e-01 6.69304823e-01 4.06386342e-02 3.55890544e+02] [-6.68186341e-01 7.42986278e-01 -3.87092242e-02 -2.63205387e+02] [-5.61022181e-02 1.56325249e-03 9.98423806e-01 -1.83071908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65864 meters Centerline goodness [0,1] 0.9990712225644034 Centerline is valid? [True, True] Translation: X:355.91, Y:-263.23, Z:-18.31 [[ 7.42641310e-01 6.68475218e-01 4.03084030e-02 3.55911668e+02] [-6.67371783e-01 7.43732614e-01 -3.84278787e-02 -2.63229597e+02] [-5.56667586e-02 1.63743940e-03 9.98448061e-01 -1.83092782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68864 meters Centerline goodness [0,1] 0.9994141483181175 Centerline is valid? [True, True] Translation: X:355.93, Y:-263.26, Z:-18.31 [[ 7.43134112e-01 6.68004859e-01 3.90025529e-02 3.55931748e+02] [-6.66969372e-01 7.44155097e-01 -3.72162480e-02 -2.63256701e+02] [-5.38845830e-02 1.64315527e-03 9.98545819e-01 -1.83106283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71864 meters Centerline goodness [0,1] 0.9995114563486247 Centerline is valid? [True, True] Translation: X:355.95, Y:-263.28, Z:-18.31 [[ 7.42052311e-01 6.69219488e-01 3.87768486e-02 3.55952532e+02] [-6.68195704e-01 7.43063122e-01 -3.70364370e-02 -2.63281752e+02] [-5.35991516e-02 1.57245001e-03 9.98561294e-01 -1.83119622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74864 meters Centerline goodness [0,1] 0.9991208791208791 Centerline is valid? [True, True] Translation: X:355.97, Y:-263.31, Z:-18.31 [[ 7.40244318e-01 6.71158203e-01 3.98122600e-02 3.55972415e+02] [-6.70079889e-01 7.41312640e-01 -3.80593310e-02 -2.63307753e+02] [-5.50571638e-02 1.49580878e-03 9.98482084e-01 -1.83138323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77864 meters Centerline goodness [0,1] 0.9990726278797345 Centerline is valid? [True, True] Translation: X:355.99, Y:-263.34, Z:-18.31 [[ 7.36618298e-01 6.75104169e-01 4.03465467e-02 3.55989808e+02] [-6.74001072e-01 7.37721376e-01 -3.85969764e-02 -2.63336825e+02] [-5.58214896e-02 1.23762337e-03 9.98439998e-01 -1.83127203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80864 meters Centerline goodness [0,1] 0.9984850706152568 Centerline is valid? [True, True] Translation: X:356.01, Y:-263.36, Z:-18.31 [[ 7.32586164e-01 6.79388958e-01 4.18109502e-02 3.56007616e+02] [-6.78210286e-01 7.33777711e-01 -4.00134895e-02 -2.63364634e+02] [-5.78646663e-02 9.56712315e-04 9.98323978e-01 -1.83146298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83864 meters Centerline goodness [0,1] 0.9980460163157637 Centerline is valid? [True, True] Translation: X:356.03, Y:-263.39, Z:-18.32 [[ 7.29919839e-01 6.82184733e-01 4.29070829e-02 3.56029285e+02] [-6.80946449e-01 7.31179449e-01 -4.10919210e-02 -2.63390081e+02] [-5.94050584e-02 7.76382587e-04 9.98233658e-01 -1.83175582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86863999999997 meters Centerline goodness [0,1] 0.9983414634146341 Centerline is valid? [True, True] Translation: X:356.05, Y:-263.41, Z:-18.32 [[ 7.28067846e-01 6.84178730e-01 4.26224981e-02 3.56050418e+02] [-6.82957820e-01 7.29314100e-01 -4.08602493e-02 -2.63414967e+02] [-5.90409023e-02 6.39665278e-04 9.98255359e-01 -1.83187211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89864 meters Centerline goodness [0,1] 0.9983900868377402 Centerline is valid? [True, True] Translation: X:356.07, Y:-263.44, Z:-18.32 [[ 7.26272023e-01 6.86154930e-01 4.14772440e-02 3.56070651e+02] [-6.84999950e-01 7.27455270e-01 -3.97982160e-02 -2.63440101e+02] [-5.74805818e-02 4.92420735e-04 9.98346503e-01 -1.83193573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92864 meters Centerline goodness [0,1] 0.9979452054794521 Centerline is valid? [True, True] Translation: X:356.09, Y:-263.46, Z:-18.32 [[ 7.25331550e-01 6.87182448e-01 4.09197355e-02 3.56093441e+02] [-6.86057934e-01 7.26484753e-01 -3.92990413e-02 -2.63462942e+02] [-5.67331754e-02 4.31525340e-04 9.98389283e-01 -1.83207820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95864 meters Centerline goodness [0,1] 0.997609756097561 Centerline is valid? [True, True] Translation: X:356.12, Y:-263.49, Z:-18.32 [[ 7.23222315e-01 6.89399146e-01 4.09670777e-02 3.56115088e+02] [-6.88273380e-01 7.24381623e-01 -3.93829678e-02 -2.63487516e+02] [-5.68263826e-02 2.86092144e-04 9.98384035e-01 -1.83216162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98864 meters Centerline goodness [0,1] 0.997460689520461 Centerline is valid? [True, True] Translation: X:356.14, Y:-263.51, Z:-18.32 [[ 7.22050100e-01 6.90642615e-01 4.06992865e-02 3.56138281e+02] [-6.89531137e-01 7.23196192e-01 -3.91673170e-02 -2.63510901e+02] [-5.64841872e-02 2.17339843e-04 9.98403470e-01 -1.83237580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01864 meters Centerline goodness [0,1] 0.9975571623998437 Centerline is valid? [True, True] Translation: X:356.16, Y:-263.53, Z:-18.32 [[ 7.18889435e-01 6.93851021e-01 4.20564020e-02 3.56160370e+02] [-6.92667094e-01 7.20118575e-01 -4.05158726e-02 -2.63533814e+02] [-5.83975758e-02 -4.65290865e-06 9.98293405e-01 -1.83245933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04864 meters Centerline goodness [0,1] 0.9976556776556776 Centerline is valid? [True, True] Translation: X:356.18, Y:-263.56, Z:-18.33 [[ 7.16993287e-01 6.95765025e-01 4.27978655e-02 3.56183570e+02] [-6.94539992e-01 7.18269456e-01 -4.12696958e-02 -2.63556460e+02] [-5.94544105e-02 -1.34734338e-04 9.98231013e-01 -1.83265117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07864 meters Centerline goodness [0,1] 0.9974116038288728 Centerline is valid? [True, True] Translation: X:356.21, Y:-263.58, Z:-18.33 [[ 7.15255683e-01 6.97476181e-01 4.40032280e-02 3.56206583e+02] [-6.96181816e-01 7.16607921e-01 -4.24731310e-02 -2.63578397e+02] [-6.11570590e-02 -2.55098851e-04 9.98128123e-01 -1.83279464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10864 meters Centerline goodness [0,1] 0.9974116038288728 Centerline is valid? [True, True] Translation: X:356.23, Y:-263.60, Z:-18.33 [[ 7.14876586e-01 6.97866076e-01 4.39818910e-02 3.56230182e+02] [-6.96571089e-01 7.16228227e-01 -4.24952189e-02 -2.63600749e+02] [-6.11570435e-02 -2.57676763e-04 9.98128123e-01 -1.83291449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.13864 meters Centerline goodness [0,1] 0.9987307166569029 Centerline is valid? [True, True] Translation: X:356.25, Y:-263.62, Z:-18.33 [[ 7.13981883e-01 6.98782636e-01 4.39624617e-02 3.56254759e+02] [-6.97487694e-01 7.15334003e-01 -4.25227118e-02 -2.63622787e+02] [-6.11619764e-02 -3.02830177e-04 9.98127808e-01 -1.83310116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16864 meters Centerline goodness [0,1] 0.9986346791496001 Centerline is valid? [True, True] Translation: X:356.28, Y:-263.64, Z:-18.33 [[ 7.13104877e-01 6.99782776e-01 4.22551938e-02 3.56278777e+02] [-6.98585867e-01 7.14355618e-01 -4.09125592e-02 -2.63643897e+02] [-5.88151393e-02 -3.43935698e-04 9.98268832e-01 -1.83321453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.19864 meters Centerline goodness [0,1] 0.998925518925519 Centerline is valid? [True, True] Translation: X:356.30, Y:-263.67, Z:-18.33 [[ 7.12772603e-01 7.00106547e-01 4.24975062e-02 3.56303213e+02] [-6.98893988e-01 7.14038307e-01 -4.11884535e-02 -2.63665393e+02] [-5.91811534e-02 -3.43250320e-04 9.98247200e-01 -1.83335444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22864 meters Centerline goodness [0,1] 0.9988773916438891 Centerline is valid? [True, True] Translation: X:356.33, Y:-263.69, Z:-18.33 [[ 7.11897723e-01 7.00982538e-01 4.27213480e-02 3.56328039e+02] [-6.99756026e-01 7.13178332e-01 -4.14508174e-02 -2.63687518e+02] [-5.95242388e-02 -3.85778153e-04 9.98226786e-01 -1.83340688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.25864 meters Centerline goodness [0,1] 0.9990730350783041 Centerline is valid? [True, True] Translation: X:356.35, Y:-263.71, Z:-18.33 [[ 7.10533025e-01 7.02329074e-01 4.33208027e-02 3.56354329e+02] [-7.01067705e-01 7.11852265e-01 -4.20764376e-02 -2.63706944e+02] [-6.03895169e-02 -4.74117257e-04 9.98174775e-01 -1.83346797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28864 meters Centerline goodness [0,1] 0.9990223873301398 Centerline is valid? [True, True] Translation: X:356.38, Y:-263.73, Z:-18.34 [[ 7.09091963e-01 7.03704796e-01 4.45886484e-02 3.56378623e+02] [-7.02368563e-01 7.10492241e-01 -4.33494731e-02 -2.63727748e+02] [-6.21851208e-02 -5.78901908e-04 9.98064465e-01 -1.83362217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.31864 meters Centerline goodness [0,1] 0.9985825309154895 Centerline is valid? [True, True] Translation: X:356.40, Y:-263.75, Z:-18.34 [[ 7.07357278e-01 7.05429706e-01 4.48844105e-02 3.56404511e+02] [-7.04076534e-01 7.08779536e-01 -4.36784122e-02 -2.63747562e+02] [-6.26252012e-02 -7.05817411e-04 9.98036866e-01 -1.83363866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34864 meters Centerline goodness [0,1] 0.9984871406959153 Centerline is valid? [True, True] Translation: X:356.43, Y:-263.77, Z:-18.34 [[ 7.06302113e-01 7.06516449e-01 4.44053284e-02 3.56429772e+02] [-7.05191509e-01 7.07696210e-01 -4.32551766e-02 -2.63769139e+02] [-6.19859764e-02 -7.63037934e-04 9.98076729e-01 -1.83372143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.37864 meters Centerline goodness [0,1] 0.998729414064409 Centerline is valid? [True, True] Translation: X:356.46, Y:-263.79, Z:-18.34 [[ 7.05994571e-01 7.06834283e-01 4.42375712e-02 3.56455372e+02] [-7.05517098e-01 7.07378771e-01 -4.31381278e-02 -2.63789868e+02] [-6.17842264e-02 -7.55078899e-04 9.98089244e-01 -1.83390061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40864 meters Centerline goodness [0,1] 0.999120406567631 Centerline is valid? [True, True] Translation: X:356.48, Y:-263.81, Z:-18.34 [[ 7.07736211e-01 7.05196789e-01 4.25081840e-02 3.56482824e+02] [-7.03975813e-01 7.09011403e-01 -4.14835497e-02 -2.63808556e+02] [-5.93928532e-02 -5.65323128e-04 9.98234526e-01 -1.83405308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43864 meters Centerline goodness [0,1] 0.9984367366878358 Centerline is valid? [True, True] Translation: X:356.51, Y:-263.83, Z:-18.34 [[ 7.08678579e-01 7.04270181e-01 4.21685119e-02 3.56508138e+02] [-7.03065643e-01 7.09931894e-01 -4.11753261e-02 -2.63828966e+02] [-5.89353259e-02 -4.67160359e-04 9.98261694e-01 -1.83419257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46864 meters Centerline goodness [0,1] 0.9989738578060102 Centerline is valid? [True, True] Translation: X:356.54, Y:-263.85, Z:-18.34 [[ 7.10434551e-01 7.02636213e-01 3.98133376e-02 3.56535617e+02] [-7.01558022e-01 7.11549204e-01 -3.89110809e-02 -2.63846746e+02] [-5.56694832e-02 -2.87590149e-04 9.98449210e-01 -1.83416673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49864 meters Centerline goodness [0,1] 0.9986335464350202 Centerline is valid? [True, True] Translation: X:356.56, Y:-263.87, Z:-18.34 [[ 7.10977548e-01 7.02057252e-01 4.03304008e-02 3.56561825e+02] [-7.00947698e-01 7.12120473e-01 -3.94557588e-02 -2.63867216e+02] [-5.64203057e-02 -2.17343001e-04 9.98407082e-01 -1.83429395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52864 meters Centerline goodness [0,1] 0.9986829910736061 Centerline is valid? [True, True] Translation: X:356.59, Y:-263.89, Z:-18.34 [[ 7.12131116e-01 7.00901761e-01 4.00748708e-02 3.56589934e+02] [-6.99802031e-01 7.13257816e-01 -3.92479975e-02 -2.63885993e+02] [-5.60927054e-02 -9.47556811e-05 9.98425560e-01 -1.83441238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55864 meters Centerline goodness [0,1] 0.9981908859769216 Centerline is valid? [True, True] Translation: X:356.62, Y:-263.91, Z:-18.34 [[ 7.11804864e-01 7.01230461e-01 4.01207604e-02 3.56616117e+02] [-7.00126334e-01 7.12934662e-01 -3.93355363e-02 -2.63906964e+02] [-5.61867571e-02 -9.03747934e-05 9.98420272e-01 -1.83449560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58864 meters Centerline goodness [0,1] 0.9987795948254821 Centerline is valid? [True, True] Translation: X:356.64, Y:-263.93, Z:-18.35 [[ 7.11856824e-01 7.01162881e-01 4.03791616e-02 3.56642274e+02] [-7.00041928e-01 7.13001130e-01 -3.96319097e-02 -2.63927118e+02] [-5.65788119e-02 -5.48607801e-05 9.98398135e-01 -1.83467686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61863999999997 meters Centerline goodness [0,1] 0.9984883210611011 Centerline is valid? [True, True] Translation: X:356.67, Y:-263.94, Z:-18.35 [[ 7.11093798e-01 7.01949406e-01 4.01577056e-02 3.56671520e+02] [-7.00839583e-01 7.12226807e-01 -3.94569926e-02 -2.63944408e+02] [-5.62982070e-02 -8.64869450e-05 9.98413995e-01 -1.83460659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64864 meters Centerline goodness [0,1] 0.9983900868377402 Centerline is valid? [True, True] Translation: X:356.70, Y:-263.97, Z:-18.35 [[ 7.10455774e-01 7.02562535e-01 4.07244225e-02 3.56697420e+02] [-7.01419670e-01 7.11622002e-01 -4.00571257e-02 -2.63965045e+02] [-5.71230308e-02 -1.06094770e-04 9.98367141e-01 -1.83475064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67864 meters Centerline goodness [0,1] 0.9985371562317145 Centerline is valid? [True, True] Translation: X:356.72, Y:-263.98, Z:-18.35 [[ 7.10232122e-01 7.02803873e-01 4.04604713e-02 3.56724786e+02] [-7.01673764e-01 7.11383657e-01 -3.98399480e-02 -2.63984234e+02] [-5.67825878e-02 -9.44403885e-05 9.98386563e-01 -1.83488769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70864 meters Centerline goodness [0,1] 0.9984389482413776 Centerline is valid? [True, True] Translation: X:356.75, Y:-264.00, Z:-18.35 [[ 7.10669462e-01 7.02398058e-01 3.98231629e-02 3.56751576e+02] [-7.01300332e-01 7.11784354e-01 -3.92540136e-02 -2.64004480e+02] [-5.59174472e-02 -3.13686229e-05 9.98435395e-01 -1.83495542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73864 meters Centerline goodness [0,1] 0.9979976557921469 Centerline is valid? [True, True] Translation: X:356.78, Y:-264.02, Z:-18.35 [[ 7.11488194e-01 7.01585996e-01 3.95175898e-02 3.56777918e+02] [-7.00501509e-01 7.12584793e-01 -3.89942171e-02 -2.64024912e+02] [-5.55174302e-02 6.17938385e-05 9.98457716e-01 -1.83507224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76864 meters Centerline goodness [0,1] 0.9980473517207713 Centerline is valid? [True, True] Translation: X:356.80, Y:-264.05, Z:-18.35 [[ 7.13745118e-01 6.99356784e-01 3.83144233e-02 3.56803733e+02] [-6.98332026e-01 7.14772707e-01 -3.78465142e-02 -2.64046358e+02] [-5.38543205e-02 2.56575882e-04 9.98548770e-01 -1.83522164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79864 meters Centerline goodness [0,1] 0.9984874359599902 Centerline is valid? [True, True] Translation: X:356.83, Y:-264.07, Z:-18.35 [[ 7.14901315e-01 6.98164039e-01 3.85108468e-02 3.56827178e+02] [-6.97124807e-01 7.15937730e-01 -3.80811069e-02 -2.64069556e+02] [-5.41582276e-02 3.77366720e-04 9.98532295e-01 -1.83524235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82864 meters Centerline goodness [0,1] 0.9979023366993511 Centerline is valid? [True, True] Translation: X:356.85, Y:-264.09, Z:-18.35 [[ 7.16791127e-01 6.96199768e-01 3.89405081e-02 3.56850964e+02] [-6.95132146e-01 7.17847873e-01 -3.85451766e-02 -2.64091413e+02] [-5.47885039e-02 5.60041629e-04 9.98497825e-01 -1.83534015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85864 meters Centerline goodness [0,1] 0.9971219512195122 Centerline is valid? [True, True] Translation: X:356.87, Y:-264.11, Z:-18.35 [[ 7.16606685e-01 6.96394865e-01 3.88465014e-02 3.56874500e+02] [-6.95330676e-01 7.17658600e-01 -3.84887610e-02 -2.64113927e+02] [-5.46819013e-02 5.70139372e-04 9.98503663e-01 -1.83542675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88864 meters Centerline goodness [0,1] 0.9985374414976599 Centerline is valid? [True, True] Translation: X:356.90, Y:-264.14, Z:-18.36 [[ 7.15777034e-01 6.97216196e-01 3.94057631e-02 3.56897770e+02] [-6.96120079e-01 7.16860712e-01 -3.90839637e-02 -2.64137187e+02] [-5.54984159e-02 5.44260670e-04 9.98458627e-01 -1.83562871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91864 meters Centerline goodness [0,1] 0.9977570822565703 Centerline is valid? [True, True] Translation: X:356.92, Y:-264.16, Z:-18.36 [[ 7.14101392e-01 6.98928667e-01 3.94704865e-02 3.56919717e+02] [-6.97829262e-01 7.15191249e-01 -3.91892539e-02 -2.64161863e+02] [-5.56194396e-02 4.41440353e-04 9.98451943e-01 -1.83578586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94864 meters Centerline goodness [0,1] 0.9977552215498732 Centerline is valid? [True, True] Translation: X:356.94, Y:-264.19, Z:-18.36 [[ 7.12447785e-01 7.00561231e-01 4.03994447e-02 3.56942695e+02] [-6.99409608e-01 7.13592207e-01 -4.01542325e-02 -2.64185935e+02] [-5.69592274e-02 3.52034288e-04 9.98376443e-01 -1.83593224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97864 meters Centerline goodness [0,1] 0.9966814699136206 Centerline is valid? [True, True] Translation: X:356.96, Y:-264.21, Z:-18.36 [[ 7.09772659e-01 7.03312576e-01 3.96761112e-02 3.56964520e+02] [-7.02203936e-01 7.10880719e-01 -3.94744981e-02 -2.64210098e+02] [-5.59678934e-02 1.57198006e-04 9.98432557e-01 -1.83609223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00864 meters Centerline goodness [0,1] 0.9973179889793728 Centerline is valid? [True, True] Translation: X:356.99, Y:-264.23, Z:-18.36 [[ 7.09146125e-01 7.03961040e-01 3.93780082e-02 3.56987414e+02] [-7.02867911e-01 7.10238577e-01 -3.92155944e-02 -2.64233565e+02] [-5.55740311e-02 1.32048406e-04 9.98454561e-01 -1.83618278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03864 meters Centerline goodness [0,1] 0.9968641285707286 Centerline is valid? [True, True] Translation: X:357.01, Y:-264.26, Z:-18.36 [[ 7.08616766e-01 7.04559215e-01 3.81915104e-02 3.57009630e+02] [-7.03529845e-01 7.09645194e-01 -3.80717260e-02 -2.64257083e+02] [-5.39262071e-02 1.09395990e-04 9.98544917e-01 -1.83630017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06864 meters Centerline goodness [0,1] 0.9967262777289162 Centerline is valid? [True, True] Translation: X:357.03, Y:-264.28, Z:-18.36 [[ 7.07523290e-01 7.05629533e-01 3.87008587e-02 3.57031500e+02] [-7.04572041e-01 7.08580948e-01 -3.86170962e-02 -2.64281768e+02] [-5.46720547e-02 5.49519515e-05 9.98504363e-01 -1.83640403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09864 meters Centerline goodness [0,1] 0.9964391980878982 Centerline is valid? [True, True] Translation: X:357.05, Y:-264.31, Z:-18.36 [[ 7.06960323e-01 7.06188165e-01 3.87992019e-02 3.57054478e+02] [-7.05123854e-01 7.08024205e-01 -3.87566211e-02 -2.64305080e+02] [-5.48402412e-02 4.11506102e-05 9.98495141e-01 -1.83646476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12864 meters Centerline goodness [0,1] 0.9962431693989071 Centerline is valid? [True, True] Translation: X:357.08, Y:-264.33, Z:-18.37 [[ 7.06039388e-01 7.07081122e-01 3.93022836e-02 3.57077547e+02] [-7.05988045e-01 7.07132439e-01 -3.93013238e-02 -2.64328408e+02] [-5.55811438e-02 1.34027844e-06 9.98454173e-01 -1.83666678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15864 meters Centerline goodness [0,1] 0.996385130184163 Centerline is valid? [True, True] Translation: X:357.05, Y:-264.46, Z:-16.88 [[ 7.55907667e-01 -6.54573176e-01 -1.17284181e-02 3.57045429e+02] [-6.54436176e-01 -7.55994031e-01 1.36498375e-02 -2.64464156e+02] [-1.78014316e-02 -2.64251571e-03 -9.99838050e-01 -1.68785626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18864 meters Centerline goodness [0,1] 0.9952687542678763 Centerline is valid? [True, True] Translation: X:357.10, Y:-264.37, Z:-18.37 [[ 7.51468860e-01 6.58480717e-01 4.12031252e-02 3.57101049e+02] [-6.57510421e-01 7.52597561e-01 -3.57345442e-02 -2.64366442e+02] [-5.45398798e-02 -2.38086961e-04 9.98511565e-01 -1.83674990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21864 meters Centerline goodness [0,1] 0.9952162452406521 Centerline is valid? [True, True] Translation: X:357.13, Y:-264.39, Z:-18.37 [[ 7.50257874e-01 6.59822099e-01 4.18081346e-02 3.57126097e+02] [-6.58823015e-01 7.51421786e-01 -3.62978631e-02 -2.64387119e+02] [-5.53656754e-02 -3.11403686e-04 9.98466096e-01 -1.83701052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24864 meters Centerline goodness [0,1] 0.9953159307148085 Centerline is valid? [True, True] Translation: X:357.15, Y:-264.41, Z:-18.37 [[ 7.47366301e-01 6.63004497e-01 4.32278761e-02 3.57151024e+02] [-6.61939475e-01 7.48615221e-01 -3.75683715e-02 -2.64407145e+02] [-5.72690453e-02 -5.36902771e-04 9.98358637e-01 -1.83706009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27864 meters Centerline goodness [0,1] 0.9936526536790196 Centerline is valid? [True, True] Translation: X:357.18, Y:-264.43, Z:-18.37 [[ 7.46269147e-01 6.64240764e-01 4.32037879e-02 3.57176878e+02] [-6.63176865e-01 7.47518456e-01 -3.75846053e-02 -2.64428122e+02] [-5.72608557e-02 -6.03521297e-04 9.98359069e-01 -1.83708336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30864 meters Centerline goodness [0,1] 0.9930748597902951 Centerline is valid? [True, True] Translation: X:357.20, Y:-264.45, Z:-18.37 [[ 7.45208464e-01 6.65482241e-01 4.23996727e-02 3.57202959e+02] [-6.64457392e-01 7.46413395e-01 -3.69245027e-02 -2.64449039e+02] [-5.62202844e-02 -6.56323996e-04 9.98418173e-01 -1.83713364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33864 meters Centerline goodness [0,1] 0.9938455526791383 Centerline is valid? [True, True] Translation: X:357.23, Y:-264.47, Z:-18.37 [[ 7.43823640e-01 6.67017533e-01 4.25911068e-02 3.57229047e+02] [-6.65983637e-01 7.45041646e-01 -3.71314111e-02 -2.64468719e+02] [-5.64994506e-02 -7.45758880e-04 9.98402352e-01 -1.83720616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36863999999997 meters Centerline goodness [0,1] 0.9921924559605719 Centerline is valid? [True, True] Translation: X:357.26, Y:-264.49, Z:-18.37 [[ 7.42473864e-01 6.68518659e-01 4.26070959e-02 3.57256427e+02] [-6.67484171e-01 7.43694906e-01 -3.71855953e-02 -2.64487579e+02] [-5.65459445e-02 -8.30229463e-04 9.98399653e-01 -1.83738266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39864 meters Centerline goodness [0,1] 0.9916052515984186 Centerline is valid? [True, True] Translation: X:357.28, Y:-264.51, Z:-18.37 [[ 7.41263852e-01 6.69866232e-01 4.25103828e-02 3.57283428e+02] [-6.68836383e-01 7.42481259e-01 -3.71412594e-02 -2.64507391e+02] [-5.64428380e-02 -9.01017721e-04 9.98405426e-01 -1.83746548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42864 meters Centerline goodness [0,1] 0.9902959964890038 Centerline is valid? [True, True] Translation: X:357.31, Y:-264.53, Z:-18.38 [[ 7.40262921e-01 6.70996196e-01 4.21297190e-02 3.57310182e+02] [-6.69984336e-01 7.41460184e-01 -3.68481339e-02 -2.64526508e+02] [-5.59624669e-02 -9.48944546e-04 9.98432422e-01 -1.83758852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45864 meters Centerline goodness [0,1] 0.9908767136654144 Centerline is valid? [True, True] Translation: X:357.34, Y:-264.54, Z:-18.38 [[ 7.39318282e-01 6.71959470e-01 4.33468414e-02 3.57336840e+02] [-6.70887663e-01 7.40587216e-01 -3.79515273e-02 -2.64544177e+02] [-5.76040048e-02 -1.02260312e-03 9.98338987e-01 -1.83770654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48864 meters Centerline goodness [0,1] 0.9907362262311068 Centerline is valid? [True, True] Translation: X:357.36, Y:-264.56, Z:-18.38 [[ 7.39232117e-01 6.72126762e-01 4.22077389e-02 3.57362653e+02] [-6.71109028e-01 7.40435445e-01 -3.69868251e-02 -2.64563284e+02] [-5.61119409e-02 -9.84145554e-04 9.98423999e-01 -1.83782642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51864 meters Centerline goodness [0,1] 0.9904766555967962 Centerline is valid? [True, True] Translation: X:357.39, Y:-264.58, Z:-18.38 [[ 7.39039578e-01 6.72375143e-01 4.16193433e-02 3.57391477e+02] [-6.71384025e-01 7.40209930e-01 -3.65068471e-02 -2.64580019e+02] [-5.53533478e-02 -9.62557356e-04 9.98466364e-01 -1.83797515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54864 meters Centerline goodness [0,1] 0.9907317073170732 Centerline is valid? [True, True] Translation: X:357.42, Y:-264.60, Z:-18.38 [[ 7.39594467e-01 6.71768544e-01 4.15577608e-02 3.57417621e+02] [-6.70777320e-01 7.40760579e-01 -3.64904363e-02 -2.64598517e+02] [-5.52974782e-02 -8.87878606e-04 9.98469529e-01 -1.83807437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57864 meters Centerline goodness [0,1] 0.9915175742212256 Centerline is valid? [True, True] Translation: X:357.44, Y:-264.62, Z:-18.38 [[ 7.39513482e-01 6.71793210e-01 4.25874854e-02 3.57443739e+02] [-6.70750118e-01 7.40738214e-01 -3.74323090e-02 -2.64618490e+02] [-5.66929489e-02 -8.83863727e-04 9.98391270e-01 -1.83833669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60864 meters Centerline goodness [0,1] 0.9930206452242667 Centerline is valid? [True, True] Translation: X:357.47, Y:-264.64, Z:-18.38 [[ 7.40055920e-01 6.71175592e-01 4.29017393e-02 3.57471804e+02] [-6.70113646e-01 7.41297959e-01 -3.77496636e-02 -2.64635973e+02] [-5.71396246e-02 -8.12178928e-04 9.98365867e-01 -1.83845844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.63864 meters Centerline goodness [0,1] 0.9922889214250854 Centerline is valid? [True, True] Translation: X:357.50, Y:-264.65, Z:-18.39 [[ 7.39472360e-01 6.71883734e-01 4.18673597e-02 3.57500162e+02] [-6.70871467e-01 7.40656181e-01 -3.68767818e-02 -2.64652180e+02] [-5.57862286e-02 -8.18256088e-04 9.98442401e-01 -1.83857654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66864 meters Centerline goodness [0,1] 0.9917540863625275 Centerline is valid? [True, True] Translation: X:357.53, Y:-264.67, Z:-18.39 [[ 7.38644521e-01 6.72836107e-01 4.11806371e-02 3.57526441e+02] [-6.71856332e-01 7.39791087e-01 -3.63072553e-02 -2.64672310e+02] [-5.48939006e-02 -8.49316558e-04 9.98491832e-01 -1.83869016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.69864 meters Centerline goodness [0,1] 0.9914066695962112 Centerline is valid? [True, True] Translation: X:357.55, Y:-264.69, Z:-18.39 [[ 7.37233319e-01 6.74401820e-01 4.08560769e-02 3.57552779e+02] [-6.73437746e-01 7.38363949e-01 -3.60594265e-02 -2.64692277e+02] [-5.44851971e-02 -9.29813601e-04 9.98514145e-01 -1.83871192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72864 meters Centerline goodness [0,1] 0.9913523548954466 Centerline is valid? [True, True] Translation: X:357.58, Y:-264.71, Z:-18.39 [[ 7.35501627e-01 6.76230901e-01 4.18225392e-02 3.57581915e+02] [-6.75221444e-01 7.36688971e-01 -3.69507931e-02 -2.64708349e+02] [-5.57974715e-02 -1.06210689e-03 9.98441543e-01 -1.83885896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.75864 meters Centerline goodness [0,1] 0.9925802987406034 Centerline is valid? [True, True] Translation: X:357.61, Y:-264.73, Z:-18.39 [[ 7.35006241e-01 6.76708558e-01 4.27943146e-02 3.57609014e+02] [-6.75650870e-01 7.36250167e-01 -3.78364074e-02 -2.64726565e+02] [-5.71115420e-02 -1.10402033e-03 9.98367193e-01 -1.83910250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78864 meters Centerline goodness [0,1] 0.9927306435088061 Centerline is valid? [True, True] Translation: X:357.64, Y:-264.74, Z:-18.39 [[ 7.36106091e-01 6.75473628e-01 4.33958603e-02 3.57636227e+02] [-6.74383223e-01 7.37383447e-01 -3.83786490e-02 -2.64744685e+02] [-5.79231543e-02 -1.01468285e-03 9.98320529e-01 -1.83930294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.81864 meters Centerline goodness [0,1] 0.9923954372623575 Centerline is valid? [True, True] Translation: X:357.66, Y:-264.76, Z:-18.39 [[ 7.37456233e-01 6.74013611e-01 4.31735536e-02 3.57661729e+02] [-6.72931263e-01 7.38718393e-01 -3.81922917e-02 -2.64764178e+02] [-5.76352226e-02 -8.87690339e-04 9.98337314e-01 -1.83933364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84864 meters Centerline goodness [0,1] 0.9933219595417987 Centerline is valid? [True, True] Translation: X:357.69, Y:-264.78, Z:-18.39 [[ 7.40335030e-01 6.70911162e-01 4.22167799e-02 3.57689868e+02] [-6.69870680e-01 7.41537473e-01 -3.73557028e-02 -2.64780727e+02] [-5.63676823e-02 -6.24047746e-04 9.98409883e-01 -1.83920798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.87864 meters Centerline goodness [0,1] 0.9941477688368691 Centerline is valid? [True, True] Translation: X:357.71, Y:-264.80, Z:-18.39 [[ 7.40969645e-01 6.70269704e-01 4.12614744e-02 3.57714945e+02] [-6.69274290e-01 7.42117386e-01 -3.65199952e-02 -2.64800266e+02] [-5.50991039e-02 -5.55036114e-04 9.98480736e-01 -1.83939881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90864 meters Centerline goodness [0,1] 0.9949297971918877 Centerline is valid? [True, True] Translation: X:357.74, Y:-264.82, Z:-18.39 [[ 7.41739906e-01 6.69433182e-01 4.10015479e-02 3.57740487e+02] [-6.68448471e-01 7.42872117e-01 -3.62995810e-02 -2.64820508e+02] [-5.47590507e-02 -4.82574189e-04 9.98499481e-01 -1.83947303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93864 meters Centerline goodness [0,1] 0.9945248337895972 Centerline is valid? [True, True] Translation: X:357.77, Y:-264.84, Z:-18.40 [[ 7.43194842e-01 6.67770076e-01 4.17678434e-02 3.57766869e+02] [-6.66744903e-01 7.44367515e-01 -3.69896886e-02 -2.64840702e+02] [-5.57912330e-02 -3.57950932e-04 9.98442392e-01 -1.83950970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96864 meters Centerline goodness [0,1] 0.9952232403977384 Centerline is valid? [True, True] Translation: X:357.79, Y:-264.86, Z:-18.40 [[ 7.44017310e-01 6.66793402e-01 4.27176908e-02 3.57791877e+02] [-6.65718642e-01 7.45242565e-01 -3.78445551e-02 -2.64860712e+02] [-5.70695411e-02 -2.80958982e-04 9.98370166e-01 -1.83978242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99864 meters Centerline goodness [0,1] 0.9946909551410062 Centerline is valid? [True, True] Translation: X:357.82, Y:-264.88, Z:-18.40 [[ 7.45808506e-01 6.64878595e-01 4.13052881e-02 3.57816725e+02] [-6.63870312e-01 7.46951430e-01 -3.66028670e-02 -2.64881535e+02] [-5.51895068e-02 -1.22624955e-04 9.98475890e-01 -1.83993388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02864 meters Centerline goodness [0,1] 0.9946909551410062 Centerline is valid? [True, True] Translation: X:357.84, Y:-264.90, Z:-18.40 [[ 7.45676906e-01 6.65026534e-01 4.12996494e-02 3.57841099e+02] [-6.64018125e-01 7.46819720e-01 -3.66092285e-02 -2.64903058e+02] [-5.51895009e-02 -1.25059463e-04 9.98475890e-01 -1.84005339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05864 meters Centerline goodness [0,1] 0.9955659503971155 Centerline is valid? [True, True] Translation: X:357.86, Y:-264.92, Z:-18.40 [[ 7.46391890e-01 6.64272357e-01 4.05139786e-02 3.57864988e+02] [-6.63300184e-01 7.47490623e-01 -3.59253932e-02 -2.64924647e+02] [-5.41480647e-02 -5.85073822e-05 9.98532916e-01 -1.84017412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08864 meters Centerline goodness [0,1] 0.9958556801560214 Centerline is valid? [True, True] Translation: X:357.89, Y:-264.95, Z:-18.40 [[ 7.47006933e-01 6.63557685e-01 4.08881396e-02 3.57889518e+02] [-6.62565770e-01 7.48125122e-01 -3.62684753e-02 -2.64947087e+02] [-5.46556700e-02 1.72080364e-06 9.98505262e-01 -1.84030643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11863999999997 meters Centerline goodness [0,1] 0.9949349827107583 Centerline is valid? [True, True] Translation: X:357.91, Y:-264.97, Z:-18.40 [[ 7.48242693e-01 6.62189941e-01 4.04642489e-02 3.57912719e+02] [-6.61215807e-01 7.49336020e-01 -3.59052380e-02 -2.64969453e+02] [-5.40974067e-02 1.10230929e-04 9.98535657e-01 -1.84032595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14864 meters Centerline goodness [0,1] 0.995850419839875 Centerline is valid? [True, True] Translation: X:357.94, Y:-264.99, Z:-18.40 [[ 7.49503571e-01 6.60814335e-01 3.96082284e-02 3.57936337e+02] [-6.59878600e-01 7.50549379e-01 -3.51548423e-02 -2.64991357e+02] [-5.29587549e-02 2.12057538e-04 9.98596678e-01 -1.84044208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17864 meters Centerline goodness [0,1] 0.9958581034986843 Centerline is valid? [True, True] Translation: X:357.96, Y:-265.01, Z:-18.41 [[ 7.50236433e-01 6.60011101e-01 3.91234233e-02 3.57960991e+02] [-6.59096508e-01 7.51255797e-01 -3.47350039e-02 -2.65013686e+02] [-5.23171867e-02 2.73353787e-04 9.98630481e-01 -1.84055423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20864 meters Centerline goodness [0,1] 0.9967778157496461 Centerline is valid? [True, True] Translation: X:357.98, Y:-265.04, Z:-18.41 [[ 7.50731269e-01 6.59486443e-01 3.84732654e-02 3.57984507e+02] [-6.58600703e-01 7.51716391e-01 -3.41698952e-02 -2.65035156e+02] [-5.14555668e-02 3.13889167e-04 9.98675236e-01 -1.84071202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23864 meters Centerline goodness [0,1] 0.997401833423207 Centerline is valid? [True, True] Translation: X:358.01, Y:-265.06, Z:-18.41 [[ 7.51132951e-01 6.59011776e-01 3.87655678e-02 3.58006188e+02] [-6.58111412e-01 7.52132537e-01 -3.44385969e-02 -2.65058558e+02] [-5.18522857e-02 3.55902333e-04 9.98654702e-01 -1.84086298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26864 meters Centerline goodness [0,1] 0.9971712836519704 Centerline is valid? [True, True] Translation: X:358.03, Y:-265.08, Z:-18.41 [[ 7.51574819e-01 6.58543374e-01 3.81564733e-02 3.58029685e+02] [-6.57669982e-01 7.52542672e-01 -3.39075450e-02 -2.65082486e+02] [-5.10439634e-02 3.89689890e-04 9.98696331e-01 -1.84092609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29864 meters Centerline goodness [0,1] 0.9973127473493917 Centerline is valid? [True, True] Translation: X:358.05, Y:-265.11, Z:-18.41 [[ 7.53169857e-01 6.56736945e-01 3.78384783e-02 3.58052617e+02] [-6.55875169e-01 7.54119564e-01 -3.36369736e-02 -2.65105578e+02] [-5.06253801e-02 5.17036299e-04 9.98717579e-01 -1.84100479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32864 meters Centerline goodness [0,1] 0.9976106885118002 Centerline is valid? [True, True] Translation: X:358.08, Y:-265.13, Z:-18.41 [[ 7.53687349e-01 6.56130395e-01 3.80563451e-02 3.58076536e+02] [-6.55257433e-01 7.54647323e-01 -3.38395396e-02 -2.65127336e+02] [-5.09222695e-02 5.67729905e-04 9.98702458e-01 -1.84109734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35864 meters Centerline goodness [0,1] 0.9979541136928248 Centerline is valid? [True, True] Translation: X:358.10, Y:-265.15, Z:-18.41 [[ 7.54348885e-01 6.55341764e-01 3.85348203e-02 3.58099705e+02] [-6.54444910e-01 7.55332220e-01 -3.42796940e-02 -2.65148970e+02] [-5.15715065e-02 6.39931963e-04 9.98669099e-01 -1.84124551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38864 meters Centerline goodness [0,1] 0.9983396816095321 Centerline is valid? [True, True] Translation: X:358.12, Y:-265.17, Z:-18.41 [[ 7.54792445e-01 6.54752543e-01 3.98431022e-02 3.58121002e+02] [-6.53791612e-01 7.55842965e-01 -3.54674626e-02 -2.65173606e+02] [-5.33375398e-02 7.21486795e-04 9.98576280e-01 -1.84127506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41864 meters Centerline goodness [0,1] 0.9985861934477379 Centerline is valid? [True, True] Translation: X:358.14, Y:-265.20, Z:-18.41 [[ 7.54572070e-01 6.55055833e-01 3.90236759e-02 3.58144096e+02] [-6.54133992e-01 7.55580159e-01 -3.47468535e-02 -2.65196037e+02] [-5.22466443e-02 6.92292237e-04 9.98633971e-01 -1.84122518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44864 meters Centerline goodness [0,1] 0.997998046875 Centerline is valid? [True, True] Translation: X:358.17, Y:-265.22, Z:-18.41 [[ 7.53791194e-01 6.55975356e-01 3.86674109e-02 3.58166819e+02] [-6.55071028e-01 7.54782046e-01 -3.44385165e-02 -2.65219255e+02] [-5.17762856e-02 6.29549859e-04 9.98658510e-01 -1.84147216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47864 meters Centerline goodness [0,1] 0.9980465888557895 Centerline is valid? [True, True] Translation: X:358.19, Y:-265.24, Z:-18.42 [[ 7.52846647e-01 6.57025819e-01 3.92300913e-02 3.58189537e+02] [-6.56095472e-01 7.53867853e-01 -3.49570075e-02 -2.65243390e+02] [-5.25419611e-02 5.78580577e-04 9.98618550e-01 -1.84156403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50864 meters Centerline goodness [0,1] 0.9980970040011711 Centerline is valid? [True, True] Translation: X:358.21, Y:-265.27, Z:-18.42 [[ 7.50170886e-01 6.59936413e-01 4.15640901e-02 3.58211327e+02] [-6.58894201e-01 7.51321335e-01 -3.70767173e-02 -2.65269304e+02] [-5.56962635e-02 4.27535905e-04 9.98447667e-01 -1.84166988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53864 meters Centerline goodness [0,1] 0.9988782676550917 Centerline is valid? [True, True] Translation: X:358.24, Y:-265.29, Z:-18.42 [[ 7.48535726e-01 6.61804515e-01 4.13406632e-02 3.58235381e+02] [-6.60774287e-01 7.49676387e-01 -3.69141764e-02 -2.65290952e+02] [-5.54220876e-02 3.14732547e-04 9.98462965e-01 -1.84182531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56864 meters Centerline goodness [0,1] 0.9981960899029789 Centerline is valid? [True, True] Translation: X:358.26, Y:-265.31, Z:-18.42 [[ 7.43855035e-01 6.66970725e-01 4.27754504e-02 3.58259702e+02] [-6.65874002e-01 7.45083922e-01 -3.82330096e-02 -2.65313604e+02] [-5.73715984e-02 -4.32436565e-05 9.98352892e-01 -1.84208646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59864 meters Centerline goodness [0,1] 0.9979005956449566 Centerline is valid? [True, True] Translation: X:358.28, Y:-265.34, Z:-18.42 [[ 7.41556206e-01 6.69570051e-01 4.20754100e-02 3.58284095e+02] [-6.68510908e-01 7.42748883e-01 -3.76465537e-02 -2.65335304e+02] [-5.64584687e-02 -2.10835017e-04 9.98404926e-01 -1.84215605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62864 meters Centerline goodness [0,1] 0.99795151928986 Centerline is valid? [True, True] Translation: X:358.31, Y:-265.36, Z:-18.42 [[ 7.40268762e-01 6.71040935e-01 4.13064681e-02 3.58309198e+02] [-6.70020327e-01 7.41420246e-01 -3.69970431e-02 -2.65356736e+02] [-5.54519821e-02 -2.88417979e-04 9.98461313e-01 -1.84223395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65864 meters Centerline goodness [0,1] 0.9978047709644373 Centerline is valid? [True, True] Translation: X:358.34, Y:-265.38, Z:-18.42 [[ 7.38004789e-01 6.73479927e-01 4.21155484e-02 3.58335441e+02] [-6.72420677e-01 7.39205373e-01 -3.77604242e-02 -2.65376345e+02] [-5.65629274e-02 -4.51991662e-04 9.98398934e-01 -1.84235360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68864 meters Centerline goodness [0,1] 0.9975118309996585 Centerline is valid? [True, True] Translation: X:358.36, Y:-265.40, Z:-18.42 [[ 7.38076719e-01 6.73427638e-01 4.16890143e-02 3.58361095e+02] [-6.72387644e-01 7.39253030e-01 -3.74140841e-02 -2.65396667e+02] [-5.60144084e-02 -4.16713691e-04 9.98429874e-01 -1.84245232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71864 meters Centerline goodness [0,1] 0.9984402417625268 Centerline is valid? [True, True] Translation: X:358.39, Y:-265.42, Z:-18.42 [[ 7.40388945e-01 6.70938668e-01 4.08107015e-02 3.58387158e+02] [-6.69936253e-01 7.41512822e-01 -3.66626861e-02 -2.65415514e+02] [-5.48600722e-02 -1.95920935e-04 9.98494033e-01 -1.84247883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74864 meters Centerline goodness [0,1] 0.9985377266523688 Centerline is valid? [True, True] Translation: X:358.41, Y:-265.44, Z:-18.43 [[ 7.41770546e-01 6.69406898e-01 4.08761768e-02 3.58413346e+02] [-6.68396964e-01 7.42895956e-01 -3.67572585e-02 -2.65436354e+02] [-5.49723088e-02 -5.60607194e-05 9.98487878e-01 -1.84257025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77864 meters Centerline goodness [0,1] 0.998911537700376 Centerline is valid? [True, True] Translation: X:358.44, Y:-265.45, Z:-18.43 [[ 7.44788951e-01 6.66104670e-01 3.99247782e-02 3.58440590e+02] [-6.65134944e-01 7.45858249e-01 -3.59302021e-02 -2.65454833e+02] [-5.37115005e-02 2.05052402e-04 9.98556474e-01 -1.84265440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80864 meters Centerline goodness [0,1] 0.9991718224777123 Centerline is valid? [True, True] Translation: X:358.47, Y:-265.47, Z:-18.43 [[ 7.45970898e-01 6.64786247e-01 3.98329593e-02 3.58466380e+02] [-6.63818508e-01 7.47033568e-01 -3.58585662e-02 -2.65474960e+02] [-5.35948394e-02 3.07591186e-04 9.98562716e-01 -1.84279676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83864 meters Centerline goodness [0,1] 0.9989267769159471 Centerline is valid? [True, True] Translation: X:358.49, Y:-265.50, Z:-18.43 [[ 7.46812000e-01 6.63890817e-01 3.89976840e-02 3.58490999e+02] [-6.62961396e-01 7.47829421e-01 -3.51189904e-02 -2.65495094e+02] [-5.24787907e-02 3.73324473e-04 9.98621969e-01 -1.84292127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86863999999997 meters Centerline goodness [0,1] 0.9992691127028213 Centerline is valid? [True, True] Translation: X:358.52, Y:-265.52, Z:-18.43 [[ 7.48761073e-01 6.61698888e-01 3.88771960e-02 3.58516519e+02] [-6.60771767e-01 7.49769497e-01 -3.50196164e-02 -2.65515244e+02] [-5.23213769e-02 5.32372044e-04 9.98630157e-01 -1.84302168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89864 meters Centerline goodness [0,1] 0.9990259582136074 Centerline is valid? [True, True] Translation: X:358.54, Y:-265.54, Z:-18.43 [[ 7.49602891e-01 6.60739502e-01 3.89720013e-02 3.58540571e+02] [-6.59806071e-01 7.50615042e-01 -3.51142147e-02 -2.65536309e+02] [-5.24543191e-02 6.07753787e-04 9.98623140e-01 -1.84311762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92864 meters Centerline goodness [0,1] 0.9988791423001949 Centerline is valid? [True, True] Translation: X:358.56, Y:-265.56, Z:-18.43 [[ 7.52262793e-01 6.57746788e-01 3.83386596e-02 3.58564952e+02] [-6.56839116e-01 7.53238678e-01 -3.45524120e-02 -2.65556955e+02] [-5.16048993e-02 8.10162635e-04 9.98667251e-01 -1.84321617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95864 meters Centerline goodness [0,1] 0.9988770627868372 Centerline is valid? [True, True] Translation: X:358.59, Y:-265.58, Z:-18.43 [[ 7.53082739e-01 6.56813976e-01 3.82333598e-02 3.58587893e+02] [-6.55909629e-01 7.54052140e-01 -3.44663443e-02 -2.65579060e+02] [-5.14679234e-02 8.78380063e-04 9.98674262e-01 -1.84330663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98864 meters Centerline goodness [0,1] 0.999414976599064 Centerline is valid? [True, True] Translation: X:358.61, Y:-265.60, Z:-18.43 [[ 7.54848592e-01 6.54792186e-01 3.80893231e-02 3.58611235e+02] [-6.53891619e-01 7.55808279e-01 -3.43452608e-02 -2.65600694e+02] [-5.12772341e-02 1.01918262e-03 9.98683937e-01 -1.84343683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01864 meters Centerline goodness [0,1] 0.9990742094235735 Centerline is valid? [True, True] Translation: X:358.64, Y:-265.62, Z:-18.43 [[ 7.56779412e-01 6.52491134e-01 3.92459146e-02 3.58635188e+02] [-6.51531454e-01 7.57795380e-01 -3.53966988e-02 -2.65621556e+02] [-5.28364049e-02 1.21754502e-03 9.98602439e-01 -1.84344463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04864 meters Centerline goodness [0,1] 0.998877720308383 Centerline is valid? [True, True] Translation: X:358.66, Y:-265.64, Z:-18.44 [[ 7.58093200e-01 6.50995905e-01 3.87173346e-02 3.58659509e+02] [-6.50059595e-01 7.59080112e-01 -3.49271475e-02 -2.65643064e+02] [-5.21269887e-02 1.30945811e-03 9.98639606e-01 -1.84352563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07864 meters Centerline goodness [0,1] 0.9989270386266095 Centerline is valid? [True, True] Translation: X:358.68, Y:-265.67, Z:-18.44 [[ 7.59522371e-01 6.49349575e-01 3.83522847e-02 3.58680671e+02] [-6.48428306e-01 7.60488741e-01 -3.46064590e-02 -2.65667238e+02] [-5.16381702e-02 1.41567275e-03 9.98664856e-01 -1.84367297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10864 meters Centerline goodness [0,1] 0.9984887632233218 Centerline is valid? [True, True] Translation: X:358.70, Y:-265.69, Z:-18.44 [[ 7.60110080e-01 6.48658450e-01 3.84041879e-02 3.58703041e+02] [-6.47733349e-01 7.61078216e-01 -3.46620461e-02 -2.65689887e+02] [-5.17124199e-02 1.47129741e-03 9.98660934e-01 -1.84373286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.13864 meters Centerline goodness [0,1] 0.998781854504702 Centerline is valid? [True, True] Translation: X:358.73, Y:-265.71, Z:-18.44 [[ 7.60163944e-01 6.48627492e-01 3.78570206e-02 3.58727348e+02] [-6.47728049e-01 7.61104622e-01 -3.41779007e-02 -2.65712518e+02] [-5.09818793e-02 1.45975371e-03 9.98698512e-01 -1.84362883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16864 meters Centerline goodness [0,1] 0.9992686850958022 Centerline is valid? [True, True] Translation: X:358.75, Y:-265.73, Z:-18.44 [[ 7.59593777e-01 6.49316608e-01 3.74864890e-02 3.58751024e+02] [-6.48434953e-01 7.60516902e-01 -3.38548839e-02 -2.65734852e+02] [-5.04916469e-02 1.40840940e-03 9.98723490e-01 -1.84371591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.19864 meters Centerline goodness [0,1] 0.9991222509387039 Centerline is valid? [True, True] Translation: X:358.77, Y:-265.76, Z:-18.44 [[ 7.58064762e-01 6.51002315e-01 3.91637986e-02 3.58771703e+02] [-6.50041695e-01 7.59074524e-01 -3.53788353e-02 -2.65759938e+02] [-5.27599454e-02 1.36134638e-03 9.98606296e-01 -1.84396479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22864 meters Centerline goodness [0,1] 0.9990725826133646 Centerline is valid? [True, True] Translation: X:358.80, Y:-265.78, Z:-18.44 [[ 7.57186863e-01 6.51985987e-01 3.97784832e-02 3.58795861e+02] [-6.50995359e-01 7.58229855e-01 -3.59517614e-02 -2.65782857e+02] [-5.36012782e-02 1.32659347e-03 9.98561537e-01 -1.84413234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.25864 meters Centerline goodness [0,1] 0.9991702459976571 Centerline is valid? [True, True] Translation: X:358.82, Y:-265.80, Z:-18.44 [[ 7.55672602e-01 6.53764737e-01 3.93774879e-02 3.58819324e+02] [-6.52794590e-01 7.56696897e-01 -3.56234411e-02 -2.65804681e+02] [-5.30861725e-02 1.21424735e-03 9.98589197e-01 -1.84421106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28864 meters Centerline goodness [0,1] 0.9993659155204371 Centerline is valid? [True, True] Translation: X:358.84, Y:-265.83, Z:-18.44 [[ 7.54204647e-01 6.55487299e-01 3.88812421e-02 3.58842669e+02] [-6.54542455e-01 7.55205399e-01 -3.51991451e-02 -2.65827499e+02] [-5.24359165e-02 1.09793520e-03 9.98623687e-01 -1.84432978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.31864 meters Centerline goodness [0,1] 0.9994138048947291 Centerline is valid? [True, True] Translation: X:358.87, Y:-265.85, Z:-18.45 [[ 7.53837708e-01 6.55891283e-01 3.91833671e-02 3.58866328e+02] [-6.54931237e-01 7.54854577e-01 -3.54914425e-02 -2.65849870e+02] [-5.28562717e-02 1.09237657e-03 9.98601533e-01 -1.84450009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34864 meters Centerline goodness [0,1] 0.9991714592065504 Centerline is valid? [True, True] Translation: X:358.89, Y:-265.87, Z:-18.45 [[ 7.52822722e-01 6.57058431e-01 3.91429237e-02 3.58889163e+02] [-6.56100115e-01 7.53838939e-01 -3.54893216e-02 -2.65872868e+02] [-5.28260181e-02 1.03549092e-03 9.98603194e-01 -1.84450946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.37864 meters Centerline goodness [0,1] 0.999269041469714 Centerline is valid? [True, True] Translation: X:358.91, Y:-265.90, Z:-18.45 [[ 7.51499056e-01 6.58519499e-01 4.00154769e-02 3.58913527e+02] [-6.57518166e-01 7.52563027e-01 -3.63146292e-02 -2.65895789e+02] [-5.40280599e-02 9.79506613e-04 9.98538937e-01 -1.84471091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40864 meters Centerline goodness [0,1] 0.9991711360312043 Centerline is valid? [True, True] Translation: X:358.94, Y:-265.92, Z:-18.45 [[ 7.48279134e-01 6.62171557e-01 4.00894858e-02 3.58936275e+02] [-6.61169794e-01 7.49351904e-01 -3.64174228e-02 -2.65919075e+02] [-5.41557140e-02 7.44440544e-04 9.98532225e-01 -1.84487810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43864 meters Centerline goodness [0,1] 0.9992192455960572 Centerline is valid? [True, True] Translation: X:358.96, Y:-265.94, Z:-18.45 [[ 7.46600182e-01 6.64059737e-01 4.01601133e-02 3.58959662e+02] [-6.63055389e-01 7.47679253e-01 -3.65141838e-02 -2.65940940e+02] [-5.42744828e-02 6.33116748e-04 9.98525853e-01 -1.84502832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46864 meters Centerline goodness [0,1] 0.9992682569881458 Centerline is valid? [True, True] Translation: X:358.98, Y:-265.96, Z:-18.45 [[ 7.44815553e-01 6.66032326e-01 4.06292124e-02 3.58984570e+02] [-6.65005349e-01 7.45922696e-01 -3.69759022e-02 -2.65963394e+02] [-5.49333978e-02 5.21583422e-04 9.98489885e-01 -1.84513330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49864 meters Centerline goodness [0,1] 0.9991700434506664 Centerline is valid? [True, True] Translation: X:359.01, Y:-265.98, Z:-18.45 [[ 7.41438822e-01 6.69764746e-01 4.10323957e-02 3.59008731e+02] [-6.68720878e-01 7.42573302e-01 -3.73801877e-02 -2.65984494e+02] [-5.55054935e-02 2.75902643e-04 9.98458344e-01 -1.84534925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52864 meters Centerline goodness [0,1] 0.9989752098379856 Centerline is valid? [True, True] Translation: X:359.03, Y:-266.01, Z:-18.45 [[ 7.37839217e-01 6.73801067e-01 3.98172290e-02 3.59033381e+02] [-6.72822617e-01 7.38912798e-01 -3.62988156e-02 -2.66005074e+02] [-5.38796407e-02 -7.24245511e-06 9.98547437e-01 -1.84537563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55864 meters Centerline goodness [0,1] 0.9984878048780488 Centerline is valid? [True, True] Translation: X:359.06, Y:-266.03, Z:-18.46 [[ 7.36032866e-01 6.75753341e-01 4.01626928e-02 3.59059156e+02] [-6.74759583e-01 7.37127807e-01 -3.66346991e-02 -2.66026056e+02] [-5.43610580e-02 -1.35819241e-04 9.98521335e-01 -1.84561888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58864 meters Centerline goodness [0,1] 0.99863434619324 Centerline is valid? [True, True] Translation: X:359.08, Y:-266.05, Z:-18.46 [[ 7.35267687e-01 6.76528234e-01 4.11214870e-02 3.59084378e+02] [-6.75485463e-01 7.36416676e-01 -3.75482169e-02 -2.66046438e+02] [-5.56849776e-02 -1.68976139e-04 9.98448374e-01 -1.84579273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61863999999997 meters Centerline goodness [0,1] 0.998586124518551 Centerline is valid? [True, True] Translation: X:359.11, Y:-266.07, Z:-18.46 [[ 7.34939752e-01 6.76825491e-01 4.20810568e-02 3.59111411e+02] [-6.75731875e-01 7.36143482e-01 -3.84604537e-02 -2.66065045e+02] [-5.70087111e-02 -1.69395152e-04 9.98373667e-01 -1.84580386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64864 meters Centerline goodness [0,1] 0.9989277184773603 Centerline is valid? [True, True] Translation: X:359.14, Y:-266.09, Z:-18.46 [[ 7.35135534e-01 6.76580984e-01 4.25901173e-02 3.59137970e+02] [-6.75458111e-01 7.36368221e-01 -3.89638708e-02 -2.66085553e+02] [-5.77242229e-02 -1.24114205e-04 9.98332559e-01 -1.84595341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67864 meters Centerline goodness [0,1] 0.9990248183724219 Centerline is valid? [True, True] Translation: X:359.17, Y:-266.10, Z:-18.46 [[ 7.37262536e-01 6.74445167e-01 3.95938080e-02 3.59165338e+02] [-6.73469865e-01 7.38324937e-01 -3.62578079e-02 -2.66102979e+02] [-5.36869991e-02 6.62868086e-05 9.98557811e-01 -1.84597707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70864 meters Centerline goodness [0,1] 0.9992688276870583 Centerline is valid? [True, True] Translation: X:359.19, Y:-266.12, Z:-18.46 [[ 7.38636774e-01 6.72920255e-01 3.99254974e-02 3.59190691e+02] [-6.71924883e-01 7.39715006e-01 -3.65877076e-02 -2.66123167e+02] [-5.41540991e-02 1.98091153e-04 9.98532570e-01 -1.84610125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73864 meters Centerline goodness [0,1] 0.9986827983217875 Centerline is valid? [True, True] Translation: X:359.22, Y:-266.14, Z:-18.46 [[ 7.39516558e-01 6.71984828e-01 3.93910078e-02 3.59216377e+02] [-6.71014034e-01 7.40564864e-01 -3.61088372e-02 -2.66143699e+02] [-5.34361871e-02 2.71163999e-04 9.98571230e-01 -1.84614051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76864 meters Centerline goodness [0,1] 0.9980987666357919 Centerline is valid? [True, True] Translation: X:359.24, Y:-266.16, Z:-18.46 [[ 7.40462935e-01 6.70884457e-01 4.03570026e-02 3.59242199e+02] [-6.69863064e-01 7.41561804e-01 -3.70076443e-02 -2.66163156e+02] [-5.47550650e-02 3.69123469e-04 9.98499748e-01 -1.84614945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79864 meters Centerline goodness [0,1] 0.9982942638530142 Centerline is valid? [True, True] Translation: X:359.27, Y:-266.18, Z:-18.46 [[ 7.40877637e-01 6.70350301e-01 4.16028945e-02 3.59266649e+02] [-6.69263405e-01 7.42044668e-01 -3.81602602e-02 -2.66184594e+02] [-5.64519480e-02 4.28788619e-04 9.98405225e-01 -1.84627610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82864 meters Centerline goodness [0,1] 0.998781854504702 Centerline is valid? [True, True] Translation: X:359.29, Y:-266.21, Z:-18.46 [[ 7.42963326e-01 6.68077014e-01 4.09707129e-02 3.59291572e+02] [-6.67018927e-01 7.44091892e-01 -3.75900023e-02 -2.66205778e+02] [-5.55989918e-02 5.99752215e-04 9.98453000e-01 -1.84628846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85864 meters Centerline goodness [0,1] 0.9984401657323909 Centerline is valid? [True, True] Translation: X:359.32, Y:-266.23, Z:-18.46 [[ 7.44345932e-01 6.66556041e-01 4.06469753e-02 3.59315529e+02] [-6.65511824e-01 7.45454581e-01 -3.73025377e-02 -2.66227113e+02] [-5.51647058e-02 7.14949476e-04 9.98477012e-01 -1.84641501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88864 meters Centerline goodness [0,1] 0.9984358197282237 Centerline is valid? [True, True] Translation: X:359.34, Y:-266.25, Z:-18.47 [[ 7.45791189e-01 6.64960184e-01 4.02921292e-02 3.59338862e+02] [-6.63931287e-01 7.46878343e-01 -3.69863043e-02 -2.66248594e+02] [-5.46877384e-02 8.32854665e-04 9.98503159e-01 -1.84656516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91864 meters Centerline goodness [0,1] 0.9984358197282237 Centerline is valid? [True, True] Translation: X:359.36, Y:-266.27, Z:-18.47 [[ 7.45662813e-01 6.65104471e-01 4.02866193e-02 3.59362855e+02] [-6.64075460e-01 7.46749860e-01 -3.69923051e-02 -2.66270544e+02] [-5.46877748e-02 8.30431071e-04 9.98503159e-01 -1.84668468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94864 meters Centerline goodness [0,1] 0.9976607047127053 Centerline is valid? [True, True] Translation: X:359.38, Y:-266.29, Z:-18.47 [[ 7.48531182e-01 6.61941823e-01 3.91674804e-02 3.59384968e+02] [-6.60964239e-01 7.49554493e-01 -3.59769011e-02 -2.66293436e+02] [-5.31727764e-02 1.04152845e-03 9.98584784e-01 -1.84685518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97864 meters Centerline goodness [0,1] 0.9973685492909702 Centerline is valid? [True, True] Translation: X:359.41, Y:-266.32, Z:-18.47 [[ 7.49178417e-01 6.61223247e-01 3.89296512e-02 3.59407341e+02] [-6.60256056e-01 7.50188392e-01 -3.57675295e-02 -2.66316019e+02] [-5.28548944e-02 1.09272317e-03 9.98601605e-01 -1.84695332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00864 meters Centerline goodness [0,1] 0.997077589985875 Centerline is valid? [True, True] Translation: X:359.43, Y:-266.34, Z:-18.47 [[ 7.48678384e-01 6.61752649e-01 3.95488214e-02 3.59428926e+02] [-6.60754581e-01 7.49721458e-01 -3.63471999e-02 -2.66341168e+02] [-5.37034559e-02 1.08029795e-03 9.98556344e-01 -1.84701783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03864 meters Centerline goodness [0,1] 0.9973192961934005 Centerline is valid? [True, True] Translation: X:359.45, Y:-266.36, Z:-18.47 [[ 7.47946601e-01 6.62585941e-01 3.94430356e-02 3.59451445e+02] [-6.61593701e-01 7.48985191e-01 -3.62623610e-02 -2.66364383e+02] [-5.35691801e-02 1.02704581e-03 9.98563612e-01 -1.84703820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06864 meters Centerline goodness [0,1] 0.9975632340757347 Centerline is valid? [True, True] Translation: X:359.47, Y:-266.39, Z:-18.47 [[ 7.46564808e-01 6.64123633e-01 3.97591138e-02 3.59474055e+02] [-6.63117085e-01 7.47622186e-01 -3.65622677e-02 -2.66387165e+02] [-5.40066617e-02 9.31154703e-04 9.98540141e-01 -1.84714015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09864 meters Centerline goodness [0,1] 0.9978520868928484 Centerline is valid? [True, True] Translation: X:359.50, Y:-266.41, Z:-18.47 [[ 7.44229510e-01 6.66832657e-01 3.81659916e-02 3.59497063e+02] [-6.65907972e-01 7.45207148e-01 -3.51123888e-02 -2.66409954e+02] [-5.18556573e-02 7.16637903e-04 9.98654333e-01 -1.84714581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12864 meters Centerline goodness [0,1] 0.9969713252894339 Centerline is valid? [True, True] Translation: X:359.52, Y:-266.43, Z:-18.47 [[ 7.43580698e-01 6.67558834e-01 3.81175610e-02 3.59520462e+02] [-6.66636166e-01 7.44556738e-01 -3.50925379e-02 -2.66432012e+02] [-5.18070205e-02 6.83589113e-04 9.98656881e-01 -1.84737559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15864 meters Centerline goodness [0,1] 0.998046398046398 Centerline is valid? [True, True] Translation: X:359.54, Y:-266.45, Z:-18.48 [[ 7.42715731e-01 6.68506585e-01 3.83704024e-02 3.59542499e+02] [-6.67572411e-01 7.43705957e-01 -3.53344794e-02 -2.66454914e+02] [-5.21576290e-02 6.28451668e-04 9.98638667e-01 -1.84751169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18864 meters Centerline goodness [0,1] 0.9980978393405843 Centerline is valid? [True, True] Translation: X:359.57, Y:-266.48, Z:-18.48 [[ 7.42100852e-01 6.69157729e-01 3.89134702e-02 3.59565858e+02] [-6.68196892e-01 7.43120158e-01 -3.58517072e-02 -2.66477623e+02] [-5.29078311e-02 6.03722676e-04 9.98599217e-01 -1.84759763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21864 meters Centerline goodness [0,1] 0.9983907149127085 Centerline is valid? [True, True] Translation: X:359.59, Y:-266.50, Z:-18.48 [[ 7.41971031e-01 6.69318385e-01 3.86249827e-02 3.59590825e+02] [-6.68370125e-01 7.42975452e-01 -3.56209767e-02 -2.66499868e+02] [-5.25391886e-02 6.13948272e-04 9.98618674e-01 -1.84769022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24864 meters Centerline goodness [0,1] 0.99809811762411 Centerline is valid? [True, True] Translation: X:359.62, Y:-266.52, Z:-18.48 [[ 7.42045277e-01 6.69231139e-01 3.87103238e-02 3.59615761e+02] [-6.68276607e-01 7.43054009e-01 -3.57367542e-02 -2.66520990e+02] [-5.26800100e-02 6.49085830e-04 9.98611233e-01 -1.84778435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27864 meters Centerline goodness [0,1] 0.9974153906173803 Centerline is valid? [True, True] Translation: X:359.64, Y:-266.54, Z:-18.48 [[ 7.42214824e-01 6.69063690e-01 3.83527432e-02 3.59639286e+02] [-6.68124598e-01 7.43204759e-01 -3.54430259e-02 -2.66543569e+02] [-5.22175830e-02 6.81928062e-04 9.98635499e-01 -1.84804320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30864 meters Centerline goodness [0,1] 0.9982451009066978 Centerline is valid? [True, True] Translation: X:359.66, Y:-266.57, Z:-18.48 [[ 7.41974196e-01 6.69361361e-01 3.78108479e-02 3.59663318e+02] [-6.68447182e-01 7.42936678e-01 -3.49779447e-02 -2.66565696e+02] [-5.15039505e-02 6.78177644e-04 9.98672561e-01 -1.84803495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33864 meters Centerline goodness [0,1] 0.9972664258518013 Centerline is valid? [True, True] Translation: X:359.69, Y:-266.59, Z:-18.48 [[ 7.42240580e-01 6.69095654e-01 3.72817395e-02 3.59687774e+02] [-6.68205097e-01 7.43175958e-01 -3.45173047e-02 -2.66587818e+02] [-5.08022710e-02 7.08295861e-04 9.98708480e-01 -1.84809235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36863999999997 meters Centerline goodness [0,1] 0.9977569728886289 Centerline is valid? [True, True] Translation: X:359.71, Y:-266.61, Z:-18.48 [[ 7.42521395e-01 6.68770853e-01 3.75169835e-02 3.59711008e+02] [-6.67867969e-01 7.43468218e-01 -3.47474433e-02 -2.66609665e+02] [-5.11307621e-02 7.44328506e-04 9.98691690e-01 -1.84816799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39864 meters Centerline goodness [0,1] 0.9972682926829268 Centerline is valid? [True, True] Translation: X:359.73, Y:-266.63, Z:-18.48 [[ 7.42169299e-01 6.69197049e-01 3.68787309e-02 3.59734434e+02] [-6.68324376e-01 7.43084651e-01 -3.41720469e-02 -2.66632344e+02] [-5.02718518e-02 7.14489236e-04 9.98735315e-01 -1.84820427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42864 meters Centerline goodness [0,1] 0.9975589513254894 Centerline is valid? [True, True] Translation: X:359.76, Y:-266.65, Z:-18.48 [[ 7.41766258e-01 6.69654976e-01 3.66746791e-02 3.59758326e+02] [-6.68790765e-01 7.42672011e-01 -3.40175943e-02 -2.66654859e+02] [-5.00173090e-02 7.05416949e-04 9.98748102e-01 -1.84829888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45864 meters Centerline goodness [0,1] 0.99712181082004 Centerline is valid? [True, True] Translation: X:359.78, Y:-266.68, Z:-18.48 [[ 7.41227654e-01 6.70289804e-01 3.59602952e-02 3.59782437e+02] [-6.69458094e-01 7.42099133e-01 -3.33876758e-02 -2.66676143e+02] [-4.90655226e-02 6.73957957e-04 9.98795335e-01 -1.84839527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48864 meters Centerline goodness [0,1] 0.9974132461320708 Centerline is valid? [True, True] Translation: X:359.81, Y:-266.70, Z:-18.49 [[ 7.40583172e-01 6.70985335e-01 3.62663239e-02 3.59807019e+02] [-6.70138663e-01 7.41470330e-01 -3.37034540e-02 -2.66698329e+02] [-4.95049265e-02 6.56745092e-04 9.98773664e-01 -1.84863007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51864 meters Centerline goodness [0,1] 0.9972670928700405 Centerline is valid? [True, True] Translation: X:359.83, Y:-266.72, Z:-18.49 [[ 7.39487974e-01 6.72138956e-01 3.72392210e-02 3.59830471e+02] [-6.71245835e-01 7.40424768e-01 -3.46437987e-02 -2.66721381e+02] [-5.08582883e-02 6.22000534e-04 9.98705686e-01 -1.84872553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54864 meters Centerline goodness [0,1] 0.9980978393405843 Centerline is valid? [True, True] Translation: X:359.85, Y:-266.74, Z:-18.49 [[ 7.38403806e-01 6.73354382e-01 3.67926032e-02 3.59853862e+02] [-6.72482379e-01 7.39319665e-01 -3.42619834e-02 -2.66743884e+02] [-5.02719517e-02 5.56801668e-04 9.98735411e-01 -1.84885030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57864 meters Centerline goodness [0,1] 0.9972193765549539 Centerline is valid? [True, True] Translation: X:359.88, Y:-266.77, Z:-18.49 [[ 7.37604528e-01 6.74295819e-01 3.55627608e-02 3.59877582e+02] [-6.73480848e-01 7.38461171e-01 -3.31458414e-02 -2.66765385e+02] [-4.86118202e-02 4.97684392e-04 9.98817623e-01 -1.84891602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60864 meters Centerline goodness [0,1] 0.9966323393040167 Centerline is valid? [True, True] Translation: X:359.90, Y:-266.79, Z:-18.49 [[ 7.37140761e-01 6.74783698e-01 3.59229614e-02 3.59902032e+02] [-6.73951145e-01 7.38015391e-01 -3.35132352e-02 -2.66787316e+02] [-4.91258832e-02 4.93650709e-04 9.98792473e-01 -1.84904619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.63864 meters Centerline goodness [0,1] 0.9972203257583147 Centerline is valid? [True, True] Translation: X:359.93, Y:-266.81, Z:-18.49 [[ 7.36522847e-01 6.75466782e-01 3.57592304e-02 3.59926512e+02] [-6.74640914e-01 7.37390266e-01 -3.33950948e-02 -2.66809093e+02] [-4.89257856e-02 4.71610451e-04 9.98802305e-01 -1.84911596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66864 meters Centerline goodness [0,1] 0.9973677796734097 Centerline is valid? [True, True] Translation: X:359.95, Y:-266.83, Z:-18.49 [[ 7.36354653e-01 6.75645737e-01 3.58421909e-02 3.59951620e+02] [-6.74814529e-01 7.37226289e-01 -3.35074701e-02 -2.66831355e+02] [-4.90629848e-02 4.86550358e-04 9.98795568e-01 -1.84920261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.69864 meters Centerline goodness [0,1] 0.9959484526017768 Centerline is valid? [True, True] Translation: X:359.97, Y:-266.85, Z:-18.49 [[ 7.38428921e-01 6.73408337e-01 3.52695418e-02 3.59974622e+02] [-6.72599351e-01 7.39270444e-01 -3.30048941e-02 -2.66854348e+02] [-4.82995006e-02 6.49497395e-04 9.98832687e-01 -1.84927537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72864 meters Centerline goodness [0,1] 0.9968806355705025 Centerline is valid? [True, True] Translation: X:360.00, Y:-266.88, Z:-18.49 [[ 7.39587055e-01 6.72183431e-01 3.43572911e-02 3.59998370e+02] [-6.71413074e-01 7.40384291e-01 -3.21805122e-02 -2.66877171e+02] [-4.70688057e-02 7.32355776e-04 9.98891381e-01 -1.84939080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.75864 meters Centerline goodness [0,1] 0.997067735314241 Centerline is valid? [True, True] Translation: X:360.02, Y:-266.90, Z:-18.50 [[ 7.39621818e-01 6.72160349e-01 3.40592339e-02 3.60022296e+02] [-6.71401763e-01 7.40405227e-01 -3.19338766e-02 -2.66900406e+02] [-4.66823204e-02 7.51562162e-04 9.98909503e-01 -1.84950687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78864 meters Centerline goodness [0,1] 0.9962460998439937 Centerline is valid? [True, True] Translation: X:360.05, Y:-266.92, Z:-18.50 [[ 7.39247601e-01 6.72585766e-01 3.37841839e-02 3.60045780e+02] [-6.71838339e-01 7.40018807e-01 -3.17082247e-02 -2.66923245e+02] [-4.63274321e-02 7.42719111e-04 9.98926032e-01 -1.84954449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.81864 meters Centerline goodness [0,1] 0.9970256960358866 Centerline is valid? [True, True] Translation: X:360.07, Y:-266.95, Z:-18.50 [[ 7.37651200e-01 6.74302339e-01 3.44537672e-02 3.60067642e+02] [-6.73525290e-01 7.38455079e-01 -3.23694358e-02 -2.66947681e+02] [-4.72693456e-02 6.71869618e-04 9.98881954e-01 -1.84951804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84864 meters Centerline goodness [0,1] 0.9971212490851428 Centerline is valid? [True, True] Translation: X:360.09, Y:-266.97, Z:-18.49 [[ 7.35205596e-01 6.76932070e-01 3.51525883e-02 3.60089030e+02] [-6.76124696e-01 7.36045302e-01 -3.30561588e-02 -2.66971899e+02] [-4.82506714e-02 5.35539889e-04 9.98835114e-01 -1.84946852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.87864 meters Centerline goodness [0,1] 0.9969750195160031 Centerline is valid? [True, True] Translation: X:360.11, Y:-267.00, Z:-18.49 [[ 7.33974513e-01 6.78260895e-01 3.52643146e-02 3.60112382e+02] [-6.77448396e-01 7.34821022e-01 -3.31924062e-02 -2.66995018e+02] [-4.84260708e-02 4.72626787e-04 9.98826658e-01 -1.84947765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90864 meters Centerline goodness [0,1] 0.9972199190362386 Centerline is valid? [True, True] Translation: X:360.14, Y:-267.02, Z:-18.50 [[ 7.32315802e-01 6.80068702e-01 3.49303284e-02 3.60135256e+02] [-6.79271995e-01 7.33148294e-01 -3.29110327e-02 -2.67017376e+02] [-4.79908739e-02 3.74075457e-04 9.98847704e-01 -1.84958493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93864 meters Centerline goodness [0,1] 0.997607071348342 Centerline is valid? [True, True] Translation: X:360.16, Y:-267.04, Z:-18.50 [[ 7.31495508e-01 6.80966363e-01 3.46285144e-02 3.60159887e+02] [-6.80182915e-01 7.32314619e-01 -3.26573422e-02 -2.67040110e+02] [-4.75975188e-02 3.34975278e-04 9.98866540e-01 -1.84962619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96864 meters Centerline goodness [0,1] 0.9978536585365854 Centerline is valid? [True, True] Translation: X:360.18, Y:-267.06, Z:-18.50 [[ 7.31244172e-01 6.81256838e-01 3.42210768e-02 3.60184199e+02] [-6.80490450e-01 7.32044403e-01 -3.23069518e-02 -2.67063053e+02] [-4.70606796e-02 3.37154242e-04 9.98891976e-01 -1.84978159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99864 meters Centerline goodness [0,1] 0.9975615703486954 Centerline is valid? [True, True] Translation: X:360.21, Y:-267.08, Z:-18.50 [[ 7.32004362e-01 6.80469434e-01 3.36298071e-02 3.60209946e+02] [-6.79726967e-01 7.32776354e-01 -3.17815254e-02 -2.67084610e+02] [-4.62694840e-02 4.05128481e-04 9.98928912e-01 -1.84984728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02864 meters Centerline goodness [0,1] 0.9977064220183486 Centerline is valid? [True, True] Translation: X:360.24, Y:-267.11, Z:-18.50 [[ 7.32220389e-01 6.80248368e-01 3.33984966e-02 3.60235313e+02] [-6.79514341e-01 7.32981558e-01 -3.15958155e-02 -2.67105583e+02] [-4.59734840e-02 4.40342877e-04 9.98942563e-01 -1.84983476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05864 meters Centerline goodness [0,1] 0.9977068696330992 Centerline is valid? [True, True] Translation: X:360.26, Y:-267.13, Z:-18.50 [[ 7.32008813e-01 6.80489128e-01 3.31307158e-02 3.60261063e+02] [-6.79765583e-01 7.32758041e-01 -3.13752319e-02 -2.67127104e+02] [-4.56273026e-02 4.45825903e-04 9.98958433e-01 -1.84994157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08864 meters Centerline goodness [0,1] 0.998342029550885 Centerline is valid? [True, True] Translation: X:360.29, Y:-267.15, Z:-18.50 [[ 7.32054396e-01 6.80312958e-01 3.56460502e-02 3.60286666e+02] [-6.79473327e-01 7.32921559e-01 -3.37932897e-02 -2.67146335e+02] [-4.91157715e-02 5.17985931e-04 9.98792958e-01 -1.85030812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11863999999997 meters Centerline goodness [0,1] 0.9981426267168483 Centerline is valid? [True, True] Translation: X:360.31, Y:-267.17, Z:-18.50 [[ 7.31390583e-01 6.81056431e-01 3.50706735e-02 3.60311494e+02] [-6.80243070e-01 7.32230772e-01 -3.32785481e-02 -2.67168256e+02] [-4.83443955e-02 4.83034117e-04 9.98830609e-01 -1.85026973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14864 meters Centerline goodness [0,1] 0.9985370848978398 Centerline is valid? [True, True] Translation: X:360.34, Y:-267.19, Z:-18.50 [[ 7.30856527e-01 6.81591006e-01 3.58111371e-02 3.60337736e+02] [-6.80741796e-01 7.31733194e-01 -3.40167514e-02 -2.67189154e+02] [-4.93897095e-02 4.83226989e-04 9.98779467e-01 -1.85044201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17864 meters Centerline goodness [0,1] 0.9985867446393762 Centerline is valid? [True, True] Translation: X:360.36, Y:-267.21, Z:-18.51 [[ 7.30692250e-01 6.81780651e-01 3.55524826e-02 3.60362449e+02] [-6.80942187e-01 7.31556492e-01 -3.38058833e-02 -2.67211070e+02] [-4.90568466e-02 4.92511642e-04 9.98795867e-01 -1.85053277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20864 meters Centerline goodness [0,1] 0.9982939312698026 Centerline is valid? [True, True] Translation: X:360.39, Y:-267.23, Z:-18.51 [[ 7.30823541e-01 6.81631188e-01 3.57194088e-02 3.60387114e+02] [-6.80782912e-01 7.31695731e-01 -3.39997759e-02 -2.67233335e+02] [-4.93110466e-02 5.30673526e-04 9.98783329e-01 -1.85067060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23864 meters Centerline goodness [0,1] 0.998196441628077 Centerline is valid? [True, True] Translation: X:360.41, Y:-267.25, Z:-18.51 [[ 7.32267276e-01 6.80086811e-01 3.55888594e-02 3.60411485e+02] [-6.79241240e-01 7.33131296e-01 -3.39092952e-02 -2.67254508e+02] [-4.91525711e-02 6.57246187e-04 9.98791066e-01 -1.85082702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26864 meters Centerline goodness [0,1] 0.9978508279196991 Centerline is valid? [True, True] Translation: X:360.44, Y:-267.28, Z:-18.51 [[ 7.33208017e-01 6.79096039e-01 3.51364920e-02 3.60435102e+02] [-6.78269514e-01 7.34049067e-01 -3.35027353e-02 -2.67276527e+02] [-4.85434840e-02 7.32462780e-04 9.98820802e-01 -1.85086726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29864 meters Centerline goodness [0,1] 0.997949619214997 Centerline is valid? [True, True] Translation: X:360.46, Y:-267.30, Z:-18.51 [[ 7.34472372e-01 6.77743804e-01 3.48377874e-02 3.60458973e+02] [-6.76929350e-01 7.35297669e-01 -3.32263975e-02 -2.67298269e+02] [-4.81351289e-02 8.21150245e-04 9.98840495e-01 -1.85104257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32864 meters Centerline goodness [0,1] 0.9974629195940672 Centerline is valid? [True, True] Translation: X:360.48, Y:-267.32, Z:-18.51 [[ 7.35350874e-01 6.76780745e-01 3.50273498e-02 3.60482651e+02] [-6.75955889e-01 7.36184094e-01 -3.34158028e-02 -2.67320422e+02] [-4.84017497e-02 8.95396398e-04 9.98827547e-01 -1.85111132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35864 meters Centerline goodness [0,1] 0.9974637857874458 Centerline is valid? [True, True] Translation: X:360.50, Y:-267.34, Z:-18.51 [[ 7.36898722e-01 6.75135738e-01 3.42346207e-02 3.60504578e+02] [-6.74345651e-01 7.37692864e-01 -3.26677335e-02 -2.67344398e+02] [-4.73097897e-02 9.86843525e-04 9.98879778e-01 -1.85115041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38864 meters Centerline goodness [0,1] 0.9965801944403733 Centerline is valid? [True, True] Translation: X:360.53, Y:-267.37, Z:-18.51 [[ 7.37371494e-01 6.74685123e-01 3.29129878e-02 3.60527452e+02] [-6.73954057e-01 7.38105019e-01 -3.14151340e-02 -2.67368752e+02] [-4.54885650e-02 9.82782628e-04 9.98964376e-01 -1.85110773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41864 meters Centerline goodness [0,1] 0.9970156555772994 Centerline is valid? [True, True] Translation: X:360.55, Y:-267.39, Z:-18.51 [[ 7.37650646e-01 6.74350274e-01 3.35146674e-02 3.60549874e+02] [-6.73591336e-01 7.38410893e-01 -3.20010225e-02 -2.67392060e+02] [-4.63274938e-02 1.03038533e-03 9.98925774e-01 -1.85129670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44864 meters Centerline goodness [0,1] 0.9976087062612854 Centerline is valid? [True, True] Translation: X:360.57, Y:-267.42, Z:-18.51 [[ 7.36735555e-01 6.75306475e-01 3.43785765e-02 3.60572201e+02] [-6.74508248e-01 7.37536544e-01 -3.28400688e-02 -2.67417083e+02] [-4.75325676e-02 1.00581289e-03 9.98869182e-01 -1.85148836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47864 meters Centerline goodness [0,1] 0.9974148863525509 Centerline is valid? [True, True] Translation: X:360.60, Y:-267.44, Z:-18.52 [[ 7.36198620e-01 6.75838410e-01 3.54123754e-02 3.60595526e+02] [-6.74990311e-01 7.37049110e-01 -3.38628160e-02 -2.67440145e+02] [-4.89864515e-02 1.02674815e-03 9.98798915e-01 -1.85167430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50864 meters Centerline goodness [0,1] 0.9979015177394954 Centerline is valid? [True, True] Translation: X:360.62, Y:-267.46, Z:-18.52 [[ 7.34303854e-01 6.77907655e-01 3.52003044e-02 3.60618134e+02] [-6.77070432e-01 7.35146507e-01 -3.36933802e-02 -2.67463492e+02] [-4.87183812e-02 9.08093672e-04 9.98812142e-01 -1.85170276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53864 meters Centerline goodness [0,1] 0.9975624024960998 Centerline is valid? [True, True] Translation: X:360.64, Y:-267.49, Z:-18.52 [[ 7.32698357e-01 6.79625222e-01 3.55341316e-02 3.60640463e+02] [-6.78772541e-01 7.33559049e-01 -3.40434855e-02 -2.67486270e+02] [-4.92031952e-02 8.24013075e-04 9.98788449e-01 -1.85181360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56864 meters Centerline goodness [0,1] 0.9979010055647759 Centerline is valid? [True, True] Translation: X:360.66, Y:-267.51, Z:-18.52 [[ 7.29958953e-01 6.82598324e-01 3.49206972e-02 3.60662008e+02] [-6.81777029e-01 7.30793493e-01 -3.34806404e-02 -2.67510959e+02] [-4.83736473e-02 6.31363940e-04 9.98829110e-01 -1.85202661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59864 meters Centerline goodness [0,1] 0.9979968731678718 Centerline is valid? [True, True] Translation: X:360.69, Y:-267.54, Z:-18.52 [[ 7.28256434e-01 6.84394407e-01 3.53109341e-02 3.60685242e+02] [-6.83555915e-01 7.29111798e-01 -3.38717653e-02 -2.67535115e+02] [-4.89272654e-02 5.30333160e-04 9.98802203e-01 -1.85223417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62864 meters Centerline goodness [0,1] 0.9990734419194383 Centerline is valid? [True, True] Translation: X:360.71, Y:-267.56, Z:-18.52 [[ 7.26015944e-01 6.86639490e-01 3.77764400e-02 3.60708230e+02] [-6.85680690e-01 7.26997952e-01 -3.62762966e-02 -2.67559347e+02] [-5.23721323e-02 4.34594315e-04 9.98627544e-01 -1.85245211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65864 meters Centerline goodness [0,1] 0.998683440608543 Centerline is valid? [True, True] Translation: X:360.73, Y:-267.58, Z:-18.53 [[ 7.25471142e-01 6.87186958e-01 3.82845459e-02 3.60731912e+02] [-6.86200879e-01 7.26480489e-01 -3.68028865e-02 -2.67582577e+02] [-5.31034392e-02 4.28543029e-04 9.98588925e-01 -1.85254092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68864 meters Centerline goodness [0,1] 0.9991221653255303 Centerline is valid? [True, True] Translation: X:360.76, Y:-267.61, Z:-18.53 [[ 7.24992835e-01 6.87701437e-01 3.81067336e-02 3.60755268e+02] [-6.86723203e-01 7.25993499e-01 -3.66699134e-02 -2.67605563e+02] [-5.28831930e-02 4.16646328e-04 9.98600618e-01 -1.85266989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71864 meters Centerline goodness [0,1] 0.9993655751305451 Centerline is valid? [True, True] Translation: X:360.78, Y:-267.63, Z:-18.53 [[ 7.23864453e-01 6.88854386e-01 3.87283795e-02 3.60778415e+02] [-6.87843480e-01 7.24899648e-01 -3.73074587e-02 -2.67629672e+02] [-5.37735953e-02 3.66479887e-04 9.98553086e-01 -1.85282847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74864 meters Centerline goodness [0,1] 0.9994631003514253 Centerline is valid? [True, True] Translation: X:360.80, Y:-267.65, Z:-18.53 [[ 7.22778169e-01 6.89964504e-01 3.92517645e-02 3.60802040e+02] [-6.88925525e-01 7.23843134e-01 -3.78515392e-02 -2.67652990e+02] [-5.45283387e-02 3.16723763e-04 9.98512173e-01 -1.85294769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77864 meters Centerline goodness [0,1] 0.9997076023391813 Centerline is valid? [True, True] Translation: X:360.82, Y:-267.68, Z:-18.53 [[ 7.20710433e-01 6.92040650e-01 4.06965721e-02 3.60824139e+02] [-6.90924729e-01 7.21858505e-01 -3.92850884e-02 -2.67675751e+02] [-5.65640448e-02 1.94905063e-04 9.98398954e-01 -1.85320460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80864 meters Centerline goodness [0,1] 0.999804820923197 Centerline is valid? [True, True] Translation: X:360.85, Y:-267.70, Z:-18.53 [[ 7.19720649e-01 6.93105324e-01 4.00898541e-02 3.60847769e+02] [-6.92022138e-01 7.20836314e-01 -3.87345971e-02 -2.67698262e+02] [-5.57453781e-02 1.35022882e-04 9.98445008e-01 -1.85331018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83864 meters Centerline goodness [0,1] 0.999804820923197 Centerline is valid? [True, True] Translation: X:360.87, Y:-267.72, Z:-18.53 [[ 7.19357297e-01 6.93483508e-01 4.00712396e-02 3.60871396e+02] [-6.92399836e-01 7.20472489e-01 -3.87538476e-02 -2.67720653e+02] [-5.57453798e-02 1.32543333e-04 9.98445009e-01 -1.85342973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86863999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.90, Y:-267.74, Z:-18.53 [[ 7.18489971e-01 6.94384851e-01 4.00229989e-02 3.60895350e+02] [-6.93302916e-01 7.19603829e-01 -3.87478656e-02 -2.67744094e+02] [-5.57066342e-02 9.18910040e-05 9.98447176e-01 -1.85348663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89864 meters Centerline goodness [0,1] 0.9999511623363938 Centerline is valid? [True, True] Translation: X:360.92, Y:-267.77, Z:-18.54 [[ 7.17676765e-01 6.95155970e-01 4.12096834e-02 3.60917555e+02] [-6.94007843e-01 7.18858939e-01 -3.99366969e-02 -2.67766730e+02] [-5.73861825e-02 6.17959070e-05 9.98352053e-01 -1.85366977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92864 meters Centerline goodness [0,1] 0.9999512099921936 Centerline is valid? [True, True] Translation: X:360.94, Y:-267.79, Z:-18.54 [[ 7.16751769e-01 6.96117946e-01 4.10695299e-02 3.60941498e+02] [-6.94977085e-01 7.17927437e-01 -3.98377544e-02 -2.67789972e+02] [-5.72167181e-02 1.13987267e-05 9.98361782e-01 -1.85385439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95864 meters Centerline goodness [0,1] 0.9999512432959532 Centerline is valid? [True, True] Translation: X:360.97, Y:-267.81, Z:-18.54 [[ 7.15902907e-01 6.96992036e-01 4.10503323e-02 3.60965547e+02] [-6.95851263e-01 7.17078867e-01 -3.98612461e-02 -2.67812106e+02] [-5.72192968e-02 -2.81435968e-05 9.98361634e-01 -1.85393748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98864 meters Centerline goodness [0,1] 0.9999512551791372 Centerline is valid? [True, True] Translation: X:360.99, Y:-267.84, Z:-18.54 [[ 7.15271472e-01 6.97677098e-01 4.04152101e-02 3.60988682e+02] [-6.96570150e-01 7.16412356e-01 -3.92856490e-02 -2.67835433e+02] [-5.63626535e-02 -5.21249866e-05 9.98410361e-01 -1.85404577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01864 meters Centerline goodness [0,1] 0.9999512028497536 Centerline is valid? [True, True] Translation: X:361.01, Y:-267.86, Z:-18.54 [[ 7.15280926e-01 6.97676539e-01 4.02572258e-02 3.61011544e+02] [-6.96575896e-01 7.16412903e-01 -3.91736335e-02 -2.67859916e+02] [-5.61713211e-02 -2.20602781e-05 9.98421145e-01 -1.85423001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04864 meters Centerline goodness [0,1] 0.9999023961739301 Centerline is valid? [True, True] Translation: X:361.03, Y:-267.88, Z:-18.54 [[ 7.14894299e-01 6.98117539e-01 3.94720561e-02 3.61034641e+02] [-6.97057994e-01 7.15983171e-01 -3.84480412e-02 -2.67882780e+02] [-5.51025798e-02 -2.80268239e-05 9.98480698e-01 -1.85434801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07864 meters Centerline goodness [0,1] 0.9999512004684755 Centerline is valid? [True, True] Translation: X:361.06, Y:-267.91, Z:-18.55 [[ 7.14451164e-01 6.98591140e-01 3.91146268e-02 3.61058528e+02] [-6.97549401e-01 7.15521081e-01 -3.81367928e-02 -2.67905785e+02] [-5.46293656e-02 -3.75084858e-05 9.98506701e-01 -1.85454876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.08, Y:-267.93, Z:-18.55 [[ 7.11899584e-01 7.01156689e-01 3.97275588e-02 3.61081337e+02] [-7.00083674e-01 7.13007190e-01 -3.87762296e-02 -2.67930222e+02] [-5.55142478e-02 -2.07833544e-04 9.98457873e-01 -1.85481715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.13864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.10, Y:-267.95, Z:-18.55 [[ 7.10686353e-01 7.02434198e-01 3.88729303e-02 3.61104646e+02] [-7.01406627e-01 7.11748638e-01 -3.79818430e-02 -2.67953473e+02] [-5.43475006e-02 -2.72553422e-04 9.98522045e-01 -1.85486559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.13, Y:-267.98, Z:-18.55 [[ 7.07170359e-01 7.06030374e-01 3.78311236e-02 3.61129113e+02] [-7.05060252e-01 7.08181371e-01 -3.70025144e-02 -2.67976359e+02] [-5.29161961e-02 -5.06140186e-04 9.98598828e-01 -1.85502853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.19864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.15, Y:-268.00, Z:-18.55 [[ 7.05833445e-01 7.07369003e-01 3.77920786e-02 3.61153676e+02] [-7.06400727e-01 7.06844226e-01 -3.70034186e-02 -2.67998845e+02] [-5.28881839e-02 -5.78101366e-04 9.98600273e-01 -1.85512872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22864 meters Centerline goodness [0,1] 0.9997561213540143 Centerline is valid? [True, True] Translation: X:361.18, Y:-268.02, Z:-18.55 [[ 7.04926259e-01 7.08203159e-01 3.90801145e-02 3.61177313e+02] [-7.07166801e-01 7.06008416e-01 -3.83044697e-02 -2.68020524e+02] [-5.47182361e-02 -6.34332998e-04 9.98501634e-01 -1.85535460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.25864 meters Centerline goodness [0,1] 0.9998536799492758 Centerline is valid? [True, True] Translation: X:361.20, Y:-268.04, Z:-18.55 [[ 7.04672401e-01 7.08380888e-01 4.04144280e-02 3.61201440e+02] [-7.07270650e-01 7.05830081e-01 -3.96500159e-02 -2.68041674e+02] [-5.66130325e-02 -6.43666886e-04 9.98395989e-01 -1.85543175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28864 meters Centerline goodness [0,1] 0.9998536585365854 Centerline is valid? [True, True] Translation: X:361.23, Y:-268.06, Z:-18.56 [[ 7.04948189e-01 7.08087160e-01 4.07507688e-02 3.61226686e+02] [-7.06955611e-01 7.06124789e-01 -4.00193294e-02 -2.68063664e+02] [-5.71123013e-02 -5.97430885e-04 9.98367582e-01 -1.85560949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.31864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.25, Y:-268.08, Z:-18.56 [[ 7.07092805e-01 7.05986247e-01 4.00397928e-02 3.61253448e+02] [-7.04888271e-01 7.08225434e-01 -3.93606345e-02 -2.68081935e+02] [-5.61452663e-02 -3.91958877e-04 9.98422534e-01 -1.85574955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34864 meters Centerline goodness [0,1] 0.9999512646815147 Centerline is valid? [True, True] Translation: X:361.28, Y:-268.10, Z:-18.56 [[ 7.07853255e-01 7.05275574e-01 3.91169420e-02 3.61277758e+02] [-7.04224653e-01 7.08933194e-01 -3.84885016e-02 -2.68102621e+02] [-5.48762987e-02 -3.02903735e-04 9.98493115e-01 -1.85587152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.37864 meters Centerline goodness [0,1] 0.9999512432959532 Centerline is valid? [True, True] Translation: X:361.30, Y:-268.12, Z:-18.56 [[ 7.08108439e-01 7.05007314e-01 3.93335276e-02 3.61302596e+02] [-7.03942212e-01 7.09199987e-01 -3.87393881e-02 -2.68124323e+02] [-5.52068892e-02 -2.56842837e-04 9.98474904e-01 -1.85599938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40864 meters Centerline goodness [0,1] 0.9999512385410572 Centerline is valid? [True, True] Translation: X:361.33, Y:-268.14, Z:-18.56 [[ 7.08528076e-01 7.04566694e-01 3.96703922e-02 3.61328285e+02] [-7.03480282e-01 7.09637750e-01 -3.91121136e-02 -2.68144623e+02] [-5.57087004e-02 -1.95308044e-04 9.98447045e-01 -1.85613840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43864 meters Centerline goodness [0,1] 0.9997560618627116 Centerline is valid? [True, True] Translation: X:361.35, Y:-268.17, Z:-18.56 [[ 7.08901474e-01 7.04159555e-01 4.02246524e-02 3.61352599e+02] [-7.03039619e-01 7.10041761e-01 -3.96987528e-02 -2.68166314e+02] [-5.65154392e-02 -1.37019947e-04 9.98401716e-01 -1.85626339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.38, Y:-268.19, Z:-18.56 [[ 7.10723241e-01 7.02218613e-01 4.19701543e-02 3.61376602e+02] [-7.00993451e-01 7.11961388e-01 -4.14627993e-02 -2.68187551e+02] [-5.89970787e-02 4.77717959e-05 9.98258154e-01 -1.85640864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.40, Y:-268.21, Z:-18.57 [[ 7.12454959e-01 7.00485195e-01 4.15742969e-02 3.61400550e+02] [-6.99277786e-01 7.13666900e-01 -4.11112521e-02 -2.68210767e+02] [-5.84680230e-02 2.17933176e-04 9.98289258e-01 -1.85650591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52864 meters Centerline goodness [0,1] 0.9998535799697399 Centerline is valid? [True, True] Translation: X:361.42, Y:-268.23, Z:-18.57 [[ 7.16473512e-01 6.96456298e-01 4.01787436e-02 3.61424055e+02] [-6.95319987e-01 7.17598992e-01 -3.97718877e-02 -2.68234185e+02] [-5.65316075e-02 5.58420591e-04 9.98400654e-01 -1.85661737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55864 meters Centerline goodness [0,1] 0.9998537797923673 Centerline is valid? [True, True] Translation: X:361.45, Y:-268.26, Z:-18.57 [[ 7.17857535e-01 6.95038457e-01 4.00262813e-02 3.61446579e+02] [-6.93906346e-01 7.18972224e-01 -3.96601089e-02 -2.68256938e+02] [-5.63430854e-02 6.95817390e-04 9.98411224e-01 -1.85676176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58864 meters Centerline goodness [0,1] 0.9997073741708935 Centerline is valid? [True, True] Translation: X:361.47, Y:-268.28, Z:-18.57 [[ 7.18587705e-01 6.94335126e-01 3.91208792e-02 3.61469786e+02] [-6.93250670e-01 7.19651413e-01 -3.87988853e-02 -2.68281207e+02] [-5.50928248e-02 7.59826250e-04 9.98480948e-01 -1.85680252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61863999999997 meters Centerline goodness [0,1] 0.9998536014054266 Centerline is valid? [True, True] Translation: X:361.49, Y:-268.31, Z:-18.57 [[ 7.18981283e-01 6.93928855e-01 3.90980675e-02 3.61491118e+02] [-6.92842878e-01 7.20043105e-01 -3.88158796e-02 -2.68306513e+02] [-5.50877528e-02 8.19073324e-04 9.98481181e-01 -1.85697075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64864 meters Centerline goodness [0,1] 0.9999024770821143 Centerline is valid? [True, True] Translation: X:361.51, Y:-268.33, Z:-18.57 [[ 7.19008032e-01 6.93928019e-01 3.86180650e-02 3.61513370e+02] [-6.92866445e-01 7.20043890e-01 -3.83781936e-02 -2.68331357e+02] [-5.44384056e-02 8.37068077e-04 9.98516780e-01 -1.85709437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67864 meters Centerline goodness [0,1] 0.9999512266497586 Centerline is valid? [True, True] Translation: X:361.53, Y:-268.36, Z:-18.57 [[ 7.19108084e-01 6.93903408e-01 3.71701943e-02 3.61533166e+02] [-6.92918104e-01 7.20067612e-01 -3.69747785e-02 -2.68356982e+02] [-5.24219779e-02 8.32961524e-04 9.98624675e-01 -1.85722217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70864 meters Centerline goodness [0,1] 0.9999512432959532 Centerline is valid? [True, True] Translation: X:361.56, Y:-268.38, Z:-18.57 [[ 7.18831350e-01 6.94161405e-01 3.77019033e-02 3.61555087e+02] [-6.93146155e-01 7.19818879e-01 -3.75391713e-02 -2.68381554e+02] [-5.31967857e-02 8.51403900e-04 9.98583686e-01 -1.85740162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73864 meters Centerline goodness [0,1] 0.999804992199688 Centerline is valid? [True, True] Translation: X:361.58, Y:-268.41, Z:-18.57 [[ 7.18841560e-01 6.94135581e-01 3.79816568e-02 3.61577453e+02] [-6.93103066e-01 7.19843738e-01 -3.78567551e-02 -2.68406264e+02] [-5.36185785e-02 8.87806143e-04 9.98561095e-01 -1.85749221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.60, Y:-268.43, Z:-18.58 [[ 7.17918914e-01 6.95059093e-01 3.85394658e-02 3.61598862e+02] [-6.93995164e-01 7.18952098e-01 -3.84524807e-02 -2.68430952e+02] [-5.44347761e-02 8.59560330e-04 9.98516958e-01 -1.85758163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79864 meters Centerline goodness [0,1] 0.9999512147526588 Centerline is valid? [True, True] Translation: X:361.62, Y:-268.45, Z:-18.58 [[ 7.17234217e-01 6.95747640e-01 3.88625654e-02 3.61621922e+02] [-6.94664596e-01 7.18285814e-01 -3.88148057e-02 -2.68454362e+02] [-5.49197389e-02 8.42858463e-04 9.98490417e-01 -1.85771050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.64, Y:-268.48, Z:-18.58 [[ 7.16520656e-01 6.96580971e-01 3.70553549e-02 3.61642729e+02] [-6.95595649e-01 7.17477777e-01 -3.70450072e-02 -2.68478545e+02] [-5.23912407e-02 7.67969222e-04 9.98626341e-01 -1.85800012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85864 meters Centerline goodness [0,1] 0.9999024104615986 Centerline is valid? [True, True] Translation: X:361.66, Y:-268.48, Z:-18.58 [[ 6.67896503e-01 7.43483467e-01 3.38614160e-02 3.61659439e+02] [-7.42467841e-01 6.68753823e-01 -3.88565259e-02 -2.68478203e+02] [-5.15341360e-02 8.11125307e-04 9.98670904e-01 -1.85795521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.58, Y:-268.64, Z:-17.12 [[ 7.00321154e-01 -7.13684158e-01 -1.43249365e-02 3.61580295e+02] [-7.13463093e-01 -7.00463787e-01 1.79136151e-02 -2.68637153e+02] [-2.28187626e-02 -2.32497006e-03 -9.99736915e-01 -1.71195902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91864 meters Centerline goodness [0,1] 0.9999512337852335 Centerline is valid? [True, True] Translation: X:361.67, Y:-268.51, Z:-18.58 [[ 7.17072889e-01 6.96003926e-01 3.72156810e-02 3.61673007e+02] [-6.95022379e-01 7.18037696e-01 -3.69561840e-02 -2.68514130e+02] [-5.24439110e-02 6.34546504e-04 9.98623670e-01 -1.85815476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94864 meters Centerline goodness [0,1] 0.9998536299765808 Centerline is valid? [True, True] Translation: X:361.70, Y:-268.54, Z:-18.58 [[ 7.15559487e-01 6.97533287e-01 3.77085295e-02 3.61695591e+02] [-6.96525591e-01 7.16552163e-01 -3.74846505e-02 -2.68538927e+02] [-5.31669199e-02 5.57541524e-04 9.98585483e-01 -1.85826102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97864 meters Centerline goodness [0,1] 0.9998046779627912 Centerline is valid? [True, True] Translation: X:361.72, Y:-268.56, Z:-18.58 [[ 7.14679884e-01 6.98434667e-01 3.77051634e-02 3.61718864e+02] [-6.97426332e-01 7.15673632e-01 -3.75201792e-02 -2.68562113e+02] [-5.31899851e-02 5.18343572e-04 9.98584276e-01 -1.85834842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.74, Y:-268.59, Z:-18.59 [[ 7.13385259e-01 6.99709170e-01 3.85817348e-02 3.61742392e+02] [-6.98653018e-01 7.14427648e-01 -3.84330158e-02 -2.68585180e+02] [-5.44557916e-02 4.62301496e-04 9.98516076e-01 -1.85865508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03864 meters Centerline goodness [0,1] 0.9999024485416057 Centerline is valid? [True, True] Translation: X:361.77, Y:-268.61, Z:-18.59 [[ 7.12859221e-01 7.00181412e-01 3.97205404e-02 3.61765051e+02] [-6.99060398e-01 7.13964825e-01 -3.96079373e-02 -2.68608539e+02] [-5.60918102e-02 4.67826503e-04 9.98425505e-01 -1.85884586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06864 meters Centerline goodness [0,1] 0.9999512551791372 Centerline is valid? [True, True] Translation: X:361.79, Y:-268.63, Z:-18.59 [[ 7.12516594e-01 7.00570660e-01 3.89981248e-02 3.61787054e+02] [-6.99488720e-01 7.13582892e-01 -3.89228280e-02 -2.68631983e+02] [-5.50965860e-02 4.54412451e-04 9.98480926e-01 -1.85900326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09864 meters Centerline goodness [0,1] 0.9999024675704672 Centerline is valid? [True, True] Translation: X:361.81, Y:-268.66, Z:-18.59 [[ 7.13316037e-01 6.99809702e-01 3.80343547e-02 3.61808076e+02] [-6.98777611e-01 7.14329129e-01 -3.79966503e-02 -2.68657051e+02] [-5.37594720e-02 5.26064517e-04 9.98553775e-01 -1.85903334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12864 meters Centerline goodness [0,1] 0.999902400936951 Centerline is valid? [True, True] Translation: X:361.83, Y:-268.68, Z:-18.59 [[ 7.13612041e-01 6.99542221e-01 3.73969913e-02 3.61831196e+02] [-6.98542056e-01 7.14591045e-01 -3.73983224e-02 -2.68680668e+02] [-5.28852606e-02 5.64521969e-04 9.98600436e-01 -1.85910863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.78, Y:-268.83, Z:-17.13 [[ 7.48019378e-01 -6.63540370e-01 -1.34605646e-02 3.61781110e+02] [-6.63371965e-01 -7.48136646e-01 1.51392071e-02 -2.68830574e+02] [-2.01158167e-02 -2.39505917e-03 -9.99794788e-01 -1.71275880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18864 meters Centerline goodness [0,1] 0.99990234375 Centerline is valid? [True, True] Translation: X:361.79, Y:-268.91, Z:-17.13 [[ 7.96974420e-01 -6.03856260e-01 -1.37619337e-02 3.61789474e+02] [-6.03706592e-01 -7.97088972e-01 1.36938373e-02 -2.68911954e+02] [-1.92385950e-02 -2.60546798e-03 -9.99811526e-01 -1.71290808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.79, Y:-268.98, Z:-17.13 [[ 8.42207175e-01 -5.38956604e-01 -1.45895141e-02 3.61791763e+02] [-5.38818204e-01 -8.42329309e-01 1.25011517e-02 -2.68984517e+02] [-1.90267536e-02 -2.66746389e-03 -9.99815417e-01 -1.71303404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.80, Y:-269.05, Z:-17.13 [[ 8.82523126e-01 -4.70023604e-01 -1.51902687e-02 3.61796413e+02] [-4.69899054e-01 -8.82649702e-01 1.11526643e-02 -2.69054125e+02] [-1.86497016e-02 -2.70459124e-03 -9.99822421e-01 -1.71324170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27864 meters Centerline goodness [0,1] 0.9999511456348624 Centerline is valid? [True, True] Translation: X:361.80, Y:-269.12, Z:-17.13 [[ 9.18575558e-01 -3.94923268e-01 -1.59548521e-02 3.61804137e+02] [-3.94809115e-01 -9.18709867e-01 9.89667053e-03 -2.69124359e+02] [-1.85663055e-02 -2.79171863e-03 -9.99823734e-01 -1.71348975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30864 meters Centerline goodness [0,1] 0.9998537298878596 Centerline is valid? [True, True] Translation: X:361.82, Y:-269.19, Z:-17.14 [[ 9.47543001e-01 -3.19206687e-01 -1.64119268e-02 3.61816856e+02] [-3.19105563e-01 -9.47680879e-01 8.52005454e-03 -2.69192891e+02] [-1.82729276e-02 -2.83598089e-03 -9.99829014e-01 -1.71356350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.84, Y:-269.06, Z:-18.60 [[ 9.45006387e-01 3.23034560e-01 5.11038397e-02 3.61839504e+02] [-3.22575125e-01 9.46387146e-01 -1.72237836e-02 -2.69063946e+02] [-5.39278943e-02 -2.08242011e-04 9.98544811e-01 -1.86003892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36863999999997 meters Centerline goodness [0,1] 0.999951126533405 Centerline is valid? [True, True] Translation: X:361.87, Y:-269.07, Z:-18.60 [[ 9.43591838e-01 3.27063646e-01 5.16121647e-02 3.61871223e+02] [-3.26599437e-01 9.45002222e-01 -1.74243695e-02 -2.69070350e+02] [-5.44724881e-02 -4.15011076e-04 9.98515186e-01 -1.86016866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.90, Y:-269.08, Z:-18.60 [[ 9.42985710e-01 3.28578571e-01 5.30478418e-02 3.61902775e+02] [-3.28088987e-01 9.44476513e-01 -1.79369458e-02 -2.69077937e+02] [-5.59961367e-02 -4.90129126e-04 9.98430865e-01 -1.86035013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42864 meters Centerline goodness [0,1] 0.9999023580530195 Centerline is valid? [True, True] Translation: X:361.94, Y:-269.08, Z:-18.60 [[ 9.42710056e-01 3.29147919e-01 5.44003491e-02 3.61935367e+02] [-3.28632331e-01 9.44278236e-01 -1.84229238e-02 -2.69082998e+02] [-5.74329328e-02 -5.10238017e-04 9.98349236e-01 -1.86047135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45864 meters Centerline goodness [0,1] 0.9998048875664601 Centerline is valid? [True, True] Translation: X:361.97, Y:-269.09, Z:-18.61 [[ 9.42371960e-01 3.29987115e-01 5.51687624e-02 3.61967454e+02] [-3.29456505e-01 9.43985282e-01 -1.87136114e-02 -2.69091310e+02] [-5.82537503e-02 -5.40525002e-04 9.98301662e-01 -1.86067984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48864 meters Centerline goodness [0,1] 0.999707274235254 Centerline is valid? [True, True] Translation: X:362.00, Y:-269.10, Z:-18.61 [[ 9.42598841e-01 3.29566672e-01 5.37887861e-02 3.61998688e+02] [-3.29059906e-01 9.44132186e-01 -1.82754836e-02 -2.69098317e+02] [-5.68067145e-02 -4.73283254e-04 9.98385083e-01 -1.86065134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51864 meters Centerline goodness [0,1] 0.9999025863328626 Centerline is valid? [True, True] Translation: X:362.03, Y:-269.10, Z:-18.61 [[ 9.43010903e-01 3.28299124e-01 5.43150199e-02 3.62032130e+02] [-3.27779004e-01 9.44573735e-01 -1.84765737e-02 -2.69102124e+02] [-5.73703842e-02 -3.79712654e-04 9.98352891e-01 -1.86084804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54864 meters Centerline goodness [0,1] 0.999756049960968 Centerline is valid? [True, True] Translation: X:362.06, Y:-269.11, Z:-18.61 [[ 9.43317373e-01 3.27408253e-01 5.43706634e-02 3.62064149e+02] [-3.26884881e-01 9.44882922e-01 -1.85077664e-02 -2.69109925e+02] [-5.74335068e-02 -3.14250282e-04 9.98349284e-01 -1.86093044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57864 meters Centerline goodness [0,1] 0.9999512028497536 Centerline is valid? [True, True] Translation: X:362.10, Y:-269.12, Z:-18.61 [[ 9.43370729e-01 3.26840202e-01 5.68080120e-02 3.62096201e+02] [-3.26267094e-01 9.45079575e-01 -1.93489226e-02 -2.69116149e+02] [-6.00120976e-02 -2.81377702e-04 9.98197610e-01 -1.86109083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.13, Y:-269.12, Z:-18.61 [[ 9.43097584e-01 3.27357679e-01 5.83429296e-02 3.62127051e+02] [-3.26753594e-01 9.44900445e-01 -1.98805756e-02 -2.69124034e+02] [-6.16363193e-02 -3.14439096e-04 9.98098625e-01 -1.86119007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.63864 meters Centerline goodness [0,1] 0.9998536799492758 Centerline is valid? [True, True] Translation: X:362.16, Y:-269.13, Z:-18.61 [[ 9.43138034e-01 3.27288899e-01 5.80743035e-02 3.62158712e+02] [-3.26689715e-01 9.44924275e-01 -1.97975786e-02 -2.69131903e+02] [-6.13553469e-02 -3.00428288e-04 9.98115941e-01 -1.86133625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66864 meters Centerline goodness [0,1] 0.9999024628139478 Centerline is valid? [True, True] Translation: X:362.19, Y:-269.14, Z:-18.62 [[ 9.42909114e-01 3.27902891e-01 5.83275034e-02 3.62191290e+02] [-3.27298994e-01 9.44711376e-01 -1.98943418e-02 -2.69137426e+02] [-6.16260682e-02 -3.31976933e-04 9.98099252e-01 -1.86158878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.69864 meters Centerline goodness [0,1] 0.9997561451424113 Centerline is valid? [True, True] Translation: X:362.22, Y:-269.15, Z:-18.62 [[ 9.42596462e-01 3.28935277e-01 5.75629513e-02 3.62222520e+02] [-3.28348377e-01 9.44352390e-01 -1.96445256e-02 -2.69145459e+02] [-6.08214881e-02 -3.83841312e-04 9.98148586e-01 -1.86164038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72864 meters Centerline goodness [0,1] 0.9997561451424113 Centerline is valid? [True, True] Translation: X:362.25, Y:-269.16, Z:-18.62 [[ 9.42531080e-01 3.29123124e-01 5.75598193e-02 3.62253313e+02] [-3.28536014e-01 9.44286937e-01 -1.96536992e-02 -2.69155909e+02] [-6.08214724e-02 -3.86251318e-04 9.98148586e-01 -1.86175779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.75864 meters Centerline goodness [0,1] 0.9998051347006381 Centerline is valid? [True, True] Translation: X:362.29, Y:-269.16, Z:-18.62 [[ 9.41364125e-01 3.32345544e-01 5.81379774e-02 3.62285574e+02] [-3.31752012e-01 9.43157512e-01 -1.98622939e-02 -2.69161178e+02] [-6.14344150e-02 -5.89740041e-04 9.98110948e-01 -1.86196958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78864 meters Centerline goodness [0,1] 0.9998050777252571 Centerline is valid? [True, True] Translation: X:362.32, Y:-269.17, Z:-18.62 [[ 9.40715785e-01 3.34096049e-01 5.85972830e-02 3.62316769e+02] [-3.33495948e-01 9.42538773e-01 -2.00278452e-02 -2.69169089e+02] [-6.19214351e-02 -7.01446367e-04 9.98080780e-01 -1.86211794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.81864 meters Centerline goodness [0,1] 0.999414748341787 Centerline is valid? [True, True] Translation: X:362.35, Y:-269.18, Z:-18.62 [[ 9.40439563e-01 3.35102730e-01 5.72676899e-02 3.62347950e+02] [-3.34530935e-01 9.42181304e-01 -1.95817257e-02 -2.69176477e+02] [-6.05184364e-02 -7.42384324e-04 9.98166804e-01 -1.86219298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84864 meters Centerline goodness [0,1] 0.9991723466407011 Centerline is valid? [True, True] Translation: X:362.38, Y:-269.18, Z:-18.62 [[ 9.40460672e-01 3.34994348e-01 5.75544291e-02 3.62381925e+02] [-3.34415980e-01 9.42219855e-01 -1.96900294e-02 -2.69180084e+02] [-6.08249744e-02 -7.29422568e-04 9.98148181e-01 -1.86226234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.87864 meters Centerline goodness [0,1] 0.9991710956165586 Centerline is valid? [True, True] Translation: X:362.41, Y:-269.19, Z:-18.62 [[ 9.40472154e-01 3.34921074e-01 5.77927403e-02 3.62414493e+02] [-3.34336980e-01 9.42245914e-01 -1.97843865e-02 -2.69187280e+02] [-6.10811814e-02 -7.15585642e-04 9.98132545e-01 -1.86242966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90864 meters Centerline goodness [0,1] 0.9996589192613166 Centerline is valid? [True, True] Translation: X:362.45, Y:-269.19, Z:-18.63 [[ 9.41413149e-01 3.32552599e-01 5.61253219e-02 3.62446686e+02] [-3.31996911e-01 9.43084557e-01 -1.92241791e-02 -2.69191407e+02] [-5.93239751e-02 -5.35538508e-04 9.98238638e-01 -1.86254418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93864 meters Centerline goodness [0,1] 0.9997563115313384 Centerline is valid? [True, True] Translation: X:362.48, Y:-269.20, Z:-18.63 [[ 9.41793483e-01 3.31370581e-01 5.67324691e-02 3.62477756e+02] [-3.30800147e-01 9.43500571e-01 -1.94405394e-02 -2.69199657e+02] [-5.99691398e-02 -4.58135816e-04 9.98200126e-01 -1.86279929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96864 meters Centerline goodness [0,1] 0.9995618305744888 Centerline is valid? [True, True] Translation: X:362.51, Y:-269.21, Z:-18.63 [[ 9.42941946e-01 3.28208072e-01 5.60352438e-02 3.62508876e+02] [-3.27645514e-01 9.44605421e-01 -1.92097968e-02 -2.69206735e+02] [-5.92360054e-02 -2.45973103e-04 9.98243976e-01 -1.86295153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99864 meters Centerline goodness [0,1] 0.9998535442296427 Centerline is valid? [True, True] Translation: X:362.54, Y:-269.22, Z:-18.63 [[ 9.43826199e-01 3.26044578e-01 5.37311655e-02 3.62540157e+02] [-3.25523423e-01 9.45354390e-01 -1.84276427e-02 -2.69215411e+02] [-5.68032262e-02 -9.82608910e-05 9.98385388e-01 -1.86299382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02864 meters Centerline goodness [0,1] 0.9999025388626285 Centerline is valid? [True, True] Translation: X:362.57, Y:-269.22, Z:-18.63 [[ 9.45211216e-01 3.21867494e-01 5.45625580e-02 3.62571465e+02] [-3.21322641e-01 9.46784711e-01 -1.87208670e-02 -2.69223582e+02] [-5.76846343e-02 1.62988185e-04 9.98334842e-01 -1.86321824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.60, Y:-269.23, Z:-18.63 [[ 9.46198769e-01 3.19164119e-01 5.33118687e-02 3.62601624e+02] [-3.18639252e-01 9.47699403e-01 -1.82994336e-02 -2.69233834e+02] [-5.63641487e-02 3.27647617e-04 9.98410224e-01 -1.86334771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08864 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.63, Y:-269.24, Z:-18.63 [[ 9.47068178e-01 3.16638460e-01 5.29334616e-02 3.62632290e+02] [-3.16116652e-01 9.48546179e-01 -1.81771572e-02 -2.69244866e+02] [-5.59654198e-02 4.81858487e-04 9.98432591e-01 -1.86334021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11863999999997 meters Centerline goodness [0,1] 0.9998538652637732 Centerline is valid? [True, True] Translation: X:362.66, Y:-269.26, Z:-18.64 [[ 9.48481580e-01 3.12438282e-01 5.25833835e-02 3.62661911e+02] [-3.11916519e-01 9.49937779e-01 -1.80637959e-02 -2.69255910e+02] [-5.55947639e-02 7.31551764e-04 9.98453147e-01 -1.86358515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14864 meters Centerline goodness [0,1] 0.9998050587260587 Centerline is valid? [True, True] Translation: X:362.69, Y:-269.27, Z:-18.64 [[ 9.49004459e-01 3.10862332e-01 5.24895052e-02 3.62692398e+02] [-3.10339674e-01 9.50454588e-01 -1.80378025e-02 -2.69267061e+02] [-5.54961644e-02 8.28379097e-04 9.98458557e-01 -1.86365892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17864 meters Centerline goodness [0,1] 0.9995617025421253 Centerline is valid? [True, True] Translation: X:362.72, Y:-269.28, Z:-18.64 [[ 9.49490710e-01 3.09230251e-01 5.33295805e-02 3.62721308e+02] [-3.08687750e-01 9.50986729e-01 -1.83334249e-02 -2.69280251e+02] [-5.63849729e-02 9.45228368e-04 9.98408654e-01 -1.86379145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20864 meters Centerline goodness [0,1] 0.9994633099141296 Centerline is valid? [True, True] Translation: X:362.75, Y:-269.29, Z:-18.64 [[ 9.49459862e-01 3.09445857e-01 5.26235014e-02 3.62751405e+02] [-3.08917625e-01 9.50916613e-01 -1.80968587e-02 -2.69292321e+02] [-5.56405597e-02 9.25913827e-04 9.98450435e-01 -1.86397639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23864 meters Centerline goodness [0,1] 0.9996100984501414 Centerline is valid? [True, True] Translation: X:362.78, Y:-269.30, Z:-18.64 [[ 9.49417412e-01 3.09559693e-01 5.27197686e-02 3.62781224e+02] [-3.09029288e-01 9.50879559e-01 -1.81373685e-02 -2.69303278e+02] [-5.57447485e-02 9.27980922e-04 9.98444621e-01 -1.86409988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26864 meters Centerline goodness [0,1] 0.9992687920444574 Centerline is valid? [True, True] Translation: X:362.81, Y:-269.31, Z:-18.64 [[ 9.49144850e-01 3.10638556e-01 5.12615022e-02 3.62811609e+02] [-3.10138295e-01 9.50527732e-01 -1.76427994e-02 -2.69314437e+02] [-5.42060132e-02 8.47417310e-04 9.98529414e-01 -1.86413727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29864 meters Centerline goodness [0,1] 0.9985853658536585 Centerline is valid? [True, True] Translation: X:362.84, Y:-269.33, Z:-18.64 [[ 9.48530435e-01 3.12396935e-01 5.19439014e-02 3.62842058e+02] [-3.11885479e-01 9.49951352e-01 -1.78851091e-02 -2.69326191e+02] [-5.49314326e-02 7.64021706e-04 9.98489837e-01 -1.86421401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32864 meters Centerline goodness [0,1] 0.998830523340805 Centerline is valid? [True, True] Translation: X:362.87, Y:-269.34, Z:-18.64 [[ 9.47471271e-01 3.15519460e-01 5.23990603e-02 3.62872561e+02] [-3.15003343e-01 9.48918920e-01 -1.80493167e-02 -2.69336998e+02] [-5.54173704e-02 5.95329816e-04 9.98463099e-01 -1.86433364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35864 meters Centerline goodness [0,1] 0.9992201208812634 Centerline is valid? [True, True] Translation: X:362.90, Y:-269.35, Z:-18.64 [[ 9.46803927e-01 3.17517754e-01 5.23908410e-02 3.62903230e+02] [-3.17004438e-01 9.48252203e-01 -1.80539826e-02 -2.69346822e+02] [-5.54121904e-02 4.85452488e-04 9.98463446e-01 -1.86440990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38864 meters Centerline goodness [0,1] 0.9990730350783041 Centerline is valid? [True, True] Translation: X:362.93, Y:-269.35, Z:-18.65 [[ 9.45759540e-01 3.20511342e-01 5.30223706e-02 3.62934548e+02] [-3.19989832e-01 9.47244623e-01 -1.82792480e-02 -2.69354284e+02] [-5.60838618e-02 3.21153745e-04 9.98426010e-01 -1.86463844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41864 meters Centerline goodness [0,1] 0.9984893523707422 Centerline is valid? [True, True] Translation: X:362.97, Y:-269.36, Z:-18.65 [[ 9.45196274e-01 3.22139713e-01 5.31978217e-02 3.62965804e+02] [-3.21616844e-01 9.46692110e-01 -1.83481447e-02 -2.69363816e+02] [-5.62726241e-02 2.33282495e-04 9.98415413e-01 -1.86479933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44864 meters Centerline goodness [0,1] 0.9987816764132553 Centerline is valid? [True, True] Translation: X:363.00, Y:-269.37, Z:-18.65 [[ 9.45404449e-01 3.21533945e-01 5.31634200e-02 3.62996866e+02] [-3.21010291e-01 9.46898012e-01 -1.83452408e-02 -2.69372257e+02] [-5.62389544e-02 2.77667364e-04 9.98417299e-01 -1.86491149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47864 meters Centerline goodness [0,1] 0.9986818337157642 Centerline is valid? [True, True] Translation: X:363.03, Y:-269.38, Z:-18.65 [[ 9.45720204e-01 3.20634204e-01 5.29811635e-02 3.63026994e+02] [-3.20112298e-01 9.47203037e-01 -1.82899844e-02 -2.69382180e+02] [-5.60483136e-02 3.37285809e-04 9.98428001e-01 -1.86509305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50864 meters Centerline goodness [0,1] 0.9985859866400117 Centerline is valid? [True, True] Translation: X:363.06, Y:-269.39, Z:-18.65 [[ 9.46369500e-01 3.18829507e-01 5.22734721e-02 3.63057601e+02] [-3.18318295e-01 9.47811979e-01 -1.80531435e-02 -2.69392431e+02] [-5.53012978e-02 4.45341916e-04 9.98469613e-01 -1.86521121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53864 meters Centerline goodness [0,1] 0.9979991215655654 Centerline is valid? [True, True] Translation: X:363.09, Y:-269.40, Z:-18.65 [[ 9.47625898e-01 3.14922015e-01 5.31909986e-02 3.63088052e+02] [-3.14386092e-01 9.49117298e-01 -1.83777223e-02 -2.69402596e+02] [-5.62720462e-02 6.92695438e-04 9.98415233e-01 -1.86537142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56864 meters Centerline goodness [0,1] 0.9977070933749634 Centerline is valid? [True, True] Translation: X:363.12, Y:-269.41, Z:-18.65 [[ 9.48191997e-01 3.13356693e-01 5.23404205e-02 3.63118741e+02] [-3.12834993e-01 9.49635180e-01 -1.80912383e-02 -2.69413105e+02] [-5.53733152e-02 7.80052270e-04 9.98465416e-01 -1.86538955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59864 meters Centerline goodness [0,1] 0.99668632132937 Centerline is valid? [True, True] Translation: X:363.15, Y:-269.42, Z:-18.66 [[ 9.49442243e-01 3.09524113e-01 5.24809610e-02 3.63149273e+02] [-3.08993333e-01 9.50891054e-01 -1.81472848e-02 -2.69424179e+02] [-5.55206986e-02 1.01353177e-03 9.98457022e-01 -1.86551799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62864 meters Centerline goodness [0,1] 0.9973178581878475 Centerline is valid? [True, True] Translation: X:363.18, Y:-269.43, Z:-18.66 [[ 9.49909824e-01 3.07903467e-01 5.35423267e-02 3.63179269e+02] [-3.07347975e-01 9.51416922e-01 -1.85219388e-02 -2.69434928e+02] [-5.66440448e-02 1.13804599e-03 9.98393789e-01 -1.86588599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65864 meters Centerline goodness [0,1] 0.9959998048685301 Centerline is valid? [True, True] Translation: X:363.21, Y:-269.45, Z:-18.66 [[ 9.50746363e-01 3.05435903e-01 5.28229364e-02 3.63208646e+02] [-3.04890997e-01 9.52211785e-01 -1.82810714e-02 -2.69448195e+02] [-5.58823181e-02 1.27542440e-03 9.98436548e-01 -1.86600979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68864 meters Centerline goodness [0,1] 0.996439719079204 Centerline is valid? [True, True] Translation: X:363.24, Y:-269.46, Z:-18.66 [[ 9.50814022e-01 3.04994466e-01 5.41393742e-02 3.63237749e+02] [-3.04420811e-01 9.52353177e-01 -1.87455616e-02 -2.69460983e+02] [-5.72770976e-02 1.34239061e-03 9.98357417e-01 -1.86625966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71864 meters Centerline goodness [0,1] 0.9965871971137439 Centerline is valid? [True, True] Translation: X:363.27, Y:-269.47, Z:-18.66 [[ 9.50780273e-01 3.05080287e-01 5.42484170e-02 3.63267690e+02] [-3.04503934e-01 9.52325679e-01 -1.87924117e-02 -2.69474228e+02] [-5.73953550e-02 1.34859796e-03 9.98350617e-01 -1.86630801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74864 meters Centerline goodness [0,1] 0.9961437078980767 Centerline is valid? [True, True] Translation: X:363.30, Y:-269.49, Z:-18.66 [[ 9.50794223e-01 3.04738510e-01 5.58997898e-02 3.63297193e+02] [-3.04125236e-01 9.52434995e-01 -1.93758041e-02 -2.69488796e+02] [-5.91454697e-02 1.42186582e-03 9.98248362e-01 -1.86634909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77864 meters Centerline goodness [0,1] 0.9970727423525394 Centerline is valid? [True, True] Translation: X:363.33, Y:-269.50, Z:-18.67 [[ 9.50915636e-01 3.04176414e-01 5.68872710e-02 3.63327947e+02] [-3.03539685e-01 9.52614552e-01 -1.97275396e-02 -2.69498989e+02] [-6.01922944e-02 1.49168157e-03 9.98185685e-01 -1.86674338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80864 meters Centerline goodness [0,1] 0.9965321871642082 Centerline is valid? [True, True] Translation: X:363.36, Y:-269.51, Z:-18.67 [[ 9.50573908e-01 3.05452164e-01 5.57514294e-02 3.63356232e+02] [-3.04842365e-01 9.52206408e-01 -1.93413794e-02 -2.69514209e+02] [-5.89947345e-02 1.39001296e-03 9.98257326e-01 -1.86691809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83864 meters Centerline goodness [0,1] 0.9966822794691648 Centerline is valid? [True, True] Translation: X:363.39, Y:-269.53, Z:-18.67 [[ 9.49875416e-01 3.07360593e-01 5.71503193e-02 3.63385279e+02] [-3.06722755e-01 9.51592217e-01 -1.98344267e-02 -2.69528164e+02] [-6.04801202e-02 1.31093097e-03 9.98168541e-01 -1.86707735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86863999999997 meters Centerline goodness [0,1] 0.9962919594067136 Centerline is valid? [True, True] Translation: X:363.41, Y:-269.54, Z:-18.67 [[ 9.49102913e-01 3.09557656e-01 5.81181367e-02 3.63414533e+02] [-3.08901639e-01 9.50879920e-01 -2.01780979e-02 -2.69542017e+02] [-6.15096538e-02 1.19830378e-03 9.98105769e-01 -1.86726438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89864 meters Centerline goodness [0,1] 0.996923978321371 Centerline is valid? [True, True] Translation: X:363.44, Y:-269.56, Z:-18.67 [[ 9.46718835e-01 3.16336055e-01 6.04561602e-02 3.63442841e+02] [-3.15639375e-01 9.48646860e-01 -2.09980959e-02 -2.69558096e+02] [-6.39940014e-02 7.96948273e-04 9.97949965e-01 -1.86737445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92864 meters Centerline goodness [0,1] 0.9967259577795152 Centerline is valid? [True, True] Translation: X:363.47, Y:-269.57, Z:-18.67 [[ 9.45489854e-01 3.19759483e-01 6.16669258e-02 3.63473787e+02] [-3.19041173e-01 9.47498564e-01 -2.14289693e-02 -2.69570492e+02] [-6.52814398e-02 5.86584673e-04 9.97866719e-01 -1.86749056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95864 meters Centerline goodness [0,1] 0.99496233982197 Centerline is valid? [True, True] Translation: X:363.50, Y:-269.58, Z:-18.68 [[ 9.43067140e-01 3.25970206e-01 6.60892851e-02 3.63502891e+02] [-3.25159156e-01 9.45380025e-01 -2.29811144e-02 -2.69583413e+02] [-6.99706485e-02 1.83197666e-04 9.97549034e-01 -1.86775528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98864 meters Centerline goodness [0,1] 0.9943792766373412 Centerline is valid? [True, True] Translation: X:363.53, Y:-269.60, Z:-18.68 [[ 9.41967521e-01 3.28680932e-01 6.83083758e-02 3.63532463e+02] [-3.27819715e-01 9.44441022e-01 -2.37779264e-02 -2.69595501e+02] [-7.23285833e-02 5.20216981e-06 9.97380858e-01 -1.86795129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01864 meters Centerline goodness [0,1] 0.9930419443355547 Centerline is valid? [True, True] Translation: X:363.56, Y:-269.61, Z:-18.68 [[ 9.41073453e-01 3.30461959e-01 7.19419913e-02 3.63562338e+02] [-3.29510017e-01 9.43819305e-01 -2.50652967e-02 -2.69607932e+02] [-7.61833673e-02 -1.17321411e-04 9.97093817e-01 -1.86812631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04864 meters Centerline goodness [0,1] 0.9903107413750918 Centerline is valid? [True, True] Translation: X:363.59, Y:-269.62, Z:-18.68 [[ 9.40207435e-01 3.32629586e-01 7.32634865e-02 3.63592502e+02] [-3.31647017e-01 9.43057518e-01 -2.55494371e-02 -2.69619108e+02] [-7.75901804e-02 -2.75846055e-04 9.96985300e-01 -1.86815233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07864 meters Centerline goodness [0,1] 0.9858652059082461 Centerline is valid? [True, True] Translation: X:363.62, Y:-269.63, Z:-18.68 [[ 9.39378982e-01 3.34678621e-01 7.45476354e-02 3.63623496e+02] [-3.33664816e-01 9.42332237e-01 -2.60335370e-02 -2.69628524e+02] [-7.89615083e-02 -4.18565573e-04 9.96877578e-01 -1.86825470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10864 meters Centerline goodness [0,1] 0.9834124382247884 Centerline is valid? [True, True] Translation: X:363.65, Y:-269.64, Z:-18.68 [[ 9.38476954e-01 3.36825426e-01 7.62209903e-02 3.63654328e+02] [-3.35769573e-01 9.41566938e-01 -2.66551140e-02 -2.69638264e+02] [-8.07452846e-02 -5.77479172e-04 9.96734601e-01 -1.86845083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.13864 meters Centerline goodness [0,1] 0.9824467044787796 Centerline is valid? [True, True] Translation: X:363.69, Y:-269.65, Z:-18.69 [[ 9.38033190e-01 3.37802721e-01 7.73502116e-02 3.63685363e+02] [-3.36715536e-01 9.41216722e-01 -2.70874640e-02 -2.69646961e+02] [-8.19535316e-02 -6.36077731e-04 9.96635949e-01 -1.86862113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16864 meters Centerline goodness [0,1] 0.9812420413360761 Centerline is valid? [True, True] Translation: X:363.72, Y:-269.66, Z:-18.69 [[ 9.37073026e-01 3.39737174e-01 8.04536899e-02 3.63715769e+02] [-3.38564728e-01 9.40520074e-01 -2.82119709e-02 -2.69656407e+02] [-8.52529656e-02 -8.02104686e-04 9.96359016e-01 -1.86884708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.19864 meters Centerline goodness [0,1] 0.9764665590293067 Centerline is valid? [True, True] Translation: X:363.75, Y:-269.66, Z:-18.69 [[ 9.36435136e-01 3.40296367e-01 8.53675495e-02 3.63745285e+02] [-3.38976736e-01 9.40317815e-01 -2.99529470e-02 -2.69664687e+02] [-9.04655067e-02 -8.88621284e-04 9.95899193e-01 -1.86899178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22864 meters Centerline goodness [0,1] 0.9757185332011893 Centerline is valid? [True, True] Translation: X:363.78, Y:-269.67, Z:-18.69 [[ 9.36368071e-01 3.40697263e-01 8.44997658e-02 3.63776884e+02] [-3.39403744e-01 9.40172631e-01 -2.96736108e-02 -2.69671517e+02] [-8.95540851e-02 -8.94115096e-04 9.95981559e-01 -1.86896998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.25864 meters Centerline goodness [0,1] 0.9719054378150849 Centerline is valid? [True, True] Translation: X:363.81, Y:-269.68, Z:-18.69 [[ 9.36646538e-01 3.37804197e-01 9.26368520e-02 3.63807245e+02] [-3.36232976e-01 9.41216175e-01 -3.25499163e-02 -2.69678761e+02] [-9.81868019e-02 -6.59798021e-04 9.95167783e-01 -1.86945745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28864 meters Centerline goodness [0,1] 0.9720440636474909 Centerline is valid? [True, True] Translation: X:363.84, Y:-269.69, Z:-18.70 [[ 9.36907339e-01 3.35941216e-01 9.66857649e-02 3.63837002e+02] [-3.34219101e-01 9.41882831e-01 -3.39753743e-02 -2.69687407e+02] [-1.02480390e-01 -4.82451843e-04 9.94734908e-01 -1.86982349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.31864 meters Centerline goodness [0,1] 0.9677577180879691 Centerline is valid? [True, True] Translation: X:363.87, Y:-269.69, Z:-18.70 [[ 9.37526646e-01 3.32247343e-01 1.03225439e-01 3.63867195e+02] [-3.30261006e-01 9.43192290e-01 -3.62763151e-02 -2.69693993e+02] [-1.09414147e-01 -8.13252433e-05 9.93996246e-01 -1.87021556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34864 meters Centerline goodness [0,1] 0.9675318315377082 Centerline is valid? [True, True] Translation: X:363.90, Y:-269.70, Z:-18.70 [[ 9.37921661e-01 3.30447355e-01 1.05392145e-01 3.63898520e+02] [-3.28363987e-01 9.43824415e-01 -3.70481659e-02 -2.69701874e+02] [-1.11714148e-01 1.41292496e-04 9.93740373e-01 -1.87035370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.37864 meters Centerline goodness [0,1] 0.964623450438532 Centerline is valid? [True, True] Translation: X:363.93, Y:-269.71, Z:-18.71 [[ 9.38431960e-01 3.26600718e-01 1.12594084e-01 3.63929435e+02] [-3.24193430e-01 9.45162183e-01 -3.95861996e-02 -2.69706433e+02] [-1.19348552e-01 6.46692483e-04 9.92852207e-01 -1.87094112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40864 meters Centerline goodness [0,1] 0.9633198937948667 Centerline is valid? [True, True] Translation: X:363.96, Y:-269.72, Z:-18.71 [[ 9.38427692e-01 3.26414817e-01 1.13167282e-01 3.63960578e+02] [-3.23977051e-01 9.45226356e-01 -3.98246895e-02 -2.69715836e+02] [-1.19968066e-01 7.08989242e-04 9.92777498e-01 -1.87100474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43864 meters Centerline goodness [0,1] 0.9590356722853783 Centerline is valid? [True, True] Translation: X:363.99, Y:-269.72, Z:-18.72 [[ 9.38530938e-01 3.23349934e-01 1.20849077e-01 3.63990799e+02] [-3.20540412e-01 9.46278705e-01 -4.25494592e-02 -2.69723584e+02] [-1.28115273e-01 1.19697078e-03 9.91758561e-01 -1.87159650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46864 meters Centerline goodness [0,1] 0.9520507524343464 Centerline is valid? [True, True] Translation: X:364.02, Y:-269.73, Z:-18.72 [[ 9.38894681e-01 3.18168217e-01 1.31323126e-01 3.64021569e+02] [-3.14796363e-01 9.48031995e-01 -4.62448515e-02 -2.69728939e+02] [-1.39212167e-01 2.07900280e-03 9.90260395e-01 -1.87212582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49864 meters Centerline goodness [0,1] 0.9472697676712869 Centerline is valid? [True, False] Translation: X:364.25, Y:-269.84, Z:-18.73 [[ 9.68897870e-01 2.43637769e-01 4.33307536e-02 3.64245134e+02] [-2.44156165e-01 9.69710500e-01 7.02238356e-03 -2.69840049e+02] [-4.03073688e-02 -1.73834431e-02 9.99036101e-01 -1.87340560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52864 meters Centerline goodness [0,1] 0.9070201276386843 Centerline is valid? [False, False] Translation: X:364.47, Y:-269.91, Z:-18.73 [[ 9.79892601e-01 1.98262408e-01 -2.24167118e-02 3.64468487e+02] [-1.97753699e-01 9.79981359e-01 2.30219740e-02 -2.69906564e+02] [ 2.65323517e-02 -1.81260742e-02 9.99483607e-01 -1.87309718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55864 meters Centerline goodness [0,1] 0.8956243854473943 Centerline is valid? [False, False] Translation: X:364.68, Y:-269.96, Z:-18.72 [[ 9.84961932e-01 1.57684932e-01 -7.06077458e-02 3.64675214e+02] [-1.55907018e-01 9.87314383e-01 3.00551171e-02 -2.69955789e+02] [ 7.44512821e-02 -1.85949031e-02 9.97051271e-01 -1.87152651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58864 meters Centerline goodness [0,1] 0.8567518694100973 Centerline is valid? [False, False] Translation: X:364.81, Y:-269.98, Z:-18.70 [[ 9.89883687e-01 1.16047608e-01 -8.16286635e-02 3.64812028e+02] [-1.14165585e-01 9.93084552e-01 2.73731783e-02 -2.69983869e+02] [ 8.42407567e-02 -1.77770785e-02 9.96286841e-01 -1.87028283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61863999999997 meters Centerline goodness [0,1] 0.8567518694100973 Centerline is valid? [False, False] Translation: X:364.89, Y:-270.00, Z:-18.70 [[ 9.94631573e-01 7.73797494e-02 -6.87052270e-02 3.64889290e+02] [-7.61210968e-02 9.96882516e-01 2.07563988e-02 -2.69999683e+02] [ 7.00971645e-02 -1.54150524e-02 9.97421056e-01 -1.86958927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64864 meters Centerline goodness [0,1] 0.8657407407407407 Centerline is valid? [False, False] Translation: X:364.95, Y:-270.00, Z:-18.69 [[ 9.97270261e-01 5.04395883e-02 -5.39247145e-02 3.64946813e+02] [-4.97338261e-02 9.98659391e-01 1.43515420e-02 -2.70002064e+02] [ 5.45763084e-02 -1.16304836e-02 9.98441865e-01 -1.86929634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67864 meters Centerline goodness [0,1] 0.8451976837060703 Centerline is valid? [False, False] Translation: X:364.98, Y:-270.00, Z:-18.69 [[ 9.98700127e-01 3.21560750e-02 -3.95479910e-02 3.64978183e+02] [-3.18031608e-02 9.99448804e-01 9.52083560e-03 -2.70004133e+02] [ 3.98323451e-02 -8.25070860e-03 9.99172313e-01 -1.86927863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70864 meters Centerline goodness [0,1] 0.7837797396378872 Centerline is valid? [False, False] Translation: X:365.00, Y:-270.00, Z:-18.69 [[ 9.99517687e-01 2.11855483e-02 -2.27060592e-02 3.64996118e+02] [-2.10449852e-02 9.99757970e-01 6.41175939e-03 -2.70004672e+02] [ 2.28364002e-02 -5.93081823e-03 9.99721623e-01 -1.86932350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73864 meters Centerline goodness [0,1] 0.7843530591775326 Centerline is valid? [False, False] Translation: X:365.02, Y:-270.01, Z:-18.69 [[ 9.99748965e-01 1.07508131e-02 -1.96577660e-02 3.65016769e+02] [-1.06335231e-02 9.99925091e-01 6.06142456e-03 -2.70005968e+02] [ 1.97214587e-02 -5.85087162e-03 9.99788393e-01 -1.86938958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76864 meters Centerline goodness [0,1] 0.6964118256749421 Centerline is valid? [False, False] Translation: X:365.01, Y:-270.00, Z:-18.70 [[ 9.99962466e-01 7.17117899e-03 -4.86227726e-03 3.65013610e+02] [-7.15732487e-03 9.99970294e-01 2.86074574e-03 -2.70003153e+02] [ 4.88264774e-03 -2.82583746e-03 9.99984087e-01 -1.86975519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79864 meters Centerline goodness [0,1] 0.6882605226411331 Centerline is valid? [False, False] Translation: X:365.03, Y:-270.01, Z:-18.70 [[ 9.99996737e-01 -2.16063181e-03 -1.36306768e-03 3.65033465e+02] [ 2.16643875e-03 9.99988523e-01 4.27320856e-03 -2.70007499e+02] [ 1.35381921e-03 -4.27614762e-03 9.99989941e-01 -1.86990043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82864 meters Centerline goodness [0,1] 0.6906967378171567 Centerline is valid? [False, False] Translation: X:365.05, Y:-270.00, Z:-18.70 [[ 9.99997583e-01 2.07034945e-03 -7.40047932e-04 3.65052879e+02] [-2.07133240e-03 9.99996970e-01 -1.32992708e-03 -2.70003321e+02] [ 7.37292276e-04 1.33145675e-03 9.99998842e-01 -1.86975935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85864 meters Centerline goodness [0,1] 0.6458521870286575 Centerline is valid? [False, False] Translation: X:365.06, Y:-270.00, Z:-18.71 [[ 9.99994155e-01 2.27234295e-03 -2.55452160e-03 3.65062653e+02] [-2.27441664e-03 9.99997086e-01 -8.09157701e-04 -2.70003897e+02] [ 2.55267547e-03 8.14963018e-04 9.99996410e-01 -1.87056618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88864 meters Centerline goodness [0,1] 0.6436758394344863 Centerline is valid? [False, False] Translation: X:365.07, Y:-270.00, Z:-18.71 [[ 9.99986906e-01 1.91596735e-03 -4.74513985e-03 3.65073094e+02] [-1.92111492e-03 9.99997571e-01 -1.08048898e-03 -2.70004003e+02] [ 4.74305815e-03 1.08959079e-03 9.99988158e-01 -1.87140501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91864 meters Centerline goodness [0,1] 0.6292976111648755 Centerline is valid? [False, False] Translation: X:365.07, Y:-270.01, Z:-18.72 [[ 9.99952332e-01 3.03836868e-03 9.27906503e-03 3.65072220e+02] [-3.03178352e-03 9.99995142e-01 -7.23662627e-04 -2.70007614e+02] [-9.28121870e-03 6.95496015e-04 9.99956687e-01 -1.87192381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94864 meters Centerline goodness [0,1] 0.6330891330891331 Centerline is valid? [False, False] Translation: X:365.07, Y:-270.01, Z:-18.72 [[ 9.99953390e-01 2.98703209e-03 9.18130810e-03 3.65072996e+02] [-2.98414737e-03 9.99995494e-01 -3.27878035e-04 -2.70009740e+02] [-9.18224611e-03 3.00464376e-04 9.99957797e-01 -1.87202209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97864 meters Centerline goodness [0,1] 0.6287932972310207 Centerline is valid? [False, False] Translation: X:365.07, Y:-270.01, Z:-18.72 [[ 9.99954565e-01 2.96762399e-03 9.05877337e-03 3.65073811e+02] [-2.96737087e-03 9.99995596e-01 -4.13821611e-05 -2.70011295e+02] [-9.05885629e-03 1.44995407e-05 9.99958968e-01 -1.87212027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00864 meters Centerline goodness [0,1] 0.6398495078080709 Centerline is valid? [False, False] Translation: X:365.08, Y:-270.01, Z:-18.72 [[ 9.99954055e-01 3.14304792e-03 9.05584144e-03 3.65075342e+02] [-3.14779643e-03 9.99994916e-01 5.10152969e-04 -2.70014301e+02] [-9.05419196e-03 -5.38635476e-04 9.99958865e-01 -1.87222806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03864 meters Centerline goodness [0,1] 0.4875749346723369 Centerline is valid? [False, False] Translation: X:365.08, Y:-270.02, Z:-18.72 [[ 9.99954748e-01 3.13899798e-03 8.98045675e-03 3.65076185e+02] [-3.14565235e-03 9.99994788e-01 7.26953876e-04 -2.70015626e+02] [-8.97812803e-03 -7.55170375e-04 9.99959411e-01 -1.87232645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06864 meters Centerline goodness [0,1] 0.4864137467004813 Centerline is valid? [False, False] Translation: X:365.08, Y:-270.02, Z:-18.72 [[ 9.99953733e-01 3.38889883e-03 9.00266520e-03 3.65077591e+02] [-3.39803068e-03 9.99993727e-01 9.99247132e-04 -2.70016837e+02] [-8.99922238e-03 -1.02979223e-03 9.99958976e-01 -1.87247469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09864 meters Centerline goodness [0,1] 0.45130308379192197 Centerline is valid? [False, False] Translation: X:365.08, Y:-270.02, Z:-18.73 [[ 9.99955315e-01 3.38532877e-03 8.82653295e-03 3.65078694e+02] [-3.39514984e-03 9.99993634e-01 1.09792883e-03 -2.70017289e+02] [-8.82275990e-03 -1.12784717e-03 9.99960443e-01 -1.87261434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12864 meters SLAMing on 432.15864 meters SLAMing on 432.18864 meters Centerline goodness [0,1] 0.18238102733616668 Centerline is valid? [False, False] Translation: X:365.09, Y:-270.02, Z:-18.74 [[ 9.99962458e-01 3.20120958e-03 8.05199432e-03 3.65090118e+02] [-3.21200289e-03 9.99993960e-01 1.32787663e-03 -2.70023374e+02] [-8.04769487e-03 -1.35368980e-03 9.99966701e-01 -1.87366448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21864 meters SLAMing on 432.24864 meters Centerline goodness [0,1] 0.173614438588085 Centerline is valid? [False, False] Translation: X:365.10, Y:-270.02, Z:-18.74 [[ 9.99966305e-01 1.66167391e-03 8.03917012e-03 3.65096740e+02] [-1.65739602e-03 9.99998481e-01 -5.38762858e-04 -2.70023032e+02] [-8.04005316e-03 5.25420616e-04 9.99967540e-01 -1.87433967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27864 meters Centerline goodness [0,1] 0.17534407340232583 Centerline is valid? [False, False] Translation: X:365.11, Y:-270.02, Z:-18.75 [[ 9.99973781e-01 1.79301942e-03 7.01584363e-03 3.65107653e+02] [-1.78964985e-03 9.99998280e-01 -4.86527745e-04 -2.70024479e+02] [-7.01670391e-03 4.73959085e-04 9.99975270e-01 -1.87536191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30864 meters Centerline goodness [0,1] 0.19181446111869027 Centerline is valid? [False, False] Translation: X:365.11, Y:-270.03, Z:-18.76 [[ 9.99975112e-01 3.50507987e-03 6.12293335e-03 3.65113629e+02] [-3.51325527e-03 9.99992951e-01 1.32496468e-03 -2.70025629e+02] [-6.11824608e-03 -1.34644313e-03 9.99980377e-01 -1.87597582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33864 meters SLAMing on 432.36863999999997 meters SLAMing on 432.39864 meters SLAMing on 432.42864 meters SLAMing on 432.45864 meters SLAMing on 432.48864 meters SLAMing on 432.51864 meters SLAMing on 432.54864 meters SLAMing on 432.57864 meters SLAMing on 432.60864 meters SLAMing on 432.63864 meters SLAMing on 432.66864 meters SLAMing on 432.69864 meters Centerline goodness [0,1] 0.07734210974294953 Centerline is valid? [False, False] Translation: X:365.24, Y:-270.02, Z:-18.80 [[ 9.99696330e-01 6.45616144e-03 2.37816094e-02 3.65242242e+02] [-6.79711590e-03 9.99874874e-01 1.42840717e-02 -2.70023980e+02] [-2.36864134e-02 -1.44413804e-02 9.99615126e-01 -1.87950794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72864 meters Centerline goodness [0,1] 0.08162674997107489 Centerline is valid? [False, False] Translation: X:365.27, Y:-270.02, Z:-18.81 [[ 9.99946868e-01 5.61741781e-03 8.64326036e-03 3.65270803e+02] [-5.72915507e-03 9.99899633e-01 1.29576875e-02 -2.70022637e+02] [-8.56960412e-03 -1.30065176e-02 9.99878689e-01 -1.88067484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.75864 meters Centerline goodness [0,1] 0.22672974571259608 Centerline is valid? [False, False] Translation: X:365.31, Y:-270.02, Z:-18.80 [[ 9.99997651e-01 7.06444652e-05 2.16622166e-03 3.65311624e+02] [-9.07599409e-05 9.99956868e-01 9.28728112e-03 -2.70021270e+02] [-2.16547213e-03 -9.28745591e-03 9.99954526e-01 -1.87983897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78864 meters Centerline goodness [0,1] 0.22924359737939248 Centerline is valid? [False, False] Translation: X:365.33, Y:-270.01, Z:-18.80 [[ 9.99999071e-01 1.03736123e-03 -8.83738462e-04 3.65329186e+02] [-1.03355307e-03 9.99990226e-01 4.29875913e-03 -2.70014236e+02] [ 8.88189191e-04 -4.29784175e-03 9.99990370e-01 -1.87975970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.81864 meters Centerline goodness [0,1] 0.22506089953062802 Centerline is valid? [False, False] Translation: X:365.34, Y:-270.01, Z:-18.80 [[ 9.99997777e-01 -5.02882452e-04 -2.04781309e-03 3.65335721e+02] [ 5.08536084e-04 9.99996058e-01 2.76123030e-03 -2.70012137e+02] [ 2.04641645e-03 -2.76226555e-03 9.99994091e-01 -1.88034228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84864 meters Centerline goodness [0,1] 0.07876813740005928 Centerline is valid? [False, False] Translation: X:365.35, Y:-270.02, Z:-18.81 [[ 9.99992166e-01 -1.02080861e-03 -3.82444067e-03 3.65346918e+02] [ 1.03273921e-03 9.99994603e-01 3.11889105e-03 -2.70016834e+02] [ 3.82123624e-03 -3.12281627e-03 9.99987823e-01 -1.88135748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.87864 meters Centerline goodness [0,1] 0.07838157117542821 Centerline is valid? [False, False] Translation: X:365.36, Y:-270.02, Z:-18.82 [[ 9.99983029e-01 -1.58632547e-03 -5.60579825e-03 3.65358010e+02] [ 1.60421944e-03 9.99993628e-01 3.18899280e-03 -2.70020241e+02] [ 5.60070375e-03 -3.19793161e-03 9.99979202e-01 -1.88236577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90864 meters Centerline goodness [0,1] 0.22715872447151564 Centerline is valid? [False, False] Translation: X:365.38, Y:-270.02, Z:-18.82 [[ 9.99957192e-01 4.55247003e-03 -8.05534300e-03 3.65378635e+02] [-4.53474518e-03 9.99987260e-01 2.21728192e-03 -2.70020647e+02] [ 8.06533448e-03 -2.18065808e-03 9.99965097e-01 -1.88195365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93864 meters Centerline goodness [0,1] 0.07832699619771866 Centerline is valid? [False, False] Translation: X:365.38, Y:-270.03, Z:-18.83 [[ 9.99985171e-01 4.88901462e-03 2.39901897e-03 3.65377995e+02] [-4.89561552e-03 9.99984226e-01 2.75338562e-03 -2.70028715e+02] [-2.38551979e-03 -2.76508947e-03 9.99993332e-01 -1.88270622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96864 meters Centerline goodness [0,1] 0.08058452583070574 Centerline is valid? [False, False] Translation: X:365.40, Y:-270.03, Z:-18.82 [[ 9.99939204e-01 1.10260974e-02 -1.12783619e-04 3.65398530e+02] [-1.10258695e-02 9.99937495e-01 1.85370192e-03 -2.70030317e+02] [ 1.33215668e-04 -1.85234568e-03 9.99998276e-01 -1.88227072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99864 meters Centerline goodness [0,1] 0.08054050836359306 Centerline is valid? [False, False] Translation: X:365.41, Y:-270.04, Z:-18.83 [[ 9.99974211e-01 6.89519259e-03 -2.00826835e-03 3.65410471e+02] [-6.89671562e-03 9.99975934e-01 -7.52443606e-04 -2.70038187e+02] [ 2.00303178e-03 7.66274658e-04 9.99997700e-01 -1.88331401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02864 meters Centerline goodness [0,1] 0.07914520807435033 Centerline is valid? [False, False] Translation: X:365.42, Y:-270.04, Z:-18.84 [[ 9.99982577e-01 5.01264517e-03 -3.11748575e-03 3.65417014e+02] [-5.01744669e-03 9.99986236e-01 -1.53428253e-03 -2.70041921e+02] [ 3.10975203e-03 1.54989762e-03 9.99993964e-01 -1.88391330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05864 meters Centerline goodness [0,1] 0.07870154133582441 Centerline is valid? [False, False] Translation: X:365.43, Y:-270.05, Z:-18.85 [[ 9.99977425e-01 4.51340071e-03 -4.97788912e-03 3.65428349e+02] [-4.51892860e-03 9.99989185e-01 -1.09980016e-03 -2.70046516e+02] [ 4.97287144e-03 1.12227006e-03 9.99987005e-01 -1.88493366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08864 meters Centerline goodness [0,1] 0.0780610454917553 Centerline is valid? [False, False] Translation: X:365.44, Y:-270.05, Z:-18.86 [[ 9.99975321e-01 2.99007389e-03 -6.35746604e-03 3.65436166e+02] [-2.99659640e-03 9.99994993e-01 -1.01668376e-03 -2.70053571e+02] [ 6.35439425e-03 1.03570943e-03 9.99979274e-01 -1.88557326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11863999999997 meters Centerline goodness [0,1] 0.07821130567634271 Centerline is valid? [False, False] Translation: X:365.44, Y:-270.06, Z:-18.86 [[ 9.99971225e-01 1.41084960e-03 -7.45374274e-03 3.65442608e+02] [-1.42505281e-03 9.99997179e-01 -1.90054653e-03 -2.70055425e+02] [ 7.45104033e-03 1.91111382e-03 9.99970414e-01 -1.88613317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14864 meters Centerline goodness [0,1] 0.07818149487285875 Centerline is valid? [False, False] Translation: X:365.47, Y:-270.06, Z:-18.85 [[ 9.99996808e-01 2.46039147e-03 -5.75455060e-04 3.65474718e+02] [-2.46027618e-03 9.99996953e-01 2.00973143e-04 -2.70061720e+02] [ 5.75947779e-04 -1.99556723e-04 9.99999814e-01 -1.88546804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17864 meters Centerline goodness [0,1] 0.22840915744481527 Centerline is valid? [False, False] Translation: X:365.49, Y:-270.06, Z:-18.86 [[ 9.99993934e-01 2.50909489e-03 -2.41596132e-03 3.65486038e+02] [-2.50802375e-03 9.99996755e-01 4.46287308e-04 -2.70062491e+02] [ 2.41707326e-03 -4.40225312e-04 9.99996982e-01 -1.88648428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20864 meters Centerline goodness [0,1] 0.07790351399642648 Centerline is valid? [False, False] Translation: X:365.51, Y:-270.06, Z:-18.86 [[ 9.99933062e-01 1.03407660e-02 -5.19028954e-03 3.65511036e+02] [-1.03423921e-02 9.99946475e-01 -2.86547963e-04 -2.70060961e+02] [ 5.18704861e-03 3.40208791e-04 9.99986489e-01 -1.88628622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23864 meters Centerline goodness [0,1] 0.07577957145345804 Centerline is valid? [False, False] Translation: X:365.52, Y:-270.06, Z:-18.87 [[ 9.99926291e-01 9.95548586e-03 -6.94989032e-03 3.65522477e+02] [-9.95968658e-03 9.99950239e-01 -5.70081482e-04 -2.70060280e+02] [ 6.94386904e-03 6.39258191e-04 9.99975687e-01 -1.88735397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26864 meters Centerline goodness [0,1] 0.07796164645438797 Centerline is valid? [False, False] Translation: X:365.55, Y:-270.06, Z:-18.87 [[ 9.99950058e-01 1.90817310e-03 -9.81024653e-03 3.65546289e+02] [-1.90378279e-03 9.99998083e-01 4.56842471e-04 -2.70062697e+02] [ 9.81109946e-03 -4.38143077e-04 9.99951774e-01 -1.88709691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29864 meters Centerline goodness [0,1] 0.2788665736302409 Centerline is valid? [False, False] Translation: X:365.58, Y:-270.06, Z:-18.86 [[ 9.99989313e-01 2.17106445e-03 -4.08180103e-03 3.65580706e+02] [-2.16902718e-03 9.99997521e-01 5.03471409e-04 -2.70057493e+02] [ 4.08288398e-03 -4.94612491e-04 9.99991543e-01 -1.88646097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32864 meters Centerline goodness [0,1] 0.22645502645502646 Centerline is valid? [False, False] Translation: X:365.59, Y:-270.06, Z:-18.88 [[ 9.99982394e-01 1.98285000e-03 -5.59284675e-03 3.65591827e+02] [-1.98204221e-03 9.99998025e-01 1.49972452e-04 -2.70056024e+02] [ 5.59313307e-03 -1.38884554e-04 9.99984349e-01 -1.88752393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35864 meters Centerline goodness [0,1] 0.2690996111277296 Centerline is valid? [False, False] Translation: X:365.62, Y:-270.06, Z:-18.87 [[ 9.99945194e-01 -6.46571539e-03 -8.23433539e-03 3.65616098e+02] [ 6.47262988e-03 9.99978722e-01 8.13341925e-04 -2.70057618e+02] [ 8.22890133e-03 -8.66595154e-04 9.99965767e-01 -1.88731229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38864 meters Centerline goodness [0,1] 0.2803993303156198 Centerline is valid? [False, False] Translation: X:365.62, Y:-270.06, Z:-18.87 [[ 9.99944229e-01 -6.28117471e-03 -8.49033462e-03 3.65617147e+02] [ 6.28634085e-03 9.99980071e-01 5.81923114e-04 -2.70055647e+02] [ 8.48651026e-03 -6.35263797e-04 9.99963787e-01 -1.88735397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41864 meters Centerline goodness [0,1] 0.07761743571470991 Centerline is valid? [False, False] Translation: X:365.63, Y:-270.05, Z:-18.88 [[ 9.99935818e-01 -6.18860000e-03 -9.49001912e-03 3.65627833e+02] [ 6.19327136e-03 9.99980714e-01 4.62929633e-04 -2.70054791e+02] [ 9.48697122e-03 -5.21674185e-04 9.99954862e-01 -1.88842743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44864 meters Centerline goodness [0,1] 0.28240542687771186 Centerline is valid? [False, False] Translation: X:365.67, Y:-270.06, Z:-18.88 [[ 9.99851288e-01 -8.19581530e-03 -1.51733447e-02 3.65674720e+02] [ 8.19575339e-03 9.99966412e-01 -6.62628859e-05 -2.70056595e+02] [ 1.51733781e-02 -5.81039591e-05 9.99884876e-01 -1.88781804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47864 meters Centerline goodness [0,1] 0.2772259013980868 Centerline is valid? [False, False] Translation: X:365.70, Y:-270.06, Z:-18.88 [[ 9.99859595e-01 -8.71715200e-05 -1.67565526e-02 3.65698304e+02] [ 7.70766997e-05 9.99999815e-01 -6.03085036e-04 -2.70055818e+02] [ 1.67566021e-02 6.01708821e-04 9.99859417e-01 -1.88766904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50864 meters Centerline goodness [0,1] 0.07749760994263866 Centerline is valid? [False, False] Translation: X:365.71, Y:-270.06, Z:-18.89 [[ 9.99844811e-01 -4.12592679e-04 -1.76120147e-02 3.65709120e+02] [ 4.03992617e-04 9.99999797e-01 -4.91861552e-04 -2.70057799e+02] [ 1.76122140e-02 4.84670097e-04 9.99844775e-01 -1.88874916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53864 meters Centerline goodness [0,1] 0.07749760994263866 Centerline is valid? [False, False] Translation: X:365.71, Y:-270.06, Z:-18.89 [[ 9.99842836e-01 -4.01589471e-04 -1.77240598e-02 3.65709950e+02] [ 3.92914173e-04 9.99999801e-01 -4.92944059e-04 -2.70057811e+02] [ 1.77242543e-02 4.85902551e-04 9.99842795e-01 -1.88875435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56864 meters Centerline goodness [0,1] 0.23295626398886937 Centerline is valid? [False, False] Translation: X:365.75, Y:-270.06, Z:-18.88 [[ 9.99918709e-01 -1.69208212e-03 -1.26377258e-02 3.65745950e+02] [ 1.68704484e-03 9.99998493e-01 -4.09240776e-04 -2.70061906e+02] [ 1.26383992e-02 3.87887098e-04 9.99920057e-01 -1.88818573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59864 meters Centerline goodness [0,1] 0.22946208836282667 Centerline is valid? [False, False] Translation: X:365.76, Y:-270.07, Z:-18.89 [[ 9.99913546e-01 -2.07005489e-03 -1.29851879e-02 3.65755733e+02] [ 2.06895745e-03 9.99997855e-01 -9.79478373e-05 -2.70065398e+02] [ 1.29853628e-02 7.10735682e-05 9.99915684e-01 -1.88920135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62864 meters Centerline goodness [0,1] 0.7572310890968018 Centerline is valid? [False, False] Translation: X:365.78, Y:-270.07, Z:-18.89 [[ 9.99875799e-01 4.88328123e-03 -1.49846570e-02 3.65777639e+02] [-4.89290918e-03 9.99987846e-01 -6.05926341e-04 -2.70069945e+02] [ 1.49815160e-02 6.79169651e-04 9.99887540e-01 -1.88875701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65864 meters Centerline goodness [0,1] 0.2287208463572974 Centerline is valid? [False, False] Translation: X:365.79, Y:-270.08, Z:-18.90 [[ 9.99856231e-01 4.07034005e-03 -1.64605316e-02 3.65788942e+02] [-4.06967896e-03 9.99991716e-01 7.36583845e-05 -2.70076963e+02] [ 1.64606951e-02 -6.65871545e-06 9.99864514e-01 -1.88984321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68864 meters Centerline goodness [0,1] 0.23191943851083308 Centerline is valid? [False, False] Translation: X:365.82, Y:-270.08, Z:-18.89 [[ 9.99928548e-01 3.52084582e-03 -1.14237529e-02 3.65823791e+02] [-3.51373496e-03 9.99993620e-01 6.42473775e-04 -2.70081423e+02] [ 1.14259421e-02 -6.02287829e-04 9.99934540e-01 -1.88909235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71864 meters Centerline goodness [0,1] 0.2290307272511567 Centerline is valid? [False, False] Translation: X:365.84, Y:-270.08, Z:-18.90 [[ 9.99906647e-01 3.01562138e-03 -1.33267884e-02 3.65835625e+02] [-3.00472891e-03 9.99995135e-01 8.37283329e-04 -2.70084626e+02] [ 1.33292485e-02 -7.97161780e-04 9.99910844e-01 -1.89019584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74864 meters Centerline goodness [0,1] 0.22750973928678453 Centerline is valid? [False, False] Translation: X:365.87, Y:-270.09, Z:-18.90 [[ 9.99968050e-01 2.08251008e-03 -7.71764875e-03 3.65870277e+02] [-2.07525594e-03 9.99997397e-01 9.47829801e-04 -2.70089319e+02] [ 7.71960253e-03 -9.31783421e-04 9.99969769e-01 -1.88953493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77864 meters Centerline goodness [0,1] 0.22912218268090156 Centerline is valid? [False, False] Translation: X:365.88, Y:-270.10, Z:-18.91 [[ 9.99952729e-01 1.44506828e-03 -9.61516092e-03 3.65881633e+02] [-1.43023259e-03 9.99997777e-01 1.54964459e-03 -2.70095663e+02] [ 9.61737888e-03 -1.53581942e-03 9.99952573e-01 -1.89062064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80864 meters Centerline goodness [0,1] 0.23011782032400585 Centerline is valid? [False, False] Translation: X:365.90, Y:-270.10, Z:-18.90 [[ 9.99893474e-01 9.15201190e-03 -1.13702290e-02 3.65904082e+02] [-9.14484066e-03 9.99957952e-01 6.82535801e-04 -2.70095579e+02] [ 1.13759975e-02 -5.78484160e-04 9.99935124e-01 -1.89023854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83864 meters Centerline goodness [0,1] 0.23181653152608006 Centerline is valid? [False, False] Translation: X:365.92, Y:-270.10, Z:-18.91 [[ 9.99875927e-01 8.59967662e-03 -1.31975898e-02 3.65915795e+02] [-8.59124009e-03 9.99962853e-01 6.95810132e-04 -2.70097649e+02] [ 1.32030833e-02 -5.82340138e-04 9.99912666e-01 -1.89135199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86863999999997 meters Centerline goodness [0,1] 0.2305310788282925 Centerline is valid? [False, False] Translation: X:365.93, Y:-270.10, Z:-18.92 [[ 9.99853934e-01 8.04444301e-03 -1.50796830e-02 3.65927577e+02] [-8.03657804e-03 9.99967537e-01 5.82087449e-04 -2.70099107e+02] [ 1.50838760e-02 -4.60813377e-04 9.99886126e-01 -1.89241136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89864 meters Centerline goodness [0,1] 0.22983562128085788 Centerline is valid? [False, False] Translation: X:365.94, Y:-270.10, Z:-18.93 [[ 9.99824926e-01 7.89969393e-03 -1.69620954e-02 3.65939389e+02] [-7.89456808e-03 9.99968769e-01 3.69133222e-04 -2.70097963e+02] [ 1.69644817e-02 -2.35160179e-04 9.99856065e-01 -1.89348361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92864 meters Centerline goodness [0,1] 0.22969597270456343 Centerline is valid? [False, False] Translation: X:365.96, Y:-270.10, Z:-18.93 [[ 9.99820874e-01 5.18161279e-05 -1.89266470e-02 3.65961805e+02] [-2.19935748e-05 9.99998758e-01 1.57589605e-03 -2.70099853e+02] [ 1.89267052e-02 -1.57519750e-03 9.99819633e-01 -1.89313799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95864 meters Centerline goodness [0,1] 0.2271408285484966 Centerline is valid? [False, False] Translation: X:366.00, Y:-270.10, Z:-18.92 [[ 9.99894000e-01 6.31164884e-04 -1.45461468e-02 3.65997864e+02] [-5.98903805e-04 9.99997352e-01 2.22209303e-03 -2.70098329e+02] [ 1.45475108e-02 -2.21314575e-03 9.99891730e-01 -1.89242323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98864 meters Centerline goodness [0,1] 0.22601330913490625 Centerline is valid? [False, False] Translation: X:366.01, Y:-270.10, Z:-18.94 [[ 9.99868351e-01 5.15560098e-04 -1.62177282e-02 3.66009600e+02] [-4.86745375e-04 9.99998296e-01 1.78063932e-03 -2.70096658e+02] [ 1.62186186e-02 -1.77251100e-03 9.99866898e-01 -1.89352585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01864 meters Centerline goodness [0,1] 0.2268397237437485 Centerline is valid? [False, False] Translation: X:366.02, Y:-270.10, Z:-18.95 [[ 9.99841519e-01 4.12688688e-04 -1.77979321e-02 3.66021178e+02] [-3.86293790e-04 9.99998821e-01 1.48644413e-03 -2.70095502e+02] [ 1.77985246e-02 -1.47933333e-03 9.99840499e-01 -1.89460274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7477.20 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%| | 0/14451 [00:00